Cleaning robot, docking station, and cleaning system

Abstract

A cleaning robot (100), a docking station (200) and a cleaning system (1000). The cleaning robot (100) comprises a body (10), a cleaning module (20) and a power module (30). The cleaning module (20) is arranged on the body (10). The power module (30) is arranged on the body (10) and connected to the cleaning module (20), and the power module (30) is configured to drive the cleaning module (20) to move relative to the body (10), so that the cleaning module (20) switches between a first state, a second state and a third state.

Description

Cleaning robots, base stations and cleaning systems Technical Field

[0001] The embodiments of the present application relate to the field of robotics technology, and more specifically, to a cleaning robot, a base station, and a cleaning system. Background Art

[0002] A cleaning robot is a device used to automatically clean carpets or floors, and can be used for cleaning indoors or in large venues. In related technologies, a cleaning robot has a cleaning module installed at the bottom of its body, which allows it to clean the surface being cleaned. However, due to the limited size of the robot, the cleaning module cannot reach the corners of the surface being cleaned. For example, the cleaning module cannot clean the floor near a wall in a room, which affects the cleaning effect of the cleaning robot.

[0003] Summary of the Invention

[0004] The cleaning robot provided in the first aspect of the embodiment of the present application includes a fuselage, a cleaning module and a power module. The cleaning module is arranged on the fuselage. The power module is arranged on the fuselage and connected to the cleaning module, and the power module is used to drive the cleaning module to move relative to the fuselage so that the cleaning module switches between the first state, the second state and the third state. When the cleaning module is in the first state and the second state, the cleaning module is in contact with the surface to be cleaned, and the target end of the cleaning module is farther away from the center line of the width direction of the cleaning robot in the second state than in the first state; when the cleaning module is in the third state, the cleaning module is spaced from the surface to be cleaned; wherein, when the cleaning module is in the third state, the target end of the cleaning module is the side of the cleaning module close to the obstacle when the cleaning robot moves along the obstacle; the width direction of the cleaning robot is perpendicular to the moving direction of the cleaning robot.

[0005] In the cleaning robot provided in the first aspect of the embodiment of the present application, the power module can drive the cleaning module to move relative to the fuselage so that the cleaning module switches between the first state, the second state and the third state, and when the cleaning module is in the first state and the second state, the cleaning module contacts the surface to be cleaned, and the target end of the cleaning module is further away from the center line of the cleaning robot in the width direction in the second state than in the first state, that is, the cleaning module is further away from the fuselage, and in the third state, the cleaning module can be separated from the surface to be cleaned. Therefore, compared with traditional cleaning robots, the cleaning module in this embodiment can achieve cleaning within the normal area in the first state, and can improve the cleaning effect of the corner position or the edge position after switching to the second state, and the cleaning module can be lifted off the ground to improve the obstacle crossing ability.

[0006] A second aspect of an embodiment of the present application provides a cleaning robot comprising a body and a cleaning module. The cleaning module is mounted on the body and comprises a main body and a sewage tank. The main body is capable of moving relative to the body. The sewage tank is mounted on the body and is used to store waste generated by the cleaning module when cleaning a surface to be cleaned. When the main body moves relative to the body, the sewage tank moves relative to the body together with the main body.

[0007] In the cleaning robot provided in the second aspect of the embodiment of the present application, when the main body of the cleaning module moves relative to the fuselage, the sewage tank can move relative to the fuselage together with the main body. Therefore, compared with the traditional cleaning robot in which the sewage tank cannot move relative to the fuselage together with the main body, the connection between the sewage tank and the main body is more stable, thereby avoiding the connection relationship between the sewage tank and the main body from disappearing when the main body moves, that is, preventing the sewage tank from being unable to collect the dirt generated by the cleaning module when cleaning the surface to be cleaned, or preventing the dirt stored in the sewage tank from leaking, thereby improving the stability and reliability of the cleaning robot's work while also ensuring the cleaning effect of the cleaning robot on the surface to be cleaned.

[0008] The base station provided in the third aspect of an embodiment of the present application is used in conjunction with the cleaning robot as described above, and the base station includes a docking position for accommodating the cleaning robot.

[0009] The cleaning system provided in the fourth aspect of the embodiment of the present application includes the cleaning robot described above and a base station used in conjunction with the cleaning robot. The base station includes a docking position for accommodating the cleaning robot.

[0010] Additional aspects and advantages of the present application will be given in part in the description below, and in part will become obvious from the description below, or will be learned through practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] The above and / or additional aspects and advantages of the present application will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which:

[0012] FIG1( a ) is a schematic diagram of a cleaning module in a first state when the cleaning robot is walking along an edge in some embodiments of the present application;

[0013] FIG1( b ) is a schematic diagram of the cleaning module in a second state when the cleaning robot is walking along an edge in some embodiments of the present application;

[0014] FIG2( a ) is a schematic diagram of a cleaning module in a first state when the cleaning robot is walking along an edge in some other embodiments of the present application;

[0015] FIG2( b ) is a schematic diagram of the cleaning module in the second state when the cleaning robot is walking along the edge in some other embodiments of the present application;

[0016] FIG3( a ) is a schematic diagram of a cleaning robot in some embodiments of the present application, when walking along a side, with a side brush (cleaning module) in a first state;

[0017] FIG3( b ) is a schematic diagram of the cleaning robot in some embodiments of the present application, when walking along the side, with the side brush (cleaning module) in the second state;

[0018] FIG4 is a schematic diagram of the three-dimensional structure of a cleaning robot according to certain embodiments of the present application;

[0019] FIG5( a ) is a schematic diagram of the cleaning robot provided in an embodiment of the present application in a first state;

[0020] FIG5( b ) is a schematic diagram of the cleaning robot provided by an embodiment of the present application in a second state;

[0021] FIG5( c ) is a schematic diagram of the cleaning robot provided by an embodiment of the present application in a third state;

[0022] FIG6 is a perspective exploded schematic diagram of an embodiment of the cleaning robot shown in FIG4 ;

[0023] FIG7 is a schematic structural diagram of a mopping assembly of a cleaning module provided in some embodiments of the present application;

[0024] FIG8 is a schematic plan view of the structure of the cleaning robot shown in FIG4 ;

[0025] FIG9 is a schematic diagram of the three-dimensional structure of an embodiment of a power module in the cleaning robot shown in FIG4 ;

[0026] FIG10 is a schematic diagram of the three-dimensional structure of an embodiment of the power module and the mobile module of the cleaning robot shown in FIG4 ;

[0027] FIG11 is a schematic perspective structural diagram of another embodiment of the power module and the mobile module of the cleaning robot shown in FIG4 ;

[0028] FIG12 is a perspective exploded schematic diagram of the power module and the mobile module of the cleaning robot shown in FIG11 ;

[0029] FIG13( a ) is a schematic diagram of the three-dimensional structure of the cleaning module and the guide module in the cleaning robot shown in FIG6 ;

[0030] FIG13( b ) is a top view of the cleaning module and the guide module in the cleaning robot shown in FIG6 ;

[0031] FIG14( a ) is a schematic structural diagram of an embodiment of the relative positions between the moving member and the mating member when the cleaning module of the cleaning robot shown in FIG6 is in the first state, the second state, and the third state;

[0032] FIG14( b ) is a structural diagram of another embodiment of the relative positions between the moving member and the mating member when the cleaning module of the cleaning robot shown in FIG6 is in the first state, the second state, and the third state;

[0033] FIG15 is an exploded perspective view of another embodiment of the cleaning robot shown in FIG4 ;

[0034] FIG16 is a schematic cross-sectional view of an embodiment of the cleaning robot shown in FIG15 ;

[0035] FIG17 is a schematic cross-sectional view of another embodiment of the cleaning robot shown in FIG15 ;

[0036] FIG18 is a schematic plan view of the cleaning robot shown in FIG15 ;

[0037] FIG19 is an exploded perspective view of another embodiment of the cleaning robot shown in FIG4 ;

[0038] FIG20 is a schematic cross-sectional view of a portion of the structure of the cleaning robot shown in FIG19 ;

[0039] FIG21 is a schematic structural diagram of the relative movement of the first body and the second body of the installation assembly in the cleaning module in some embodiments of the present application;

[0040] FIG22 is a schematic structural diagram of the relative movement of the first body and the second body of the installation assembly in the cleaning module in other embodiments of the present application;

[0041] Figure 23 is a schematic diagram of the three-dimensional structure of a cleaning system according to certain embodiments of the present application. DETAILED DESCRIPTION

[0042] To make the above-mentioned objects, features, and advantages of the present application more clearly understood, the specific embodiments of the present application are described in detail below with reference to the accompanying drawings. The following description sets forth many specific details to facilitate a full understanding of the present application. However, the present application can be implemented in many other ways than those described herein, and those skilled in the art can make similar improvements without violating the scope of the present application. Therefore, the present application is not limited to the specific embodiments disclosed below.

[0043] In the description of the present application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0044] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of the technical features being referred to. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of such features. Throughout the description of this application, "plurality" means at least two, for example, two, three, etc., unless otherwise specifically defined.

[0045] In this application, unless otherwise specified or limited, the terms "installed," "connected," "connect," "fixed," etc. should be understood in a broad sense. For example, they can refer to fixed connection, detachable connection, or integration; mechanical connection or electrical connection; direct connection or indirect connection through an intermediate medium; internal communication between two elements or interaction between two elements, unless otherwise specified. Those skilled in the art will understand the specific meanings of the above terms in this application based on specific circumstances.

[0046] In this application, unless otherwise expressly specified or limited, when a first feature is "above" or "below" a second feature, it may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Furthermore, when a first feature is "above," "above," or "above" a second feature, it may mean that the first feature is directly above or diagonally above the second feature, or simply means that the first feature is at a higher level than the second feature. When a first feature is "below," "below," or "below" a second feature, it may mean that the first feature is directly below or diagonally below the second feature, or simply means that the first feature is at a lower level than the second feature.

[0047] It should be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it may be directly on the other element or there may be an intermediate element. When an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be an intermediate element. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and similar expressions used herein are for illustrative purposes only and do not represent the only implementation methods.

[0048] A cleaning robot is an intelligent robot that can move autonomously across the surface to be cleaned. It is driven by drive wheels on its chassis, enabling navigation and mobile cleaning. The bottom of the cleaning robot is typically equipped with cleaning modules such as a brush-sweeping module and a mopping module. The brush-sweeping module can include a side brush and a roller brush. Typically, the side brush is located at the front of the cleaning robot, the roller brush is roughly located in the middle of the robot, and the mopping module is located at the rear. The robot's body is equipped with a roller brush housing for mounting the roller brush. The roller brush housing is equipped with a roller brush inlet and outlet, with the roller brush inlet located near the surface to be cleaned. During the cleaning process, the side brush sweeps debris into the roller brush inlet, where it is sucked by the suction air from the roller brush inlet through the roller brush outlet into the robot's waste collection container. The roller brush itself also performs cleaning duties. The mopping module is used to contact and wipe the surface to be cleaned.

[0049] The inventors have discovered through creative work that in the related art, when a cleaning robot cleans a surface to be cleaned, there are some blind spots in the cleaning process, thereby affecting the cleaning effect of the cleaning robot on the surface to be cleaned.

[0050] For example, for the cleaning module including a mopping member, please refer to Figures 1(a) and 2(a). Due to the appearance and structural limitations of the cleaning robot, the mopping member of the cleaning robot generally does not protrude too much from the cleaning robot along the width direction of the cleaning robot. For example, as shown in Figure 1(a), the mopping member can be completely located within the contour of the cleaning robot's body. Alternatively, as shown in Figure 2(a), the mopping member is partially located outside the contour of the cleaning robot's body, but the mopping member still does not exceed the widest area of ​​the body along the width direction of the cleaning robot. Therefore, when the cleaning robot cleans along the edge (for example, cleaning along the wall), there will be a cleaning blind spot between the mopping member and the obstacle (such as the wall), resulting in poor cleaning effect of the cleaning robot along the edge.

[0051] Regarding the cleaning module including the side brush, please refer to FIG3(a). In the related art, when the side brush is in the normal installation state, it is necessary to ensure that the side brush will not be pressed by the driving wheel of the cleaning robot during the movement of the cleaning robot. Therefore, the bristles of the side brush itself will not be designed to be too long. In order to make it easier for the garbage cleaned by the side brush to be swept to the roller brush air inlet, the side brush will not be designed to be too far away from the roller brush air inlet, resulting in the side brush of the cleaning robot being basically installed in the state shown in FIG3(a) under normal installation. As a result, when this type of cleaning robot passes through a corner area during the cleaning process, the side brush cannot extend into the corner well and cannot effectively sweep out the dust and garbage in the corner, forming a cleaning blind spot in the corner, which in turn leads to poor corner cleaning effect of the cleaning robot.

[0052] Of course, when the cleaning module in FIG1( a ) and FIG1( b ) is a roller brush, the roller brush will also have a blind spot in cleaning.

[0053] In addition, for a cleaning robot, since the cleaning module needs to contact the surface to be cleaned (such as the ground) under normal cleaning conditions, when the cleaning robot needs to overcome obstacles, such as when crossing a threshold, it is desirable that the cleaning module does not hinder the cleaning robot from overcoming the obstacle, and in this case, it is also desirable that the cleaning module does not contact the surface to be cleaned. Alternatively, for a cleaning robot equipped with both a sweeping part and a mopping part, if only sweeping is required, it is desirable that the mopping part does not contact the surface to be cleaned, and if only mopping is required, it is desirable that the sweeping part does not contact the surface to be cleaned, so as to avoid contaminating the surface to be cleaned that has already been mopped.

[0054] Therefore, in order to solve the above technical problems, the embodiment of the present application provides a relatively simple mechanism to enable the cleaning robot to switch between normal cleaning of the cleaning module, sideways cleaning of the cleaning module, and lifting the cleaning module to detach from the surface to be cleaned.

[0055] Referring to FIG. 4 , and in conjunction with FIG. 5( a ), FIG. 5 ( b ), and FIG. 5 ( c ), a cleaning robot 100 according to certain embodiments of the present application includes a body 10, a cleaning module 20, and a power module 30. The cleaning module 20 is disposed on the body 10. The power module 30 is disposed on the body 10 and connected to the cleaning module 20. The power module 30 is configured to drive the cleaning module 20 to move relative to the body 10, so that the cleaning module 20 switches between a first state, a second state, and a third state.

[0056] When the cleaning module 20 is in the first and second states, the cleaning module 20 is in contact with the surface to be cleaned. In the second state, the target end of the cleaning module 20 is further away from the centerline of the cleaning robot 100 in the width direction than in the first state. When the cleaning module 20 is in the third state, the cleaning module 20 is spaced apart from the surface to be cleaned. The target end of the cleaning module 20 is the side of the cleaning module 20 that is closest to the obstacle when the cleaning robot 100 is traveling along it. The width direction of the cleaning robot 100 is perpendicular to the travel direction Y of the cleaning robot 100.

[0057] The cleaning robot 100 is an intelligent device capable of performing functions such as sweeping, vacuuming, and mopping. The cleaning robot 100 includes, but is not limited to, a sweeping robot, an intelligent robot, and a mobile robot. In some embodiments, the surface to be cleaned may be the floor of a building. In other embodiments, the surface to be cleaned may also be other surfaces that require cleaning, such as walls, beds, windows, and the like.

[0058] The material of the fuselage 10 includes but is not limited to metal materials and / or non-metallic materials, wherein metal materials include but are not limited to aluminum, iron, steel or aluminum alloys, and non-metallic materials include but are not limited to plastics. In one example, the fuselage 10 can be made of a combination of metal and non-metallic materials, thereby making the structural strength of the fuselage 10 higher, preventing the fuselage 10 from being damaged by collision during the operation of the cleaning robot 100, and improving the stability and reliability of the operation of the cleaning robot 100. In another example, the fuselage 10 can be made of non-metallic materials, thereby making the weight of the fuselage 10 lighter, thereby facilitating the lightweighting of the cleaning robot 100. It should be noted that, in some embodiments, the cross-sectional shape of the fuselage 10 includes but is not limited to a circle or a quasi-circular shape.

[0059] The cleaning module 20 is a device that can realize the mopping function (such as wet mopping or dry mopping, etc.) of the cleaning robot 100; it can also be a device that can realize the sweeping function of the cleaning robot 100.

[0060] For example, in some embodiments, the cleaning module 20 may include a crawler-type cleaning member or a roller-type cleaning member. Specifically, referring to Figures 6 and 7 , the cleaning module 20 includes a body 21. The body 21 may include a bracket component 211 and a wiping member 213. The wiping member 213 is mounted on the bracket component 211, and the bracket component 211 and the wiping member 213 constitute a wiping assembly 210. The body 21 also includes a mounting housing 214. The wiping assembly 210, comprising the bracket component 211 and the wiping member 213, is mounted in the mounting housing 214. The bracket component 211 is detachably mounted on a side of the mounting housing 214 facing the surface to be cleaned, so that the wiping assembly 210 can be detachably mounted in the mounting housing 214. When the cleaning robot 100 is in a normal cleaning state, the bracket component 211 can drive the wiping member 213 to rotate relative to the surface to be cleaned to clean the surface. It should be noted that, in some embodiments, the mopping member 213 includes but is not limited to a disposable electrostatic mop, a disposable wet mop, or a reusable fabric mop.

[0061] The cleaning robot 100 may further include a brush-sweeping module, which is disposed on the body 10 and is used to clean the surface to be cleaned. The brush-sweeping module may include a roller brush and a side brush. When the cleaning robot 100 uses the brush-sweeping module to clean the surface to be cleaned, the side brush sweeps dust and other dirt from the outside to the middle area, and the roller brush continues to sweep the dirt in the middle area into a garbage collection container (not shown). Along the travel direction Y of the cleaning robot 100, the side brush is located on the front side of the body 10, the roller brush is located in the middle of the body 10 (between the front side of the body 10 and the rear side of the body 10), and the cleaning module 20 including the mopping member 213 can be located on the rear side of the body 10. As a result, the cleaning robot 100 can achieve both sweeping and mopping functions, thereby improving the cleaning effect of the cleaning robot 100.

[0062] It should be noted that the orientations described in the embodiments of the present application are defined with the drive wheels of the cleaning robot 100 supported on the surface to be cleaned. "Front" and "rear" are relative to the travel direction Y of the cleaning robot 100. When the cleaning robot 100 moves forward along the travel direction Y, the front end of the body 10 closest to the travel direction is the front side of the body 10, and the rear end of the body 10 closest to the travel direction is the rear side of the body 10. In some embodiments, the cleaning module 20 is switchable between a first state, a second state, and a third state.

[0063] For example, please refer to Figures 1(a) to 1(b), and Figures 2(a) to 2(b). It can be seen from Figures 1(a) and 2(a) that when the cleaning robot 100 is in the first state, there is a cleaning blind spot between the right side of the cleaning robot 100 and the wall. In order to clean this cleaning blind spot, the cleaning module 20 can be driven to move to the right by the power module 30, so that the cleaning module 20 is switched to the second state, as shown in Figures 1(b) and 2(b). When the cleaning module 20 is in the second state, the right edge of the cleaning module 20 can fit better with the wall, or the distance between the right side and the wall can be very small, so as to eliminate or reduce the cleaning blind spot, so that the cleaning module 20 can better clean the area along the wall.

[0064] Alternatively, please refer to Figures 3(a) to 3(b), and take the cleaning module 20 of the embodiment of the present application as an example of a side brush. As shown in Figure 3(a), when the cleaning robot 100 is in the first state, there is a cleaning blind spot between the right side of the cleaning robot 100 and the corner. In order to clean this cleaning blind spot, the side brush can be driven to move toward the right by the power module 30, so that the side brush is switched to the second state. As shown in Figure 3(b), when the side brush is in the second state, the side brush can extend further into the corner, thereby eliminating or reducing the cleaning blind spot in the corner, so that the cleaning module 20 can better clean the corner area.

[0065] Therefore, in addition to working in the normal cleaning state (first state), the cleaning module 20 of the cleaning robot 100 can also work in the side-moving cleaning state (second state), so that the cleaning module 20 can clean the corners of the surface to be cleaned (for example, when the surface to be cleaned is the ground, the position close to the wall on the ground, or the position in the corner), thereby reducing the limitation of the external dimensions of the fuselage 10 and improving the cleaning effect of the cleaning robot 100.

[0066] In addition, when the cleaning module 20 is in the third state, the cleaning module 20 is spaced from the surface to be cleaned, so that the cleaning module 20 can be lifted when there is a protrusion on the surface to be cleaned, so as to facilitate the cleaning robot 100 to overcome the obstacle and improve the passing performance of the cleaning robot 100; or, when there is an area on the surface to be cleaned that the user does not want to mop (such as a carpet area, etc.), the cleaning module 20 is lifted to ensure the cleaning effect and avoid the cleaning robot 100 mopping the carpet area and contaminating the carpet area in the reverse direction X2, which is beneficial for the cleaning robot 100 to adapt to different cleaning environments and cleaning needs and improve the cleaning effect of the cleaning robot 100.

[0067] Please refer to Figure 4, and in combination with Figures 5(a), 5(b) and 5(c), in some embodiments, when the cleaning module 20 is in the first state, the cleaning module 20 is in contact with the surface to be cleaned, and the cleaning module 20 is located in the widest area of ​​the body 10; when the cleaning module 20 is in the second state, the cleaning module 20 is in contact with the surface to be cleaned, and the target end of the cleaning module 20 is located outside the widest area of ​​the body 10, or the target end of the cleaning module 20 is flush with the edge of the widest area of ​​the body 10; wherein the widest area is the area formed by the two tangents of the projection of the body 10 on the surface to be cleaned along the travel direction Y of the cleaning robot 100.

[0068] Specifically, referring to FIG8 , in some embodiments, the first state may be the state in which the cleaning module 20 is in contact with the surface to be cleaned, and the projection of the cleaning module 20 on the surface to be cleaned is located within the widest area of ​​the body 10. The second state may be the state in which the cleaning module 20 is in contact with the surface to be cleaned, and the target end of the projection of the cleaning module 20 on the surface to be cleaned is located outside the widest area of ​​the body 10, or the target end of the projection of the cleaning module 20 on the surface to be cleaned is flush with the edge of the widest area of ​​the body 10. For example, if the cleaning module 20 includes a crawler-type cleaning member, the second state of the cleaning module 20 may be such that the right end of the crawler-type cleaning member is flush with the edge of the widest area of ​​the body 10. Alternatively, the right end of the crawler-type cleaning member may extend beyond the edge of the widest area of ​​the body 10. The third state may be such that the cleaning module 20 is spaced apart from the surface to be cleaned. The widest area is the area formed by two tangent lines to the projection of the body 10 on the surface to be cleaned along the travel direction Y of the cleaning robot 100. That is, the widest area is the area formed by a first tangent line L1 passing through the leftmost end of the projection of the body 10 on the surface to be cleaned and a second tangent line L2 passing through the rightmost end of the projection of the body 10 on the surface to be cleaned. The first tangent line L1 and the second tangent line L2 both extend in the same direction as the travel direction Y of the cleaning robot 100.

[0069] In particular, when the cleaning module 20 is a mopping piece, when the cleaning module 20 is in the first state, the cleaning module 20 will not exceed the widest area of ​​the body 10 along the width direction of the cleaning robot 100. In this way, when the cleaning robot 100 performs normal cleaning of the surface to be cleaned (not edge cleaning or corner cleaning), the cleaning module 20 will not protrude too much from the body 10, thereby better ensuring the appearance of the cleaning robot 100. When the cleaning robot 100 is in the second state, the target end of the cleaning module 20 is further away from the center line of the cleaning robot 100 in the width direction.

[0070] It is understandable that when the cleaning module 20 is a side brush, the bristles of the side brush are soft and are not likely to interfere with other components on the chassis of the cleaning robot 100 and hinder its rotation. In addition, it is necessary to gather dust and garbage around the area passed by the cleaning robot 100 to the middle part of the cleaning robot 100 (i.e., the middle part of the body 10). Therefore, when the cleaning robot 100 is in normal cleaning (the first state), the side brush can exceed the widest area of ​​the body 10, and when the cleaning robot 100 is in the second state, the target end of the side brush is further away from the center line of the width direction of the cleaning robot 100. It is worth noting that the target end of the side brush refers to the position closest to the obstacle in the cleaning area formed by the side brush during rotation.

[0071] It is understood that, in some embodiments, when the cleaning module 20 is in the first state or the second state, the cleaning robot 100 is in a cleaning state, in which case the cleaning robot 100 can clean the surface to be cleaned. Specifically, when the cleaning module 20 is in the first state, the cleaning module 20 can clean any position of the surface to be cleaned except the corners; when the cleaning module 20 is in the second state, the cleaning module 20 can clean any position (including the corners) of the surface to be cleaned. When the cleaning module 20 is in the third state, the cleaning module 20 may be in a non-cleaning state, in which case the cleaning robot 100 does not perform the target cleaning task on the surface to be cleaned, and the target cleaning task may be a mopping task or a sweeping task.

[0072] Please refer to Figure 4, and in combination with Figures 6, 15 or 19, in some embodiments, when the power module 30 drives the cleaning module 20 to move relative to the body 10 along the first direction (X1 / X2), the cleaning module 20 can switch between the first state and the second state; when the power module 30 drives the cleaning module 20 to move relative to the body 10 along the second direction Z, the cleaning module 20 can switch between the first state and the third state, or between the second state and the third state, and the first direction (X1 / X2) and the second direction Z intersect. It should be noted that, in some embodiments, the first direction (X1 / X2) can be a direction perpendicular to the travel direction Y of the cleaning robot 100, specifically, the first direction (X1 / X2) can be parallel to the width direction of the cleaning robot 100; the second direction Z can be the height direction of the cleaning robot 100, that is, the direction from the cleaning module 20 to the surface to be cleaned, or the direction from the surface to be cleaned to the cleaning module 20.

[0073] Specifically, in some embodiments, when the cleaning module 20 moves relative to the body 10 along the first direction (X1 / X2), the cleaning module 20 can switch between the first state and the second state, thereby, the cleaning module 20 can clean most of the position of the cleaning surface, reduce the blind spots of cleaning along the edges or corners, and thus improve the overall cleaning effect of the cleaning robot 100; when the cleaning module 20 moves relative to the body 10 along the second direction Z, the cleaning module 20 can switch between the first state and the third state, or switch between the second state and the third state, thereby enabling the cleaning module 20 to cross over objects such as protrusions that hinder the movement of the cleaning robot 100, thereby helping the cleaning robot 100 to adapt to different cleaning environments and cleaning needs, and improving the cleaning effect of the cleaning robot 100.

[0074] Please refer to Figure 4. In some embodiments, the body 10 is provided with an installation space 11, and the side of the body 10 is provided with an opening 13 connected to the installation space 11. At least a portion of the cleaning module 20 is disposed in the installation space 11. When the cleaning module 20 is in the second state, at least a portion of the cleaning module 20 extends from the opening 13 to the outside of the installation space 11.

[0075] Specifically, in some embodiments, the installation space 11 can be recessed from the side of the body 10 facing the surface to be cleaned toward a direction away from the surface to be cleaned. The cross-sectional shape of the installation space 11 is substantially the same as the cross-sectional shape of the cleaning module 20. For example, if the cross-sectional shape of the installation space 11 is a rectangle, the cross-sectional shape of the cleaning module 20 is also substantially a rectangle, thereby ensuring that the cleaning module 20 can be installed in the installation space 11 and can move relative to the body 10 in the installation space 11. Specifically, when the cleaning module 20 is in the second state, at least a portion of the cleaning module 20 can extend from the opening 13 to the outside of the installation space 11, thereby enabling the cleaning module 20 to clean the corners of the surface to be cleaned, thereby improving the cleaning effect of the cleaning robot 100.

[0076] Referring to FIG. 4 , in conjunction with FIG. 6 , FIG. 15 , or FIG. 19 , in certain embodiments, the power module 30 includes a driving member 31 and a transmission component 33. One end of the transmission component 33 is connected to the driving member 31, and the other end is connected to the cleaning module 20. The transmission component 33 is used to transmit the driving force of the driving member 31 to the cleaning module 20, thereby moving the cleaning module 20 relative to the body 10.

[0077] Specifically, in some embodiments, when the driver 31 is operating stably, the driving force generated by the driver 31 can be transmitted to the transmission component 33, and then transmitted to the cleaning module 20 through the transmission component 33. As a result, the driver 31 can drive the cleaning module 20 to move relative to the body 10 along the first direction (X1 / X2) via the transmission component 33, thereby enabling the cleaning module 20 to switch between the first state, the second state, and the third state. It should be noted that in some embodiments, the driver 31 can be a drive structure such as a motor or an electric push rod, wherein the motor includes but is not limited to a DC servo motor, an AC servo motor, and a stepper motor.

[0078] Please refer to Figure 9. In some embodiments, the transmission component 33 includes a connecting member 331 and a transmission member 333. One end of the transmission member 333 is connected to the driving member 31, and the other end is connected to the connecting member 331. The driving member 31 drives the connecting member 331 to move relative to the body 10 through the transmission member 333, thereby driving the cleaning module 20 to move relative to the body 10.

[0079] Specifically, in certain embodiments, when the driving member 31 is operating stably, the driving member 31 can drive the connecting member 331 to move relative to the main body 10 along the first direction (X1 / X2) via the transmission member 333, thereby driving the body 21 (cleaning module 20) to move relative to the main body 10. It will be understood that in some embodiments, the connecting member 331 can directly contact the cleaning module 20, thereby enabling the connecting member 331 to drive the cleaning module 20 to move relative to the main body 10. In other embodiments, the connecting member 331 and the cleaning module 20 are not in direct contact, but rather there is an interaction force between the connecting member 331 and the cleaning module 20, thereby enabling the connecting member 331 to drive the cleaning module 20 to move relative to the main body 10.

[0080] In some embodiments, the transmission member 333 and the connecting member 331 are integrally formed, that is, the transmission member 333 and the connecting member 331 are a single unitary structure, thereby improving the bonding strength between the transmission member 333 and the connecting member 331, preventing the connecting member 331 from falling off the transmission member 333 when the connecting member 331 drives the cleaning module 20 to move relative to the body 10, thereby improving the stability and reliability of the cleaning robot 100. In other embodiments, the transmission member 333 and the connecting member 331 can be connected together using a non-detachable connection method or a detachable connection method, wherein the non-detachable connection method includes but is not limited to bonding or welding; the detachable connection method includes but is not limited to a snap connection or a threaded connection.

[0081] In some embodiments, the transmission member 333 includes a gear 3331 and a rack 3333. The gear 3331 is connected to the driving member 31, and the rack 3333 is connected to the connecting member 331. The gear 3331 cooperates with the rack 3333. When the driving member 31 drives the gear 3331 to rotate, the gear 3331 drives the rack 3333 to move, thereby driving the connecting member 331 to move relative to the body 10. Specifically, in some embodiments, when the driving member 31 drives the gear 3331 to rotate, the gear 3331 can drive the rack 3333 to move in the first direction (X1 / X2), so that the rack 3333 drives the connecting member 331 to move in the first direction (X1 / X2) relative to the body 10, thereby enabling the connecting member 331 to drive the body 21 to move in the first direction (X1 / X2).

[0082] Please refer to Figure 10. In other embodiments, the transmission component 33 includes a connecting member 335, which is wound around the output shaft of the driving member 31, and the opposite ends of the connecting member 335 are connected to the cleaning module 20. The driving member 31 drives the cleaning module 20 to move relative to the body 10 through the connecting member 335.

[0083] Specifically, in some embodiments, the connecting member 335 may be a steel wire, and the transmission component 33 may further include a steel wire receiving disk 337. The steel wire receiving disk 337 is connected to the output shaft of the driving member 31 and can rotate with the output shaft. The connecting member 335 is arranged in the steel wire receiving disk 337, and the opposite ends of the connecting member 335 extend from the steel wire receiving disk 337 and are connected to the cleaning module 20. Therefore, when the driving member 31 is operating stably, the output shaft of the driving member 31 can drive the steel wire receiving disk 337 to rotate so that the connecting member 335 can pull the cleaning module 20 to move relative to the body 10, so that the cleaning module 20 can switch between the first state, the second state and the third state.

[0084] It is understandable that in other embodiments, the transmission component 33 may also include but is not limited to one or more transmission structures such as a screw assembly, a gear assembly, a worm gear transmission assembly, a chain transmission assembly and a pulley transmission assembly, which are not described in detail here.

[0085] Please refer to Figure 4, and in combination with Figure 6, Figure 15 or Figure 19, in some embodiments, the power module 30 also includes a buffer component 35. When the cleaning module 20 is in the second state and is subjected to an external force in the positive direction X1 along the first direction (X1 / X2), the buffer component 35 is used to buffer the external force in the positive direction X1 along the first direction (X1 / X2) exerted on the cleaning module 20.

[0086] Specifically, in some embodiments, when the cleaning module 20 is in the second state, the cleaning module 20 can clean the area along the edge of the wall. Therefore, during the cleaning process, the cleaning module 20 may collide with the wall, causing the cleaning module 20 to be subjected to an external force in the positive direction X1 along the first direction (X1 / X2); or, when the cleaning module 20 is in the second state, the cleaning module 20 can clean the area along the edge of the wall, and since in this state, the end of the cleaning module 20 can be in contact with the wall or the distance between the end and the wall is very small, if the wall is not a straight wall but a non-straight wall, for example, the cross-sectional shape of the wall is curved (including but not limited to an arc or a wave shape, etc.), the cleaning module 20 will also collide with the wall, causing the cleaning module 20 to be subjected to an external force in the positive direction X1 along the first direction (X1 / X2).

[0087] Among them, when the cleaning module 20 is subjected to an external force in the positive direction X1 along the first direction (X1 / X2), due to the reduction ratio of the driving component 31, the power module 30 cannot drive the cleaning module 20 to move in the positive direction X1 of the first direction (X1 / X2) in time to release the external force, which will cause the cleaning module 20 to be damaged under the action of the external force, affecting the normal operation of the cleaning robot 100. In the present application, when the cleaning module 20 is in the second state and is subjected to an external force in the positive direction X1 along the first direction (X1 / X2), the cleaning module 20 can move in the positive direction X1 of the first direction (X1 / X2), so that the buffer component 35 can buffer the external force in the positive direction X1 along the first direction (X1 / X2) subjected to the cleaning module 20, that is, the buffer component 35 can absorb or disperse the external force in the positive direction X1 along the first direction (X1 / X2) subjected to the cleaning module 20, thereby reducing the influence of the reduction ratio of the driving member 31, preventing the cleaning module 20 from being damaged, extending the service life of the cleaning module 20, and ensuring the normal operation of the cleaning robot 100. In addition, when the external force X1 in the positive direction along the first direction (X1 / X2) acting on the cleaning module 20 disappears, the buffer component 35 can also move the cleaning module 20 in the reverse direction X2 of the first direction (X1 / X2) so that the cleaning module 20 moves back to basically fit with the wall. That is to say, the setting of the buffer component 35 enables the cleaning module 20 to move along the change of the cross-sectional shape of the wall, so that the cleaning module 20 maintains a basically fit state with the wall, thereby improving the cleaning effect of the cleaning robot 100.

[0088] In some embodiments, the buffer assembly 35 includes an elastic member 351. When the cleaning module 20 is in the second state and is subjected to an external force in a positive direction X1 along the first direction (X1 / X2), the elastic member 351 is in an elastically deformed state. It should be noted that in some embodiments, the elastic member 351 includes at least one of the following: a spring, a spring, or a rubber member.

[0089] Specifically, in some embodiments, when the cleaning module 20 is in the second state and is subjected to an external force in the positive direction X1 along the first direction (X1 / X2), the cleaning module 20 can move toward the positive direction X1 of the first direction (X1 / X2) and cause the elastic member 351 to undergo elastic deformation (including stretching, compression or deformation, etc.). In this case, the elastic member 351 can generate elastic force, and the elastic force can act on the cleaning module 20 so that the cleaning module 20 has a tendency to move in the reverse direction X2 of the first direction (X1 / X2). When the external force in the positive direction X1 of the first direction (X1 / X2) applied to the cleaning module 20 disappears, for example, when the buffer assembly 35 causes the cleaning module 20 to move in the positive direction X1 of the first direction (X1 / X2) to overcome an obstacle, the elastic force can cause the cleaning module 20 to move back in the reverse direction X2 of the first direction (X1 / X2) to the position where the cleaning module 20 was in the second state, thereby ensuring the cleaning effect of the cleaning robot 100.

[0090] Referring to Figures 4 and 6 , in some embodiments, the cleaning robot 100 may further include a detection module 60, which is used to detect the current state of the cleaning module 20, including a first state, a second state, and a third state. It should be noted that in some embodiments, the detection module 60 may include, but is not limited to, a code disk, a laser detection sensor, a collision detection sensor, a distance sensor, and a pressure sensor.

[0091] The provision of the detection module 60 enables the cleaning robot 100 to obtain the current state of the cleaning module 20, thereby facilitating the timely and accurate adjustment of the state of the cleaning module 20 by the cleaning robot 100. In addition, the provision of the detection module 60 also enables the cleaning robot 100 to restrict the movement of the cleaning module 20 relative to the body 10, thereby preventing the cleaning module 20 from making an error in its movement relative to the body 10 during the process of adjusting the state of the cleaning module 20 by the cleaning robot 100, thereby preventing the cleaning module 20 from colliding with the body 10 or an external structure and being damaged, thereby ensuring the normal operation of the cleaning robot 100.

[0092] In some embodiments, the detection module 60 includes a code disk, which is disposed on the driving member 31 of the power module 30 and is used to detect the number of rotations of the driving member 31 to determine the current state of the cleaning module 20 .

[0093] Specifically, in some embodiments, a code disk may be provided on the output shaft of the driver 31, whereby the code disk can detect the number of rotations of the output shaft of the driver 31 and determine the current state of the cleaning module 20 based on the number of rotations. For example, when the cleaning module 20 is in the first state and the driver 31 starts working, the code disk can detect the number of rotations of the output shaft of the driver 31 to determine the current state of the cleaning module 20. For example, if the cleaning module 20 can switch from the first state to the second state when the output shaft of the driver 31 rotates a preset number of times, then when the code disk detects that the output shaft of the driver 31 has rotated the preset number of times, the code disk can determine that the current state of the cleaning module 20 is the second state.

[0094] In other embodiments, the detection module 60 includes a transmitter and a receiver, one of which is disposed on the main body 21 and the other is disposed on the fuselage 10, the transmitter is used to transmit a detection signal, and the receiver is used to receive the detection signal and indicate the current status of the cleaning module 20 according to the received detection signal.

[0095] Specifically, in some embodiments, the transmitter can continuously transmit a detection signal (e.g., infrared light or laser light). When the receiver changes from not receiving the detection signal transmitted by the transmitter to receiving the detection signal transmitted by the transmitter, it indicates that the transmitter and the receiver correspond. At this time, the receiver can determine the current state of the cleaning module 20. For example, the transmitter may include a first transmitter, a second transmitter, and a third transmitter, and the receiver may include a first receiver, a second receiver, and a third receiver. When the cleaning module 20 is in the first state, the first transmitter corresponds to the first receiver; when the cleaning module 20 is in the second state, the second transmitter corresponds to the second receiver; and when the cleaning module 20 is in the third state, the third transmitter corresponds to the third receiver.

[0096] The specific structure and installation of the cleaning robot 100 will be further described below with reference to the accompanying drawings.

[0097] Specific implementation method of this application 1

[0098] 4 and 6 , the cleaning robot 100 of the first embodiment further includes a guide module 40, which is disposed on the body 10 and includes a mating member 41. The cleaning module 20 includes a main body 21 and a movable member 23 disposed on the main body 21. The cleaning module 20 is disposed on the body 10 by mating with the movable member 23 and the guide module 40. When the cleaning module 20 is in the third state, the movable member 23 is supported on the mating member 41 to space the cleaning module 20 from the surface to be cleaned.

[0099] The cleaning module 20 of this embodiment can be driven by the power module 30 and switch between the first state, the second state and the third state. Since the cleaning module 20 is arranged on the fuselage 10 by cooperating with the guide module 40, and the guide module 40 has a matching member 41, the cleaning module 20 has a moving member 23 that cooperates with the matching member 41. When it is necessary to drive the cleaning module 20 to switch between the first state, the second state and the third state, it is only necessary to drive the cleaning module 20 to move along a preset direction. During this process, the moving member 23 moves within the guide module 40. When the moving member 23 moves to the point where it is carried on the matching member 41, the cleaning module 20 breaks away from contact with the surface to be cleaned and is in the third state. Therefore, compared with traditional cleaning robots, the cleaning module 20 in this embodiment can achieve cleaning within the normal area in the first state, and can improve the cleaning effect of the edges or corners after switching to the second state, and the cleaning module 20 switches to the third state in which it is lifted off the ground, which can improve the obstacle crossing ability of the cleaning robot 100, or according to the requirements of different cleaning scenarios, the cleaning module 20 can be driven away from the surface to be cleaned to avoid reverse X2 contamination of the surface to be cleaned.

[0100] Please continue to refer to Figures 4 and 6. In this embodiment, the power module 30 is used to drive the moving member 23 to move in the first direction (X1 / X2) in the guide module 40 so that the cleaning module 20 switches between the first state and the second state. When the moving member 23 abuts the matching member 41, the power module 30 is also used to drive the cleaning module 20 to continue to move along the first direction (X1 / X2), and drive the cleaning module 20 to move along the second direction Z through the cooperation of the moving member 23 and the matching member 41, so that the cleaning module 20 switches between the first state and the third state, or switches between the second state and the third state.

[0101] Specifically, in some embodiments, when the moving part 23 moves along the first direction (X1 / X2) in the guide module 40, the cleaning module 20 can switch between the first state and the second state, thereby, the cleaning module 20 can clean most of the position of the surface to be cleaned, reduce the blind spots of cleaning along the edges or corners, and thus improve the cleaning effect of the cleaning robot 100 as a whole; when the moving part 23 moves along the first direction (X1 / X2) in the guide module 40 until the moving part 23 cooperates with the mating part 41, the moving part 23 can drive the cleaning module 20 to move along the second direction Z, so that the cleaning module 20 can switch between the first state and the third state, or switch between the second state and the third state, thereby enabling the cleaning module 20 to cross over objects such as protrusions that hinder the movement of the cleaning robot 100, thereby helping the cleaning robot 100 to adapt to different cleaning environments and cleaning needs, and improving the cleaning effect of the cleaning robot 100.

[0102] For example, please refer to Figure 14(a), "A" in Figure 14(a) represents the relative position between the moving part 23 and the matching part 41 when the cleaning module 20 is in the first state; "B" in Figure 14(a) represents the relative position between the moving part 23 and the matching part 41 when the cleaning module 20 is in the second state; "C" in Figure 14(a) represents the relative position between the moving part 23 and the matching part 41 when the cleaning module 20 is in the third state. In some embodiments, when the cleaning module 20 is in the first state, the power module 30 can drive the moving part 23 to move in the opposite direction X2 of the first direction (X1 / X2) relative to the body 10, so that the moving part 23 moves from A to B, thereby enabling the cleaning module 20 to switch from the first state to the second state; or the power module 30 can drive the moving part 23 to move in the positive direction X1 of the first direction (X1 / X2) relative to the body 10, so that the moving part 23 moves from A to C, thereby enabling the cleaning module 20 to switch from the first state to the third state.

[0103] Please refer to Figure 14(b). In other embodiments, "A" in Figure 14(b) represents the relative position between the moving part 23 and the matching part 41 when the cleaning module 20 is in the first state; "B" in Figure 14(b) represents the relative position between the moving part 23 and the matching part 41 when the cleaning module 20 is in the second state; "C" in Figure 14(b) represents the relative position between the moving part 23 and the matching part 41 when the cleaning module 20 is in the third state. When the cleaning module 20 is in the first state, the power module 30 can drive the cleaning module 20 to move relative to the body 10 in the opposite direction X2 of the first direction (X1 / X2) until the moving part 23 cooperates with the matching part 41, so that the cleaning module 20 directly switches from the first state to the third state, and the moving part 23 of the cleaning module 20 moves from position A to position C; or the power module 30 can drive the cleaning module 20 to move relative to the body 10 in the opposite direction X2 of the first direction (X1 / X2) until the moving part 23 cooperates with the matching part 41, so that the cleaning module 20 switches from the first state to the third state, and then continues to drive the cleaning module 20 to move in the opposite direction X2 of the first direction (X1 / X2), so that the cleaning module 20 switches from the third state to the second state, and the moving part 23 of the cleaning module 20 moves from position C to movement B. When the cleaning module 20 is in the second state, the power module 30 can drive the cleaning module 20 to move relative to the body 10 along the positive direction X1 of the first direction (X1 / X2) until the moving part 23 cooperates with the matching part 41, so that the cleaning module 20 directly switches from the second state to the third state, and the moving part 23 of the cleaning module 20 moves from position B to position C; or the power module 30 can drive the cleaning module 20 to move relative to the body 10 along the positive direction X1 of the first direction (X1 / X2) until the moving part 23 cooperates with the matching part 41, so that the cleaning module 20 switches from the second state to the third state, and then continues to drive the cleaning module 20 to move along the positive direction X1 of the first direction (X1 / X2), so that the cleaning module 20 switches from the third state to the first state, and the moving part 23 of the cleaning module 20 moves from position C to position A.

[0104] Please refer to Figures 4 and 6. In some embodiments, the guide module 40 further includes a guide member 43. The matching member 41 is disposed on the guide member 43. The guide member 43 is used to guide the moving member 23 to move relative to the body 10, thereby driving the body 21 to move relative to the body 10.

[0105] Specifically, in some embodiments, when the power module 30 drives the moving part 23 to move in the guide part 43 relative to the fuselage 10 along the first direction (X1 / X2), the moving part 23 can drive the main body 21 to move along the first direction (X1 / X2) relative to the fuselage 10, so that the cleaning module 20 switches between the first state and the second state; when the power module 30 drives the moving part 23 to move in the guide part 43 relative to the fuselage 10 along the first direction (X1 / X2) until the moving part 23 abuts against the mating part 41, the moving part 23 can cooperate with the mating part 41 and move to be carried by the mating part 41, so that the cleaning module 20 can move in the second direction Z, so that the cleaning module 20 can switch between the first state and the third state, or switch between the second state and the third state.

[0106] In some embodiments, as shown in Figures 6, 13(a) and 13(b), the guide members 43 may include two, and the two guide members 43 are arranged on opposite sides of the width direction of the cleaning module 20. The width direction of the cleaning module 20 is substantially perpendicular to the width direction of the cleaning robot 100. Here, "substantially perpendicular" means that the angle between the two is 90°±5° within the range allowed by the manufacturing process or assembly process error. Exemplarily, the two guide members 43 are symmetrically arranged on opposite sides of the width direction of the cleaning module 20. In this way, the force on the cleaning module 20 can be more balanced, which is beneficial to the stability of the cleaning module 20 during the movement process.

[0107] In other embodiments, there may be only one guide member 43, which may be disposed on the top of the cleaning module 20 and located in the middle of the width direction of the cleaning module 20, where the width direction of the cleaning module 20 is substantially perpendicular to the width direction of the cleaning robot 100. Similarly, disposing the guide member 43 in the middle of the width direction of the cleaning module 20 may also facilitate force balance on the cleaning module 20.

[0108] Referring to Figures 4 and 6, in some embodiments, a guide groove 431 is provided on the body 10, the guide groove 431 forms a guide member 43, the centerline of the guide groove 431 extends in a first direction (X1 / X2), and the mating member 41 is disposed in the guide groove 431. Specifically, in some embodiments, at least a portion of the movable member 23 is disposed in the guide groove 431 and is capable of moving relative to the body 10 along the first direction (X1 / X2) in the guide groove 431. The guide groove 431 provided on the body 10 and forming the guide member 43 enable the cleaning robot 100 to guide the movable member 23 without having to provide excessive structural components, thereby simplifying the installation steps of the cleaning robot 100.

[0109] In other embodiments, the guide member 43 is mounted on the fuselage 10, and a guide groove 431 is provided on the guide member 43, the centerline of the guide groove 431 extends in the first direction (X1 / X2), and the matching member 41 is disposed in the guide groove 431. Specifically, in some embodiments, at least a portion of the movable member 23 is disposed in the guide groove 431 and is capable of moving relative to the fuselage 10 in the guide groove 431 along the first direction (X1 / X2). In some embodiments, the guide member 43 and the fuselage 10 can be combined together in a non-detachable connection manner, thereby enhancing the bonding strength between the guide member 43 and the fuselage 10, preventing the guide member 43 from falling off from the fuselage 10 when the cleaning module 20 is disposed on the fuselage 10, and thereby ensuring the stability and reliability of the installation of the cleaning robot 100. Non-detachable connection methods include, but are not limited to, bonding or welding. In other embodiments, the guide member 43 and the body 10 may be connected in a detachable manner, so that the guide member 43 can be easily removed and replaced when it is damaged (e.g., due to collision, wear, or deformation), thereby ensuring the normal operation of the cleaning robot 100. The detachable connection method includes but is not limited to a threaded connection or a snap connection.

[0110] In some further embodiments, the guide member 43 is mounted on the fuselage 10. Wherein, the guide member 43 includes a chain or a rack, and the extending direction of the chain or the rack is a first direction (X1 / X2), and the matching member 41 is arranged on the chain or the rack. Specifically, in some embodiments, the moving member 23 can cooperate with the chain or the rack and move along the chain or the rack relative to the fuselage 10 along the first direction (X1 / X2). In one example, the moving member 23 can be a gear, and the gear meshes with the chain or the rack and can move relative to the chain or the rack. It is understandable that in other embodiments, the guide member 43 can also be other elements that can guide the moving member 23 to move relative to the fuselage 10 along the first direction (X1 / X2), and examples are not given one by one here.

[0111] In addition, in some embodiments, the mating member 41 can be integrally formed with the guide member 43, that is, the mating member 41 and the guide member 43 are a single unitary structure, thereby improving the bonding strength between the mating member 41 and the guide member 43, preventing the mating member 41 from falling off the guide member 43 when the moving member 23 is mated with the mating member 41, thereby improving the stability and reliability of the cleaning robot 100. In other embodiments, the mating member 41 and the guide member 43 can be connected together using a non-detachable connection or a detachable connection, wherein the non-detachable connection includes but is not limited to bonding or welding, and the detachable connection includes but is not limited to a snap connection or a threaded connection.

[0112] In certain embodiments, when the cleaning module 20 includes a tracked cleaning member, the tracked cleaning member can be disposed on the body 10 via a guide groove 431. The tracked cleaning member can move relative to the body 10 in a first direction (X1 / X2) within the guide groove 431. Since tracked cleaning members are generally heavy, the guide groove 431 can bear the weight and guide the tracked cleaning member. Furthermore, since the centerline of the guide groove 431 extends in the first direction (X1 / X2), the guide groove 431 can better guide the tracked cleaning member, reduce shaking or movement of the tracked cleaning member during movement relative to the body 10, and improve the stability of the tracked cleaning member relative to the body 10. In addition, the setting of the guide groove 431 makes it possible for the cleaning module 20 including the crawler cleaning component to be removed from the body 10 of the cleaning robot 100. After the lateral limit of the cleaning module 20 is released, the cleaning module 20 can be slid out along the extension direction of the guide groove 431. This can also facilitate the installation and disassembly of the crawler cleaning component on the body 10, reduce the difficulty of loading and unloading, and improve the loading and unloading efficiency.

[0113] Referring to Figures 6, 14(a) and 14(b), in some embodiments, the guide groove 431 includes a first side wall 433 and a second side wall 435 relative to each other in the second direction Z. In the second direction Z, the first side wall 433 is closer to the surface to be cleaned than the second side wall 435. The matching member 41 is disposed on the first side wall 433. When the moving member 23 abuts the matching member 41, the moving member 23 can move along the matching member 41 to be supported on the matching member 41. Exemplarily, the top surface of the matching member 41 can be used to support the moving member 23, and its surface can be a flat surface or a curved surface.

[0114] Specifically, in some embodiments, the movable part 23 can be carried on the first side wall 433 under the action of gravity, and the movable part 23 can move relative to the body 10 along the first direction (X1 / X2) on the first side wall 433. When the movable part 23 moves relative to the body 10 along the first direction (X1 / X2) until it abuts against the mating part 41, the movable part 23 can continue to move along the mating part 41 until it is carried on the mating part 41, that is, the movable part 23 can move along the mating part 41 to the top of the mating part 41 (the side of the mating part 41 opposite to the second side wall 435). Thus, the movable part 23 can drive the main body 21 to move along the second direction Z, thereby enabling the cleaning module 20 to switch from the first state to the third state, or enabling the cleaning module 20 to switch from the second state to the third state.

[0115] In some embodiments, as shown in Figures 14 (a) and 14 (b), the fitting 41 includes a projection, which includes a first surface 411411 and a second surface 413413 opposite to each other in a first direction (X1 / X2), and the first surface 411 and / or the second surface 413 are tilted, and the first surface 411 and / or the second surface 413 are used to guide the movement of the movable member 23 to be carried on the projection. Wherein, the first surface 411 and / or the second surface 413 are tilted, on the one hand, the stability of the movement of the movable member 23 along the fitting 41 can be improved, so that the movable member 23 can gradually climb onto the fitting 41, thereby improving the stability of the process of state switching of the cleaning module 20; on the other hand, compared to the first surface 411 and / or the second surface 413 not being tilted, the power consumption required for the power module 30 to drive the movable member 23 to move along the fitting 41 in this embodiment is smaller. In addition, the tilted arrangement of the first surface 411 and / or the second surface 413 can also prevent the movable member 23 from getting stuck when abutting against the mating member 41, thereby preventing the power module 30 from burning out or other faults, thereby improving the safety of the power module 30 and extending the service life of the power module 30. Specifically, in some embodiments, the direction from the first surface 411 to the second surface 413 is the same as the positive direction X1 of the first direction (X1 / X2). When the first surface 411 is tilted, along the positive direction X1 of the first direction (X1 / X2), the distance between the first surface 411 and the surface to be cleaned in the second direction Z gradually increases; when the second surface 413 is tilted, along the positive direction X1 of the first direction (X1 / X2), the distance between the second surface 413 and the surface to be cleaned in the second direction Z gradually decreases. In which, the protrusion can protrude and extend from the first side wall 433 toward the second side wall 435. When the movable part 23 moves relative to the body 10 along the first direction (X1 / X2) until it abuts the first surface 411 or the second surface 413, the movable part 23 can move along the first surface 411 or the second surface 413 toward the top of the protrusion (the side of the protrusion opposite to the second side wall 435) until the movable part 23 can be supported on the top of the protrusion, thereby enabling the cleaning module 20 to switch from the first state to the third state, or enabling the cleaning module 20 to switch from the second state to the third state.

[0116] In one example, when the cleaning module 20 moves relative to the body 10 along the positive direction X1 of the first direction (X1 / X2), it can switch between the first state and the third state, and when moving in the opposite direction X2 of the first direction (X1 / X2), it can switch between the first state and the second state, and the first surface 411 is tilted, that is, the first surface 411 can guide the moving member 23 to move to be carried on the bump. In another example, when the cleaning module 20 moves relative to the body 10 along the opposite direction X2 of the first direction (X1 / X2), it can switch from the first state to the third state and the second state in sequence, the first surface 411 and the second surface 413 can both be tilted, that is, the moving member 23 can move from the first side wall 433 along the second surface 413 to the top of the bump, and then move from the top of the bump along the first surface 411 to the first side wall 433.

[0117] In some embodiments, the longitudinal section of the mating part 41 cut by a plane is trapezoidal, and the plane is formed by a straight line extending along the first direction (X1 / X2) and a straight line extending along the second direction Z. The upper side of the trapezoid corresponds to the surface of the mating part 41 for supporting the moving part 23, the side sides of the trapezoid correspond to the first surface 411 and the second surface 413, and the upper side of the trapezoid is smaller than the lower side of the trapezoid.

[0118] Specifically, in some embodiments, the lower side of the trapezoid is connected to the first side wall 433. When the movable member 23 moves relative to the body 10 along the first direction (X1 / X2) until it abuts the side of the trapezoid, the movable member 23 can move along the side of the trapezoid to be supported on the upper side of the trapezoid, thereby enabling the cleaning module 20 to switch between the first state and the third state, or between the second state and the third state.

[0119] In other embodiments, the mating member 41 includes a projection, which includes a first surface 411 and a second surface 413 opposite to each other in a first direction (X1 / X2), and the first surface 411 and / or the second surface 413 are arc-shaped. Specifically, in some embodiments, the projection can protrude and extend from the first side wall 433 toward the second side wall 435. When the moving member 23 moves relative to the body 10 along the first direction (X1 / X2) until it abuts against the first surface 411 or the second surface 413, the moving member 23 can move along the first surface 411 or the second surface 413 toward the top of the projection (the side of the projection opposite to the second side wall 435) until the moving member 23 can be supported on the top of the projection, thereby enabling the cleaning module 20 to switch from the first state to the third state, or enabling the cleaning module 20 to switch from the second state to the third state.

[0120] For example, the mating member 41 can be spherical or hemispherical, and the moving member 23 can be spherical or hemispherical. When the moving member 23 moves on the mating member 41, the convex curved surface of the moving member 23 contacts the convex curved surface of the mating member 41. Guided by the convex curved surface of the mating member 41, the moving member 23 can climb to the top of the mating member 41, thereby switching the cleaning module 20 between the first state and the third state, or between the second state and the third state.

[0121] The structural description of the moving part 23 and the matching part 41 in the above embodiments of the present application is for example only and is not particularly limited in the present application. It is sufficient as long as the matching part 41 protrudes away from the direction of the surface to be cleaned and has a guiding surface for guiding the moving part 23 to climb.

[0122] In certain embodiments, moving member 23 can comprise pulley or roller, and when moving member 23 was pulley, the periphery of moving member 23 was convex cambered surface, and convex cambered surface contacts with fitting 41, and contact area is less, thereby can reduce the frictional force that moving member 23 moves on fitting 41, make the motion process of moving member 23 more smooth.And when moving member 23 was roller, the periphery of moving member 23 was convex cambered surface, and moving member 23 has the connecting shaft that is connected with cleaning module 20, and rotation is sleeved on the axle sleeve of connecting shaft, the periphery of axle sleeve is convex cambered surface, and axle sleeve can rotate around connecting shaft.In the process that moving member 23 moves, moving member 23 itself rotates, and is the form of pulley compared to moving member 23, and roller-type moving member 23 is owing to can rotate in the process of moving, therefore, the wearing and tearing of moving member 23 in the process that moves in guide module 40 can be less, is conducive to improving the service life of moving member 23, reduces maintenance cost.

[0123] Refer to Fig. 6 and Fig. 13 (a), in certain embodiments, the installation shell 214 is included in a first side 2141 and a second side 2143 opposite to each other in the width direction of the cleaning module 20, and the first side 2141 of the installation shell 214 and the second side 2143 of the installation shell 214 are both provided with two moving members 23, and the two moving members 23 are spaced apart along a first direction (X1 / X2). The matching member 41 is relative to the moving member 23, and the two matching members 41 relative to the moving member 23 on the first side 2141 of the installation shell 214 are spaced apart along a first direction (X1 / X2), and the two matching members 41 relative to the moving member 23 on the second side 2143 of the installation shell 214 are spaced apart along a first direction (X1 / X2). Thus, compared to a case where only one movable member 23 is provided on the first side 2141 of the mounting shell 214 and the second side 2143 of the mounting shell 214, the movement of the movable member 23 relative to the body 10 in this embodiment is more stable, which can prevent the cleaning module 20 from getting stuck during the movement relative to the body 10, thereby improving the stability and reliability of the cleaning robot 100 and ensuring the cleaning effect of the cleaning robot 100. The first side 2141 of the mounting shell 214 can be the same as the first side of the body 21, and the second side 2143 of the mounting shell 214 can be the same as the second side of the body 21.

[0124] The following describes in detail how to drive the cleaning module 20 to move relative to the main body 10 in this embodiment.

[0125] Referring to Figures 6 and 13(b), in some embodiments, the body 21 is provided with a limiting slot 215. At least a portion of the connecting member 331 of the transmission component 33 is disposed within the limiting slot 215. The driving member 31 drives the connecting member 331 to move relative to the body 10 via the transmission member 333 of the transmission component 33, thereby driving the body 21 to move relative to the body 10.

[0126] Specifically, in some embodiments, along the reverse direction X2 of the first direction (X1 / X2), the limiting groove 215 includes a first limiting side wall 2151 and a second limiting side wall 2153 in sequence. When the driving member 31 operates stably, the driving member 31 can drive the connecting member 331 to move relative to the fuselage 10 along the first direction (X1 / X2) through the transmission member 333, so as to drive the main body 21 to move relative to the fuselage 10. Among them, when the driving member 31 drives the connecting member 331 to move in the positive direction X1 of the first direction (X1 / X2) relative to the fuselage 10 through the transmission member 333, the connecting member 331 can cooperate with the first limiting side wall 2151, thereby driving the main body 21 to move in the positive direction X1 of the first direction (X1 / X2) relative to the fuselage 10; when the driving member 31 drives the connecting member 331 to move in the reverse direction X2 of the first direction (X1 / X2) relative to the fuselage 10 through the transmission member 333, the connecting member 331 can cooperate with the second limiting side wall 2153, thereby driving the main body 21 to move in the reverse direction X2 of the first direction (X1 / X2) relative to the fuselage 10.

[0127] It is worth noting that, in this embodiment, the connection member 331 cooperates with the first limiting side wall 2151, which only means that there is an interaction force between the connection member 331 and the first limiting side wall 2151, and does not require the connection member 331 to be in direct contact with the first limiting side wall 2151. Similarly, the connection member 331 cooperates with the second limiting side wall 2153, which only means that there is an interaction force between the connection member 331 and the second limiting side wall 2153, and does not require the connection member 331 to be in direct contact with the second limiting side wall 2153.

[0128] It should be noted that, in certain embodiments, when the body 21 moves relative to the body 10 along the first direction (X1 / X2) or the second direction Z, at least a portion of the connector 331 is always located in the limiting groove 215, thereby preventing the connector 331 from being separated from the limiting groove 215, thereby ensuring the stability of the power module 30 driving the cleaning module 20 to move relative to the body 10. Those skilled in the art can design specific structures for the limiting groove 215 and the connector 331 so that when the body 21 moves relative to the body 10 along the first direction (X1 / X2) or the second direction Z, at least a portion of the connector 331 is always located in the limiting groove 215. For example, the limiting groove 215 can be designed to be relatively high, and the thickness of the connecting member 331 can be slightly reduced, so that in the height direction of the cleaning robot 100, space can be reserved in the limiting groove 215 for the connecting member 331 to move relative to the limiting groove 215 in the height direction of the cleaning robot 100, that is, the cleaning module 20 can be allowed to move relative to the body 10 in the height direction of the cleaning robot 100. A limiting cover (not shown) can even be provided on the upper portion of the limiting groove 215 to prevent the connecting member 331 from falling out.

[0129] Please refer to Figures 6, 13(a) and 13(b). In some embodiments, the elastic member 351 is disposed in the limiting groove 215, and the elastic member 351 is connected to both the connecting member 331 and the first limiting side wall 2151, or the elastic member 351 is connected to both the connecting member 331 and the second limiting side wall 2153.

[0130] In one example, as shown in FIG6 , when the elastic member 351 includes a tension spring, the tension spring is fixedly connected to both the connecting member 331 and the first limiting side wall 2151. For example, a tension spring with relatively high stiffness can be selected. During the lateral movement of the cleaning module 20, that is, during the movement of the cleaning module 20 in the opposite direction X2 of the first direction (X1 / X2), the tension spring can be stretched to a certain extent. The connecting member 331 pulls the cleaning module 20 to move laterally via the tension spring. After the cleaning module 20 has moved laterally into place, the tension spring still has some stretch margin. In which, after the cleaning module 20 is moved sideways into position, the connecting member 331 is spaced from the second limiting side wall 2153 along the first direction (X1 / X2). In this way, when the cleaning module 20 is in the second state and is subjected to an external force in the positive direction X1 along the first direction (X1 / X2), the cleaning module 20 can move in the positive direction X1 of the first direction (X1 / X2). At this time, the tension spring can continue to be stretched to absorb the external force exerted on the cleaning module 20. When the external force in the positive direction X1 of the first direction (X1 / X2) exerted on the cleaning module 20 disappears, the elastic force generated by the stretching of the tension spring can enable the cleaning module 20 to move back to the position in the reverse direction X2 of the first direction (X1 / X2) to the position where the cleaning module 20 is in the second state. That is, the elastic force generated by the stretching of the tension spring can enable the cleaning module 20 to move back to the position in the reverse direction X2 of the first direction (X1 / X2) to which the cleaning module 20 is basically in contact with the wall, thereby ensuring the cleaning effect of the cleaning robot 100. It should be noted that, in some embodiments, when the elastic member 351 includes a tension spring, the tension spring is fixedly connected to the connecting member 331 and the first limiting side wall 2151. The fixed connection includes a detachable connection or a non-detachable connection.

[0131] In another example, as shown in Figures 13(a) and 13(b), when the elastic member 351 includes a compression spring, the compression spring is connected to both the connecting member 331 and the second limiting side wall 2153, and the compression spring is connected to at least one of the connecting member 331 and the second limiting side wall 2153 in abutting manner. For example, a compression spring with greater stiffness can be selected. During the lateral movement of the cleaning module 20, that is, during the movement of the cleaning module 20 in the opposite direction X2 of the first direction (X1 / X2), the compression spring can be compressed to a certain extent. The connecting member 331 pushes the cleaning module 20 to move laterally through the compression spring. After the cleaning module 20 moves laterally into place, the compression spring still has a compression margin. Among them, after the cleaning module 20 moves sideways into position, along the first direction (X1 / X2), the connecting member 331 is spaced from the second limiting side wall 2153. In this way, when the cleaning module 20 is in the second state and is subjected to an external force in the positive direction X1 along the first direction (X1 / X2), the cleaning module 20 can move in the positive direction X1 of the first direction (X1 / X2). At this time, the compression spring can continue to be compressed to absorb the external force applied to the cleaning module 20. When the external force applied to the cleaning module 20 in the positive direction X1 of the first direction (X1 / X2) disappears, the elastic force generated by the compression of the compression spring can enable the cleaning module 20 to move back to the position in the reverse direction X2 of the first direction (X1 / X2) to the position where the cleaning module 20 is in the second state. That is, the elastic force generated by the compression of the compression spring can enable the cleaning module 20 to move back to the position in the reverse direction X2 of the first direction (X1 / X2) to which the cleaning module 20 is basically in contact with the wall, thereby ensuring the cleaning effect of the cleaning robot 100. It should be noted that, in some embodiments, when the elastic member 351 includes a compression spring, the compression spring and the connecting member 331 can be fixedly connected, and the compression spring and the second limiting side wall 2153 can be abutted without being fixedly connected, or, the compression spring and the connecting member 331 can be abutted, and the compression spring and the second limiting side wall 2153 can be fixedly connected, or, the compression spring and the connecting member 331 and the second limiting side wall 2153 can all abut against each other, so that the cleaning module 20 can be easily moved relative to the body 10 along the height direction of the cleaning robot 100.

[0132] Please refer to FIG. 6 and FIG. 10 . In other embodiments, when the transmission component 33 includes a connecting member 335 , the elastic member 351 is disposed on the connecting member 335 .

[0133] Specifically, referring to Figures 13(a) and 13(b), in some embodiments, the cleaning module 20 includes a first end and a second end that are opposite to each other in the positive direction X1 of the first direction (X1 / X2). The elastic member 351 is disposed on the connecting member 335 and is close to the first end 201 of the cleaning module 20; or, the elastic member 351 is disposed on the connecting member 335 and is close to the second end 203 of the cleaning module 20. In which, when the cleaning module 20 is in the second state and is subjected to an external force in the positive direction X1 along the first direction (X1 / X2), the cleaning module 20 can move in the positive direction X1 of the first direction (X1 / X2). In this case, the elastic member 351 can undergo elastic deformation to achieve buffering of the external force in the positive direction X1 along the first direction (X1 / X2) subjected to the cleaning module 20, that is, the elastic member 351 can produce elastic deformation to absorb the external force subjected to the cleaning module 20, thereby preventing the cleaning module 20 from being damaged and ensuring the stability and reliability of the cleaning robot 100.

[0134] In one example, when the elastic member 351 is disposed on the connecting member 335 and proximate to the second end 203 of the cleaning module 20, the elastic member 351 can be a tension spring. For example, a tension spring with relatively high stiffness can be selected. During the lateral movement of the cleaning module 20, that is, during the movement of the cleaning module 20 in the opposite direction X2 of the first direction (X1 / X2), the tension spring can be stretched to a certain extent. The connecting member 331 pulls the cleaning module 20 to move laterally via the tension spring. After the cleaning module 20 has moved laterally into position, the tension spring still has some stretch margin. When the cleaning module 20 is in the second state and is subjected to an external force in the positive direction X1 along the first direction (X1 / X2), the cleaning module 20 can move in the positive direction X1 of the first direction (X1 / X2). At this time, the tension spring can continue to be stretched to absorb the external force exerted on the cleaning module 20. When the external force in the positive direction X1 of the first direction (X1 / X2) exerted on the cleaning module 20 disappears, the elastic force generated by the stretching of the tension spring can enable the cleaning module 20 to move back to the reverse direction X2 of the first direction (X1 / X2) to the position where the cleaning module 20 is in the second state. That is, the elastic force generated by the stretching of the tension spring can enable the cleaning module 20 to move back to the reverse direction X2 of the first direction (X1 / X2) to the position where the cleaning module 20 is basically in contact with the wall, thereby ensuring the cleaning effect of the cleaning robot 100.

[0135] Please refer to Figures 4, 6 and 11. In some embodiments, the cleaning robot 100 also includes a moving module 50 that cooperates with the cleaning module 20. The driving member 31 is used to drive the moving module 50 to move relative to the body 10 to drive the cleaning module 20 to move relative to the body 10.

[0136] Specifically, in some embodiments, the mobile module 50 is movably disposed on the fuselage 10 and can be connected to the transmission component 33 of the power module 30. Among them, when the driving member 31 is operating stably, the driving force generated by the driving member 31 can drive the mobile module 50 to move relative to the fuselage 10 along the first direction (X1 / X2) through the transmission component 33, so as to drive the cleaning module 20 to move relative to the fuselage 10, so that the cleaning robot 100 can adjust the state in the cleaning module 20 according to the specific working conditions of the surface to be cleaned, thereby improving the applicability of the cleaning robot 100 and ensuring the cleaning effect of the cleaning robot 100. For example, when the driving member 31 drives the mobile module 50 to move relative to the fuselage 10 along the first direction (X1 / X2) through the transmission component 33, the cleaning module 20 can switch to the second state to clean the corners of the surface to be cleaned.

[0137] Please refer to Figure 12. In some embodiments, the buffer assembly 35 includes an anti-collision member 353, which is arranged on the fuselage 10 and can move relative to the fuselage 10. At least a portion of the movable module 50 is arranged on the anti-collision member 353 and can move relative to the anti-collision member 353. The opposite ends of the connecting member 335 of the transmission component 33 of the power module 30 are connected to the anti-collision member 353. The elastic member 351 of the buffer assembly 35 is connected between the anti-collision member 353 and the movable module 50 along the first direction (X1 / X2).

[0138] Specifically, in some embodiments, the movable module 50 includes a first end 501 and a second end 503 in sequence in the positive direction X1 of the first direction (X1 / X2), and the first end 501 of the movable module 50 is opposite to the second end 503 of the movable module 50. If the anti-collision member 353 is not provided, that is, the opposite ends of the connecting member 335 are directly connected to the first end 501 of the movable module 50 and the second end 503 of the movable module 50, then when the cleaning module 20 is in the second state and is subjected to an external force in the positive direction X1 of the first direction (X1 / X2), the cleaning module 20 can move in the positive direction X1 of the first direction (X1 / X2), but the driving member 31 is not working, which will cause the connecting member 335 (steel wire) near the second end 503 of the movable module 50 to bend and deform, or even to become tangled, thereby affecting the normal operation of the power module 30. In the embodiment shown in the figure and the figure, when the cleaning module 20 is in the second state and is subjected to an external force in the positive direction X1 along the first direction (X1 / X2), the movable module 50 can move along the positive direction X1 toward the first direction (X1 / X2) relative to the anti-collision member 353 with the cleaning module 20. At the same time, the elastic member 351 can undergo elastic deformation to achieve buffering of the external force in the positive direction X1 along the first direction (X1 / X2) exerted on the cleaning module 20, that is, the elastic member 351 can produce elastic deformation to absorb the external force exerted on the cleaning module 20. In this case, the anti-collision member 353 does not move relative to the fuselage 10, thereby preventing the connecting member 335 from bending and deforming, thereby ensuring the stability and reliability of the power module 30.

[0139] It can be understood that when the driving member 31 drives the anti-collision member 353 to move along the first direction (X1 / X2) through the connecting member 335, the anti-collision member 353 can drive the movable module 50 to move along the first direction (X1 / X2) to drive the cleaning module 20 to move relative to the body 10, thereby enabling the cleaning module 20 to switch between the first state, the second state and the third state.

[0140] In one example, one end of the elastic member 351 is connected to the second end 503 of the movable module 50, and the other end is connected to a position of the anti-collision member 353 opposite to the second end 503 of the movable module 50. In this case, the elastic member 351 can be a tension spring. For example, a tension spring with greater rigidity can be selected. During the lateral movement of the cleaning module 20, that is, during the movement of the cleaning module 20 in the opposite direction X2 of the first direction (X1 / X2), the tension spring can be stretched to a certain extent. The connecting member 335 pulls the movable module 50 to move via the tension spring, thereby driving the lateral movement of the cleaning module 20. After the cleaning module 20 has moved to its proper position, the tension spring still has a certain amount of stretch. When the cleaning module 20 is in the second state and is subjected to an external force in the positive direction X1 along the first direction (X1 / X2), the cleaning module 20 and the moving module 50 can move together in the positive direction X1 of the first direction (X1 / X2). At this time, the tension spring can continue to be stretched to absorb the external force exerted on the cleaning module 20. When the external force in the positive direction X1 of the first direction (X1 / X2) exerted on the cleaning module 20 disappears, the elastic force generated by the stretching of the tension spring can enable the cleaning module 20 to move back to the position in the reverse direction X2 of the first direction (X1 / X2) to the position where the cleaning module 20 is in the second state. That is, the elastic force generated by the stretching of the tension spring can enable the cleaning module 20 to move back to the position in the reverse direction X2 of the first direction (X1 / X2) to the position where the cleaning module 20 is basically in contact with the wall, thereby ensuring the cleaning effect of the cleaning robot 100.

[0141] In another example, one end of the elastic member 351 is connected to the first end 501 of the movable module 50, and the other end is connected to the position of the anti-collision member 353 opposite to the first end 501 of the movable module 50. In this case, the elastic member 351 can be a compression spring. For example, a compression spring with a relatively large stiffness can be selected. During the lateral movement of the cleaning module 20, that is, during the movement of the cleaning module 20 in the opposite direction X2 of the first direction (X1 / X2), the compression spring can be compressed to a certain extent. The connecting member 335 pushes the movable module 50 to move via the compression spring, thereby driving the lateral movement of the cleaning module 20. After the cleaning module 20 has moved to its proper position, the compression spring still has a certain degree of compression. When the cleaning module 20 is in the second state and is subjected to an external force in the positive direction X1 along the first direction (X1 / X2), the cleaning module 20 and the moving module 50 can move together in the positive direction X1 of the first direction (X1 / X2). At this time, the compression spring can continue to be compressed to absorb the external force applied to the cleaning module 20. When the external force applied to the cleaning module 20 in the positive direction X1 along the first direction (X1 / X2) disappears, the elastic force generated by the compression of the compression spring can enable the cleaning module 20 to move back to the position in the reverse direction X2 of the first direction (X1 / X2) to the position where the cleaning module 20 is in the second state. That is, the elastic force generated by the compression of the compression spring can enable the cleaning module 20 to move back to the position in the reverse direction X2 of the first direction (X1 / X2) to which the cleaning module 20 is basically in contact with the wall, thereby ensuring the cleaning effect of the cleaning robot 100.

[0142] In addition, in some embodiments, the anti-collision member 353 is provided with an anti-collision groove 3531, and at least a portion of the movable module 50 is disposed in the anti-collision groove 3531. The elastic member 351 can be disposed between the sidewall of the anti-collision groove 3531 and the movable module 50. The provision of the anti-collision groove 3531 can, on the one hand, reduce the space occupied by the anti-collision member 353 and the movable module 50, thereby facilitating the miniaturization of the cleaning robot 100. On the other hand, it can facilitate the installation and positioning of the movable module 50 on the anti-collision member 353, thereby improving the assembly efficiency of the cleaning robot 100.

[0143] Specific implementation method 2 of this application

[0144] Referring to Figures 4 and 15 , the cleaning module 20 in the second embodiment is provided with a matching member 25. The cleaning robot 100 further includes a mobile module 50, which is movably disposed on the body 10 and capable of cooperating with the cleaning module 20. The mobile module 50 is provided with a linkage member 53 that cooperates with the matching member 25. The power module 30 is used to drive the mobile module 50 to move relative to the body 10 and drive the cleaning module 20 to move relative to the body 10, so that the cleaning module 20 switches between the first state, the second state, and the third state. It should be noted that in some embodiments, when the cleaning module 20 is in the third state, the cleaning module 20 is located within the widest area of ​​the body 10.

[0145] Please refer to Figures 5(a), 5(b) and 5(c). In the cleaning robot 100 of this embodiment, the power module 30 can drive the mobile module 50 to move relative to the fuselage 10, and drive the cleaning module 20 to move relative to the fuselage 10, so that the cleaning module 20 switches between the first state, the second state and the third state. Since the cleaning module 20 is provided with a matching member 25, and the mobile module 50 is provided with a linkage member 53 that cooperates with the matching member 25, when it is necessary to drive the cleaning module 20 to switch between the first state, the second state and the third state, it is only necessary to drive the mobile module 50 to move in a preset direction to drive the cleaning module 20 to move in the preset direction. During this process, the linkage member 53 can move relative to the matching member 25. When the matching member 25 is carried on the linkage member 53, the cleaning module 20 is out of contact with the surface to be cleaned and is in the third state. Therefore, compared with traditional cleaning robots, the cleaning module 20 in the embodiment of the present application can achieve cleaning within the normal area in the first state, and can improve the cleaning effect of the edges or corners after switching to the second state, and the cleaning module 20 switches to the third state in which it is lifted off the ground, which can improve the obstacle crossing ability of the cleaning robot 100, or the cleaning module 20 can be driven away from the surface to be cleaned according to different cleaning scene requirements to avoid reverse X2 contamination of the surface to be cleaned.

[0146] In this embodiment, the matching member 25 is provided at the top of the cleaning module 20 (the side of the cleaning module 20 opposite to the surface to be cleaned when the cleaning robot 100 is carried on the surface to be cleaned), and is located in the middle position of the width direction of the cleaning module 20; wherein, the width direction of the cleaning module 20 is substantially perpendicular to the width direction of the cleaning robot 100. Herein, "substantially perpendicular" means that the angle between the two is 90°±5° within the range of the manufacturing process or assembly process error allowed. wherein, the matching member 25 is provided in the middle position of the width direction of the cleaning module 20, so that the force on the cleaning module 20 can be more balanced, which is conducive to the stability of the cleaning module 20 during the movement process.

[0147] In this embodiment, the power module 30 is used to drive the mobile module 50 to move relative to the fuselage 10 along the first direction (X1 / X2) to drive the cleaning module 20 to switch between the first state and the second state; when the cleaning module 20 is against the fuselage 10 on one side in the first direction (X1 / X2), the power module 30 provides a force to drive the mobile module 50 to move along the first direction (X1 / X2), and cooperates with the matching part 25 through the linkage part 53 of the mobile module 50 to drive the cleaning module 20 to move along the second direction Z, so that the cleaning module 20 switches between the first state and the third state, or switches between the second state and the third state.

[0148] Specifically, in some embodiments, when the power module 30 drives the cleaning module 20 to move relative to the body 10 along the first direction (X1 / X2) through the moving module 50, the cleaning module 20 can switch between the first state and the second state. It is possible to clean most of the positions of the surface to be cleaned, reduce the blind spots of cleaning along the edges or corners, and thus improve the cleaning effect of the cleaning robot 100 as a whole; when the cleaning module 20 is against the body 10 on one side in the first direction (X1 / X2), the movement of the cleaning module 20 relative to the body 10 along the first direction (X1 / X2) is restricted by the body 10. At this time, the power module 30 can continue to provide the force to drive the moving module 50 to move along the first direction (X1 / X2), and cooperate with the matching part 25 through the linkage part 53 of the moving module 50 to drive the cleaning module 20 to move along the second direction Z, so that the cleaning module 20 can switch between the first state and the third state, or switch between the second state and the third state, thereby enabling the cleaning module 20 to pass over objects such as protrusions that hinder the movement of the cleaning robot 100, which is beneficial for the cleaning robot 100 to adapt to different cleaning environments and cleaning needs, and improve the cleaning effect of the cleaning robot 100. It should be noted that, in some embodiments, the direction of the force to which the movable module 50 is subjected before the cleaning module 20 moves relative to the body 10 along the first direction (X1 / X2) to abut against the body 10 is the same as the direction of the force to which the movable module 50 is subjected after the cleaning module 20 moves relative to the first direction (X1 / X2) to abut against the body 10. Therefore, the movable module 50 can drive the cleaning module 20 to move along the second direction Z.

[0149] It can be understood that when the cleaning module 20 is against the fuselage 10 on one side in the first direction (X1 / X2) and the power module 30 continues to provide the force to drive the moving module 50 to move along the first direction (X1 / X2), the cleaning module 20 can move directly along the second direction Z. Therefore, compared with the cleaning module 20 being able to move along the first direction (X1 / X2) while moving along the second direction Z, on the one hand, the efficiency of the cleaning module 20 switching from the first state or the second state to the third state can be improved; on the other hand, it can prevent the cleaning module 20 from moving outside the widest area of ​​the fuselage 10 when the cleaning module 20 is in the third state. In this way, the cleaning module 20 of the cleaning robot 100 can protrude outside the widest area of ​​the fuselage 10 only when it needs to move sideways, and in the normal cleaning state and the lifted state, the cleaning module 20 is still located in the widest area of ​​the fuselage 10.

[0150] In the embodiment of the present application, when the cleaning module 20 is in the first state and the power module 30 drives the mobile module 50 to move relative to the fuselage 10 in the reverse direction X2 of the first direction (X1 / X2), the cleaning module 20 can switch from the first state to the second state; when the cleaning module 20 is in the first state and the power module 30 drives the mobile module 50 to move relative to the fuselage 10 in the positive direction X1 of the first direction (X1 / X2), the cleaning module 20 can abut against the fuselage 10 so that the movement of the cleaning module 20 in the positive direction X1 of the first direction (X1 / X2) is restricted. At this time, the power module 30 can continue to provide the force to drive the mobile module 50 to move relative to the fuselage 10 in the positive direction X1 of the first direction (X1 / X2), so that the mobile module 50 can cooperate with the matching component 25 through the linkage component 53 to drive the cleaning module 20 to move relative to the fuselage 10 in the second direction Z, thereby enabling the cleaning module 20 to switch from the first state to the third state. It is understandable that the state switching manner of the cleaning module 20 in the above embodiment is merely an example. The state switching manner of the cleaning module 20 may also be in other forms, which are not described one by one here.

[0151] Referring to Figures 15 and 16 , in some embodiments, the housing 10 includes an abutment portion 15 that opposes the cleaning module 20 along a first direction (X1 / X2). The abutment portion 15 can abut against the cleaning module 20 to limit movement of the cleaning module 20 along the first direction (X1 / X2). Exemplarily, the abutment portion 15 can be a sidewall of the housing 10. Specifically, in some embodiments, the abutment portion 15 can be a sidewall of the installation space 11 that opposes one end of the cleaning module 20 along the first direction (X1 / X2).

[0152] Specifically, in some embodiments, in the first direction (X1 / X2), the abutting portion 15 of the body 10 is provided at a position on the body 10 away from the target end of the cleaning module 20, and the abutting portion 15 is used to abut against the end of the cleaning module 20 away from the target end. More specifically, when the movable module 50 moves relative to the body 10 in the positive direction X1 of the first direction (X1 / X2), the movable module 50 can drive the cleaning module 20 to move in the positive direction X1 of the first direction (X1 / X2), so that the end of the cleaning module 20 away from the target end in the first direction (X1 / X2) abuts against the abutting portion 15, thereby, the abutting portion 15 can limit the cleaning module 20 from continuing to move in the positive direction X1 of the first direction (X1 / X2), and the abutting portion 15 can also abut against the cleaning module 20. The movement of the cleaning module 20 along the second direction Z plays a guiding role, that is, when the movement of the cleaning module 20 in the positive direction X1 along the first direction (X1 / X2) is restricted, the power module 30 can continue to apply a force in the positive direction X1 along the first direction (X1 / X2) to the movable module 50, so that the movable module 50 can drive the cleaning module 20 to move in the second direction Z along the abutment portion 15 through the cooperation of the linkage member 53 and the matching member 25, so that the cleaning module 20 can switch to the third state.

[0153] Since the cleaning module 20 and the abutment portion 15 are always in an abutment state during the movement of the cleaning module 20 along the second direction Z, if the friction between the cleaning module 20 and the abutment portion 15 is too large, the moving module 50 will find it difficult to drive the cleaning module 20 to move along the second direction Z, thereby causing the power module 30 to consume too much power, affecting the normal operation of the cleaning robot 100. In this embodiment, the cleaning module 20 may also include a main body 21 and a sliding member 27. The sliding member 27 is arranged on the side of the main body 21 opposite to the abutment 15. When the sliding member 27 abuts against the abutment 15, the movement of the cleaning module 20 along the first direction (X1 / X2) is restricted by the fuselage 10. The sliding member 27 is used to reduce the friction between the main body 21 and the abutment 15 when the main body 21 moves along the second direction Z. Therefore, compared with the case where the sliding member 27 is not provided, the friction between the cleaning module 20 and the abutment 15 is smaller, so that the moving module 50 can drive the cleaning module 20 to move relative to the fuselage 10 along the second direction Z, thereby reducing the power consumption of the power module 30 and ensuring the normal operation of the cleaning robot 100.

[0154] In some embodiments, the sliding member 27 can be a pulley or a roller. When the sliding member 27 is a pulley, the outer periphery of the sliding member 27 is a convex cambered surface, and the convex cambered surface contacts the abutment 15, and the contact area is small, thereby reducing the friction of the sliding member 27 moving on the abutment 15, making the movement process of the sliding member 27 smoother. When the sliding member 27 is a roller, the outer periphery of the sliding member 27 is a convex cambered surface, and the sliding member 27 has a connecting shaft connected to the cleaning module 20, and a shaft sleeve rotatably sleeved on the connecting shaft, the outer periphery of the shaft sleeve is a convex cambered surface, and the shaft sleeve can rotate around the connecting shaft. During the movement of the sliding member 27, the sliding member 27 itself rotates. Compared to the form of the sliding member 27 being a pulley, the roller-type sliding member 27 can rotate during the movement. Therefore, the wear of the sliding member 27 during the movement along the abutment 15 can be smaller, which is conducive to improving the service life of the sliding member 27 and reducing maintenance costs. In one example, the sliding member 27 includes a. In another example, the sliding member 27 includes a plurality of sliding members 27 , and in the first direction ( X1 / X2 ), the plurality of sliding members 27 are spaced apart on an end of the cleaning module 20 away from the target end.

[0155] Referring to Figures 4 and 15 , in certain embodiments, the mobile module 50 includes a mobile body 51 movably disposed on the housing 10 and connected to the power module 30. A linkage 53 is disposed on the mobile body 51 and is capable of cooperating with the cleaning module 20. The power module 30 is configured to drive the mobile body 51 to move in a first direction (X1 / X2) and, via the linkage 53, to drive the matching member 25 to move in a second direction Z, thereby driving the body 21 to move in the second direction Z.

[0156] Specifically, in some embodiments, when the movable body 51 moves in the opposite direction X2 of the first direction (X1 / X2), the linkage 53 can cooperate with the body 21 to drive the cleaning module 20 to move in the opposite direction X2 of the first direction (X1 / X2); when the movable body 51 moves in the positive direction X1 of the first direction (X1 / X2), the linkage 53 can cooperate with the matching part 25, and relative movement can occur between the linkage 53 and the matching part 25, thereby, the power module 30 can drive the matching part 25 to move in the second direction Z through the linkage 53, so as to drive the body 21 to move in the second direction Z.

[0157] In some embodiments, the mobile body 51 and the linkage member 53 are integrally formed, that is, the mobile body 51 and the linkage member 53 are an integral structure, thereby improving the bonding strength between the mobile body 51 and the linkage member 53, preventing the linkage member 53 from falling off from the mobile body 51 when the linkage member 53 is engaged with the cleaning module 20, thereby improving the stability and reliability of the cleaning robot 100. In other embodiments, the mobile body 51 and the linkage member 53 can be connected together using a non-detachable connection method or a detachable connection method, wherein the non-detachable connection method includes but is not limited to bonding or welding; the detachable connection method includes but is not limited to a snap connection or a threaded connection.

[0158] Please refer to Figure 16. In some embodiments, the linkage member 53 includes a first side 531 and a second side 533 opposite to each other along the first direction (X1 / X2). When the linkage member 53 is matched with the cleaning module 20, the first side 531 of the linkage member 53 is opposite to the matching member 25, and the first side 531 of the linkage member 53 is tilted. Along the positive direction X1 of the first direction (X1 / X2), the distance between the first side 531 of the linkage member 53 and the surface to be cleaned gradually decreases.

[0159] Specifically, in certain embodiments, when the movement of the cleaning module 20 along the first direction (X1 / X2) is restricted by the body 10 and the linkage member 53 is engaged with the matching member 25, the force applied by the power module 30 to the movable module 50 along the first direction (X1 / X2) can act on the matching member 25 through the linkage member 53. Since the first side 531 of the linkage member 53 is inclined, the force applied by the linkage member 53 on the matching member 25 includes a force component along the second direction Z, and this force component can drive the cleaning module 20 to move along the first side 531 of the linkage member 53 along the second direction Z. It is understandable that during the process of the cleaning module 20 moving relative to the body 10 along the second direction Z, the movable module 50 can move relative to the body 10 along the first direction (X1 / X2) so that the linkage member 53 and the matching member 25 are always in an engaged state.

[0160] In this embodiment, the matching member 25 may include a pulley or a roller. When the matching member 25 is a pulley, the outer periphery of the matching member 25 is a convex curved surface. The convex curved surface contacts the first side 531 of the linkage member 53, resulting in a smaller contact area. This reduces the frictional force caused by the matching member 25 moving on the linkage member 53, making the matching member 25 move more smoothly relative to the linkage member 53. When the matching member 25 is a roller, the outer periphery of the matching member 25 is a convex curved surface. The matching member 25 includes a connecting shaft connected to the body 21 and a sleeve rotatably mounted on the connecting shaft. The outer periphery of the sleeve is a convex curved surface, and the sleeve is rotatable about the connecting shaft. During the movement of the matching member 25, the matching member 25 rotates. Compared to a matching member 25 in the form of a pulley, the roller-type matching member 25 can rotate during movement. Therefore, the matching member 25 can be less worn during the movement of the first side 531 of the linkage member 53, which is beneficial for increasing the service life of the matching member 25 and reducing maintenance costs.

[0161] Please refer to Figure 17. In other embodiments, the matching member 25 includes a first side 251 and a second side 253 opposite to each other along the positive direction X1 of the first direction (X1 / X2). When the linkage member 53 is coordinated with the cleaning module 20, the first side 251 of the matching member 25 is opposite to the linkage member 53, and the first side 251 of the matching member 25 is tilted. Along the positive direction X1 of the first direction (X1 / X2), the distance between the first side 251 of the matching member 25 and the surface to be cleaned gradually decreases.

[0162] Specifically, in certain embodiments, when the movement of the cleaning module 20 along the first direction (X1 / X2) is restricted by the body 10 and the linkage member 53 is engaged with the matching member 25, the force applied by the power module 30 to the movable module 50 along the first direction (X1 / X2) can act on the matching member 25 through the linkage member 53. Since the first side 251 of the matching member 25 is tilted, the force applied by the linkage member 53 on the matching member 25 includes a force component along the second direction Z, and this force component can drive the cleaning module 20 to move relative to the linkage member 53 along the second direction Z. It is understandable that during the process of the cleaning module 20 moving relative to the body 10 along the second direction Z, the movable module 50 can move relative to the body 10 along the first direction (X1 / X2) so that the linkage member 53 and the matching member 25 are always in an engaged state.

[0163] In this embodiment, the matching member 25 may include a protrusion connected to the body 21. The linkage member 53 may include a pulley rotatably connected to the movable body 51. When the movement of the cleaning module 20 along the first direction (X1 / X2) is restricted by the housing 10, and the linkage member 53 cooperates with the matching member 25, the pulley can move along with the movable body 51 in the first direction (X1 / X2) to apply a force along the second direction Z to the protrusion, thereby enabling the protrusion to move relative to the pulley in the second direction Z.

[0164] It is understood that in certain embodiments, when the matching member 25 includes a bump, the linkage member 53 may also include a roller. When the linkage member 53 is a pulley, the outer periphery of the linkage member 53 is a convex curved surface. The convex curved surface contacts the bump, resulting in a smaller contact area. This reduces the frictional force of the linkage member 53 moving on the bump, making the movement of the linkage member 53 relative to the bump smoother. When the linkage member 53 is a roller, the outer periphery of the linkage member 53 is a convex curved surface, and the linkage member 53 includes a connecting shaft connected to the movable body 51, and a sleeve rotatably mounted on the connecting shaft. The outer periphery of the sleeve is a convex curved surface, and the sleeve can rotate around the connecting shaft. During the movement of the linkage member 53, the linkage member 53 rotates. Compared to the linkage member 53 in the form of a pulley, the roller-type linkage member 53 can rotate during movement. Therefore, the wear of the linkage member 53 during movement on the bump can be reduced, which is beneficial for increasing the service life of the linkage member 53 and reducing maintenance costs.

[0165] Please refer to Figure 16 or Figure 17. In some embodiments, a mating groove 216 is provided on the main body 21, and a connecting port 217 connected to the mating groove 216 is provided on the main body 21. The matching piece 25 is arranged in the mating groove 216, and at least a portion of the linkage piece 53 extends into the mating groove 216 through the connecting port 217 and is capable of mating with the matching piece 25.

[0166] Specifically, in certain embodiments, when the cleaning robot 100 is placed on a surface to be cleaned, the communication port 217 is located on a side of the body 21 (mounting shell 214) opposite to the surface to be cleaned. Thus, when at least a portion of the linkage member 53 extends through the communication port 217 into the matching groove 216 and matches with the matching member 25, the matching member 25 can move along the second direction Z to drive the body 21 to move along the second direction Z. The provision of the matching groove 216 can, on the one hand, reduce the size of the space occupied by the moving module 50 and the cleaning module 20, thereby improving the space utilization of the cleaning robot 100 in the second direction Z, thereby facilitating the miniaturization of the cleaning robot 100; on the other hand, it can limit the cooperation between the linkage member 53 and the matching member 25, thereby improving the stability of the cooperation between the linkage member 53 and the matching member 25, thereby ensuring the normal operation of the cleaning robot 100.

[0167] In some embodiments, the mating slot 216 includes a first side and a second side opposite to each other in the first direction (X1 / X2), the first side of the mating slot 216 is opposite to the first side 531 of the linkage member 53, the matching member 25 is close to the first side of the mating slot 216, and the second side of the mating slot 216 is opposite to the second side 533 of the linkage member 53. When the moving module 50 moves in the opposite direction X2 of the first direction (X1 / X2), the second side 533 of the linkage member 53 can be mated with the second side of the mating slot 216 to The cleaning module 20 moves in the opposite direction X2 of the first direction (X1 / X2); when the moving module 50 moves in the positive direction X1 of the first direction (X1 / X2), the first side 531 of the linkage 53 can cooperate with the matching part 25 to move the cleaning module 20 in the positive direction X1 of the first direction (X1 / X2), and when the movement of the cleaning module 20 in the positive direction X1 of the first direction (X1 / X2) is restricted by the body 10, the linkage 53 also drives the cleaning module 20 to move in the second direction Z.

[0168] Please refer to Figure 16. In some embodiments, the matching member 25 includes a pulley or a roller, which is close to the side wall of the matching groove 216 (the first side of the matching groove 216) opposite to the linkage member 53 in the first direction (X1 / X2), and the pulley or roller can cooperate with the linkage member 53.

[0169] With reference to FIG. 17 , in other embodiments, the matching member 25 includes a matching sidewall of the matching groove 216 that is opposite to the linkage member 53 in the first direction (X1 / X2), and the matching sidewall is capable of mating with the linkage member 53. Specifically, in one example, the matching member 25 can be a protrusion, and along the opposite direction X2 of the first direction (X1 / X2), the protrusion includes a first side and a second side that are opposite to each other. When the linkage member 53 extends into the matching groove 216, the first side of the protrusion is opposite to the linkage member 53, and the second side of the protrusion is connected to the first side of the matching groove 216. In this case, the matching sidewall is the first side of the protrusion, wherein the first side of the protrusion is inclined. In another example, the matching member 25 is the first side of the matching groove 216 (the side of the matching groove 216 opposite the linkage member 53), and the first side of the matching groove 216 is inclined, wherein along the second direction Z, the distance between the first side of the matching groove 216 and the surface to be cleaned in the positive direction X1 of the first direction (X1 / X2) gradually decreases.

[0170] Please refer to Figure 15. In some embodiments, a guide groove 17 extending along the first direction (X1 / X2) is provided on the fuselage 10, and at least a portion of the movable body 51 is disposed in the guide groove 17. The guide groove 17 is used to guide the movable body 51 to move relative to the fuselage 10 along the first direction (X1 / X2).

[0171] Specifically, in some embodiments, the guide groove 17 can be recessed from the side of the body 10 opposite to the surface to be cleaned toward the surface to be cleaned, and at least a portion of the movable body 51 is disposed in the guide groove 17. Thus, the guide groove 17 can guide the movable body 51 to move relative to the body 10 along the first direction (X1 / X2), while also limiting the moving direction and moving stroke of the movable body 51 relative to the body 10, thereby preventing the moving direction and moving stroke of the movable body 51 in the first direction (X1 / X2) from being unrestricted when a program error occurs in the power module 30, causing the cleaning module 20 to collide and be damaged with the body 10 or other objects, thereby ensuring the stability and reliability of the cleaning robot 100.

[0172] In some embodiments, one of the body 10 and the mobile body 51 is provided with a positioning member 101, and the other of the body 10 and the mobile body 51 is provided with a positioning slot 103 extending along a first direction (X1 / X2). The positioning member 101 is configured to cooperate with the positioning slot 103 to restrict the movement of the mobile body 51 along the first direction (X1 / X2). It should be noted that in some embodiments, the relationship between the positioning members 101 and the positioning slots 103 can be one-to-one or many-to-one, that is, one positioning member 101 corresponds to one positioning slot 103, or multiple positioning members 101 correspond to one positioning slot 103.

[0173] In some embodiments, the positioning member 101 may be a protrusion, and the positioning groove 103 may be a groove. For example, if the positioning member 101 is provided on the body 10 and the positioning groove 103 extending along the first direction (X1 / X2) is provided on the mobile body 51, the positioning member 101 may be provided on the bottom wall of the guide groove 17. When the mobile body 51 is provided on the body 10, the protrusion can extend into the groove, thereby limiting the movement of the mobile body 51 along the first direction (X1 / X2).

[0174] In other embodiments, the positioning member 101 may be a roller, and the positioning groove 103 may be a groove of a guide rail. When the movable body 51 is arranged on the fuselage 10, the roller can extend into the groove of the guide rail and can roll relative to the guide rail, thereby achieving the restriction of the movement of the movable body 51 along the first direction (X1 / X2).

[0175] The following describes in detail how to drive the cleaning module 20 to move relative to the main body 10.

[0176] Please refer to Figures 15 and 18. In this embodiment, a connecting groove 511 is provided on the movable body 51 of the movable module 50. Along the reverse direction X2 of the first direction (X1 / X2), the connecting groove 511 includes a first connecting side wall 5111 and a second connecting side wall 5113 opposite to each other. At least a portion of the connecting member 331 of the transmission component 33 of the power module 30 is arranged in the connecting groove 511.

[0177] Specifically, in some embodiments, when the driving member 31 operates stably, the driving member 31 can drive the connecting member 331 to move relative to the body 10 along the first direction (X1 / X2) through the transmission member 333, thereby driving the movable module 50 to move relative to the body 10. In which, when the driving member 31 drives the connecting member 331 to move relative to the body 10 along the reverse direction X2 of the first direction (X1 / X2) through the transmission member 333, the connecting member 331 can cooperate with the second connecting side wall 5113, thereby driving the movable module 50 to move relative to the body 10 along the reverse direction X2 of the first direction (X1 / X2), and driving the cleaning module 20 to move along the reverse direction X2 of the first direction (X1 / X2); when the driving member 31 drives the connecting member 331 to move relative to the body 10 along the positive direction X1 of the first direction (X1 / X2) through the transmission member 333, the connecting member 331 can cooperate with the first connecting side wall 5111, thereby driving the movable module 50 to move relative to the body 10 along the positive direction X1 of the first direction (X1 / X2), and driving the cleaning module 20 to move along the positive direction X1 of the first direction (X1 / X2).

[0178] In some embodiments, a connecting groove 511 is provided on the movable body 51, and the transmission component 33 includes a connecting member 331 and a transmission member 333, and the elastic member 351 is connected to both the connecting member 331 and the first connecting side wall 5111, or the elastic member 351 is connected to both the connecting member 331 and the second connecting side wall 5113.

[0179] Specifically, in some embodiments, when the cleaning module 20 is in the second state and is subjected to an external force in the positive direction X1 along the first direction (X1 / X2), the cleaning module 20 can move in the positive direction X1 of the first direction (X1 / X2). In this case, the elastic member 351 can undergo elastic deformation to achieve buffering of the external force in the positive direction X1 along the first direction (X1 / X2) subjected to the cleaning module 20, that is, the elastic member 351 can produce elastic deformation to absorb the external force subjected to the cleaning module 20, thereby preventing the cleaning module 20 from being damaged and ensuring the stability and reliability of the cleaning robot 100.

[0180] In one example, when the elastic member 351 includes a tension spring, the tension spring is fixedly connected to both the connecting member 331 and the first connecting side wall 5111. For example, a tension spring with relatively high stiffness can be selected. During the lateral movement of the cleaning module 20, that is, during the movement of the cleaning module 20 in the opposite direction X2 of the first direction (X1 / X2), the tension spring can be stretched to a certain extent. The connecting member 331 pulls the movable module 50 to move the cleaning module 20 laterally via the tension spring, and after the cleaning module 20 has moved into position, the tension spring still has some stretch margin. In which, after the cleaning module 20 is moved sideways into position, the connecting member 331 is spaced from the second connecting side wall 5113 along the first direction (X1 / X2). In this way, when the cleaning module 20 is in the second state and is subjected to an external force in the positive direction X1 along the first direction (X1 / X2), the cleaning module 20 can move in the positive direction X1 of the first direction (X1 / X2). At this time, the tension spring can continue to be stretched to absorb the external force exerted on the cleaning module 20. When the external force in the positive direction X1 of the first direction (X1 / X2) exerted on the cleaning module 20 disappears, the elastic force generated by the stretching of the tension spring can enable the cleaning module 20 to move back to the position in the reverse direction X2 of the first direction (X1 / X2) to the position where the cleaning module 20 is in the second state. That is, the elastic force generated by the stretching of the tension spring can enable the cleaning module 20 to move back to the position in the reverse direction X2 of the first direction (X1 / X2) to which the cleaning module 20 is basically in contact with the wall, thereby ensuring the cleaning effect of the cleaning robot 100.

[0181] In another example, when the elastic member 351 includes a compression spring, the compression spring is connected to both the connecting member 331 and the second connecting side wall 5113, and the compression spring is connected to at least one of the connecting member 331 and the second connecting side wall 5113 in an abutting manner. For example, a compression spring with a relatively high stiffness can be selected. During the lateral movement of the cleaning module 20, that is, during the movement of the cleaning module 20 in the opposite direction X2 of the first direction (X1 / X2), the compression spring can be compressed to a certain extent. The connecting member 331 pushes the moving module 50 to move laterally via the compression spring, so that the cleaning module 20 moves laterally. After the cleaning module 20 moves laterally into place, the compression spring still has a compression margin. Among them, after the cleaning module 20 is moved sideways into position, along the first direction (X1 / X2), the connecting member 331 is spaced from the second connecting side wall 5113. In this way, when the cleaning module 20 is in the second state and is subjected to an external force in the positive direction X1 along the first direction (X1 / X2), the cleaning module 20 can move in the positive direction X1 of the first direction (X1 / X2). At this time, the compression spring can continue to be compressed to absorb the external force exerted on the cleaning module 20. When the external force in the positive direction X1 of the first direction (X1 / X2) exerted on the cleaning module 20 disappears, the elastic force generated by the compression of the compression spring can make the cleaning module 20 move back to the position in the reverse direction X2 of the first direction (X1 / X2) to the position where the cleaning module 20 is in the second state. That is, the elastic force generated by the compression of the compression spring can make the cleaning module 20 move back to the position in the reverse direction X2 of the first direction (X1 / X2) to the position where the cleaning module 20 is basically in contact with the wall, thereby ensuring the cleaning effect of the cleaning robot 100. It should be noted that, in some embodiments, when the elastic member 351 includes a compression spring, the compression spring and the connecting member 331 can be fixedly connected, and the compression spring and the second connecting side wall 5113 can be abutted without a fixed connection, or, the compression spring and the connecting member 331 can be abutted, and the compression spring and the second connecting side wall 5113 can be fixedly connected, or, the compression spring and both the connecting member 331 and the second connecting side wall 5113 can be abutted, so that the cleaning module 20 can be easily moved relative to the body 10 along the height direction of the cleaning robot 100.

[0182] Please continue to refer to Figures 15 and 18. In some embodiments, the movable body 51 includes a connecting column 513, which is arranged in the connecting groove 511. The elastic member 351 is sleeved on the connecting column 513. The connecting column 513 is used to limit the deformation of the elastic member 351 along the first direction (X1 / X2). In other words, the connecting column 513 can limit the deformation direction of the elastic member 351 along the first direction (X1 / X2) (for example, compression direction or stretching direction, etc.), and prevent the elastic member 351 from deforming along other directions (for example, the second direction Z), causing the cleaning module 20 to be unable to move when subjected to external force, thereby improving the stability and reliability of the cleaning robot 100.

[0183] Specifically, in some embodiments, when one end of the elastic member 351 is connected to the first connecting side wall 5111, the connecting post 513 may protrude and extend from the first connecting side wall 5111 toward the second connecting side wall 5113, and be spaced apart from the second connecting side wall 5113, and the connecting member 331 may be movably disposed between the connecting post 513 and the second connecting side wall 5113. When one end of the elastic member 351 is connected to the second connecting side wall 5113, the connecting post 513 may protrude and extend from the second connecting side wall 5113 toward the first connecting side wall 5111, and be spaced apart from the first connecting side wall 5111, and the connecting member 331 may be movably disposed between the connecting post 513 and the first connecting side wall 5111.

[0184] In other embodiments, when the transmission component 33 includes a connecting member 335, one end of the elastic member 351 is connected to the connecting member 335, and the other end is connected to the first end of the mobile body 51 (which may be the first end 501 of the mobile module 50) and / or the second end of the mobile body 51 (which may be the second end 503 of the mobile module 50). Specifically, in some embodiments, when the cleaning module 20 is in the second state and is subjected to an external force in the positive direction X1 along the first direction (X1 / X2), the cleaning module 20 can move in the positive direction X1 of the first direction (X1 / X2). In this case, the elastic member 351 can undergo elastic deformation to achieve buffering of the external force in the positive direction X1 along the first direction (X1 / X2) applied to the cleaning module 20. That is, the elastic member 351 can produce elastic deformation to absorb the external force applied to the cleaning module 20, thereby preventing the cleaning module 20 from being damaged and ensuring the stability and reliability of the cleaning robot 100.

[0185] In certain embodiments, when the elastic member 351 is disposed on the connecting member 335 and proximate to the first end 501 of the movable module 50, the elastic member 351 may be a tension spring. For example, a tension spring with relatively high stiffness may be selected. During the lateral movement of the cleaning module 20, i.e., during the movement of the cleaning module 20 in the opposite direction X2 of the first direction (X1 / X2), the tension spring may be stretched to a certain extent. The connecting member 331 pulls the cleaning module 20 laterally via the tension spring, and after the cleaning module 20 has moved into position, the tension spring still has some stretch. When the cleaning module 20 is in the second state and is subjected to an external force in the positive direction X1 along the first direction (X1 / X2), the cleaning module 20 can move together with the movable module 50 in the positive direction X1 of the first direction (X1 / X2). At this time, the tension spring can continue to be stretched to absorb the external force exerted on the cleaning module 20. When the external force in the positive direction X1 of the first direction (X1 / X2) exerted on the cleaning module 20 disappears, the elastic force generated by the stretching of the tension spring can make the movable module 50 and the cleaning module 20 move back to the position where the cleaning module 20 is in the second state along the reverse direction X2 of the first direction (X1 / X2). That is, the elastic force generated by the stretching of the tension spring can make the cleaning module 20 move back to the position where the cleaning module 20 is basically in contact with the wall along the reverse direction X2 of the first direction (X1 / X2), thereby ensuring the cleaning effect of the cleaning robot 100.

[0186] In some embodiments, a through groove is provided at the first end of the movable body 51 and / or the second end of the movable body 51, and at least a portion of the elastic member 351 is disposed in the through groove, and the through groove is used to limit the deformation of the elastic member 351 along the first direction (X1 / X2).

[0187] Referring to Figures 11, 12, and 15, in this embodiment, the buffer assembly 35 of the power module 30 includes an anti-collision member 353, which is disposed on the fuselage 10 and is movable relative to the fuselage 10. At least a portion of the movable body 51 of the movable module 50 is disposed on the anti-collision member 353 and is movable relative to the anti-collision member 353. The opposite ends of the connecting member 335 are connected to the anti-collision member 353, and the elastic member 351 of the buffer assembly 35 is connected between the anti-collision member 353 and the movable body 51 along the first direction (X1 / X2). It is understood that the specific structure of the anti-collision member 353 and the cooperation between the anti-collision member 353 and the movable module 50 in this embodiment are basically the same as the specific structure of the anti-collision member 353 and the cooperation between the anti-collision member 353 and the movable module 50 in the first embodiment, and a repeated description will not be given here.

[0188] 15 , in this embodiment, the cleaning module 20 further includes a moving member 23 disposed on the body 21 . The cleaning robot 100 further includes a guide member 43 disposed on the body 10 for guiding the moving member 23 to move relative to the body 10 .

[0189] Specifically, in some embodiments, when the movable module 50 drives the cleaning module 20 to move along the first direction (X1 / X2) or the second direction Z, the movable member 23 can move relative to the body 10 in the guide member 43 along the first direction (X1 / X2) and the second direction Z, so that the cleaning module 20 can switch between the first state, the second state and the third state.

[0190] In this embodiment, the moving part 23 can be made of elastic materials such as rubber, spring steel, silicone and glass fiber reinforced plastic. Thus, when the cleaning module 20 is in a normal cleaning state, that is, when the cleaning module 20 is in the first state and the second state, the cleaning module 20 can clean the surface to be cleaned. In this case, if the cleaning module 20 abuts against an obstacle, or the surface to be cleaned is uneven, the moving part 23 can undergo elastic deformation, so that the cleaning module 20 can move relative to the body 10 along the second direction Z. On the one hand, it can prevent protrusions or obstacles from interfering with the movement of the cleaning robot 100, thereby ensuring the normal operation of the cleaning robot 100; on the other hand, it can enable the cleaning module 20 to always maintain abutment with the surface to be cleaned, thereby improving the cleaning effect of the cleaning robot 100.

[0191] In some embodiments, as shown in FIG15 , the guide members 43 may include two, and the two guide members 43 are disposed on opposite sides in the width direction of the cleaning module 20. For example, the two guide members 43 are symmetrically disposed on opposite sides in the width direction of the cleaning module 20, so that the force applied to the cleaning module 20 is more balanced, which is beneficial to the stability of the cleaning module 20 during movement.

[0192] In other embodiments, there may be only one guide member 43, which may be disposed on the top of the cleaning module 20 and located in the middle of the width direction of the cleaning module 20. Similarly, disposing the guide member 43 in the middle of the width direction of the cleaning module 20 may also facilitate force balance of the cleaning module 20.

[0193] In some embodiments, a guide groove 431 is provided on the body 10, and the guide groove 431 forms the guide member 43. The centerline of the guide groove 431 extends in the first direction (X1 / X2). Specifically, in some embodiments, at least a portion of the movable member 23 is disposed within the guide groove 431 and is capable of moving relative to the body 10 within the guide groove 431. The provision of the guide groove 431 on the body 10, and the formation of the guide member 43 by the guide groove 431, enables the cleaning robot 100 to guide the movable member 23 without requiring additional structural components, thereby simplifying the installation steps of the cleaning robot 100.

[0194] In other embodiments, the guide member 43 is mounted on the body 10 and is provided with a guide groove 431, the longitudinal direction of the guide groove 431 being the first direction (X1 / X2). In certain embodiments, at least a portion of the movable member 23 is disposed within the guide groove 431 and is capable of moving relative to the body 10 within the guide groove 431. In some embodiments, the guide member 43 and the body 10 may be connected together using a non-detachable connection, thereby enhancing the bonding strength between the guide member 43 and the body 10 and preventing the guide member 43 from falling off the body 10 when the cleaning module 20 is disposed on the body 10, thereby ensuring the stability and reliability of the installation of the cleaning robot 100. Non-detachable connection methods include, but are not limited to, bonding or welding. In other embodiments, the guide member 43 and the body 10 may be connected together using a detachable connection, thereby facilitating removal and replacement of the guide member 43 when it is damaged (e.g., due to collision wear or deformation), thereby ensuring the normal operation of the cleaning robot 100. Non-detachable connection methods include, but are not limited to, bonding or welding.

[0195] In some further embodiments, the guide member 43 is installed on the fuselage 10. Wherein, the guide member 43 comprises a chain or a rack 3333, and the extending direction of the chain or the rack 3333 is a first direction (X1 / X2). Specifically, in some embodiments, the moving member 23 can cooperate with the chain or the rack 3333 and move along the first direction (X1 / X2) relative to the fuselage 10 along the chain or the rack 3333. In one example, the moving member 23 can be a gear 3331, and the gear 3331 meshes with the chain or the rack 3333 and can move relative to the chain. It is understandable that in other embodiments, the guide member 43 can also be other elements that can guide the moving member 23 to move along the first direction (X1 / X2) relative to the fuselage 10, and examples are not given one by one at this.

[0196] In certain embodiments, when the cleaning module 20 includes a tracked cleaning member, the tracked cleaning member can be disposed on the body 10 via a guide groove 431. The tracked cleaning member can move relative to the body 10 in a first direction (X1 / X2) within the guide groove 431. Since tracked cleaning members are generally heavy, the guide groove 431 can bear the weight and guide the tracked cleaning member. Furthermore, since the length direction of the guide groove 431 is the first direction (X1 / X2), the guide groove 431 can better guide the tracked cleaning member, reduce shaking or movement of the tracked cleaning member during movement relative to the body 10, and improve the stability of the tracked cleaning member relative to the body 10. In addition, the setting of the guide groove 431 makes it possible for the cleaning module 20 including the crawler cleaning component to be removed from the body 10 of the cleaning robot 100. After the lateral limit of the cleaning module 20 is released, the cleaning module 20 can be slid out along the extension direction of the guide groove 431. This can also facilitate the installation and disassembly of the crawler cleaning component on the body 10, reduce the difficulty of loading and unloading, and improve the loading and unloading efficiency.

[0197] Specific implementation method three of this application

[0198] Referring to Figures 4, 19, and 20, the cleaning module 20 of the third embodiment includes a main body 21 and a mounting assembly 28. The mounting assembly 28 includes a first body 281 and a second body 283. The first body 281 is connected to the main body 21, and the first body 281 and the second body 283 are movably connected. A power module 30 is connected to the second body 283 and is used to drive the second body 283 to move relative to the first body 281, thereby changing the relative position of the cleaning module 20 with respect to the main body 10.

[0199] In some embodiments, the power module 30 is connected to the second body 283, and the second body 283 is movably connected to the first body 281. The power of the second body 283 can be transmitted to the first body 281. Since the first body 281 is connected to the main body 21 of the cleaning module 20, the cleaning module 20 can be driven to move relative to the fuselage 10 along the height direction of the cleaning robot 100. As a result, the cleaning module 20 can be lifted when there are protrusions on the surface to be cleaned, so as to facilitate the cleaning robot 100 to overcome obstacles and improve the passing performance of the cleaning robot 100; or, when there are areas on the surface to be cleaned that the user does not want to mop (such as carpet areas, etc.), the cleaning module 20 is lifted to ensure the cleaning effect and avoid the cleaning robot 100 mopping the carpet area and contaminating the carpet area in the reverse direction X2, which is beneficial for the cleaning robot 100 to adapt to different cleaning environments and cleaning needs and improve the cleaning effect of the cleaning robot 100. In addition, when the cleaning robot 100 only needs to sweep the floor, the mopping module can be lifted, and when it only needs to mop the floor, the sweeping module can be lifted. This is also helpful for the cleaning robot 100 to adapt to different cleaning environments and cleaning needs, and improve the cleaning effect of the cleaning robot 100.

[0200] In other embodiments, the power module 30 is connected to the second body 283, and the second body 283 is movably connected to the first body 281. The power of the second body 283 can be transmitted to the first body 281. Since the first body 281 is connected to the main body 21 of the cleaning module 20, the cleaning module 20 can be driven to move relative to the fuselage 10 along the height direction of the cleaning robot 100 and along the width direction of the cleaning robot 100. Therefore, in addition to working in a normal cleaning state (as shown in Figure 5(a)), the cleaning module 20 of the cleaning robot 100 can also work in a side-moving cleaning state (as shown in Figure 5(b)), so that the cleaning module 20 can clean the corners of the surface to be cleaned (for example, when the surface to be cleaned is the ground, the position close to the wall on the ground, or the position in the corner), thereby reducing the limitation of the external size of the fuselage 10 and improving the cleaning effect of the cleaning robot 100. In addition, the cleaning module 20 can be spaced apart from the surface to be cleaned (as shown in FIG5(c)), so that the cleaning module 20 can be lifted when there are protrusions on the surface to be cleaned, so as to facilitate the cleaning robot 100 to overcome obstacles and improve the passing performance of the cleaning robot 100. Alternatively, when there is an area on the surface to be cleaned that the user does not want to mop (such as a carpet area, etc.), the cleaning module 20 is lifted to ensure the cleaning effect and prevent the cleaning robot 100 from mopping the carpet area and contaminating the carpet area in the reverse direction X2, thereby helping the cleaning robot 100 adapt to different cleaning environments and cleaning needs and improving the cleaning effect of the cleaning robot 100.

[0201] In some embodiments, the first body 281 and the main body 21 can be integrally formed, that is, the first body 281 and the main body 21 form a single, unitary structure. This improves the bonding strength between the first body 281 and the main body 21, preventing the first body 281 from loosening or falling off when the second body 283 moves relative to the first body 281 to allow the cleaning module 20 to move relative to the body 10, thereby improving the stability and reliability of the cleaning robot 100. In other embodiments, the first body 281 and the main body 21 are separate bodies. The first body 281 and the main body 21 can be joined together using either a non-detachable or a detachable connection, wherein non-detachable connection methods include, but are not limited to, bonding or welding; detachable connection methods include, but are not limited to, snap-fit ​​or threaded connections. When the first body 281 and the main body 21 are separate bodies, they can be formed separately and then assembled, thereby reducing the difficulty of molding.

[0202] In the cleaning robot 100 of this embodiment, the mounting assembly 28 includes a first body 281 and a second body 283, the first body 281 is connected to the main body 21, the first body 281 and the second body 283 are movably connected, and the power module 30 can be connected to the second body 283 and drive the second body 283 to move relative to the first body 281, so that the relative position of the cleaning module 20 relative to the fuselage 10 changes. Therefore, compared with the cleaning robots in the related art, the cleaning robot 100 does not need to set up extra structural parts to realize the assembly of the cleaning module 20 on the fuselage 10 and the movement of the cleaning module 20 relative to the fuselage 10, thereby simplifying the installation steps of the cleaning module 20 and improving the assembly efficiency of the cleaning robot 100. At the same time, it can also reduce the production cost of the cleaning robot 100 and reduce the space occupied by the cleaning robot 100, which is conducive to the miniaturization of the cleaning robot 100.

[0203] In addition, the cleaning module 20 is connected to the power module 30 through the second body 283 of the mounting assembly 28. The power module 30 can drive the second body 283 to move relative to the first body 281 to change the relative position of the cleaning module 20 relative to the fuselage 10, that is, the cleaning module 20 can move from a position in contact with the ground to a raised position. In this way, the cleaning module 20 can be switched more easily between a cleaning state and a state separated from the surface to be cleaned, thereby ensuring the cleaning effect of the cleaning robot 100, and the cleaning module 20 can be lifted off the ground to improve the obstacle crossing ability.

[0204] Please refer to Figure 19. In some embodiments, the cleaning module 20 also includes a protective cover 29, and a receiving space is formed between the protective cover 29 and the main body 21. At least a portion of the mounting assembly 28 is located in the receiving space. Therefore, the setting of the protective cover 29 can prevent external water, dust, sand and other impurities from entering the cleaning module 20, thereby preventing external water, dust and other impurities from damaging the cleaning module 20, and ensuring the stability and reliability of the cleaning robot 100. Specifically, since the first body 281 and the second body 283 are movably connected, the design of the protective cover 29 can prevent external water, dust, sand and other impurities from entering the movable connection between the first body 281 and the second body 283, thereby effectively reducing the risk of jamming between the first body 281 and the second body 283. Since the movement of the cleaning module 20 relative to the fuselage 10 needs to be achieved through the cooperation of the first body 281 and the second body 283, the reliability of the cleaning module 20 can be improved. It should be noted that, in some embodiments, the protective cover 29 and the main body 21 can be combined together using a detachable connection method or a non-detachable connection method, wherein the detachable connection method includes but is not limited to a snap connection or a threaded connection, etc.; the non-detachable connection method includes but is not limited to bonding or welding, etc.

[0205] Furthermore, in some embodiments, the protective cover 29 has an opening 291 for exposing a portion of the second body 283, that is, a portion of the second body 283 can extend from the opening 291 to the outside of the accommodating space, thereby facilitating the connection between the second body 283 and the power module 30, thereby improving the assembly efficiency of the cleaning robot 100.

[0206] In some embodiments, the second body 283 is detachably connected to the power module 30, thereby facilitating assembly between the second body 283 and the power module 30 and improving the assembly efficiency of the cleaning robot 100; on the other hand, it is convenient to disassemble for repair or replacement when the power module 30 or the cleaning module 20 is damaged, thereby ensuring the normal operation of the cleaning robot 100. In one example, the second body 283 is detachably connected to the power module 30 by threaded fasteners (such as bolts, etc.). In another example, the second body 283 is detachably connected to the power module 30 by a snap fastener.

[0207] In certain embodiments, the mounting assembly 28 protrudes from the outside of the body 21. This, on the one hand, facilitates the connection and assembly between the second body 283 and the power module 30, thereby improving the assembly efficiency of the cleaning robot 100. On the other hand, it allows for quick troubleshooting when the movement of the cleaning module 20 relative to the body 10 is blocked. For example, when the movement of the cleaning module 20 relative to the body 10 is blocked, it is convenient to observe whether the relative movement between the first body 281 and the second body 283 is stuck, thereby ensuring the normal operation of the cleaning robot 100. In one example, the mounting assembly 28 protruding from the outside of the body 21 can mean that at least a portion of the mounting assembly 28 protrudes from the outside of the body 21, for example, the first body 281 is located within the body 21, the second body 283 is movably connected to the first body 281, and at least a portion of the second body 283 is located outside the body 21. In another example, the mounting assembly 28 protruding from the outside of the body 21 can mean that the mounting assembly 28 completely protrudes from the outside of the body 21, that is, both the first body 281 and the second body 283 are located outside the body 21.

[0208] In some embodiments, the mounting assembly 28 is located in the middle of the length direction of the main body 21. As a result, when the power module 30 drives the cleaning module 20 to move relative to the fuselage 10 through the second body 283, the center of gravity of the cleaning module 20 is more centered, thereby improving the stability of the movement of the cleaning module 20 relative to the fuselage 10 and ensuring the normal operation of the cleaning robot 100. In addition, the location of the mounting assembly 28 in the middle of the length direction of the main body 21 can also maximize the use of space, ensuring that the main body 21 has sufficient space to move relative to the fuselage 10, thereby facilitating the miniaturization of the cleaning robot 100. It should be noted that in some embodiments, the length direction of the main body 21 is the same as the width direction of the cleaning robot 100.

[0209] In certain embodiments, the length of the mounting assembly 28 along the length of the body 21 is 1 / 4 to 1 / 2 of the length of the body 21. Specifically, along the length of the body 21, if the length of the body 21 is , then the length of the mounting assembly 28 along the length of the body 21 can range from [1 / 4, 1 / 2]. This can reduce the space occupied by the mounting assembly 28, ensuring that the body 21 has sufficient space to move relative to the fuselage 10, and facilitating the installation of other structural components on the body 21. Furthermore, since the mounting assembly 28 is relatively small, it is also convenient for users or maintenance personnel to quickly disassemble and assemble the cleaning module 20. At the same time, the volume of the protective cover 29 can also be reduced, which can save manufacturing and processing costs to a certain extent.

[0210] 19, 20, and 21, in certain embodiments, one of the first body 281 and the second body 283 is provided with a movable groove 205, and the other of the first body 281 and the second body 283 is provided with a moving member 207 that cooperates with the movable groove 205. The moving member 207 is movably disposed in the movable groove 205. It should be noted that the moving member 207 may include, but is not limited to, a protrusion or a roller.

[0211] In some embodiments, the first body 281 is provided with a movable groove 205, and the second body 283 is provided with a movable member 207 that cooperates with the movable groove 205. Specifically, in some embodiments, the first body 281 is box-shaped, and the first body 281 forms a receiving cavity 209, and the second body 283 is received in the receiving cavity 209. Specifically, in some embodiments, the first body 281 includes a first side and a second side opposite to each other in the height direction of the cleaning robot 100, the first side of the first body 281 is connected to the body 21, and the receiving cavity 209 is recessed from the second side of the first body 281 toward the first side of the first body 281, and at least a portion of the second body 283 is received in the receiving cavity 209. Thus, the provision of the receiving cavity 209 can, on the one hand, reduce the space occupied by the mounting assembly 28, improve the space utilization rate of the cleaning robot 100 in the height direction of the cleaning robot 100, thereby facilitating the miniaturization of the cleaning robot 100; on the other hand, it can facilitate the installation and positioning of the second body 283 on the first body 281, thereby facilitating assembly efficiency.

[0212] In some embodiments, the side wall of the first body 281 is provided with a movable groove 205, and the outer side wall of the second body 283 is provided with a protruding piece protruding toward the side wall of the first body 281, the protruding piece forms a moving piece 207, the protruding piece extends into the movable groove 205, and can move in the movable groove 205.

[0213] Specifically, in some embodiments, the movable groove 205 can be recessed from the side wall of the accommodating cavity 209 in a direction away from the center of the accommodating cavity 209, and the protrusion is arranged on the outer wall of the first body 281 and opposite to the movable groove 205. When the first body 281 and the second body 283 are movably connected, the protrusion extends into the movable groove 205 and can move in the movable groove 205 so that the second body 283 can move relative to the first body 281.

[0214] In other embodiments, the second body 283 is provided with a movable groove 205, and the first body 281 is provided with a movable member 207 that cooperates with the movable groove 205. Specifically, in some embodiments, the second body 283 is box-shaped, and the second body 283 is formed with a receiving cavity 209, and the first body 281 is received in the receiving cavity 209. Specifically, in some embodiments, the second body 283 includes a first side and a second side opposite to each other in the height direction of the cleaning robot 100, the first side of the second body 283 is opposite to the main body 21, and the receiving cavity 209 is recessed from the first side of the second body 283 toward the second side of the second body 283, and at least a portion of the first body 281 is received in the receiving cavity 209. Thus, the provision of the receiving cavity 209 can, on the one hand, reduce the space size occupied by the mounting assembly 28, improve the space utilization rate of the cleaning robot 100 in the height direction of the cleaning robot 100, thereby facilitating the miniaturization of the cleaning robot 100; on the other hand, it can facilitate the installation and positioning of the second body 283 on the first body 281, thereby facilitating assembly efficiency.

[0215] In one example, the moving groove 205 may be a through groove, that is, the moving groove 205 passes through the side wall of the accommodating chamber 209, thereby enabling quick troubleshooting when the movement of the moving part 207 in the moving groove 205 is obstructed. For example, when the moving part 207 cannot move, it is convenient to observe whether the moving part 207 is stuck in the moving groove 205, thereby ensuring the stability and reliability of the cleaning robot 100. In another example, the moving groove 205 may be a blind groove, that is, the moving groove 205 is recessed from the side wall of the accommodating chamber 209 in a direction away from the center of the accommodating chamber 209, but the moving groove 205 does not pass through the side wall of the accommodating chamber 209, thereby reducing the possibility of the moving part 207 falling off from the moving groove 205 and ensuring the normal operation of the cleaning robot 100.

[0216] In the embodiment of the present application, only an example is given in which the first body 281 is provided with the moving groove 205 and the second body 283 is provided with the moving part 207 that cooperates with the moving groove 205 to illustrate.

[0217] Referring to Figures 19 and 20 , in some embodiments, the movable slot 205 comprises an elongated slot. The provision of the elongated slot enables the second body 283 to move relative to the first body 281, thereby changing the relative position of the cleaning module 20 relative to the body 10, thereby improving the applicability of the cleaning robot 100 and enhancing the cleaning effect of the cleaning robot 100. It should be noted that in some embodiments, the cross-sectional shape of the elongated slot may include, but is not limited to, a racetrack shape or a rectangular shape.

[0218] In some embodiments, the movable groove 205 includes one or at least two. Specifically, referring to FIG22 , in one example, when the movable groove 205 includes one, the movable groove 205 can be set in the middle of the first body 281 in the longitudinal direction of the body 21, thereby making the center of gravity of the mounting assembly 28 relatively centered when the moving member 207 moves in the movable groove 205, thereby improving the stability of the relative movement between the first body 281 and the second body 283. Referring to FIG21 , in another example, when the movable groove 205 includes at least two, for example, when the movable groove 205 includes two, the two movable grooves 205 are spaced apart on the first body 281 along the longitudinal direction of the body 21, thereby also making the center of gravity of the mounting assembly 28 relatively centered when the moving member 207 moves in the movable groove 205, thereby improving the stability of the relative movement between the first body 281 and the second body 283.

[0219] 19 , 21 , and 22 , in some embodiments, the movable groove 205 includes an inclined sidewall 2051 configured to abut against the movable member 207 . The inclined sidewall 2051 is inclined relative to the bottom surface of the cleaning module 20 . The bottom surface of the cleaning module 20 may be the side of the cleaning module 20 opposite the surface to be cleaned when the cleaning robot 100 is placed on the surface to be cleaned.

[0220] It should be noted that, in conjunction with Figure 21, in some embodiments, the angle between the inclined side wall 2051 and the width direction of the cleaning robot 100 is an acute angle, which makes it easier for the moving part 207 to apply a force to the first body 281 through the inclined side wall 2051, so as to drive the first body 281 and the main body 21 to move relative to the fuselage 10, thereby ensuring the normal operation of the cleaning robot 100. In some embodiments, the angle between the inclined side wall 2051 and the width direction of the cleaning robot 100 can range from (0°, 90°), that is, the angle between the inclined side wall 2051 and the width direction of the cleaning robot 100 can be any one of 5°, 10°, 20°, 30°, 40°, 50°, 60°, 70°, 80° and 85°, or any value between any two values.

[0221] Specifically, in some embodiments, when the power module 30 drives the second body 283 to move relative to the first body 281, since the angle between the inclined side wall 2051 and the width direction of the cleaning robot 100 is an acute angle, the inclined side wall 2051 cooperates with the moving part 207, and the moving part 207 can move along the inclined side wall 2051 relative to the first body 281, so as to drive the first body 281 and the main body 21 to move relative to the fuselage 10. As a result, the cleaning module 20 can move relative to the fuselage 10 along the height direction and the width direction of the cleaning robot 100.

[0222] In some embodiments, when the movable groove 205 includes one, the movable member 207 includes one. Along the width direction of the cleaning robot 100, the movable groove 205 includes two inclined side walls 2051 arranged opposite to each other. The movable member 207 is arranged in the movable groove 205 and abuts against both inclined side walls 2051. Specifically, when the power module 30 applies a force to the second body 283 and the second body 283 does not move relative to the first body 281, the movable member 207 can drive the first body 281 and the main body 21 to move together along the width direction of the cleaning robot 100; when the power module 30 drives the second body 283 to move relative to the first body 281, the movable member 207 can abut against the inclined side walls 2051 to apply a force to the first body 281, so that the first body 281 can drive the main body 21 to move together along the height direction of the cleaning robot 100.

[0223] In other embodiments, when the movable groove 205 includes one, the movable parts 207 may include two, and the two movable parts 207 are both arranged in the movable groove 205 and respectively abut against the two inclined side walls 2051 of the movable groove 205 in the width direction of the cleaning robot 100.

[0224] Specifically, when the power module 30 applies a force to the second body 283 and the second body 283 does not move relative to the first body 281, the moving part 207 can drive the first body 281 and the main body 21 to move together along the width direction of the cleaning robot 100; when the power module 30 drives the second body 283 to move relative to the first body 281, and the moving part 207 only applies a force to the first inclined side wall 2051 (the inclined side wall 2051 on the left side in FIG. 22), the cleaning module 20 can move in the positive direction X1 in the height direction of the cleaning robot 100. (the direction from the surface to be cleaned to the body 10 when the cleaning robot 100 is carried on the surface to be cleaned) movement, the cleaning module 20 can be lifted; when the power module 30 drives the second body 283 to move relative to the first body 281, and the moving part 207 only applies a force to the second inclined side wall 2051 (the inclined side wall 2051 on the right side in Figure 22), the cleaning module 20 can move in the opposite direction X2 of the height direction of the cleaning robot 100 (the direction from the body 10 to the surface to be cleaned when the cleaning robot 100 is carried on the surface to be cleaned), so as to achieve the descent of the cleaning module 20.

[0225] In other embodiments, the extension direction of the center line of the movable groove 205 is the same as the height direction of the cleaning robot 100. At this time, when the power module 30 drives the second body 21 to move relative to the first body 281, the moving part 207 can move along the height direction of the cleaning robot 100 in the movable groove 205 to drive the first body 281 and the body 21 to move together along the height direction of the cleaning robot 100.

[0226] 19 , in some embodiments, the power module 30 is used to drive the second body 283 to move relative to the first body 281 to switch the cleaning module 20 between the first state, the second state, and the third state. When the cleaning module 20 is in the third state, the cleaning module 20 is located within the widest area of ​​the body 10.

[0227] In the embodiment of the present application, when the cleaning module 20 is in the first state and the power module 30 applies a force X2 in the opposite direction of the first direction (X1 / X2) to the second body 283, the cleaning module 20 can switch from the first state to the second state; when the cleaning module 20 is in the first state and the power module 30 applies a force X1 in the positive direction of the first direction (X1 / X2) to the second body 283, the cleaning module 20 can abut against the fuselage 10 so that the movement of the cleaning module 20 in the positive direction X1 of the first direction (X1 / X2) is restricted. At this time, the power module 30 can continue to apply a force X1 in the positive direction of the first direction (X1 / X2) to the second body 283 so that the second body 283 and the first body 281 move relative to each other, thereby driving the cleaning module 20 to move relative to the fuselage 10 in the second direction Z, and thereby enabling the cleaning module 20 to switch from the first state to the third state. It is understandable that the state switching manner of the cleaning module 20 in the above embodiment is merely an example. The state switching manner of the cleaning module 20 may also be in other forms, which are not described one by one here.

[0228] In some embodiments, the power module 30 is used to drive the cleaning module 20 to move relative to the body 10 along a first direction (X1 / X2) so that the cleaning module 20 switches between the first state and the second state; when one side of the cleaning module 20 in the first direction (X1 / X2) is against the body 10, the power module 30 is also used to drive the second body 283 to move relative to the first body 281, and drive the first body 281 and the body 21 to move along the second direction Z through the second body 283, so that the cleaning module 20 switches between the first state and the third state, or between the second state and the third state, and the first direction (X1 / X2) intersects with the second direction Z. It should be noted that in some embodiments, the first direction (X1 / X2) includes the width direction of the cleaning robot 100; the second direction Z includes the height direction of the cleaning robot 100.

[0229] Specifically, in some embodiments, when the power module 30 drives the cleaning module 20 to move relative to the body 10 along the first direction (X1 / X2) through the second body 283, the cleaning module 20 can switch between the first state and the second state, thereby enabling the cleaning module 20 to clean most of the positions on the surface to be cleaned, reducing the blind spots for cleaning along the edges or corners, thereby improving the cleaning effect of the cleaning robot 100 as a whole; when one side of the cleaning module 20 in the first direction (X1 / X2) is against the body 10, the cleaning module 20 can switch between the first state and the second state relative to the body 10. The movement in one direction (X1 / X2) is restricted by the fuselage 10. At this time, the power module 30 can drive the second body 283 to move relative to the first body 281, and drive the cleaning module 20 to move along the second direction Z through the second body 283, so that the cleaning module 20 can switch between the first state and the third state, or switch between the second state and the third state, thereby enabling the cleaning module 20 to cross over objects such as protrusions that hinder the movement of the cleaning robot 100, thereby helping the cleaning robot 100 to adapt to different cleaning environments and cleaning needs, and improving the cleaning effect of the cleaning robot 100. It should be noted that, in some embodiments, the direction of the force to which the second body 283 is subjected before the cleaning module 20 moves relative to the fuselage 10 along the first direction (X1 / X2) to abut against the fuselage 10 is the same as the direction of the force to which the second body 283 is subjected after the cleaning module 20 moves relative to the first direction (X1 / X2) to abut against the fuselage 10. Therefore, the power module 30 can drive the cleaning module 20 to move along the second direction Z through the second body 283.

[0230] In some embodiments, the body 10 includes an abutment portion 15 (as shown in FIG. 16 ) that opposes the cleaning module 20 along the first direction (X1 / X2). The abutment portion 15 can abut against the cleaning module 20 to limit movement of the cleaning module 20 along the first direction (X1 / X2). Exemplarily, the abutment portion 15 can be a sidewall of the body 10. It should be noted that in some embodiments, the abutment portion 15 can be a sidewall of the installation space 11 that opposes one end of the cleaning module 20 in the first direction (X1 / X2).

[0231] Specifically, in some embodiments, in the first direction (X1 / X2), the abutting portion 15 of the body 10 is provided at a position on the body 10 away from the target end of the cleaning module 20, and the abutting portion 15 is used to abut against an end of the cleaning module 20 away from the target end. More specifically, when the power module 30 drives the cleaning module 20 to move relative to the fuselage 10 in the positive direction X1 of the first direction (X1 / X2) through the second main body 283, the end of the cleaning module 20 in the first direction (X1 / X2) away from the target end can abut against the abutment 15, thereby, the abutment 15 can limit the cleaning module 20 from continuing to move in the positive direction X1 of the first direction (X1 / X2), and the abutment 15 can also guide the movement of the cleaning module 20 in the second direction Z, that is, when the movement of the cleaning module 20 in the positive direction X1 of the first direction (X1 / X2) is restricted, the power module 30 can continue to apply a force in the positive direction X1 of the first direction (X1 / X2) to the second main body 283, so that the second main body 283 can move relative to the first main body 281, so as to drive the cleaning module 20 to move in the second direction Z along the abutment 15, thereby enabling the cleaning module 20 to switch to the third state.

[0232] Since the cleaning module 20 and the abutment portion 15 are always in an abutment state during the movement of the cleaning module 20 along the second direction Z, if the friction between the cleaning module 20 and the abutment portion 15 is too large, the cleaning module 20 will be difficult to move along the second direction Z, thereby causing the power module 30 to consume too much power, affecting the normal operation of the cleaning robot 100. Please refer to the figure. In the embodiment of the present application, the cleaning module 20 may further include a sliding member 27. The sliding member 27 is provided on the side of the body 21 opposite to the abutment portion 15. When the sliding member 27 abuts the abutment portion 15, the movement of the cleaning module 20 along the first direction (X1 / X2) is restricted by the fuselage 10. The sliding member 27 is used to reduce the friction between the body 21 and the abutment portion 15 when the body 21 moves along the second direction Z. Thus, compared with the case where the sliding member 27 is not provided, the friction between the cleaning module 20 and the abutment portion 15 is smaller, thereby facilitating the power module 30 to drive the cleaning module 20 relative to the fuselage 10 along the second direction Z through the second body 283, thereby reducing the power consumption of the power module 30 and ensuring the normal operation of the cleaning robot 100. It can be understood that the specific structure of the sliding member 27 in this embodiment is basically the same as that of the sliding member 27 in the second embodiment, and will not be repeated here.

[0233] Please refer to Figure 19. In some embodiments, the cleaning robot 100 also includes a mobile module 50, which is movably disposed on the body 10 and is connected to both the cleaning module 20 and the power module 30. The power module 30 is used to drive the mobile module 50 to move relative to the body 10, so as to drive the cleaning module 20 to move relative to the body 10.

[0234] Specifically, please refer to Figure 21. In some embodiments, the mobile module 50 can be connected to the second body 283, wherein, when the power module 30 is operating stably, the driving force generated by the power module 30 can drive the mobile module 50 to move relative to the fuselage 10 along the first direction (X1 / X2), so as to drive the cleaning module 20 to move relative to the fuselage 10 along the first direction (X1 / X2) through the second body 283; when the movement of the cleaning module 20 relative to the fuselage 10 along the first direction (X1 / X2) is restricted, the power module 30 can continue to apply a force along the first direction (X1 / X2) to the mobile module 50, so that the second body 283 can move relative to the first body 281, and drive the cleaning module 20 to move relative to the fuselage 10 along the second direction Z, thereby enabling the cleaning robot 100 to adjust the state in the cleaning module 20 according to the specific working conditions of the surface to be cleaned, thereby improving the applicability of the cleaning robot 100 and ensuring the cleaning effect of the cleaning robot 100.

[0235] More specifically, in some embodiments, the second body 283 is detachably connected to the mobile module 50, thereby facilitating assembly between the second body 283 and the mobile module 50 and improving the assembly efficiency of the cleaning robot 100; on the other hand, it is convenient to disassemble the mobile module 50 or the cleaning module 20 for repair or replacement when damage occurs, thereby ensuring the normal operation of the cleaning robot 100. In one example, the second body 283 is detachably connected to the mobile module 50 by threaded fasteners (such as bolts, etc.). In another example, the second body 283 is detachably connected to the mobile module 50 by a buckle.

[0236] In some embodiments, a guide groove 17 extending along the first direction (X1 / X2) is provided on the fuselage 10, and at least a portion of the movable module 50 is disposed in the guide groove 17, and the guide groove 17 is used to guide the movable module 50 to move relative to the fuselage 10 along the first direction (X1 / X2).

[0237] Specifically, in some embodiments, the guide groove 17 can be recessed from the side of the body 10 opposite to the surface to be cleaned toward the surface to be cleaned, and at least a portion of the movable module 50 is disposed in the guide groove 17. Thus, the guide groove 17 can guide the movable module 50 to move relative to the body 10 along the first direction (X1 / X2), while also limiting the moving direction and moving stroke of the movable module 50 relative to the body 10, thereby preventing the moving direction and moving stroke of the movable module 50 in the first direction (X1 / X2) from being unrestricted when a program error occurs in the power module 30, causing the cleaning module 20 to collide with the body 10 or other objects and be damaged, thereby ensuring the stability and reliability of the cleaning robot 100.

[0238] The following describes in detail how to drive the cleaning module 20 to move relative to the main body 10.

[0239] Please refer to Figures 18 and 19. In this embodiment, a connecting groove 511 is provided on the mobile module 50 of the cleaning robot 100. At least a portion of the connecting member 331 of the transmission component 33 of the power module 30 is arranged in the connecting groove 511. Along the reverse direction X2 of the first direction (X1 / X2), the connecting groove 511 includes opposite first connecting side walls 5111 and second connecting side walls 5113 in sequence.

[0240] Specifically, when the driving member 31 operates stably, the driving member 31 can drive the connecting member 331 to move relative to the body 10 along the first direction ( X1 / X2 ) through the transmission member 333 , thereby driving the movable module 50 to move relative to the body 10 . In which, when the driving member 31 drives the connecting member 331 to move relative to the body 10 along the reverse direction X2 of the first direction (X1 / X2) through the transmission member 333, the connecting member 331 can cooperate with the second connecting side wall 5113, thereby driving the movable module 50 to move relative to the body 10 along the reverse direction X2 of the first direction (X1 / X2), and driving the cleaning module 20 to move along the reverse direction X2 of the first direction (X1 / X2); when the driving member 31 drives the connecting member 331 to move relative to the body 10 along the positive direction X1 of the first direction (X1 / X2) through the transmission member 333, the connecting member 331 can cooperate with the first connecting side wall 5111, thereby driving the movable module 50 to move relative to the body 10 along the positive direction X1 of the first direction (X1 / X2), and driving the cleaning module 20 to move along the positive direction X1 of the first direction (X1 / X2).

[0241] It is worth noting that, in this embodiment, the connection member 331 cooperates with the first connection side wall 5111, which only means that there is an interaction force between the connection member 331 and the first connection side wall 5111, and does not require the connection member 331 to be in direct contact with the first connection side wall 5111. Similarly, the connection member 331 cooperates with the second connection side wall 5113, which only means that there is an interaction force between the connection member 331 and the second connection side wall 5113, and does not require the connection member 331 to be in direct contact with the second connection side wall 5113.

[0242] It can be understood that the cooperation mode between the connecting member 331 and the first connecting side wall 5111 and / or the second connecting side wall 5113 in this embodiment is basically the same as the cooperation mode between the connecting member 331 and the first connecting side wall 5111 and / or the second connecting side wall 5113 in the second embodiment, and will not be repeated here.

[0243] In other embodiments, when the transmission component 33 includes a connecting member 335, one end of the elastic member 351 is connected to the connecting member 335, and the other end is connected to the first end 501 of the moving module 50 and / or the second end 503 of the moving module 50. Specifically, in some embodiments, when the cleaning module 20 is in the second state and is subjected to an external force in the positive direction X1 along the first direction (X1 / X2), the cleaning module 20 can move in the positive direction X1 of the first direction (X1 / X2). In this case, the elastic member 351 can undergo elastic deformation to achieve buffering of the external force in the positive direction X1 along the first direction (X1 / X2) applied to the cleaning module 20. That is, the elastic member 351 can undergo elastic deformation to absorb the external force applied to the cleaning module 20, thereby preventing the cleaning module 20 from being damaged and ensuring the stability and reliability of the cleaning robot 100.

[0244] In certain embodiments, when the elastic member 351 is disposed on the connecting member 335 and proximate to the first end 501 of the movable module 50, the elastic member 351 may be a tension spring. For example, a tension spring with relatively high stiffness may be selected. During the lateral movement of the cleaning module 20, i.e., during the movement of the cleaning module 20 in the opposite direction X2 of the first direction (X1 / X2), the tension spring may be stretched to a certain extent. The connecting member 331 pulls the cleaning module 20 laterally via the tension spring, and after the cleaning module 20 has moved into position, the tension spring still has some stretch. When the cleaning module 20 is in the second state and is subjected to an external force in the positive direction X1 along the first direction (X1 / X2), the cleaning module 20 can move together with the movable module 50 in the positive direction X1 of the first direction (X1 / X2). At this time, the tension spring can continue to be stretched to absorb the external force exerted on the cleaning module 20. When the external force in the positive direction X1 of the first direction (X1 / X2) exerted on the cleaning module 20 disappears, the elastic force generated by the stretching of the tension spring can make the movable module 50 and the cleaning module 20 move back to the position where the cleaning module 20 is in the second state along the reverse direction X2 of the first direction (X1 / X2). That is, the elastic force generated by the stretching of the tension spring can make the cleaning module 20 move back to the position where the cleaning module 20 is basically in contact with the wall along the reverse direction X2 of the first direction (X1 / X2), thereby ensuring the cleaning effect of the cleaning robot 100.

[0245] Referring to Figures 18 and 19 , and in conjunction with Figures 11 and 12 , in certain embodiments, the buffer assembly 35 of the power module 30 includes an anti-collision member 353, which is disposed on the fuselage 10 and is movable relative to the fuselage 10. At least a portion of the mobile module 50 is disposed on the anti-collision member 353 and is movable relative to the anti-collision member 353. Opposite ends of the connecting member 335 are connected to the anti-collision member 353. The elastic member 351 of the buffer assembly 35 is connected between the anti-collision member 353 and the mobile module 50 along a first direction (X1 / X2). It is understood that the specific structure of the anti-collision member 353 and the manner in which the anti-collision member 353 cooperates with the mobile module 50 in this embodiment are substantially the same as those in the first embodiment, and are not described again herein.

[0246] In addition, the cleaning robot 100 provided in the embodiments of the present application (including embodiment 1, embodiment 2 and embodiment 3) can realize the switching of the cleaning module 20 between three states by cooperating with a driving member 31 and a transmission member 33. In addition to the driving motor that drives the cleaning module 20 to rotate relative to the surface to be cleaned, the driving of the cleaning module 20 in the present application to switch between the normal cleaning state (first state), the lateral cleaning state (second state) and the lifting state (third state) can be achieved with only one power source, such as a motor. This can effectively reduce production costs, and since the number of power sources is small, the space of the entire machine can be minimized, which is conducive to the miniaturization of the cleaning robot 100.

[0247] Of course, the cleaning robot 100 provided in the embodiments of the present application (including embodiment one, embodiment two and embodiment three) can also realize the switching of the cleaning module 20 between three states through at least two power modules 30, that is, at least two driving members 31 cooperate with the transmission member 33 to realize the switching of the cleaning module 20 between three states. In addition to the drive motor that drives the cleaning module 20 to rotate relative to the surface to be cleaned, the driving of the cleaning module 20 to switch between the normal cleaning state, the side-shift cleaning state and the lifting state in the present application can be achieved by at least two power sources, such as two motors. Exemplarily, one of the two motors can drive the cleaning module 20 to switch between the normal cleaning state and the side-shift cleaning state, and the other of the two motors can drive the cleaning module 20 to switch between the normal cleaning state and the lifting state, or drive the cleaning module 20 to switch between the side-shift cleaning state and the lifting state. This can improve the stability of the cleaning robot 100. For example, when one power source fails, the operation of other power sources will not be affected. In addition, the setting of at least two power sources is also convenient for users to inspect or replace them. For example, when the cleaning module 20 cannot be lifted, the user can quickly lock the faulty power source and repair or replace it, thereby ensuring the normal operation of the cleaning robot 100.

[0248] Referring to Figures 4 and 19 , a cleaning robot 100 according to certain embodiments of the present application includes a body 10 and a cleaning module 20. The cleaning module 20 is mounted on the body 10 and includes a main body 21 and a wastewater tank 22. The main body 21 is movable relative to the body 10. The wastewater tank 22 is mounted on the body 21 and is used to store waste generated by the cleaning module 20 when cleaning the surface to be cleaned. When the main body 21 moves relative to the body 10, the wastewater tank 22 moves relative to the body 10 along with the main body 21.

[0249] In the cleaning robot 100 of the embodiment of the present application, when the main body 21 of the cleaning module 20 moves relative to the fuselage 10, the sewage tank 22 can move relative to the fuselage 10 together with the main body 21. Therefore, compared with the traditional cleaning robot 100 in which the sewage tank 22 cannot move relative to the fuselage 10 together with the main body 21, the connection between the sewage tank 22 and the main body 21 is more stable, thereby preventing the connection relationship between the sewage tank 22 and the main body 21 from disappearing when the main body 21 moves, that is, preventing the sewage tank 22 from being unable to collect the dirt generated by the cleaning module 20 cleaning the surface to be cleaned, or preventing the dirt stored in the sewage tank 22 from leaking, thereby improving the stability and reliability of the cleaning robot 100 while also ensuring the cleaning effect of the cleaning robot 100 on the surface to be cleaned.

[0250] It is understandable that the specific structure of the cleaning robot 100 (including the body 10 and the cleaning module 20) in this embodiment is exactly the same as the specific structure of the cleaning robot 100 in the above embodiment, and will not be repeated here.

[0251] In conjunction with Figure 23 , an embodiment of the present application provides a base station 200 for use with the cleaning robot 100 as described in any of the above embodiments. Specifically, the base station 200 includes a docking position 2001 for accommodating the cleaning robot 100. More specifically, in certain embodiments, when the cleaning robot 100 is located at the docking position 2001 of the cleaning robot 100, the base station 200 can perform at least one of the following functions for the cleaning robot 100: charging, maintenance, water replenishment, drainage, dust collection, etc. For example, when the mopping and wiping member 213 in the cleaning robot 100 is dirty, the cleaning robot 100 can return to the base station 200 to clean the mopping and wiping member 213.

[0252] The embodiment of the present application further provides a cleaning system 1000, comprising the cleaning robot 100 as described in any of the above embodiments and a base station 200 used in conjunction with the cleaning robot 100, wherein the base station 200 includes a docking position 2001 for accommodating the cleaning robot 100. Since the cleaning system 1000 in this embodiment includes the cleaning robot 100, it can be understood that the cleaning system 1000 includes at least the same beneficial effects as the cleaning robot 100. Therefore, the beneficial effects of the cleaning system 1000 can refer to the beneficial effects of the cleaning robot 100 described above and are not described in detail here.

[0253] The technical features of the above-described embodiments may be combined in any manner. To simplify the description, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as there are no conflicts in the combination of these technical features, they should be considered to be within the scope of this specification. Furthermore, other implementations can be derived from the above-described embodiments, allowing for structural and logical substitutions and changes without departing from the scope of this disclosure.

[0254] The above-described embodiments merely represent several implementation methods of the present application. While the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the patent. It should be noted that a person of ordinary skill in the art may make various modifications and improvements without departing from the spirit of the present application, all of which fall within the scope of protection of the present application. Therefore, the scope of protection of the present patent application shall be determined by the appended claims.

Claims

1. A cleaning robot, wherein: include: body; and A cleaning module, the cleaning module being arranged on the body; and a power module, the power module being disposed on the body and connected to the cleaning module, the power module being used to drive the cleaning module to move relative to the body so as to switch the cleaning module between a first state, a second state, and a third state; When the cleaning module is in the first state and the second state, the cleaning module is in contact with the surface to be cleaned, and the target end of the cleaning module is farther away from the center line of the cleaning robot in the width direction in the second state than in the first state; When the cleaning module is in the third state, the cleaning module is spaced from the surface to be cleaned; wherein, the target end of the cleaning module is the side of the cleaning module close to the obstacle when the cleaning robot moves along the obstacle; the width direction of the cleaning robot is perpendicular to the moving direction of the cleaning robot.

2. The cleaning robot according to claim 1, wherein: When the cleaning module is in the first state, the cleaning module is in contact with the surface to be cleaned, and the cleaning module is located in the widest area of the body; When the cleaning module is in the second state, the cleaning module is in contact with the surface to be cleaned, and the target end of the cleaning module is located outside the widest area of the body, or the target end of the cleaning module is flush with the edge of the widest area of the body; The widest area is an area formed by two tangent lines of the projection of the body on the surface to be cleaned along the moving direction of the cleaning robot.

3. The cleaning robot according to claim 1, wherein: The cleaning module includes a crawler-type cleaning element or a drum-type cleaning element.

4. The cleaning robot according to claim 1, wherein: When the power module drives the cleaning module to move relative to the body in a first direction, the cleaning module can switch between the first state and the second state; When the power module drives the cleaning module to move relative to the body along the second direction, the cleaning module can switch between the first state and the third state, or between the second state and the third state, and the first direction and the second direction intersect.

5. The cleaning robot according to claim 4, wherein: The first direction is parallel to the width direction of the cleaning robot.

6. The cleaning robot according to claim 4, wherein: The second direction includes a height direction of the cleaning robot.

7. The cleaning robot according to claim 1, wherein: The power module includes: driving member; and A transmission component, one end of which is connected to the driving component and the other end of which is connected to the cleaning module. The transmission component is used to transmit the driving force of the driving component to the cleaning module so that the cleaning module moves relative to the body.

8. The cleaning robot according to claim 7, wherein: The power module further includes: The buffer assembly is used for buffering the positive external force along the first direction applied to the cleaning module when the cleaning module is in the second state and is applied with a positive external force along the first direction.

9. The cleaning robot according to claim 8, wherein: The buffer assembly comprises: an elastic member, wherein when the cleaning module is in the second state and is subjected to a positive external force along the first direction, the elastic member is in an elastically deformed state; The elastic member includes at least one of the following: a spring, a spring sheet, and a rubber member.

10. The cleaning robot according to any one of claims 7 to 9, wherein: The transmission components include: connectors; and A transmission member, one end of which is connected to the driving member, and the other end of which is connected to the connecting member. The driving member drives the connecting member to move relative to the body through the transmission member, thereby driving the cleaning module to move relative to the body.

11. The cleaning robot according to claim 10, wherein: The transmission member includes a gear and a rack. The gear is connected to the driving member, and the rack is connected to the connecting member. The gear cooperates with the rack. When the driving member drives the gear to rotate, the gear drives the rack to move, thereby driving the connecting member to move relative to the fuselage.

12. The cleaning robot according to any one of claims 7 to 9, wherein: The transmission components include: A connecting member is wound around the output shaft of the driving member, and both opposite ends of the connecting member are connected to the cleaning module. The driving member drives the cleaning module to move relative to the body through the connecting member.

13. The cleaning robot according to claim 12, wherein: The elastic member of the buffer assembly of the power module is arranged on the connecting member.

14. The cleaning robot according to claim 1, wherein: The body is provided with an installation space, and the side of the body is provided with an opening connected to the installation space. At least part of the cleaning module is arranged in the installation space. When the cleaning module is in the second state, at least part of the cleaning module extends from the opening to the outside of the installation space.

15. The cleaning robot according to claim 1, wherein: The cleaning robot further comprises a guide module, which is arranged on the body and comprises a matching piece; The cleaning module includes a main body and a movable part arranged on the main body. The cleaning module is arranged on the fuselage through the cooperation between the movable part and the guide module. When the cleaning module is in the third state, the movable part is carried on the cooperative part to separate the cleaning module from the surface to be cleaned.

16. The cleaning robot according to claim 15, wherein: The power module is used to drive the moving part to move along the first direction in the guide module so that the cleaning module switches between the first state and the second state; when the moving part abuts against the mating part, the power module is also used to drive the cleaning module to continue to move along the first direction, and drive the cleaning module to move along the second direction through the cooperation between the moving part and the mating part, so that the cleaning module switches between the first state and the third state, or switches between the second state and the third state.

17. The cleaning robot according to claim 16, wherein: The guide module further includes a guide member, the matching member is arranged on the guide member, and the guide member is used to guide the moving member to move relative to the fuselage, so as to drive the main body to move relative to the fuselage.

18. The cleaning robot according to claim 17, wherein: The guide members include two, and the two guide members are arranged on two opposite sides of the cleaning module in the width direction; Alternatively, the guide member includes one, and the guide member is provided on the top of the cleaning module and is located in the middle position in the width direction of the cleaning module; Wherein, the width direction of the cleaning module is substantially perpendicular to the width direction of the cleaning robot.

19. The cleaning robot according to claim 17, wherein: A guide groove is provided on the body, the guide groove forms the guide member, the length direction of the guide groove is a first direction, and the matching member is arranged in the guide groove; or The guide member is installed on the fuselage, a guide groove is provided on the guide member, the length direction of the guide groove is the first direction, and the matching member is arranged in the guide groove.

20. The cleaning robot according to claim 19, wherein: The guide groove includes a first side wall and a second side wall opposite to each other in the second direction, and in the second direction, the first side wall is closer to the surface to be cleaned than the second side wall; The matching piece is arranged on the first side wall. When the moving piece is in contact with the matching piece, the moving piece can move along the matching piece until it is supported on the matching piece.

21. The cleaning robot according to claim 17, wherein: The mating part includes a protrusion, which includes a first surface and a second surface opposite to each other in a first direction, the first surface and / or the second surface are arranged at an angle, and the first surface and / or the second surface are used to guide the moving part to move to be supported on the protrusion.

22. The cleaning robot according to claim 21, wherein: The longitudinal section of the mating part cut by a plane is trapezoidal, and the plane is formed by a straight line extending along the first direction and a straight line extending along the second direction. The upper side of the trapezoid corresponds to the surface of the mating part for supporting the moving part, the side sides of the trapezoid correspond to the first surface and the second surface, and the upper side of the trapezoid is smaller than the lower side of the trapezoid.

23. The cleaning robot according to claim 17, wherein: The matching piece includes a convex block, and the convex block includes a first surface and a second surface opposite to each other in a first direction, and the first surface and / or the second surface are arc-shaped.

24. The cleaning robot according to claim 17, wherein: The moving member includes a pulley or a roller.

25. The cleaning robot according to claim 15, wherein: The body includes a first side and a second side opposite to each other in a width direction of the cleaning module, two movable members are provided on the first side of the body and the second side of the body, and the two movable members are spaced apart along the first direction; the width direction of the cleaning module is substantially perpendicular to the width direction of the cleaning robot; The mating parts are opposite to the moving parts, the two mating parts opposite to the moving parts on the first side of the body are spaced apart along the first direction, and the two mating parts opposite to the moving parts on the second side of the body are spaced apart along the first direction.

26. The cleaning robot according to claim 15, wherein: A limiting groove is provided on the main body; at least a portion of the connecting member of the transmission component of the power module is arranged in the limiting groove, and the driving member drives the connecting member to move relative to the fuselage through the transmission member of the transmission component to drive the main body to move relative to the fuselage.

27. The cleaning robot according to claim 26, wherein: In the opposite direction of the first direction, the limit groove includes a first limit side wall and a second limit side wall in sequence; the elastic part of the buffer assembly of the power module is arranged in the limit groove, and the elastic part is connected to the connecting part and the first limit side wall, or the elastic part is connected to the connecting part and the second limit side wall.

28. The cleaning robot according to claim 27, wherein: In the case where the elastic member includes a tension spring, the tension spring is fixedly connected to the connecting member and the first limiting side wall; In the case where the elastic member includes a compression spring, the compression spring is connected to both the connecting member and the second limiting side wall, and the compression spring is connected to at least one of the connecting member and the second limiting side wall in an abutment manner.

29. The cleaning robot according to claim 15, wherein: The cleaning robot further includes a moving module cooperating with the cleaning module, and the driving member is used to drive the moving module to move relative to the body, so as to drive the cleaning module to move relative to the body; The buffer assembly of the power module includes an anti-collision member, which is arranged on the fuselage and can move relative to the fuselage. At least part of the module is arranged on the anti-collision part and can move relative to the anti-collision part. The opposite ends of the connecting part of the transmission part of the power module are connected to the anti-collision part. The elastic part of the buffer assembly is connected between the anti-collision part and the moving module along the first direction.

30. The cleaning robot according to claim 1, wherein The cleaning module is provided with a matching piece; the cleaning robot further comprises: A movable module, wherein the movable module is movably arranged on the fuselage and capable of cooperating with the cleaning module, the movable module is provided with a linkage part cooperating with the matching part, and the power module is used to drive the movable module to move relative to the fuselage, and drive the cleaning module to move relative to the fuselage, so that the cleaning module can switch between the first state, the second state and the third state.

31. The cleaning robot according to claim 30, wherein: When the cleaning module is in the third state, the cleaning module is located in the widest area of the body.

32. The cleaning robot according to claim 30, wherein: The power module is used to drive the moving module to move relative to the body along a first direction, so as to drive the cleaning module to switch between the first state and the second state; When one side of the cleaning module in the first direction is against the fuselage, the power module provides a force to drive the movable module to move along the first direction, and cooperates with the matching part through the linkage part of the movable module to drive the cleaning module to move along the second direction, so that the cleaning module switches between the first state and the third state, or switches between the second state and the third state.

33. The cleaning robot according to claim 32, wherein: Along the first direction, the body includes an abutting portion opposite to the cleaning module, and the abutting portion can abut against the cleaning module to limit the movement of the cleaning module along the first direction.

34. The cleaning robot according to claim 33, wherein: In the first direction, the abutting portion of the body is provided at a position on the body away from a target end of the cleaning module, and the abutting portion is used to abut against an end of the cleaning module away from the target end.

35. The cleaning robot according to claim 33, wherein: The cleaning module includes a main body and a sliding member, wherein the sliding member is arranged on a side of the main body opposite to the abutting portion. When the sliding member abuts against the abutting portion, the movement of the cleaning module along the first direction is restricted by the body, and the sliding member is used to reduce the friction between the main body and the abutting portion when the main body moves along the second direction.

36. The cleaning robot according to claim 30, wherein: The cleaning module includes a main body, and the matching component is arranged on the main body; the moving module includes a moving body, and the moving body is movably arranged on the body and connected to the power module; The linkage member is provided on the movable body and can cooperate with the cleaning module. The power module is used to drive the movable body to move along the first direction, and drive the matching member to move along the second direction through the linkage member to drive the body to move along the second direction.

37. The cleaning robot according to claim 36, wherein: The linkage member includes a first side and a second side opposite to each other along the first direction. When the linkage member is matched with the cleaning module, the first side of the linkage member is opposite to the matching member. The first side of the linkage member is tilted, and along the positive direction of the first direction, the distance between the first side of the linkage member and the surface to be cleaned gradually decreases.

38. The cleaning robot according to claim 36, wherein: The matching piece includes a first side and a second side opposite to each other along the positive direction of the first direction. When the linkage piece is matched with the cleaning module, the first side of the matching piece is opposite to the linkage piece, and the first side of the matching piece is tilted. Along the positive direction of the first direction, the distance between the first side of the matching piece and the surface to be cleaned gradually decreases.

39. The cleaning robot according to claim 36, wherein: The main body is provided with a matching groove, the main body is provided with a communication port connected to the matching groove, the matching piece is arranged in the matching groove, at least part of the linkage piece extends into the matching groove through the communication port and can match with the matching piece.

40. The cleaning robot according to claim 39, wherein: The matching member includes a pulley, the pulley is close to the side wall of the matching groove opposite to the linkage member in the first direction, and the pulley can be matched with the linkage member; or The matching piece includes a matching side wall of the matching groove opposite to the linkage piece in the first direction, and the matching side wall is capable of matching with the linkage piece.

41. The cleaning robot according to claim 36, wherein: The body is provided with a guide groove extending along the first direction, and at least a portion of the movable body is disposed in the guide groove. The guide groove is used to guide the movable body to move relative to the body along the first direction.

42. The cleaning robot according to claim 30, wherein: The matching piece on the cleaning module is arranged on the top of the cleaning module and is located in the middle position of the width direction of the cleaning module; wherein the width direction of the cleaning module is substantially perpendicular to the width direction of the cleaning robot.

43. The cleaning robot according to claim 30, wherein: A connecting groove is provided on the movable body of the movable module. In the opposite direction of the first direction, the connecting groove includes a first connecting side wall and a second connecting side wall opposite to each other. At least a portion of the connecting member of the transmission component of the power module is arranged in the connecting groove. The elastic member of the buffer assembly of the power module is connected to both the connecting member and the first connecting side wall, or to both the connecting member and the second connecting side wall.

44. The cleaning robot according to claim 43, wherein: In the case where the elastic member includes a tension spring, the tension spring is connected to both the connecting member and the first connecting side wall; In the case where the elastic member includes a compression spring, the compression spring is connected to both the connecting member and the second connecting side wall.

45. The cleaning robot according to claim 30, wherein: The movable module includes a first end and a second end relative to each other in a first direction; the opposite ends of the connecting member of the transmission component of the power module are respectively connected to the first end of the movable module and the second end of the movable module, and the driving member of the power module drives the movable module to move relative to the fuselage through the connecting member.

46. The cleaning robot according to claim 45, wherein: The buffer component of the power module includes an anti-collision part, which is arranged on the fuselage and can move relative to the fuselage. At least a part of the movable body of the movable module is arranged on the anti-collision part and can move relative to the anti-collision part. The opposite ends of the connecting part are connected to the anti-collision part, and the elastic part of the buffer component is connected between the anti-collision part and the movable body along the first direction.

47. The cleaning robot according to claim 45, wherein: One end of the elastic member of the buffer assembly of the power module is connected to the connecting member, and the other end is connected to the first end of the mobile body and / or the second end of the mobile body.

48. The cleaning robot according to claim 30, wherein: The cleaning module further includes a main body and a moving part provided on the main body; the cleaning robot further includes: A guide member is provided on the fuselage, and is used for guiding the moving member to move relative to the fuselage.

49. The cleaning robot according to claim 48, wherein: The guide members include two, and the two guide members are arranged on two opposite sides of the cleaning module in the width direction; Alternatively, the guide member includes one, and the guide member is provided on the top of the cleaning module and is located in the middle position in the width direction of the cleaning module; Wherein, the width direction of the cleaning module is substantially perpendicular to the width direction of the cleaning robot.

50. The cleaning robot according to claim 48, wherein A guide groove is provided on the fuselage, the guide groove forms the guide member, and the length direction of the guide groove is the first direction; or The guide member is installed on the fuselage. A guide groove is provided on the guide member. The length direction of the guide groove is the first direction.

51. The cleaning robot according to claim 1, wherein: The cleaning module includes a main body and an installation assembly, the installation assembly includes a first main body and a second main body, the first main body is connected to the main body, and the first main body and the second main body are movably connected; the power module is connected to the second main body, and the power module is used to drive the second main body to move relative to the first main body so that the relative position of the cleaning module relative to the fuselage changes.

52. The cleaning robot according to claim 51, wherein: The cleaning module also includes: A protective cover is provided, wherein a receiving space is formed between the protective cover and the body, and at least a portion of the mounting assembly is located in the receiving space.

53. The cleaning robot according to claim 52, wherein: The protective cover has an opening through which a portion of the second body is exposed.

54. The cleaning robot according to claim 51, wherein The mounting assembly protrudes from the outer side of the body; and / or, the mounting assembly is located in the middle of the length direction of the body; and / or, along the length direction of the body, the length of the mounting assembly is 1 / 4 to 1 / 2 of the length of the body; And / or, the second body is detachably connected to the power module.

55. The cleaning robot according to claim 51, wherein One of the first body and the second body is provided with a moving groove, and the other of the first body and the second body is provided with a moving piece that cooperates with the moving groove, and the moving piece is movably provided in the moving groove.

56. The cleaning robot according to claim 55, wherein: The movable slot comprises an elongated slot; And / or, the movable slot includes one or at least two.

57. The cleaning robot according to claim 55 or 56, wherein: The moving groove includes an inclined side wall, the inclined side wall is used to abut against the moving part, and the inclined side wall is inclined relative to the bottom surface of the cleaning module.

58. The cleaning robot according to claim 57, wherein: An angle formed between the inclined side wall and the width direction of the cleaning robot is an acute angle.

59. The cleaning robot according to claim 55 or 56, wherein: An extending direction of a center line of the moving groove is the same as a height direction of the cleaning robot.

60. The cleaning robot according to claim 55, wherein: In the case where there is one movable groove, there is one movable member, and along the width direction of the cleaning robot, the movable groove includes two inclined side walls arranged opposite to each other, and the movable member is arranged in the movable groove and abuts against both of the two inclined side walls; or In the case where there is one moving groove, there are two moving members, both of which are disposed in the moving groove and respectively abut against the two inclined side walls of the moving groove in the width direction of the cleaning robot.

61. The cleaning robot according to claim 55, wherein: The first body is box-shaped and is formed with a receiving cavity, and the second body is received in the receiving cavity.

62. The cleaning robot according to claim 61, wherein: The side wall of the first body is provided with a moving groove, and the outer side wall of the second body is provided with a protruding piece protruding toward the side wall of the first body, the protruding piece forming the moving piece, the protruding piece extending into the moving groove and being able to move in the moving groove.

63. The cleaning robot according to claim 51, wherein The power module is used to drive the second body to move relative to the first body, so that the cleaning module switches between the first state, the second state and the third state; When the cleaning module is in the first state and the second state, the cleaning module is in contact with the surface to be cleaned, and the target end of the cleaning module is farther away from the center line of the cleaning robot in the width direction in the second state than in the first state; When the cleaning module is in the third state, the cleaning module is spaced from the surface to be cleaned, wherein the target end of the cleaning module is the side of the cleaning module close to the obstacle when the cleaning robot moves along the obstacle; the width direction of the cleaning robot is perpendicular to the moving direction of the cleaning robot.

64. The cleaning robot according to claim 63, wherein: When the cleaning module is in the third state, the cleaning module is located in the widest area of the body.

65. The cleaning robot according to claim 63, wherein: The power module is used to drive the cleaning module to move relative to the body along a first direction, so that the cleaning module switches between the first state and the second state; When one side of the cleaning module in the first direction is against the fuselage, the power module is also used to drive the second body to move relative to the first body, and drive the first body and the main body to move along the second direction through the second body, so that the cleaning module switches between the first state and the third state, or switches between the second state and the third state, and the first direction intersects with the second direction.

66. The cleaning robot according to claim 65, wherein: Along the first direction, the body includes an abutting portion opposite to the cleaning module, and the abutting portion can abut against the cleaning module to limit the movement of the cleaning module along the first direction.

67. The cleaning robot according to claim 66, wherein: The cleaning module includes a sliding member, which is arranged on a side of the main body opposite to the abutment portion. When the sliding member abuts against the abutment portion, the movement of the cleaning module along the first direction is restricted by the body. The sliding member is used to reduce the friction between the main body and the abutment portion when the main body moves along the second direction.

68. The cleaning robot according to claim 51, wherein The cleaning robot also includes: The movable module is movably arranged on the fuselage and connected to both the cleaning module and the power module. The power module is used to drive the movable module to move relative to the fuselage, so as to drive the cleaning module to move relative to the fuselage.

69. The cleaning robot according to claim 68, wherein: The second body is detachably connected to the moving module.

70. The cleaning robot according to claim 69, wherein: The second body and the movable module are detachably connected via a threaded fastener; and / or the second body and the movable module are detachably connected via a buckle.

71. The cleaning robot according to claim 51, wherein A connecting groove is provided on the mobile module of the cleaning robot, and at least a portion of the connecting member of the transmission component of the power module is arranged in the connecting groove. In the opposite direction of the first direction, the connecting groove includes a first connecting side wall and a second connecting side wall relative to each other in sequence. The power module is provided with a buffer assembly, and the elastic member of the buffer assembly is connected to both the connecting member and the first connecting side wall, or the elastic member is connected to both the connecting member and the second connecting side wall.

72. The cleaning robot according to claim 71, wherein: In the case where the elastic member includes a tension spring, the tension spring is fixedly connected to both the connecting member and the first connecting side wall; In the case where the elastic member includes a compression spring, the compression spring is connected to both the connecting member and the second connecting side wall, and the compression spring is connected to at least one of the connecting member and the second connecting side wall in an abutment manner.

73. The cleaning robot according to claim 51, wherein The mobile module of the cleaning robot includes a first end and a second end relative to each other in a first direction; the opposite ends of the connecting member of the transmission component of the power module are respectively connected to the first end of the mobile module and the second end of the mobile module, and the driving member of the power module drives the mobile module to move relative to the fuselage through the connecting member.

74. The cleaning robot according to claim 73, wherein: One end of the elastic member of the buffer assembly of the power module is connected to the connecting member, and the other end is connected to the first end of the moving module and / or the second end of the moving module.

75. The cleaning robot according to claim 73, wherein: The buffer assembly of the power module includes: An anti-collision member, the anti-collision member is arranged on the fuselage and can move relative to the fuselage, at least a part of the movable module is arranged on the anti-collision member and can move relative to the anti-collision member, the opposite ends of the connecting member are connected to the anti-collision member, and the elastic member of the buffer assembly is connected between the anti-collision member and the movable module along the first direction.

76. The cleaning robot according to claim 1, wherein The cleaning robot also includes: A detection module is used to detect a current state of the cleaning module, where the current state includes the first state, the second state, and the third state.

77. The cleaning robot according to claim 76, wherein: The detection module includes a code disk, which is arranged on a driving member of a power module of the cleaning robot and is used to detect the number of rotations of the driving member of the power module to determine the current state of the cleaning module.

78. The cleaning robot according to claim 76, wherein: The detection module includes a transmitter and a receiver, one of which is arranged on the cleaning module, and the other is arranged on the fuselage, the transmitter is used to transmit a detection signal, and the receiver is used to receive the detection signal and indicate the current status of the cleaning module according to the received detection signal.

79. A cleaning robot, wherein: include: body; and A cleaning module is provided on the body of the device, and includes: a main body, wherein the main body is movable relative to the fuselage; and A sewage tank is provided on the main body and is used to store dirt generated when the cleaning module cleans the surface to be cleaned. When the main body moves relative to the fuselage, the sewage tank moves relative to the fuselage together with the main body.

80. The cleaning robot according to claim 79, wherein: The cleaning robot also includes: a power module, the power module being disposed on the fuselage, and configured to drive the cleaning module to move relative to the fuselage, so as to switch the cleaning module between a first state, a second state, and a third state; When the cleaning module is in the first state and the second state, the cleaning module is in contact with the surface to be cleaned, and the target end of the cleaning module is farther away from the center line of the cleaning robot in the width direction in the second state than in the first state; when the cleaning module is in the third state, the cleaning module is spaced from the surface to be cleaned; wherein, the target end of the cleaning module is the side of the cleaning module close to the obstacle when the cleaning robot moves along the obstacle; the width direction of the cleaning robot is perpendicular to the moving direction of the cleaning robot.

81. A base station for use with the cleaning robot according to any one of claims 1-80, the base station comprising a docking position for accommodating the cleaning robot.

82. A cleaning system comprising: The cleaning robot according to any one of claims 1 to 80; and A base station for use with the cleaning robot according to any one of claims 1 to 80, the base station comprising a docking position for accommodating the cleaning robot.

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