Cleaning module, cleaning robot, base station, and cleaning system

Abstract

A cleaning module (20), a cleaning robot (100), a base station (200), and a cleaning system (1000). The cleaning robot (100) comprises a robot body (10), the cleaning module (20) and a power module (30). A mounting assembly (23) comprises a first main body (231) and a second main body (233). The power module (30) is configured to drive the second main body (233) to move relative to the first main body (231), thereby changing the position of the cleaning module (20) relative to the robot body (10).

Description

Cleaning modules, 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 module, 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 awaiting cleaning. Its application scenarios include cleaning indoors in homes and large venues. In related technologies, a cleaning robot has a cleaning module installed at the bottom of its body, which allows the robot to clean the surface. Generally, a cleaning robot includes structural components for attaching the cleaning module to the body. This means that the cleaning module must be assembled with the structural components, making installation of the cleaning module more complex and affecting the efficiency 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 body, a cleaning module, and a power module. The cleaning module includes a main body, a cleaning member, and a mounting assembly. The main body is formed with a storage space for mounting the cleaning member. The mounting assembly includes a first main body and a second main body. The first main body is connected to the main body, and the first and second main bodies are movably connected. The power module is arranged on the main body and connected to the second main body. 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 main body changes.

[0005] In the cleaning robot provided in the first aspect of the embodiment of the present application, the installation component includes a first body and a second body, the first body is connected to the main body of the cleaning module, the first body and the second body are movably connected, and the power module can be connected to the second body and drive the second body to move relative to the first body, so that the relative position of the cleaning module relative to the fuselage changes. Therefore, compared with the cleaning robots in the related art, the cleaning robot in this embodiment does not need to set up unnecessary structural parts to realize the assembly of the cleaning module on the fuselage, and the movement of the cleaning module relative to the fuselage, thereby simplifying the installation steps of the cleaning module and improving the assembly efficiency of the cleaning robot. At the same time, it can also reduce the production cost of the cleaning robot and reduce the space occupied by the cleaning robot, which is conducive to the miniaturization of the cleaning robot.

[0006] The cleaning module provided in the second aspect of the embodiment of the present application is applied to a cleaning robot, wherein the cleaning module is mounted on the body of the cleaning robot, the body being provided with a power module, the cleaning module comprising a main body, a cleaning member, and a mounting assembly, the main body being provided with a storage space for mounting the cleaning member, the mounting assembly comprising a first main body and a second main body, the first main body being connected to the main body, the first main body and the second main body being movably connected. The second main body is configured to be connected to the power module, and the power module is configured to drive the second main body to move relative to the first main body, thereby changing the relative position of the cleaning module relative to the body.

[0007] The cleaning module provided in the second aspect of the embodiment of the present application is connected to the power module through the second body of the mounting assembly. The power module can drive the second body to move relative to the first body so that the relative position of the cleaning module relative to the fuselage changes, that is, the cleaning module can move from a position in contact with the ground to a raised position. In this way, it is relatively simple to switch the cleaning module between a cleaning state and a state separated from the surface to be cleaned, thereby ensuring the cleaning effect of the cleaning robot, and the cleaning module can be lifted off the ground to improve the obstacle crossing ability. In addition, compared with the cleaning robots in the related art, the cleaning robot in this embodiment does not need to set up extra structural parts to realize the assembly of the cleaning module on the fuselage and the movement of the cleaning module relative to the fuselage, thereby simplifying the installation steps of the cleaning module and improving the assembly efficiency of the cleaning robot. At the same time, it can also reduce the production cost of the cleaning robot and reduce the space size occupied by the cleaning robot, which is conducive to the miniaturization of the cleaning robot.

[0008] The cleaning robot provided in the third aspect of the embodiment of the present application includes a fuselage and a cleaning module, wherein the fuselage is provided with a power module, and the cleaning module is mounted on the fuselage and connected to the power module. The cleaning module includes a main body, a cleaning member, and a mounting assembly, wherein the main body is formed with a storage space for mounting the cleaning member, and the mounting assembly includes a first main body and a second main body, wherein the first main body is connected to the main body, and the first main body and the second main body are movably connected. The second main body is used to connect to the power module, 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.

[0009] In the cleaning robot provided in the third aspect of the embodiment of the present application, the mounting assembly includes a first body and a second body, the first body is connected to the main body, the first body and the second body are movably connected, and the power module can be connected to the second body and drive the second body to move relative to the first body, so that the relative position of the cleaning module relative to the fuselage changes. As a result, the cleaning robot can realize the assembly of the cleaning module on the fuselage and the movement of the cleaning module relative to the fuselage without setting up extra structural parts, thereby simplifying the installation steps of the cleaning module and improving the assembly efficiency of the cleaning robot. At the same time, it can also reduce the production cost of the cleaning robot and reduce the space size occupied by the cleaning robot, which is conducive to the miniaturization of the cleaning robot. In addition, the relative position of the cleaning module relative to the fuselage changes, that is, the cleaning module can move from a position in contact with the ground to a raised position, so that the cleaning module can be switched between a normal cleaning state and a state separated from the surface to be cleaned more simply, thereby ensuring the cleaning effect of the cleaning robot, and the cleaning module can be lifted off the ground to improve the obstacle crossing ability.

[0010] The base station provided in the fourth 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.

[0011] The fifth aspect of the present application provides a cleaning system, comprising the cleaning robot described above and a base station used in conjunction with the cleaning robot. The base station comprises a docking position for accommodating the cleaning robot.

[0012] 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

[0013] 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:

[0014] FIG1 is a schematic diagram of the three-dimensional structure of a cleaning robot according to certain embodiments of the present application;

[0015] FIG2 is an exploded perspective view of the cleaning robot shown in FIG1 ;

[0016] FIG3 is a schematic cross-sectional view of the cleaning robot shown in FIG1 ;

[0017] FIG4 is a schematic structural diagram of a cleaning member provided in some embodiments of the present application;

[0018] FIG5( 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;

[0019] FIG5( 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;

[0020] FIG6( 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;

[0021] FIG6( 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;

[0022] FIG7( 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;

[0023] FIG7( b ) is a schematic diagram of the cleaning robot in some other embodiments of the present application, when walking along the side, with the side brush (cleaning module) in the second state;

[0024] FIG8 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;

[0025] FIG9 is a schematic structural diagram of relative movement between a first body and a second body of an installation assembly in a cleaning module in other embodiments of the present application;

[0026] FIG10 is a schematic plan view of the structure of an embodiment of the cleaning robot shown in FIG1 ;

[0027] FIG11 is a schematic diagram of the three-dimensional structure of the power module of the cleaning robot shown in FIG1 ;

[0028] FIG12 is a schematic plan view of the structure of another embodiment of the cleaning robot shown in FIG1 ;

[0029] FIG13 is a schematic diagram of the three-dimensional structure of an embodiment of a power module and a mobile module in the cleaning robot shown in FIG1 ;

[0030] FIG14 is a schematic diagram of the three-dimensional structure of another embodiment of the power module and the mobile module of the cleaning robot shown in FIG1 ;

[0031] FIG15 is a perspective exploded schematic diagram of the power module and the mobile module of the cleaning robot shown in FIG14 ;

[0032] FIG16( a ) is a schematic diagram of the cleaning robot provided in an embodiment of the present application in a first state;

[0033] FIG16( b ) is a schematic diagram of the cleaning robot provided by an embodiment of the present application in a second state;

[0034] FIG16( c ) is a schematic diagram of the cleaning robot provided by an embodiment of the present application in a third state;

[0035] FIG17 is a schematic diagram of the three-dimensional structure of a cleaning system according to certain embodiments of the present application. DETAILED DESCRIPTION

[0036] 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.

[0037] 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.

[0038] 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.

[0039] 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.

[0040] 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.

[0041] 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.

[0042] 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 into the robot's waste collection container by the suction air from the roller brush inlet and through the roller brush outlet. The roller brush itself also performs cleaning duties. The mopping module is used to contact and wipe the surface to be cleaned.

[0043] When cleaning a surface, a cleaning robot may have blind spots, or require certain cleaning modules to be lifted away from the surface to be cleaned due to obstacle avoidance or the need for single sweeping or single mopping. Therefore, it may be necessary to adjust the relative position of the cleaning module relative to the body of the cleaning robot to meet the needs of the above-mentioned specific scenarios. Based on the above, the cleaning robot provided in the embodiments of the present application needs to simplify the installation structure of the cleaning module while ensuring that the cleaning module can adjust its relative position to the body.

[0044] Referring to Figures 1 to 3, the cleaning robot 100 of certain embodiments of the present application includes a body 10, a cleaning module 20 and a power module 30. The cleaning module 20 includes a body 21, a cleaning member 22 and a mounting assembly 23. The body 21 is formed with a storage space for mounting the cleaning member 22. The mounting assembly 23 includes a first body 231 and a second body 233. The first body 231 is connected to the body 21, and the first body 231 and the second body 233 are movably connected. The power module 30 is arranged on the body 10 and connected to the second body 233. The power module 30 is used to drive the second body 233 to move relative to the first body 231 so that the relative position of the cleaning module 20 relative to the body 10 changes. It should be noted that in certain embodiments, the cleaning robot 100 is an intelligent device that can realize 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.

[0045] Among them, the material of the fuselage 10 includes but is not limited to metal materials and / or non-metallic materials, among which metal materials include but are not limited to aluminum, iron, steel or aluminum alloy, and non-metallic materials include but are not limited to plastic, etc. In one example, the fuselage 10 can be made of a combination of metal materials 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.

[0046] In some embodiments, the cleaning module 20 is a device that enables the cleaning robot 100 to perform mopping functions (e.g., wet mopping or dry mopping). For example, the cleaning element 22 may include a track-type cleaning element or a roller-type cleaning element. Referring to FIG4 , the cleaning element 22 may include a bracket 221 and a wiping element 223. The bracket 221 is detachably disposed within the housing of the body 21 and is located on the side of the body 21 facing the surface to be cleaned. The wiping element 223 is sleeved and mounted on the bracket 221. When the cleaning robot 100 is in a cleaning state, the bracket 221 can drive the wiping element 223 to rotate relative to the surface to be cleaned to clean the surface. If the cleaning element 22 includes a track-type cleaning element and the wiping element 223 is mounted on the bracket 221, the cross-sectional shape of the wiping element 223 may be a racetrack shape. If the cleaning element 22 includes a roller-type cleaning element and the wiping element 223 is mounted on the bracket 221, the cross-sectional shape of the wiping element 223 may be a circular shape. It should be noted that in some embodiments, the mopping member 313 includes, but is not limited to, a disposable electrostatic mop, a disposable wet mop, or a reusable fabric mop. In one example, the surface to be cleaned may be the floor of a building. In another example, the surface to be cleaned may also be other surfaces that need to be cleaned, such as walls, beds, windows, or the like.

[0047] In other embodiments, the cleaning module 30 is a device that can realize the sweeping function of the cleaning robot 100. For example, the cleaning robot 100 may also include a brush sweeping module, which is arranged on the body 10, and the brush sweeping module 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 to the middle area on the outside, 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 part 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 223 can be located on the rear side of the body 10. As a result, the cleaning robot 100 can realize the sweeping function and the mopping function, thereby improving the cleaning effect of the cleaning robot 100. It should be noted that the directions described in the embodiments of this 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.

[0048] For the cleaning robot 100, since the cleaning module 20 needs to be in contact with the ground during cleaning, when the cleaning robot 100 needs to cross an obstacle, such as when crossing a threshold, it is desirable that the cleaning module 20 does not hinder the cleaning robot 100 from crossing the obstacle. In this case, it is also desirable that the cleaning module 20 does not contact the surface to be cleaned. Alternatively, for a cleaning robot 100 equipped with both a sweeping component and a mopping component, when only sweeping is required, it is desirable that the mopping component does not contact the surface to be cleaned, and when only mopping is required, it is desirable that the sweeping component does not contact the surface to be cleaned to avoid contaminating the mopped surface.

[0049] Please refer to Figures 16(a), 16(b) and 16(c). In some embodiments, the power module 30 can pass through the second body 233, and the second body 233 is movably connected to the first body 231. The power of the second body 233 can be transmitted to the first body 231. Since the first body 231 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 Z of the cleaning robot 100. As a result, 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 reverse, 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.

[0050] With respect to the cleaning module including the mopping part, please refer to Figures 5(a) and 6(a). Due to the appearance and structural limitations of the cleaning robot, the mopping part of the cleaning robot generally does not protrude too much from the cleaning robot in the width direction of the cleaning robot. For example, as shown in Figure 5(a), the mopping part can be completely located within the contour of the cleaning robot's body. Alternatively, as shown in Figure 6(a), the mopping part is partially located outside the contour of the cleaning robot's body, but the mopping part still does not exceed the widest area of ​​the body in 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 part and the obstacle (such as the wall), resulting in poor cleaning effect of the cleaning robot along the edge.

[0051] With respect to the cleaning module including the side brush, please refer to FIG7(a). In the related art, when the side brush is in a 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 as shown in FIG7(a) under normal installation conditions. 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] [Corrected 04.03.2024 according to Rule 91] Please refer to Figure 16(a), Figure 16(b) and Figure 16(c). In other embodiments, the power module 30 can drive the cleaning module 20 to move relative to the fuselage 10 along the height direction Z of the cleaning robot 100 and along the width direction (X1 / X2) of the cleaning robot 100 through the second main body 233. Therefore, the cleaning module 20 of the cleaning robot 100 can not only work in the normal cleaning state (as shown in Figure 16(a)), but also work in the side-moving cleaning state (as shown in Figure 16(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 dimensions of the fuselage 10 and improving the cleaning effect of the cleaning robot 100.

[0053] In addition, the cleaning module 20 can be spaced apart from the surface to be cleaned (as shown in FIG16( c )), so that the cleaning module 20 can be raised when there are protrusions on the surface to be cleaned, thereby facilitating the cleaning robot 100 to overcome obstacles and improving 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), the cleaning module 20 is raised to ensure the cleaning effect and prevent the cleaning robot 100 from mopping the carpet area and contaminating the carpet area. This helps the cleaning robot 100 adapt to different cleaning environments and cleaning needs, thereby improving the cleaning effect of the cleaning robot 100.

[0054] It should be noted that, in some embodiments, the height direction Z of the cleaning robot 100 may be: when the cleaning robot 100 is carried on the surface to be cleaned, the direction from the body 10 to the surface to be cleaned, or the direction from the surface to be cleaned to the body 10; the width direction (X1 / X2) of the cleaning robot 100 may be: a direction perpendicular to both the moving direction Y of the cleaning robot 100 and the height direction Z of the cleaning robot 100.

[0055] Referring to Figures 2 and 3 , in some embodiments, the first body 231 and the main body 21 may be integrally formed. This means that the first body 231 and the main body 21 form a single, integrated structure. This enhances the bonding strength between the first body 231 and the main body 21, preventing loosening or detachment between the first body 231 and the main body 21 when the second body 233 moves relative to the first body 231 to allow the cleaning module 20 to move relative to the body 10. This improves the stability and reliability of the cleaning robot 100. In other embodiments, the first body 231 and the main body 21 are separate bodies. The first body 231 and the main body 21 may be joined together using either a non-detachable or a detachable connection, where 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 231 and the main body 21 are separate bodies, they can be formed separately and then assembled, reducing molding complexity.

[0056] In the cleaning robot 100 of the embodiment of the present application, the mounting assembly 23 includes a first body 231 and a second body 233, the first body 231 is connected to the main body 21, the first body 231 and the second body 233 are movably connected, and the power module 30 can be connected to the second body 233 and drive the second body 233 to move relative to the first body 231, 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.

[0057] In addition, the cleaning module 20 is connected to the power module 30 through the second body 233 of the mounting assembly 23. The power module 30 can drive the second body 233 to move relative to the first body 231 so that the relative position of the cleaning module 20 relative to the fuselage 10 changes, 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.

[0058] The cleaning robot 100 is further explained below with reference to the accompanying drawings.

[0059] Please refer to Figures 1 and 2. In some embodiments, the cleaning module 20 also includes a protective cover 25, and a receiving space is formed between the protective cover 25 and the main body 21. At least a portion of the mounting assembly 23 is located in the receiving space. Therefore, the setting of the protective cover 25 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 231 and the second body 233 are movably connected, the design of the protective cover 25 can prevent external water, dust, sand and other impurities from entering the movable connection between the first body 231 and the second body 233, thereby effectively reducing the risk of jamming between the first body 231 and the second body 233. Since the movement of the cleaning module 20 relative to the fuselage 10 needs to be achieved through the cooperation of the first body 231 and the second body 233, the reliability of the cleaning module 20 can be improved. It should be noted that, in some embodiments, the protective cover 25 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.

[0060] Furthermore, in some embodiments, the protective cover 25 has an opening 251 for exposing a portion of the second body 233, that is, a portion of the second body 233 can extend from the opening 251 to the outside of the accommodating space, thereby facilitating the connection between the second body 233 and the power module 30, thereby improving the assembly efficiency of the cleaning robot 100.

[0061] In some embodiments, the second body 233 is detachably connected to the power module 30. This, on the one hand, facilitates assembly between the second body 233 and the power module 30, thereby improving the assembly efficiency of the cleaning robot 100. On the other hand, it facilitates disassembly 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 233 is detachably connected to the power module 30 via threaded fasteners (such as bolts, etc.). In another example, the second body 233 is detachably connected to the power module 30 via a snap fastener.

[0062] In certain embodiments, the mounting assembly 23 protrudes from the outside of the body 21. This, on the one hand, facilitates the connection and assembly between the second body 233 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 obstructed. For example, when the movement of the cleaning module 20 relative to the body 10 is obstructed, it is convenient to observe whether the relative movement between the first body 231 and the second body 233 is stuck, thereby ensuring the normal operation of the cleaning robot 100. In one example, the mounting assembly 23 protruding from the outside of the body 21 can mean that at least a portion of the mounting assembly 23 protrudes from the outside of the body 21, for example, the first body 231 is located within the body 21, the second body 233 is movably connected to the first body 231, and at least a portion of the second body 233 is located outside the body 21. In another example, the mounting assembly 23 protruding from the outside of the body 21 can mean that the mounting assembly 23 completely protrudes from the outside of the body 21, that is, both the first body 231 and the second body 233 are located outside the body 21.

[0063] In some embodiments, the mounting assembly 23 is located in the middle of the length direction of the main body 21. Thus, when the power module 30 drives the cleaning module 20 to move relative to the fuselage 10 through the second body 233, 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 23 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 (X1 / X2) of the cleaning robot 100.

[0064] In certain embodiments, the length of the mounting assembly 23 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 A, the length of the mounting assembly 23 along the length of the body 21 can range from [1 / 4A, 1 / 2A]. This can reduce the space occupied by the mounting assembly 23, 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, because the mounting assembly 23 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 25 can also be reduced, which can save manufacturing and processing costs to a certain extent.

[0065] 2 , 3 , and 8 , in certain embodiments, one of the first body 231 and the second body 233 is provided with a movable groove 201, and the other of the first body 231 and the second body 233 is provided with a moving member 203 that cooperates with the movable groove 201. The moving member 203 is movably disposed within the movable groove 201. It should be noted that the moving member 203 may include, but is not limited to, a protrusion or a roller.

[0066] In some embodiments, the first body 231 is provided with a movable groove 201, and the second body 233 is provided with a movable member 203 that cooperates with the movable groove 201. Specifically, in some embodiments, the first body 231 is box-shaped, and the first body 231 forms a receiving cavity 205, and the second body 233 is received in the receiving cavity 205. Specifically, in some embodiments, the first body 231 includes a first side and a second side opposite to each other in the height direction Z of the cleaning robot 100, the first side of the first body 231 is connected to the main body 21, the receiving cavity 205 is recessed from the second side of the first body 231 toward the first side of the first body 231, and at least a portion of the second body 233 is received in the receiving cavity 205. Thus, the provision of the receiving cavity 205 can, on the one hand, reduce the space occupied by the mounting assembly 23, improve the space utilization rate of the cleaning robot 100 in the height direction Z 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 233 on the first body 231, thereby facilitating assembly efficiency.

[0067] In some embodiments, the side wall of the first body 231 is provided with a movable groove 201, and the outer side wall of the second body 233 is provided with a protruding piece protruding toward the side wall of the first body 231, the protruding piece forms a moving piece 203, the protruding piece extends into the movable groove 201, and can move in the movable groove 201.

[0068] Specifically, in some embodiments, the movable groove 201 can be recessed from the side wall of the accommodating cavity 205 in a direction away from the center of the accommodating cavity 205, and the protrusion is arranged on the outer wall of the first body 231 and opposite to the movable groove 201. When the first body 231 and the second body 233 are movably connected, the protrusion extends into the movable groove 201 and can move in the movable groove 201 so that the second body 233 can move relative to the first body 231.

[0069] In other embodiments, the second body 233 is provided with a movable groove 201, and the first body 231 is provided with a movable member 203 that cooperates with the movable groove 201. Specifically, in some embodiments, the second body 233 is box-shaped, and the second body 233 is formed with a receiving cavity 205, and the first body 231 is received in the receiving cavity 205. Specifically, in some embodiments, the second body 233 includes a first side and a second side opposite to each other in the height direction Z of the cleaning robot 100, the first side of the second body 233 is opposite to the main body 21, and the receiving cavity 205 is recessed from the first side of the second body 233 toward the second side of the second body 233, and at least a portion of the first body 231 is received in the receiving cavity 205. Thus, the provision of the receiving cavity 205 can, on the one hand, reduce the space occupied by the mounting assembly 23, improve the space utilization rate of the cleaning robot 100 in the height direction Z 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 233 on the first body 231, thereby facilitating assembly efficiency.

[0070] In one example, the moving groove 201 may be a through groove, that is, the moving groove 201 passes through the side wall of the accommodating chamber 205, thereby enabling quick troubleshooting when the movement of the moving part 203 in the moving groove 201 is obstructed. For example, when the moving part 203 cannot move, it is convenient to observe whether the moving part 203 is stuck in the moving groove 201, thereby ensuring the stability and reliability of the cleaning robot 100. In another example, the moving groove 201 may be a blind groove, that is, the moving groove 201 is recessed from the side wall of the accommodating chamber 205 in a direction away from the center of the accommodating chamber 205, but the moving groove 201 does not pass through the side wall of the accommodating chamber 205, thereby reducing the possibility of the moving part 203 falling off from the moving groove 201 and ensuring the normal operation of the cleaning robot 100.

[0071] In the embodiment of the present application, only an example is given in which the first body 231 is provided with the moving groove 201 and the second body 233 is provided with the moving part 203 that cooperates with the moving groove 201 to illustrate.

[0072] Referring to Figures 2 and 8 , in some embodiments, the movable slot 201 comprises an elongated slot. The elongated slot enables the second body 233 to move relative to the first body 231, thereby changing the relative position of the cleaning module 20 relative to the body 10, thereby improving the applicability and cleaning performance 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.

[0073] In some embodiments, the movable groove 201 includes one or at least two. Specifically, referring to FIG9 , in one example, when the movable groove 201 includes one, the movable groove 201 can be set in the middle of the first body 231 in the longitudinal direction of the main body 21, thereby making the center of gravity of the mounting assembly 23 relatively centered when the moving member 203 moves in the movable groove 201, thereby improving the stability of the relative movement between the first body 231 and the second body 233. Referring to FIG8 , in another example, when the movable groove 201 includes at least two, for example, when the movable groove 201 includes two, the two movable grooves 201 are spaced apart on the first body 231 along the longitudinal direction of the main body 21, thereby also making the center of gravity of the mounting assembly 23 relatively centered when the moving member 203 moves in the movable groove 201, thereby improving the stability of the relative movement between the first body 231 and the second body 233.

[0074] 3 , 8 , and 9 , in some embodiments, the movable groove 201 includes an inclined sidewall 2011 configured to abut against the movable member 203. The inclined sidewall 2011 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.

[0075] It should be noted that, in conjunction with Figure 2, in some embodiments, the angle between the inclined side wall 2011 and the width direction (X1 / X2) of the cleaning robot 100 is an acute angle, which makes it easier for the moving part 203 to apply a force to the first body 231 through the inclined side wall 2011, so as to drive the first body 231 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 2011 and the width direction (X1 / X2) of the cleaning robot 100 can range from (0° to 90°), that is, the angle between the inclined side wall 2011 and the width direction (X1 / X2) 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.

[0076] Specifically, in some embodiments, when the power module 30 drives the second body 233 to move relative to the first body 231, since the angle between the inclined side wall 2011 and the width direction (X1 / X2) of the cleaning robot 100 is an acute angle, the inclined side wall 2011 cooperates with the moving part 203, and the moving part 203 can move along the inclined side wall 2011 relative to the first body 231, so as to drive the first body 231 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 Z of the cleaning robot 100 and the width direction (X1 / X2) of the cleaning robot 100.

[0077] In some embodiments, when the movable groove 201 includes one, the movable member 203 includes one. Along the width direction (X1 / X2) of the cleaning robot 100, the movable groove 201 includes two inclined side walls 2011 arranged opposite to each other. The movable member 203 is arranged in the movable groove 201 and abuts against both inclined side walls 2011. Specifically, when the power module 30 applies a force to the second body 233 and the second body 233 does not move relative to the first body 231, the movable member 203 can drive the first body 231 and the main body 21 to move together along the width direction (X1 / X2) of the cleaning robot 100; when the power module 30 drives the second body 233 to move relative to the first body 231, the movable member 203 can abut against the inclined side walls 2011 to apply a force to the first body 231, so that the first body 231 can drive the main body 21 to move together along the height direction Z of the cleaning robot 100.

[0078] In other embodiments, when the movable groove 201 includes one, the movable parts 203 may include two, and the two movable parts 203 are both arranged in the movable groove 201 and respectively abut against the two inclined side walls 2011 of the movable groove 201 in the width direction (X1 / X2) of the cleaning robot 100.

[0079] Specifically, when the power module 30 applies a force to the second body 233 and the second body 233 does not move relative to the first body 231, the moving part 203 can drive the first body 231 and the main body 21 to move together along the width direction (X1 / X2) of the cleaning robot 100; when the power module 30 drives the second body 233 to move relative to the first body 231, and the moving part 203 only applies a force to the first inclined side wall 2011 (the inclined side wall 2011 on the left side in FIG9 ), the cleaning module 20 can move along the height direction Z1 of the cleaning robot 100. By moving in the positive direction (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), the cleaning module 20 can be lifted; when the power module 30 drives the second body 233 to move relative to the first body 231, and the moving part 203 only applies a force to the second inclined side wall 2011 (the inclined side wall 2011 on the right side in Figure 9), the cleaning module 20 can move in the opposite direction of the height direction Z 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.

[0080] In other embodiments, the extension direction of the center line of the movable groove 201 is the same as the height direction Z 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 231, the moving part 203 can move along the height direction Z of the cleaning robot 100 in the movable groove 201, so as to drive the first body 231 and the body 21 to move together along the height direction Z of the cleaning robot 100.

[0081] 1 and 2 , in some embodiments, the power module 30 is used to drive the second body 233 to move relative to the first body 231 , so that the cleaning module 20 switches between the first state, the second state, and the third state.

[0082] When the cleaning module 20 is in the first state and 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 farther away from the center line of the width direction (X1 / X2) of the cleaning robot 100 in the second state than in the first state. When the cleaning module 20 is in the third state, the cleaning module 20 is spaced from the surface to be cleaned, wherein the target end of the cleaning module 20 is the side of the cleaning module 20 closer to the obstacle when the cleaning robot 100 moves along the obstacle; the width direction (X1 / X2) of the cleaning robot 100 is perpendicular to the travel direction Y of the cleaning robot 100. It should be noted that an "obstacle" can be a grounded object such as a wall or a cabinet.

[0083] For example, please refer to Figures 5(a) to 5(b), and Figures 6(a) to 6(b). It can be seen from Figures 5(a) and 6(a) that when the cleaning robot is in the first state, there is a cleaning blind spot between the right side of the cleaning robot and the wall. In order to clean the cleaning blind spot, the cleaning module can be driven to move to the right by the power module, so that the cleaning module is switched to the second state, as shown in Figures 5(b) and 6(b). When the cleaning module is in the second state, the right edge of the cleaning module can fit better with the wall, or the distance between the right edge and the wall can be very small, so as to eliminate or reduce the cleaning blind spot, so that the cleaning module can better clean the area along the wall.

[0084] Alternatively, please refer to Figures 7(a) to 7(b), and take the cleaning module of the embodiment of the present application as an example of a side brush. As shown in Figure 7(a), when the cleaning robot is in the first state, there is a cleaning blind spot between the right side of the cleaning robot 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, so that the side brush is switched to the second state. As shown in Figure 7(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 can better clean the corner area.

[0085] 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.

[0086] In addition, when the cleaning module 20 is in the third state, the cleaning module 20 is spaced apart 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. 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 effect and avoid the cleaning robot 100 mopping the carpet area and contaminating the carpet area. This helps the cleaning robot 100 adapt to different cleaning environments and cleaning needs, and improves the cleaning effect of the cleaning robot 100.

[0087] In some embodiments, when the cleaning module 20 is in a first state, the cleaning module 20 is located in the widest area of ​​the body 10; when the cleaning module 20 is in a second state, the cleaning module 20 is in contact with the surface to be cleaned, and at least part of the cleaning module is located outside the widest area of ​​the body 10, or one end of the cleaning module 20 is flush with the edge of the widest area of ​​the body 10; when the cleaning module 20 is in a third state, the cleaning module 20 is located in the widest area of ​​the body 10; wherein the widest area is the area formed by 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.

[0088] Specifically, 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 fuselage 10. The second state may be the state in which the cleaning module 20 is in contact with the surface to be cleaned, and at least a portion of the projection of the cleaning module 20 on the surface to be cleaned (including the target end) is located outside the widest area of ​​the fuselage 10, or an end (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 fuselage 10. For example, if the cleaning module 20 includes a track-type cleaning member, the second state of the cleaning module 20 may be such that the right end of the track-type cleaning member is flush with the edge of the widest area of ​​the fuselage 10. Alternatively, the right end of the track-type cleaning member may extend beyond the edge of the widest area of ​​the fuselage 10. The third state may be the state in which 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.

[0089] In particular, when the cleaning module 20 includes a wiping member 223, 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 (X1 / X2) of the cleaning robot 100. In this way, when the cleaning robot 100 cleans 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 width direction (X1 / X2) of the cleaning robot 100.

[0090] It is understandable that when the cleaning module 20 includes 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 of the cleaning robot 100. Therefore, when the cleaning robot 100 is in the cleaning state (first state), the side brush may 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 (X1 / X2) 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.

[0091] 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, or the cleaning module 20 can clean any position (including the corners) on the surface to be cleaned; when the cleaning module 20 is in the second state, the cleaning module 20 can clean any position (including the corners) on 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.

[0092] Referring to Figures 1, 8, and 10, in some embodiments, the power module 30 is used to drive the cleaning module 20 to move relative to the body 10 in a first direction 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 is against the body 10, the power module 30 is also used to drive the second body 233 to move relative to the first body 231, and drive the first body 231 and the body 21 to move along the second direction through the second body 233, 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, and the first direction intersects with the second direction. It should be noted that in some embodiments, the first direction includes the width direction (X1 / X2) of the cleaning robot 100; the second direction includes the height direction Z of the cleaning robot 100.

[0093] Specifically, in some embodiments, when the power module 30 drives the cleaning module 20 to move relative to the fuselage 10 in the first direction through the second body 233, the cleaning module 20 can switch between the first state and the second state. As a result, the cleaning module 20 can clean most of the positions on 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 one side of the cleaning module 20 in the first direction is against the fuselage 10, the movement of the cleaning module 20 relative to the fuselage 10 in the first direction is restricted by the fuselage 10. At this time, the power module 30 can drive the second body 233 to move relative to the first body 231, and drive the cleaning module 20 to move in the second direction through the second body 233, so that the cleaning module 20 can switch between the first state and the third state, or between the second state and the third state, thereby enabling the cleaning module 20 to cross 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 233 is subjected before the cleaning module 20 moves relative to the fuselage 10 along the first direction until it abuts against the fuselage 10 is the same as the direction of the force to which the second body 233 is subjected after the cleaning module 20 moves relative to the first direction until it abuts against the fuselage 10. Therefore, the power module 30 can drive the cleaning module 20 to move along the second direction through the second body 233.

[0094] 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 in the reverse direction X2 along the first direction to the second body 233, 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 in the positive direction X1 along the first direction to the second body 233, 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 is restricted. At this time, the power module 30 can continue to apply a force in the positive direction X1 along the first direction to the second body 233 so that the second body 233 and the first body 231 move relative to each other, thereby driving the cleaning module 20 to move relative to the fuselage 10 in the second direction, thereby enabling the cleaning module 20 to switch from the first state to the third state. It is understandable that the state switching method of the cleaning module 20 in the above embodiment is only an exemplary description, and the state switching method of the cleaning module 20 can also be other forms, which are not illustrated one by one here.

[0095] Continuing to refer to Figures 1, 3, and 10, in some embodiments, along a first direction, the body 10 includes an abutment portion (not shown) opposed to the cleaning module 20. The abutment portion can abut against the cleaning module 20 to limit movement of the cleaning module 20 along the first direction. Exemplarily, the abutment portion can be a sidewall of the body 10.

[0096] Specifically, in some embodiments, in the first direction (X1 / X2), the abutting portion 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 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 through the second main body 233, the end of the cleaning module 20 away from the target end in the first direction can abut against the abutment portion, thereby, the abutment portion can limit the cleaning module 20 from continuing to move in the positive direction X1 of the first direction, and the abutment portion can also guide the movement of the cleaning module 20 in the second direction, that is, when the movement of the cleaning module 20 in the positive direction X1 of the first direction is restricted, the power module 30 can continue to apply a force in the positive direction X1 of the first direction to the second main body 233, so that the second main body 233 can move relative to the first main body 231, so as to drive the cleaning module 20 to move in the second direction along the abutment portion, thereby enabling the cleaning module 20 to switch to the third state.

[0097] Since the cleaning module 20 and the abutment portion are always in an abutment state during the movement of the cleaning module 20 along the second direction, if the friction between the cleaning module 20 and the abutment portion is too large, the cleaning module 20 will be difficult to move along the second direction, resulting in excessive power consumption of the power module 30, affecting the normal operation of the cleaning robot 100. Please refer to Figure 2. In the embodiment of the present application, the cleaning module 20 may further include a sliding member 27, which is arranged on the side of the main body 21 opposite to the abutting portion. When the sliding member 27 abuts the abutting portion, the movement of the cleaning module 20 along the first direction is restricted by the fuselage 10. The sliding member 27 is used to reduce the friction between the main body 21 and the abutting portion when the main body 21 moves along the second direction. Therefore, compared with the case where the sliding member 27 is not provided, the friction between the cleaning module 20 and the abutting portion is smaller, so that the power module 30 can drive the cleaning module 20 to move relative to the fuselage 10 along the second direction through the second main body 233, thereby reducing the power consumption of the power module 30 and ensuring the normal operation of the cleaning robot 100.

[0098] In certain 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 portion, and the contact area is small, thereby reducing the friction force of the sliding member 27 moving on the abutment portion, 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 portion 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, the plurality of sliding members 27 are spaced apart on an end of the cleaning module 20 away from the target end.

[0099] Please refer to Figure 1. In some embodiments, the body 10 is provided with an installation space 13, and the side of the body 10 is provided with an opening 15 connected to the installation space 13. At least a portion of the cleaning module 20 is provided in the installation space 13. When the cleaning module 20 is in the second state, at least a portion of the cleaning module 20 extends from the opening 15 to the outside of the installation space 13. Among them, the provision of the installation space 13 can, on the one hand, reduce the size of the space occupied by the cleaning module 20 and the body 10, and improve the space utilization rate of the cleaning robot 100 in the height direction (i.e., the second direction), thereby facilitating the miniaturization of the cleaning robot 100; on the other hand, it can facilitate the installation and positioning of the cleaning module 20 on the body 10, thereby facilitating assembly efficiency. It should be noted that, in some embodiments, the abutting portion may be: a side wall of the installation space 13 opposite to one end of the cleaning module 20 in the first direction.

[0100] Specifically, in some embodiments, the installation space 13 may 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 13 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 13 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 13 and can move relative to the body 10 in the installation space 13. 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 15 to the outside of the installation space 13, 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.

[0101] Please refer to Figures 1 and 2. In some embodiments, the cleaning robot 100 also includes a mobile module 40, 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 40 to move relative to the body 10, thereby driving the cleaning module 20 to move relative to the body 10.

[0102] Specifically, please refer to Figure 3. In some embodiments, the mobile module 40 can be connected to the second body 233, wherein, when the power module 30 is operating stably, the driving force generated by the power module 30 can drive the mobile module 40 to move relative to the fuselage 10 in the first direction, so as to drive the cleaning module 20 to move relative to the fuselage 10 in the first direction through the second body 233; when the movement of the cleaning module 20 relative to the fuselage 10 in the first direction is restricted, the power module 30 can continue to apply a force along the first direction to the mobile module 40, so that the second body 233 can move relative to the first body 231, and drive the cleaning module 20 to move relative to the fuselage 10 in the second direction, 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.

[0103] More specifically, in some embodiments, the second body 233 is detachably connected to the mobile module 40, thereby facilitating assembly between the second body 233 and the mobile module 40 and improving the assembly efficiency of the cleaning robot 100; on the other hand, it is convenient to disassemble the mobile module 40 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 233 is detachably connected to the mobile module 40 by threaded fasteners (such as bolts, etc.). In another example, the second body 233 is detachably connected to the mobile module 40 by a buckle.

[0104] In some embodiments, a guide groove 11 extending along a first direction is provided on the body 10 , and at least a portion of the movable module 40 is disposed in the guide groove 11 . The guide groove 11 is used to guide the movable module 40 to move relative to the body 10 along the first direction.

[0105] Specifically, in some embodiments, the guide groove 11 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 40 is disposed in the guide groove 11. Thus, the guide groove 11 can guide the movable module 40 to move relative to the body 10 along the first direction while also limiting the moving direction and moving stroke of the movable module 40 relative to the body 10, thereby preventing the moving direction and moving stroke of the movable module 40 in the first direction 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.

[0106] The following describes in detail how to drive the cleaning module 20 to move relative to the main body 10.

[0107] Referring to Figure 2 , in some 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.

[0108] Specifically, in some embodiments, the transmission component 33 can be connected to the cleaning module 20 through the mobile module 40. When the driving member 31 is in stable motion, the driving force generated by the driving member 31 can be transmitted to the mobile module 40, and then transmitted to the cleaning module 20 through the mobile module 40. Thus, the driving member 31 can drive the cleaning module 20 to move relative to the fuselage 10 in a first direction through the mobile module 40, so that the cleaning module 20 can switch between the first state and the second state, and when the movement of the cleaning module 20 relative to the fuselage 10 in the first direction is restricted, the driving member 31 can drive the cleaning module 20 to move relative to the fuselage 10 in a second direction through the mobile module 40, so that the cleaning module 20 can switch between the first state and the third state, or between the second state and the third state. It should be noted that in some embodiments, the driving member 31 can be a driving 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.

[0109] Referring to Figures 11 and 12 , in some embodiments, the transmission component 33 includes a connecting member 331 and a transmission member 333. The connecting member 331 is connected to the movable module 40. 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 via the transmission member 333, thereby driving the movable module 40 to move relative to the body 10.

[0110] Specifically, in some embodiments, the movable module 40 is provided with a connecting groove 41, and at least a portion of the connecting member 331 is disposed within the connecting groove 41. Along the reverse direction X2 of the first direction, the connecting groove 411 includes a first connecting sidewall 4111 and a second connecting sidewall 4113. When the driving member 31 is operating stably, the driving member 31 can drive the connecting member 331 to move relative to the body 10 in the first direction via the transmission member 333, thereby driving the movable module 40 to move relative to the body 10. Among them, when the driving member 31 drives the connecting member 331 to move relative to the body 10 along the opposite direction X2 of the first direction through the transmission member 333, the connecting member 331 can cooperate with the second connecting side wall 4113, so as to drive the movable module 40 to move relative to the body 10 along the opposite direction X2 of the first direction, and drive the cleaning module 20 to move along the opposite direction X2 of the first direction; 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 through the transmission member 333, the connecting member 331 can cooperate with the first connecting side wall 4111, so as to drive the movable module 40 to move relative to the body 10 along the positive direction X1 of the first direction, and drive the cleaning module 20 to move along the positive direction X1 of the first direction.

[0111] It is worth noting that, in this embodiment, the connection member 331 cooperates with the first connection side wall 4111, which only means that there is an interaction force between the connection member 331 and the first connection side wall 4111, and does not require the connection member 331 to be in direct contact with the first connection side wall 4111. Similarly, the connection member 331 cooperates with the second connection side wall 4113, which only means that there is an interaction force between the connection member 331 and the second connection side wall 4113, and does not require the connection member 331 to be in direct contact with the second connection side wall 4113.

[0112] 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 form 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 during the process of the connecting member 331 driving the moving module 40 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, and the detachable connection method includes but is not limited to a snap connection or a threaded connection.

[0113] Further, referring to Figures 2, 11, and 12, 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 a first direction, so that the rack 3333 drives the connecting member 331 to move in the first direction relative to the body 10, thereby enabling the connecting member 331 to drive the movable module 40 to move in the first direction.

[0114] Referring to Figures 2 and 13 , in certain embodiments, the mobile module 40 of the cleaning robot 100 includes a first end 43 and a second end 45 that are opposite to each other in a first direction. The transmission component 33 includes a connecting member 335 , which is wound around the output shaft of the driving member 31 , and whose opposite ends are respectively connected to the first end 43 and the second end 45 of the mobile module 40 . The driving member 31 drives the mobile module 40 to move relative to the body 10 via the connecting member 335 .

[0115] Specifically, in some embodiments, the connecting member 335 may be a steel wire, and the transmission component 33 may also include a steel wire retracting disk 337. The steel wire retracting disk 337 is connected to the output shaft of the driving member 31 and can rotate together with the output shaft of the driving member 31. The connecting member 335 is arranged in the steel wire retracting disk 337, and the opposite ends of the connecting member 335 extend from the steel wire retracting disk 337 and are respectively connected to the first end 43 of the movable module 40 and the second end 45 of the movable module 40. Therefore, when the driving member 31 is operating stably, the output shaft of the driving member 31 can drive the steel wire retracting disk 337 to rotate so that the connecting member 335 can pull the movable module 40 to move relative to the fuselage 10.

[0116] 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.

[0117] Please refer to Figure 2, Figure 11, Figure 13 or Figure 14. 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, the buffer component 35 is used to buffer the external force in the positive direction X1 along the first direction exerted on the cleaning module 20.

[0118] 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; 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.

[0119] In particular, when the cleaning module 20 is subjected to an external force in the positive direction X1 along the first direction, the power module 30 is unable to promptly drive the cleaning module 20 to move in the positive direction X1 of the first direction to release the external force due to the reduction ratio of the driving member 31. This will cause the cleaning module 20 to be damaged by 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 subjected to an external force in the positive direction X1 along the first direction, the cleaning module 20 is able to move in the positive direction X1 of the first direction, thereby enabling the buffer assembly 35 to buffer the external force in the positive direction X1 of the first direction applied to the cleaning module 20, thereby reducing the influence of the reduction ratio of the driving member 31, preventing damage to 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 of the first direction applied to 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, 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.

[0120] In some embodiments, the buffer assembly 35 includes an elastic member 351. When the cleaning module 20 is in the second state and subjected to an external force in the positive direction X1 along the first direction, 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.

[0121] 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 of the first direction, the cleaning module 20 can move in the positive direction X1 of the first direction 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. When the external force in the positive direction X1 of the first direction 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 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 to the position where the cleaning module 20 was in the second state, thereby ensuring the cleaning effect of the cleaning robot 100.

[0122] Please refer to Figures 11 and 12. In some embodiments, a connecting groove 41 is provided on the movable module 40, and the transmission component 33 includes a connecting member 331 and a transmission member 333. The elastic member 351 is connected to both the connecting member 331 and the first connecting side wall 4111, or is connected to both the connecting member 331 and the second connecting side wall 4113.

[0123] 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, the cleaning module 20 can move in the positive direction X1 of the first direction. 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 subjected to the cleaning module 20, that is, the elastic member 451 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.

[0124] 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 4111. 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, the tension spring can be stretched to a certain extent. The connecting member 331 pulls the movable module 40 via the tension spring to move the cleaning module 20 laterally. After the cleaning module 20 has moved laterally into place, the tension spring still has some stretch margin. Among them, after the cleaning module 20 is moved sideways into position, along the first direction, the connecting piece 331 is spaced from the second connecting side wall 4113. 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, the cleaning module 20 can move in the positive direction X1 of the first direction. 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 exerted on the cleaning module 20 disappears, the elastic force generated by the stretching of the tension spring can make the cleaning module 20 move back to the position in the reverse direction X2 of the first direction 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 make the cleaning module 20 move back to the position in the reverse direction X2 of the first direction 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.

[0125] In another example, when the elastic member includes a compression spring, the compression spring is connected to both the connecting member 331 and the second connecting side wall 4113, and the compression spring is connected to at least one of the connecting member 331 and the second connecting side wall 4113 by abutting contact. 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, the compression spring can be compressed to a certain extent. The connecting member 331 pushes the moving module 40 to move laterally via the compression spring, causing the cleaning module 20 to move laterally. After the cleaning module 20 has moved laterally into place, the compression spring still has some compression margin. Among them, after the cleaning module 20 is moved sideways into position, along the first direction, the connecting piece 331 is spaced from the second connecting side wall 4113. 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, the cleaning module 20 can move in the positive direction X1 of the first direction. 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 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 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 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.

[0126] Please refer to Figures 2 and 13. 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 43 of the moving module 40 and / or the second end 45 of the moving module 40. 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, the cleaning module 20 can move in the positive direction X1 of the first direction. 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 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.

[0127] In certain embodiments, when the elastic member 351 is disposed on the connecting member 335 and proximate to the first end 43 of the movable module 40, 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, that is, during the movement of the cleaning module 20 in the opposite direction X2 of the first direction, 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 to its proper 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 of the first direction, the cleaning module 20 can move together with the movable module 40 in the positive direction X1 of the first direction. At this time, the tension spring can continue to be stretched to absorb the external force applied to the cleaning module 20. When the external force in the positive direction X1 of the first direction applied to the cleaning module 20 disappears, the elastic force generated by the stretching of the tension spring can enable the movable module 40 and the cleaning module 20 to move back to the position where the cleaning module 20 is in the second state along the reverse direction X2 of the first direction, 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 where the cleaning module 20 is basically in contact with the wall along the reverse direction X2 of the first direction, thereby ensuring the cleaning effect of the cleaning robot 100.

[0128] Please refer to Figures 14 and 15. In some embodiments, the buffer assembly 35 of the power module 30 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 40 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 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 module 40 along the first direction.

[0129] Specifically, in some embodiments, 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 43 of the movable module 40 and the second end 45 of the movable module 40, then 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, the cleaning module 20 can move together with the movable module 40 in the positive direction X1 of the first direction, but the driving member 31 is not working, which will cause the connecting member 335 (steel wire) close to the second end 45 of the movable module 40 to bend and deform, or even to wind up, thereby affecting the normal operation of the power module 30. In the embodiment shown in Figures 14 and 15, 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, the movable module 40 can move along the positive direction X1 toward the first direction 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 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. 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 operation of the power module 30.

[0130] It can be understood that when the driving member 31 drives the anti-collision member 353 to move along the first direction through the connecting member 335, the anti-collision member 353 can drive the movable module 40 to move along the first direction 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.

[0131] In one example, one end of the elastic member 351 is connected to the second end 45 of the movable module 40, and the other end is connected to the position of the anti-collision member 353 opposite the second end 45 of the movable module 40. In this case, the elastic member 351 can be a compression spring. 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, the compression spring can be compressed to a certain extent. The connecting member 335 pushes the movable module 40 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 some compression margin. 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, the cleaning module 20 can move together with the movable module 40 in the positive direction X1 of the first direction. 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 in the positive direction X1 of the first direction applied to the cleaning module 20 disappears, the elastic force generated by the compression of the compression spring can enable the movable module 40 and the cleaning module 20 to move back to the position where the cleaning module 20 is in the second state together in the reverse direction X2 of the first direction. 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 where the cleaning module 20 is basically in contact with the wall in the reverse direction X2 of the first direction, thereby ensuring the cleaning effect of the cleaning robot 100.

[0132] In another example, one end of the elastic member 351 is connected to the first end 43 of the movable module 40, and the other end is connected to the anti-collision member 353 at a position opposite to the first end 43 of the movable module 40. In this case, 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, the tension spring can be stretched to a certain extent. The connecting member 335 pulls the movable module 40 to move via the tension spring, thereby driving the lateral movement of the cleaning module 20. After the cleaning module 20 has moved 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 of the first direction, the cleaning module 20 can move together with the movable module 40 in the positive direction X1 of the first direction. At this time, the tension spring can continue to be stretched to absorb the external force applied to the cleaning module 20. When the external force in the positive direction X1 of the first direction applied to the cleaning module 20 disappears, the elastic force generated by the stretching of the tension spring can enable the movable module 40 and the cleaning module 20 to move back to the position where the cleaning module 20 is in the second state along the reverse direction X2 of the first direction, 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 where the cleaning module 20 is basically in contact with the wall along the reverse direction X2 of the first direction, thereby ensuring the cleaning effect of the cleaning robot 100.

[0133] 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 40 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 40. 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 40, thereby facilitating the miniaturization of the cleaning robot 100. On the other hand, it can facilitate the installation and positioning of the movable module 40 on the anti-collision member 353, thereby improving the assembly efficiency of the cleaning robot 100.

[0134] Referring to FIG. 1 , and in conjunction with FIG. 16( a ), FIG. 16 ( b ), and FIG. 16 ( c ), in some embodiments, the cleaning robot 100 further includes a detection module 50 , which is configured to detect a 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 50 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.

[0135] The provision of the detection module 50 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 50 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.

[0136] 2 , in some embodiments, the detection module 50 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 of the power module 30 to determine the current state of the cleaning module 20 .

[0137] 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.

[0138] In other embodiments, the detection module 50 includes a transmitter and a receiver, one of which is disposed on the cleaning module 20 and the other is disposed on the body 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 based on the received detection signal.

[0139] 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.

[0140] Referring to Figures 1 to 4, a cleaning module 20 according to certain embodiments of the present application is applied to a cleaning robot 100. The cleaning module 20 is mounted on the body 10 of the cleaning robot 100. The body 10 is provided with a power module 30. The cleaning module 20 includes a main body 21, a cleaning member 22, and a mounting assembly 23. The main body 21 is formed with a storage space for mounting the cleaning member 22. The mounting assembly 23 includes a first main body 231 and a second main body 233. The first main body 231 is connected to the main body 21, and the first main body 231 and the second main body 233 are movably connected. The second main body 233 is used to connect to the power module 30, and the power module 30 is used to drive the second main body 233 to move relative to the first main body 231, so as to change the relative position of the cleaning module 20 relative to the body 10.

[0141] It can be understood that the specific structures of the cleaning module 20 (including the main body 21, the cleaning parts 22 and the installation assembly 23, etc.) and the cleaning robot 100 (including the fuselage 10 and the power module 30, etc.) in the embodiment of the present application are exactly the same as the specific structures of the cleaning module 20 and the cleaning robot 100 in the above-mentioned embodiment, and will not be repeated here.

[0142] In certain embodiments, the relative position of the cleaning module 20 relative to the body 10 includes a first position and a second position, wherein when the cleaning module 20 is in the first position, the cleaning module 20 is in contact with the surface to be cleaned, and when the cleaning module 20 is in the second position, the cleaning module 20 is spaced apart from the surface to be cleaned. Specifically, when the cleaning module 20 is in the first position, the cleaning module 20 can be in contact with the surface to be cleaned, thereby enabling the cleaning robot 100 to perform a cleaning function (e.g., mopping); when the cleaning module 20 is in the second position, the cleaning module 20 can be spaced apart from the surface to be cleaned, thereby enabling the cleaning robot 100 to perform an obstacle navigating function.

[0143] The cleaning module 20 of the embodiment of the present application is connected to the power module 30 through the second body 233 of the mounting assembly 23. The power module 30 can drive the second body 233 to move relative to the first body 231, so that the relative position of the cleaning module 20 relative to the fuselage 10 changes, that is, the cleaning module 20 can move from a position in contact with the ground to a raised position. In this way, it is relatively easy to switch the cleaning module 20 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. In addition, compared with the cleaning robots in the related art, the cleaning robot 100 in this embodiment can 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 without setting up additional structural parts, thereby simplifying the installation steps of the cleaning module 20, improving the assembly efficiency of the cleaning robot 100, and reducing the production cost of the cleaning robot 100 and reducing the space occupied by the cleaning robot 100, which is conducive to the miniaturization of the cleaning robot 100.

[0144] Please refer to Figures 1 to 4. The cleaning robot 100 of certain embodiments of the present application includes a body 10 and the cleaning module 20 described in the above embodiments. The body 10 is provided with a power module 30. The cleaning module 20 is installed on the body 10 and connected to the power module 30.

[0145] In the cleaning robot 100 of the embodiment of the present application, the cleaning module 20 includes a main body 21 and an installation component 23, the installation component 23 includes a first main body 231 and a second main body 233, the first main body 231 is connected to the main body 21, the first main body 231 and the second main body 233 are movably connected, and the power module 30 can be connected to the second main body 233 and drive the second main body 233 to move relative to the first main body 231, so that the relative position of the cleaning module 20 relative to the fuselage 10 changes. Therefore, the cleaning robot 100 can 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 without setting up unnecessary structural parts, thereby simplifying the installation steps of the cleaning module 20, improving the assembly efficiency of the cleaning robot 100, and reducing the production cost of the cleaning robot 100, reducing the space occupied by the cleaning robot 100, and facilitating the miniaturization of the cleaning robot 100. In addition, the relative position of the cleaning module 20 relative to the body 10 changes, 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 relatively simply 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.

[0146] In conjunction with Figure 17 , 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 223 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 223.

[0147] 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.

[0148] 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.

[0149] 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; A cleaning module, the cleaning module comprising a body, a cleaning member, and a mounting assembly, the body forming a receiving space for mounting the cleaning member, the mounting assembly comprising a first body and a second body, the first body being connected to the body, the first body and the second body being movably connected; and A power module is provided on the fuselage and connected to the second body, and is used to drive the second body to move relative to the first body, so that the relative position of the cleaning module relative to the fuselage changes.

2. The cleaning robot according to claim 1, 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.

3. The cleaning robot according to claim 2, wherein: The protective cover has an opening through which a portion of the second body is exposed.

4. The cleaning robot according to claim 1, 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.

5. The cleaning robot according to claim 1, wherein: The cleaning module includes at least one of the following: a crawler-type cleaning element and a drum-type cleaning element.

6. The cleaning robot according to claim 1, 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.

7. The cleaning robot according to claim 6, wherein: The movable slot comprises an elongated slot; And / or, the movable slot includes one or at least two.

8. The cleaning robot according to claim 6 or 7, 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.

9. The cleaning robot according to claim 8, wherein: An angle formed between the inclined side wall and the width direction of the cleaning robot is an acute angle.

10. The cleaning robot according to claim 6 or 7, wherein: An extending direction of a center line of the moving groove is the same as a height direction of the cleaning robot.

11. The cleaning robot according to claim 6, 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.

12. The cleaning robot according to claim 6, wherein: The first body is box-shaped and is formed with a receiving cavity, and the second body is received in the receiving cavity.

13. The cleaning robot according to claim 12, 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.

14. The cleaning robot according to claim 1, 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.

15. The cleaning robot according to claim 14, wherein: When the cleaning module is in the first state, 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 at least a portion of the cleaning module is located outside the widest area of the body, or one end of the cleaning module is flush with an edge of the widest area of the body; When the cleaning module is in the third state, the cleaning module is located in 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.

16. The cleaning robot according to claim 14, 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.

17. The cleaning robot according to claim 16, wherein: The first direction includes a width direction of the cleaning robot, and the second direction includes a height direction of the cleaning robot.

18. The cleaning robot according to claim 16, 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.

19. The cleaning robot according to claim 18, 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.

20. The cleaning robot according to claim 14, wherein: The first body is provided with a moving groove, and the second body is provided with a moving piece that cooperates with the moving groove, and when the moving piece moves relative to the first body, the body moves along the second direction; or The second body is provided with a moving groove, and the first body is provided with a moving piece that cooperates with the moving groove. When the moving piece moves relative to the second body, the main body moves along the second direction.

21. The cleaning robot according to claim 1, 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.

22. The cleaning robot according to claim 21, wherein: The second body is detachably connected to the moving module.

23. The cleaning robot according to claim 22, wherein: The second body is detachably connected to the mobile module via a threaded fastener; And / or, the second body and the mobile module are detachably connected via a buckle.

24. The cleaning robot according to claim 21, wherein: The body is provided with a guide groove extending along a first direction, and at least a portion of the movable module is disposed in the guide groove. The guide groove is used to guide the movable module to move relative to the body along the first direction.

25. The cleaning robot according to claim 14, 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.

26. The cleaning robot according to claim 25, 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.

27. The cleaning robot according to claim 26, 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.

28. The cleaning robot according to any one of claims 25 to 27, wherein: The transmission components include: a connecting member connected to the mobile module; and A transmission member, one end of which is connected to the driving member, and the other end is connected to the connecting member, and the driving member drives the connecting member to move relative to the fuselage through the transmission member, so as to drive the mobile module of the cleaning robot to move relative to the fuselage.

29. The cleaning robot according to claim 28, 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.

30. The cleaning robot according to claim 28, wherein: The movable module is provided with a connecting groove, and at least a portion of the connecting member 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 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.

31. The cleaning robot according to claim 30, 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.

32. The cleaning robot according to claim 25, wherein: The mobile module of the cleaning robot includes a first end and a second end opposite to each other in a first direction; the transmission component includes: A connecting member is wound around the output shaft of the driving member, and the opposite ends of the connecting member are respectively connected to the first end of the movable module and the second end of the movable module, and the driving member drives the movable module to move relative to the fuselage through the connecting member.

33. The cleaning robot according to claim 32, 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.

34. The cleaning robot according to claim 32, 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.

35. The cleaning robot according to claim 14, 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.

36. The cleaning robot according to claim 35, wherein: The detection module includes a code disk, which is arranged on the driving member of the power module 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.

37. The cleaning robot according to claim 35, 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.

38. The cleaning robot according to claim 14, 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.

39. A cleaning module, applied to a cleaning robot, wherein the cleaning module is mounted on the body of the cleaning robot, and the body is provided with a power module, wherein: include: ontology; A cleaning member, wherein the body is formed with an accommodating space for installing the cleaning member; and A mounting assembly, the mounting assembly comprising a first body and a second body, the first body being connected to the main body, and the first body and the second body being movably connected; The second body is used to be connected to the power module, and the power module is used to drive the second body to move relative to the first body, so that the relative position of the cleaning module relative to the body changes.

40. The cleaning module according to claim 39, 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.

41. The cleaning module according to claim 40, wherein: The protective cover has an opening through which a portion of the second body is exposed.

42. The cleaning module according to claim 39, 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 / 2 to 1 / 4 of the length of the body; And / or, the second body is detachably connected to the power module.

43. The cleaning module according to claim 39, wherein The cleaning module includes at least one of the following: a crawler-type cleaning element and a drum-type cleaning element.

44. The cleaning module according to claim 39, 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.

45. The cleaning module according to claim 44, wherein The movable slot comprises an elongated slot; And / or, the movable slot includes one or at least two.

46. The cleaning module according to claim 44 or 45, 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.

47. The cleaning module according to claim 46, wherein: An angle formed between the inclined side wall and the width direction of the cleaning robot is an acute angle.

48. The cleaning module according to claim 44 or 45, wherein: An extending direction of a center line of the moving groove is the same as a height direction of the cleaning robot.

49. The cleaning module according to claim 44, wherein In the case where there is one movable groove, there is one movable member, and the movable member is disposed in the movable groove and abuts against both side walls of the movable groove in the first direction; 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 two side walls of the moving groove in the first direction.

50. The cleaning module according to claim 39, 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.

51. The cleaning module according to claim 50, wherein: When the cleaning module is in the first state, 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 at least a portion of the cleaning module is located outside the widest area of the body, or one end of the cleaning module is flush with an edge of the widest area of the body; When the cleaning module is in the third state, the cleaning module is located in 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.

52. The cleaning module according to claim 50, 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.

53. The cleaning module according to claim 52, wherein: The first direction includes a width direction of the cleaning robot, and the second direction includes a height direction of the cleaning robot.

54. The cleaning module according to claim 52, 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.

55. The cleaning module according to claim 54, 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.

56. The cleaning module according to claim 50, wherein The first body is provided with a moving groove, and the second body is provided with a moving piece that cooperates with the moving groove, and when the moving piece moves relative to the first body, the body moves along the second direction; or The second body is provided with a moving groove, and the first body is provided with a moving piece that cooperates with the moving groove. When the moving piece moves relative to the second body, the main body moves along the second direction.

57. A cleaning robot, wherein: include: a fuselage, wherein the fuselage is provided with a power module; and The cleaning module described in any one of claims 39-56 is installed on the fuselage and connected to the power module.

58. The cleaning robot according to claim 57, 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.

59. The cleaning robot according to claim 58, wherein: The second body is detachably connected to the moving module.

60. The cleaning robot according to claim 59, wherein: The second body is detachably connected to the mobile module via a threaded fastener; And / or, the second body and the mobile module are detachably connected via a buckle.

61. The cleaning robot according to claim 58, wherein: The body is provided with a guide groove extending along a first direction, and at least a portion of the movable module is disposed in the guide groove. The guide groove is used to guide the movable module to move relative to the body along the first direction.

62. The cleaning robot according to claim 57, 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.

63. The cleaning robot according to claim 62, 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.

64. The cleaning robot according to claim 63, 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.

65. The cleaning robot according to claim 62, wherein: The transmission components include: a connecting member connected to the mobile module; and A transmission member, one end of which is connected to the driving member, and the other end is connected to the connecting member, and the driving member drives the connecting member to move relative to the fuselage through the transmission member, so as to drive the mobile module of the cleaning robot to move relative to the fuselage.

66. The cleaning robot according to claim 65, 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.

67. The cleaning robot according to claim 65, wherein: A connecting groove is provided on the movable body of the movable module, and at least a portion of the connecting member is arranged in the connecting groove. Along the opposite direction of the first direction, the connecting groove includes a first connecting side wall and a second connecting side wall 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.

68. The cleaning robot according to claim 67, 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.

69. The cleaning robot according to claim 62, wherein: The mobile module of the cleaning robot includes a first end and a second end opposite to each other in a first direction; the transmission component includes: A connecting member is wound around the output shaft of the driving member, and the opposite ends of the connecting member are respectively connected to the first end of the movable module and the second end of the movable module, and the driving member drives the movable module to move relative to the fuselage through the connecting member.

70. The cleaning robot according to claim 69, 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.

71. The cleaning robot according to claim 69, 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.

72. The cleaning robot according to claim 57, wherein: The cleaning robot further includes a detection module, which is used to detect a current state of the cleaning module, where the current state includes a first state, a second state, and a third state.

73. The cleaning robot according to claim 72, wherein: The detection module includes a code disk, which is arranged on the driving member of the power module 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.

74. The cleaning robot according to claim 72, 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.

75. The cleaning robot according to claim 57, 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.

76. A base station for use with the cleaning robot according to any one of claims 1 to 38 and 57 to 75, the base station comprising a docking position for accommodating the cleaning robot.

77. A cleaning system comprising: The cleaning robot according to any one of claims 1 to 38 and 57 to 75; and A base station is used in conjunction with the cleaning robot described in any one of claims 1 to 38 and 57 to 75, and the base station includes a docking position for accommodating the cleaning robot.

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