Cleaning robot, base station, and cleaning system

Abstract

A cleaning robot (100), a base station (200), and a cleaning system (1000). The cleaning robot (100) comprises a robot body (10), a cleaning module (20), a moving module (30) and a power module (40). The power module (40) is arranged on the robot body (10), and the power module (40) is configured to drive the moving module (30) to move relative to the robot body (10), and drive the cleaning module (20) to move relative to the robot body (10), such that the cleaning module (20) switches between a first state, a second state and a third state, thereby ensuring cleaning effects of the cleaning robot (100).

Description

Cleaning robots, base stations and cleaning systems Technical Field

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

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

[0003] Summary of the Invention

[0004] The cleaning robot provided in the first aspect of the embodiment of the present application includes a fuselage, a cleaning module, a mobile module and a power module. The cleaning module is arranged on the fuselage, and the cleaning module is provided with a matching part. The mobile module is movably arranged on the fuselage and can cooperate with the cleaning module, and the mobile module is provided with a linkage part that cooperates with the matching part. The power module is arranged on the fuselage and connected to the mobile module, and the power module is used to drive the mobile module to move relative to the fuselage, and drive the cleaning module to move relative to the fuselage, so that the cleaning module switches between the first state, the second state and the third state. When the cleaning module is in the first state and the second state, the cleaning module is in contact with the surface to be cleaned, and the target end of the cleaning module is farther away from the center line of the cleaning robot in the width direction in the second state than in the first state; the linkage member can move until the matching member is carried on the linkage member, so that 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.

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

[0006] The cleaning robot provided in the second aspect of the embodiment of the present application includes a fuselage, a cleaning module, a mobile module and a power module. The cleaning module is arranged on the fuselage, and the cleaning module is provided with a matching part. The mobile module is movably arranged on the fuselage and can cooperate with the cleaning module, and the mobile module is provided with a linkage part that cooperates with the matching part. The power module is arranged on the fuselage and connected to the mobile module, and the power module is used to drive the mobile module to move relative to the fuselage along a first direction. In the process of the power module driving the mobile module to move along the first direction, the linkage part can move to the matching part and be carried on the linkage part, so that the cleaning module moves from a first position to a second position relative to the fuselage; wherein, when the cleaning module is in the first position, the cleaning module is in contact with the surface to be cleaned, and when the cleaning module is in the second position, the cleaning module is spaced apart from the surface to be cleaned.

[0007] In the cleaning robot provided in the second aspect of the embodiment of the present application, the power module can drive the mobile module to move relative to the fuselage along the first direction, and drive the cleaning module to move relative to the fuselage, and in the process of the power module driving the mobile module to move along the first direction, the linkage part can move to the matching part and be carried on the linkage part, so that the cleaning module moves from the first position to the second position, that is, the cleaning module can move from the position in contact with the surface to be cleaned to the lifted position during the movement along the first direction. In this way, the cleaning module of the cleaning robot can be switched between the normal cleaning state and the state of being separated from the surface to be cleaned more easily, 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.

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

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

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

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

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

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

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

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

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

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

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

[0019] FIG5 is a schematic structural diagram of a cleaning robot in certain embodiments of the present application in a first state, a second state, and a third state;

[0020] FIG6 is an exploded perspective view of the cleaning robot shown in FIG4 ;

[0021] FIG7 is a schematic cross-sectional view of an embodiment of the cleaning robot shown in FIG4 ;

[0022] FIG8 is a schematic cross-sectional view of another embodiment of the cleaning robot shown in FIG4 ;

[0023] FIG9 is a schematic diagram of the three-dimensional structure of the power module of the cleaning robot shown in FIG4 ;

[0024] FIG10 is a schematic plan view of the structure of the cleaning robot shown in FIG4 ;

[0025] FIG11 is a schematic diagram of the three-dimensional structure of an embodiment of the power module and the mobile module of the cleaning robot shown in FIG4 ;

[0026] FIG12 is a schematic perspective structural diagram of another embodiment of the power module and the mobile module of the cleaning robot shown in FIG4 ;

[0027] FIG13 is a perspective exploded schematic diagram of the power module and the mobile module of the cleaning robot shown in FIG12;

[0028] FIG14( a ) is a schematic diagram of the cleaning robot provided in an embodiment of the present application in a first state;

[0029] FIG14( b ) is a schematic diagram of the cleaning robot provided by an embodiment of the present application in a second state;

[0030] FIG14( c ) is a schematic diagram of the cleaning robot provided by an embodiment of the present application in a third state;

[0031] FIG15 is a schematic structural diagram of a mopping assembly of a cleaning module provided in some embodiments of the present application;

[0032] FIG16 is a schematic diagram of the three-dimensional structure of a cleaning system according to certain embodiments of the present application.

[0033] Description of main component symbols:

[0034] Cleaning robot 100; first direction (X1 / X2); second direction Z; travel direction Y; first tangent line L1; second tangent line L2;

[0035] Body 10, positioning member 101, positioning groove 103, abutment portion 11, guide groove 13, installation space 15, opening 17;

[0036] Cleaning module 20, body 21, wiping assembly 210, matching slot 211, communication port 213, bracket assembly 215, wiping member 217, mounting shell 219, sliding member 23, matching member 25, first side 251, second side 253, moving member 27;

[0037] The movable module 30 , the first end 301 , the second end 303 , the movable body 31 , the connecting slot 311 , the first connecting side wall 3111 , the second connecting side wall 3113 , the connecting post 313 , the through slot 315 , the linkage member 33 , the first side 331 , and the second side 333 ;

[0038] Power module 40, driving member 41, transmission component 43, connecting member 431, transmission member 433, gear 4331, rack 4333, connecting member 435, wire retracting disc 437, buffer assembly 45, elastic member 451, anti-collision member 453, anti-collision groove 4531;

[0039] Detection module 50; guide member 60, guide groove 61;

[0040] Base station 200, parking space 2001;

[0041] Cleaning system 1000. DETAILED DESCRIPTION

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

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

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

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

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

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

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

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

[0050] For example, for the cleaning module including a mopping part, please refer to Figures 1(a) and 2(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 1(a), the mopping part can be completely located within the body outline of the cleaning robot. Alternatively, as shown in Figure 2(a), the mopping part is partially located outside the body outline of the cleaning robot, 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] Regarding the cleaning module including the side brush, please refer to FIG3(a). In the related art, when the side brush is in the normal installation state, it is necessary to ensure that the side brush will not be pressed by the driving wheel of the cleaning robot during the movement of the cleaning robot. Therefore, the bristles of the side brush itself will not be designed to be too long. In order to make it easier for the garbage cleaned by the side brush to be swept to the roller brush air inlet, the side brush will not be designed to be too far away from the roller brush air inlet, resulting in the side brush of the cleaning robot being basically installed in the state shown in FIG3(a) under normal installation. As a result, when this type of cleaning robot passes through a corner area during the cleaning process, the side brush cannot extend into the corner well and cannot effectively sweep out the dust and garbage in the corner, forming a cleaning blind spot in the corner, which in turn leads to poor corner cleaning effect of the cleaning robot.

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

[0053] Furthermore, for a cleaning robot, since the cleaning module needs to be in contact with the ground during normal cleaning, when the cleaning robot needs to overcome obstacles, such as when crossing a threshold, it is desirable that the cleaning module does not hinder the robot from navigating the obstacle, and in this case, it is also desirable that the cleaning module does not contact the surface to be cleaned. Alternatively, for a cleaning robot equipped with both a sweeping and a mopping component, if only sweeping is required, it is desirable that the mopping component does not contact the surface to be cleaned, and if 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.

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

[0055] Referring to Figures 4 and 5, the cleaning robot 100 of certain embodiments of the present application includes a body 10, a cleaning module 20, a mobile module 30 and a power module 40. The cleaning module 20 is arranged on the body 10, and the cleaning module 20 is provided with a matching part 25. The mobile module 30 is movably arranged on the body 10 and can cooperate with the cleaning module 20. The mobile module 30 is provided with a linkage part 33 that cooperates with the matching part 25. The power module 40 is arranged on the body 10 and connected to the mobile module 30. The power module 40 is used to drive the mobile module 30 to move relative to the body 10, and drive the cleaning module 20 to move relative to the body 10, so that the cleaning module 20 switches between the first state, the second state and the third state.

[0056] 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 is located in the widest area of ​​the body 10. In the second state, the target end of the cleaning module 20 is further away from the centerline of the width direction of the cleaning robot 100 than in the first state. The linkage member 33 can move until the matching member 25 is carried on the linkage member 33, so that when the cleaning module 20 is in the third state, the cleaning module 20 is spaced from the surface to be cleaned. The target end of the cleaning module 20 is the side of the cleaning module 20 that is closer to the obstacle when the cleaning robot 100 moves along the obstacle. The width direction of the cleaning robot 100 is perpendicular to the travel direction Y of the cleaning robot 100. It should be noted that the "obstacle" can be a wall, cabinet, or other grounded object.

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

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

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

[0060] Exemplarily, the cleaning module 20 may include a crawler-type cleaning element or a roller-type cleaning element. Referring to Figures 4 and 15 , the body 21 may include a bracket assembly 215 and a wiping element 217. The wiping element 217 is mounted on the bracket assembly 215, and the bracket assembly 215 and the wiping element 217 together form a wiping assembly 210. The body 21 also includes a mounting housing 219. The wiping assembly 210, which is composed of the bracket assembly 215 and the wiping element 217, is mounted in the mounting housing 219. The bracket assembly 215 is detachably mounted on the side of the mounting housing 219 facing the surface to be cleaned, so that the wiping assembly 210 can be detachably mounted in the mounting housing 219. When the cleaning robot 100 is in a normal cleaning state, the bracket assembly 215 can drive the wiping element 217 to rotate relative to the surface to be cleaned to clean the surface. It should be noted that in some embodiments, the wiping element 217 includes, but is not limited to, a disposable electrostatic mop, a disposable wet mop, or a reusable fabric mop.

[0061] The cleaning robot 100 may further include a brush sweeping module, which is disposed on the body 10 and is used to clean the surface to be cleaned. The brush sweeping module may include a roller brush and a side brush. When the cleaning robot 100 uses the brush sweeping module to clean the surface to be cleaned, the side brush sweeps dust and other dirt from the outside to the middle area, and the roller brush continues to sweep the dirt in the middle area into a garbage collection container (not shown). Along the travel direction Y of the cleaning robot 100, the side brush is located on the front side of the body 10, the roller brush is located in the middle of the body 10 (between the front side of the body 10 and the rear side of the body 10), and the cleaning module 20 including the mopping member 217 can be located on the rear side of the body 10. As a result, the cleaning robot 100 can achieve both sweeping and mopping functions, thereby improving the cleaning effect of the cleaning robot 100.

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

[0063] For example, please refer to Figures 1(a) to 1(b), and Figures 2(a) to 2(b). It can be seen from Figures 1(a) and 2(a) that when the cleaning robot 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 this 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 1(b) and 2(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.

[0064] Alternatively, please refer to Figures 3(a) to 3(b), and take the cleaning module of the embodiment of the present application as an example of a side brush. As shown in Figure 3(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 3(b), when the side brush is in the second state, the side brush can extend further into the corner, thereby eliminating or reducing the cleaning blind spot in the corner, so that the cleaning module can better clean the corner area.

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

[0066] In addition, when the cleaning module 20 is in the third state, the cleaning module 20 is spaced 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.

[0067] In the cleaning robot 100 of the embodiment of the present application, the power module 40 is capable of driving the mobile module 30 to move relative to the fuselage 10, and driving the cleaning module 20 to move relative to the fuselage 10, so that the cleaning module 20 switches between the first state, the second state, and the third state. Since the cleaning module 20 is provided with a matching member 25, and the mobile module 30 is provided with a linkage member 33 that cooperates with the matching member 25, when it is necessary to drive the cleaning module 20 to switch between the first state, the second state, and the third state, it is only necessary to drive the mobile module 30 to move in a preset direction to drive the cleaning module 20 to move in the preset direction. During this process, the linkage member 33 is capable of relative movement with the matching member 25. When the matching member 25 is carried on the linkage member 33, the cleaning module 20 is out of contact with the surface to be cleaned and is in the third state. Therefore, compared with traditional cleaning robots, the cleaning module 20 in the embodiment of the present application can achieve cleaning within the normal area in the first state, and can improve the cleaning effect of the edges or corners after switching to the second state, and the cleaning module 20 switches to the third state in which it is lifted off the ground, which can improve the obstacle crossing ability of the cleaning robot 100, or the cleaning module 20 can be driven away from the surface to be cleaned according to different cleaning scene requirements to avoid reverse contamination of the surface to be cleaned.

[0068] Please refer to Figures 4, 6 and 7. In some embodiments, the matching part 25 is provided at the top of the cleaning module 20 (the side of the cleaning module 20 opposite to the surface to be cleaned when the cleaning robot 100 is carried on the surface to be cleaned), and is located in the middle position in the width direction of the cleaning module 20; wherein, the width direction of the cleaning module 20 is substantially perpendicular to the width direction of the cleaning robot 100. Wherein, "substantially perpendicular" means that the angle between the two is 90°±5° within the range allowed by the manufacturing process or assembly process error. Wherein, the matching part 25 is provided in the middle position in the width direction of the cleaning module 20, so that the force on the cleaning module 20 can be more balanced, which is beneficial to the stability of the cleaning module 20 during the movement process.

[0069] In some embodiments, when the cleaning module 20 is in a first state, the cleaning module 20 is in contact with the surface to be cleaned, and the cleaning module 20 is located in the widest area of ​​the body 10; when the cleaning module 20 is in a second state, the cleaning module 20 is in contact with the surface to be cleaned, and the target end of the cleaning module 20 is located outside the widest area of ​​the body 10, or the target end of the cleaning module 20 is flush with the edge of the widest area of ​​the body 10; 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 traveling direction of the cleaning robot 100.

[0070] Specifically, referring to FIG5 , in certain embodiments, the first state may be the state in which the cleaning module 20 is in contact with the surface to be cleaned, and the projection of the cleaning module 20 on the surface to be cleaned is located within the widest area of ​​the body 10. The second state may be the state in which the cleaning module 20 is in contact with the surface to be cleaned, and the target end of the projection of the cleaning module 20 on the surface to be cleaned is located outside the widest area of ​​the body 10, or the target end of the projection of the cleaning module 20 on the surface to be cleaned is flush with the edge of the widest area of ​​the body 10. For example, if the cleaning module 20 includes a crawler-type cleaning member, the second state of the cleaning module 20 may be such that the right end of the crawler-type cleaning member is flush with the edge of the widest area of ​​the body 10. Alternatively, the right end of the crawler-type cleaning member may extend beyond the edge of the widest area of ​​the body 10. The third state may be such that the matching member 25 is supported by the linkage member 33, and 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.

[0071] In particular, when the cleaning module 20 is a wiping member 217, when the cleaning module 20 is in the first state, the cleaning module 20 will not exceed the widest area of ​​the body 10 along the width direction of the cleaning robot 100. In this way, when the cleaning robot 100 performs normal cleaning of the surface to be cleaned (not edge cleaning or corner cleaning), the cleaning module 20 will not protrude too much from the body 10, thereby better ensuring the appearance of the cleaning robot 100. When the cleaning robot 100 is in the second state, the target end of the cleaning module 20 is further away from the center line of the cleaning robot 100 in the width direction.

[0072] It is understandable that when the cleaning module 20 is a side brush, the bristles of the side brush are soft and are not likely to interfere with other components on the chassis of the cleaning robot 100 and hinder its rotation. In addition, it is necessary to gather dust and garbage around the area passed by the cleaning robot 100 to the middle of the cleaning robot 100. Therefore, when the cleaning robot 100 is in normal cleaning (first state), the side brush can exceed the widest area of ​​the body 10, and when the cleaning robot 100 is in the second state, the target end of the side brush is further away from the center line of the width direction of the cleaning robot 100. It is worth noting that the target end of the side brush refers to the position closest to the obstacle in the cleaning area formed by the side brush during rotation.

[0073] It is understandable that, in some embodiments, when the cleaning module 20 is in the first state or the second state, the cleaning robot 100 is in a cleaning state, in which case the cleaning robot 100 can clean the surface to be cleaned. Specifically, when the cleaning module 20 is in the first state, the cleaning module 20 can clean any position of the surface to be cleaned except the corners; when the cleaning module 20 is in the second state, the cleaning module 20 can clean any position (including the corners) of the surface to be cleaned. When the cleaning module 20 is in the third state, the cleaning module 20 may be in a non-cleaning state, in which case the cleaning robot 100 does not perform the target cleaning task on the surface to be cleaned, and the target cleaning task may be a mopping task or a sweeping task. The cleaning robot 100 is further explained below with reference to the accompanying drawings.

[0074] Please refer to Figures 4 and 5. In some embodiments, the power module 40 is used to drive the mobile module 30 to move relative to the body 10 along the first direction (X1 / X2) to drive the cleaning module 20 to switch between the first state and the second state; when the cleaning module 20 is against the body 10 on one side in the first direction (X1 / X2), the power module 40 provides a force to drive the mobile module 30 to move along the first direction (X1 / X2), and cooperates with the matching member 25 through the linkage member 33 of the mobile module 30 to drive the cleaning module 20 to move along the second direction Z, so that the cleaning module 20 switches between the first state and the third state, or switches between the second state and the third state, and the first direction (X1 / X2) intersects with the second direction Z. In some embodiments, the first direction (X1 / X2) may be a direction perpendicular to the travel direction Y of the cleaning robot 100. More specifically, the first direction (X1 / X2) may be the width direction of the cleaning robot 100; the second direction Z may be the height direction of the cleaning robot 100, that is, when the cleaning robot 100 is in a normal cleaning state, the direction from the cleaning module 20 to the surface to be cleaned, or the direction from the surface to be cleaned to the cleaning module 20.

[0075] Specifically, in some embodiments, when the power module 40 drives the cleaning module 20 to move relative to the body 10 along the first direction (X1 / X2) through the moving module 30, the cleaning module 20 can switch between the first state and the second state, thereby enabling the cleaning module 20 to clean most of the positions on the surface to be cleaned, reducing the blind spots for cleaning along the edges or corners, thereby improving the cleaning effect of the cleaning robot 100 as a whole; when one side of the cleaning module 20 in the first direction (X1 / X2) is against the body 10, the movement of the cleaning module 20 relative to the body 10 in the first direction (X1 / X2) is The movement is restricted by the fuselage 10. At this time, the power module 40 can continue to provide the force to drive the mobile module 30 to move along the first direction (X1 / X2), and cooperate with the matching part 25 through the linkage part 33 of the mobile module 30 to drive the cleaning module 20 to move along the second direction Z, so that the cleaning module 20 can switch between the first state and the third state, or switch between the second state and the third state, thereby enabling the cleaning module 20 to pass over objects such as protrusions that hinder the movement of the cleaning robot 100, 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 movable module 30 is subjected before the cleaning module 20 moves relative to the body 10 along the first direction (X1 / X2) to abut against the body 10 is the same as the direction of the force to which the movable module 30 is subjected after the cleaning module 20 moves relative to the first direction (X1 / X2) to abut against the body 10. Therefore, the movable module 30 can drive the cleaning module 20 to move along the second direction Z.

[0076] It can be understood that when the cleaning module 20 is against the fuselage 10 on one side in the first direction (X1 / X2) and the power module 40 continues to provide the force to drive the mobile module 30 to move along the first direction (X1 / X2), the cleaning module 20 can move directly along the second direction Z. Therefore, compared with the cleaning module 20 being able to move along the first direction (X1 / X2) while moving along the second direction Z, on the one hand, the efficiency of the cleaning module 20 switching from the first state or the second state to the third state can be improved; on the other hand, it can prevent the cleaning module 20 from moving outside the widest area of ​​the fuselage 10 when the cleaning module 20 is in the third state. In this way, the cleaning module 20 of the cleaning robot can protrude outside the widest area of ​​the fuselage 10 only when it needs to move sideways, and in the normal cleaning state and the lifted state, the cleaning module 20 is still located in the widest area of ​​the fuselage 10.

[0077] In the embodiment of the present application, when the cleaning module 20 is in the first state and the power module 40 drives the mobile module 30 to move in the reverse direction X2 of the first direction (X1 / X2) relative to the fuselage 10, 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 40 drives the mobile module 30 to move in the positive direction X1 of the first direction (X1 / X2) relative to the fuselage 10, the cleaning module 20 can abut against the fuselage 10 so that the movement of the cleaning module 20 in the positive direction X1 of the first direction (X1 / X2) is restricted. At this time, the power module 40 can continue to provide the force to drive the mobile module 30 to move in the positive direction X1 of the first direction (X1 / X2) relative to the fuselage 10, so that the mobile module 30 can cooperate with the matching component 25 through the linkage component 33 to drive the cleaning module 20 to move in the second direction Z relative to the fuselage 10, thereby enabling the cleaning module 20 to switch from the first state to the third state. It is understandable that the state switching manner of the cleaning module 20 in the above embodiment is merely an example. The state switching manner of the cleaning module 20 may also be in other forms, which are not described one by one here.

[0078] Referring to Figures 4 and 7 , in some embodiments, along a first direction (X1 / X2), the housing 10 includes an abutment portion 11 that opposes the cleaning module 20. The abutment portion 11 can abut against the cleaning module 20 to limit movement of the cleaning module 20 along the first direction (X1 / X2). For example, the abutment portion 11 can be a sidewall of the housing 10.

[0079] Specifically, in some embodiments, in the first direction (X1 / X2), the abutting portion 11 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 11 is used to abut against the end of the cleaning module 20 away from the target end. More specifically, when the movable module 30 moves relative to the body 10 in the positive direction X1 of the first direction (X1 / X2), the movable module 30 can drive the cleaning module 20 to move in the positive direction X1 of the first direction (X1 / X2), so that the end of the cleaning module 20 away from the target end in the first direction (X1 / X2) abuts against the abutting portion 11, thereby, the abutting portion 11 can limit the cleaning module 20 from continuing to move in the positive direction X1 of the first direction (X1 / X2), and the abutting portion 11 can also abut against the cleaning module 20. The movement of the cleaning module 20 along the second direction Z plays a guiding role, that is, when the movement of the cleaning module 20 in the positive direction X1 along the first direction (X1 / X2) is restricted, the power module 40 can continue to apply a force in the positive direction X1 along the first direction (X1 / X2) to the movable module 30, so that the movable module 30 can drive the cleaning module 20 to move in the second direction Z along the abutment portion 11 through the cooperation of the linkage member 33 and the matching member 25, so that the cleaning module 20 can switch to the third state.

[0080] Since the cleaning module 20 is always in an abutment state with the abutment portion 11 during the movement of the cleaning module 20 along the second direction Z, if the friction between the cleaning module 20 and the abutment portion 11 is too large, the moving module 30 will find it difficult to drive the cleaning module 20 to move along the second direction Z, thereby causing the power module 40 to consume too much power, affecting the normal operation of the cleaning robot 100. In an embodiment of the present application, the cleaning module 20 may further include a sliding member 23, which is arranged on the side of the main body 21 opposite to the abutment 11. When the sliding member 23 abuts the abutment 11, the movement of the cleaning module 20 along the first direction (X1 / X2) is restricted by the fuselage 10. The sliding member 23 is used to reduce the friction between the main body 21 and the abutment 11 when the main body 21 moves along the second direction Z. Therefore, compared with the case where the sliding member 23 is not provided, the friction between the cleaning module 20 and the abutment 11 is smaller, so that the moving module 30 can drive the cleaning module 20 to move relative to the fuselage 10 along the second direction Z, thereby reducing the power consumption of the power module 40 and ensuring the normal operation of the cleaning robot 100.

[0081] In certain embodiments, the sliding member 23 can be a pulley or a roller. When the sliding member 23 is a pulley, the outer periphery of the sliding member 23 is a convex cambered surface, and the convex cambered surface contacts the abutment 11, and the contact area is small, thereby reducing the friction of the sliding member 23 moving on the abutment 11, making the movement process of the sliding member 23 smoother. When the sliding member 23 is a roller, the outer periphery of the sliding member 23 is a convex cambered surface, and the sliding member 23 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 23, the sliding member 23 itself rotates. Compared to the form of the sliding member 23 being a pulley, the roller-type sliding member 23 can rotate during the movement. Therefore, the wear of the sliding member 23 during the movement along the abutment 11 can be smaller, which is conducive to improving the service life of the sliding member 23 and reducing maintenance costs. In one example, the sliding member 23 includes a. In another example, the sliding member 23 includes a plurality of sliding members 23 , and in the first direction ( X1 / X2 ), the plurality of sliding members 23 are spaced apart on an end of the cleaning module 20 away from the target end.

[0082] Referring to Figures 4 and 5, in some embodiments, the body 10 is provided with an installation space 15, and an opening 17 is provided on the side of the body 10 that communicates with the installation space 15. At least a portion of the cleaning module 20 is disposed within the installation space 15. When the cleaning module 20 is in the second state, at least a portion of the cleaning module 20 extends from the opening 17 to outside the installation space 15. The provision of the installation space 15 can, on the one hand, reduce the size of the space occupied by the cleaning module 20 and the body 10, thereby improving the space utilization of the cleaning robot 100 in the height direction (i.e., the second direction Z), 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 abutment portion 11 may be: a side wall of the installation space 15 opposite to one end of the cleaning module 20 in the first direction (X1 / X2).

[0083] Specifically, in some embodiments, the installation space 15 can be recessed from the side of the body 10 facing the surface to be cleaned toward a direction away from the surface to be cleaned. The cross-sectional shape of the installation space 15 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 15 is rectangular, the cross-sectional shape of the cleaning module 20 is also substantially rectangular, thereby ensuring that the cleaning module 20 can be installed in the installation space 15 and can move relative to the body 10 in the installation space 15. 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 17 to the outside of the installation space 15, 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.

[0084] Referring to Figures 4 and 6 , in certain embodiments, the mobile module 30 includes a mobile body 31 and a linkage 33. The mobile body 31 is movably mounted on the housing 10 and connected to the power module 40. The linkage 33 is mounted on the mobile body 31 and is capable of cooperating with the cleaning module 20. The power module 40 is configured to drive the mobile body 31 to move in a first direction (X1 / X2) and, via the linkage 33, to drive the matching member 25 to move in a second direction Z, thereby driving the body 21 to move in the second direction Z.

[0085] Specifically, in some embodiments, when the movable body 31 moves in the opposite direction X2 of the first direction (X1 / X2), the linkage 33 can cooperate with the body 21 to drive the cleaning module 20 to move in the opposite direction X2 of the first direction (X1 / X2); when the movable body 31 moves in the positive direction X1 of the first direction (X1 / X2), the linkage 33 can cooperate with the matching part 25, and relative movement can occur between the linkage 33 and the matching part 25, thereby, the power module 40 can drive the matching part 25 to move in the second direction Z through the linkage 33, so as to drive the body 21 to move in the second direction Z.

[0086] In some embodiments, the mobile body 31 and the linkage member 33 are integrally formed, that is, the mobile body 31 and the linkage member 33 are an integral structure, thereby improving the bonding strength between the mobile body 31 and the linkage member 33, preventing the linkage member 33 from falling off from the mobile body 31 when the linkage member 33 is engaged with the cleaning module 20, thereby improving the stability and reliability of the cleaning robot 100. In other embodiments, the mobile body 31 and the linkage member 33 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.

[0087] Please refer to Figure 7. In some embodiments, the linkage member 33 includes a first side 331 and a second side 333 opposite to each other along the first direction (X1 / X2). When the linkage member 33 is matched with the cleaning module 20, the first side 331 of the linkage member 33 is opposite to the matching member 25, and the first side 331 of the linkage member 33 is tilted. Along the positive direction X1 of the first direction (X1 / X2), the distance between the first side 331 of the linkage member 33 and the surface to be cleaned gradually decreases.

[0088] Specifically, in certain embodiments, when the movement of the cleaning module 20 along the first direction (X1 / X2) is restricted by the body 10 and the linkage member 33 is engaged with the matching member 25, the force applied by the power module 40 to the movable module 30 along the first direction (X1 / X2) can act on the matching member 25 through the linkage member 33. Since the first side 331 of the linkage member 33 is inclined, the force applied by the linkage member 33 on the matching member 25 includes a force component along the second direction Z, and this force component can drive the cleaning module 20 to move along the first side 331 of the linkage member 33 along the second direction Z. It is understandable that during the process of the cleaning module 20 moving relative to the body 10 along the second direction Z, the movable module 30 can move relative to the body 10 along the first direction (X1 / X2) so that the linkage member 33 and the matching member 25 are always in an engaged state.

[0089] In this embodiment, the matching member 25 may include a pulley or a roller. When the matching member 25 is a pulley, the outer periphery of the matching member 25 is a convex curved surface. This convex curved surface contacts the first side 331 of the linkage member 33, resulting in a smaller contact area. This reduces the frictional force caused by the matching member 25 moving on the linkage member 33, making the matching member 25 move more smoothly relative to the linkage member 33. When the matching member 25 is a roller, the outer periphery of the matching member 25 is a convex curved surface. The matching member 25 includes a connecting shaft connected to the body 21 and a sleeve rotatably mounted on the connecting shaft. The outer periphery of the sleeve is a convex curved surface, and the sleeve is rotatable about the connecting shaft. During the movement of the matching member 25, the matching member 25 rotates. Compared to a matching member 25 in the form of a pulley, a roller-type matching member 25 can rotate during movement. Therefore, the matching member 25 suffers less wear during movement of the first side 331 of the linkage member 33, which helps to increase the service life of the matching member 25 and reduce maintenance costs.

[0090] Please refer to Figure 8. In other embodiments, the matching member 25 includes a first side 251 and a second side 253 opposite to each other along the positive direction X1 of the first direction (X1 / X2). When the linkage member 33 is coordinated with the cleaning module 20, the first side 251 of the matching member 25 is opposite to the linkage member 33, and the first side 251 of the matching member 25 is tilted. Along the positive direction X1 of the first direction (X1 / X2), the distance between the first side 251 of the matching member 25 and the surface to be cleaned gradually decreases.

[0091] Specifically, in certain embodiments, when the movement of the cleaning module 20 along the first direction (X1 / X2) is restricted by the body 10 and the linkage member 33 is engaged with the matching member 25, the force applied by the power module 40 to the movable module 30 along the first direction (X1 / X2) can act on the matching member 25 through the linkage member 33. Since the first side 251 of the matching member 25 is tilted, the force applied by the linkage member 33 on the matching member 25 includes a force component along the second direction Z, and this force component can drive the cleaning module 20 to move relative to the linkage member 33 along the second direction Z. It is understandable that during the process of the cleaning module 20 moving relative to the body 10 along the second direction Z, the movable module 30 can move relative to the body 10 along the first direction (X1 / X2) so that the linkage member 33 and the matching member 25 are always in an engaged state.

[0092] In this embodiment, the matching member 25 may include a protrusion connected to the body 21. The linkage member 33 may include a pulley rotatably connected to the movable body 31. When the movement of the cleaning module 20 along the first direction (X1 / X2) is restricted by the housing 10, and the linkage member 33 cooperates with the matching member 25, the pulley can move along with the movable body 31 in the first direction (X1 / X2) to apply a force along the second direction Z to the protrusion, thereby enabling the protrusion to move relative to the pulley in the second direction Z.

[0093] It is understood that in certain embodiments, when the matching member 25 includes a bump, the linkage member 33 may also include a roller. Specifically, when the linkage member 33 is a pulley, the outer periphery of the linkage member 33 is a convex curved surface. The convex curved surface contacts the bump, resulting in a smaller contact area. This reduces the frictional force of the linkage member 33 moving on the bump, making the movement of the linkage member 33 relative to the bump smoother. When the linkage member 33 is a roller, the outer periphery of the linkage member 33 is a convex curved surface, and the linkage member 33 includes a connecting shaft connected to the movable body 31, and a sleeve rotatably mounted on the connecting shaft. The outer periphery of the sleeve is a convex curved surface, and the sleeve can rotate around the connecting shaft. During the movement of the linkage member 33, the linkage member 33 rotates. Compared to the linkage member 33 in the form of a pulley, the roller-type linkage member 33 can rotate during the movement. Therefore, the wear of the linkage member 33 during the movement on the bump can be reduced, which is beneficial to increasing the service life of the linkage member 33 and reducing maintenance costs.

[0094] Please refer to Figure 7 or Figure 8. In some embodiments, a mating groove 211 is provided on the main body 21, and a connecting port 213 connected to the mating groove 211 is provided on the main body 21. The matching piece 25 is arranged in the mating groove 211, and at least a portion of the linkage piece 33 extends into the mating groove 211 through the connecting port 213 and is capable of mating with the matching piece 25.

[0095] Specifically, in certain embodiments, when the cleaning robot 100 is placed on a surface to be cleaned, the communication port 213 is located on a side of the body 21 (mounting shell 219) opposite to the surface to be cleaned. Thus, when at least a portion of the linkage member 33 extends through the communication port 213 into the matching groove 211 and matches with the matching member 25, the matching member 25 can move along the second direction Z to drive the body 21 to move along the second direction Z. The provision of the matching groove 211 can, on the one hand, reduce the size of the space occupied by the moving module 30 and the cleaning module 20, thereby improving the space utilization of the cleaning robot 100 in the second direction Z, thereby facilitating the miniaturization of the cleaning robot 100; on the other hand, it can limit the cooperation between the linkage member 33 and the matching member 25, thereby improving the stability of the cooperation between the linkage member 33 and the matching member 25, thereby ensuring the normal operation of the cleaning robot 100.

[0096] In some embodiments, the mating slot 211 includes a first side and a second side opposite to each other in the first direction (X1 / X2), the first side of the mating slot 211 is opposite to the first side 331 of the linkage member 33, the matching member 25 is close to the first side of the mating slot 211, and the second side of the mating slot 211 is opposite to the second side 333 of the linkage member 33. When the moving module 30 moves in the opposite direction X2 of the first direction (X1 / X2), the second side 333 of the linkage member 33 can be mated with the second side of the mating slot 211 to The cleaning module 20 moves in the opposite direction X2 of the first direction (X1 / X2); when the moving module 30 moves in the positive direction X1 of the first direction (X1 / X2), the first side 331 of the linkage member 33 can cooperate with the matching member 25 to enable the cleaning module 20 to move in the positive direction X1 of the first direction (X1 / X2), and when the movement of the cleaning module 20 in the positive direction X1 of the first direction (X1 / X2) is restricted by the body 10, the linkage member 33 also drives the cleaning module 20 to move in the second direction Z.

[0097] Please refer to Figure 7. In some embodiments, the matching member 25 includes a pulley or a roller, which is close to the side wall of the matching groove 211 opposite to the linkage member 33 in the first direction (X1 / X2) (the first side of the matching groove 211), and the pulley or roller can cooperate with the linkage member 33.

[0098] Referring to FIG8 , in other embodiments, the matching member 25 includes a matching sidewall of the matching groove 211 that is opposite to the linkage member 33 in the first direction (X1 / X2), and the matching sidewall is capable of matching with the linkage member 33. Specifically, in one example, the matching member 25 can be a protrusion, and along the opposite direction X2 of the first direction (X1 / X2), the protrusion includes a first side 251 and a second side 253 that are opposite to each other. When the linkage member 33 extends into the matching groove 211, the first side 251 of the protrusion is opposite to the linkage member 33, and the second side 253 of the protrusion is connected to the first side of the matching groove 211. In this case, the matching sidewall is the first side 251 of the protrusion, and the first side 251 of the protrusion is arranged at an angle. In another example, the matching part 25 is the first side of the mating groove 211 (the side of the mating groove 211 opposite to the linkage part 33), and the first side of the mating groove 211 is inclined, wherein, along the second direction Z, the distance between the first side of the mating groove 211 and the surface to be cleaned in the positive direction X1 of the first direction (X1 / X2) gradually decreases.

[0099] Please refer to Figure 6. In some embodiments, a guide groove 13 extending along the first direction (X1 / X2) is provided on the fuselage 10, and at least a portion of the movable body 31 is disposed in the guide groove 13. The guide groove 13 is used to guide the movable body 31 to move relative to the fuselage 10 along the first direction (X1 / X2).

[0100] Specifically, in some embodiments, the guide groove 13 can be recessed from the side of the body 10 opposite to the surface to be cleaned toward the surface to be cleaned, and at least a portion of the movable body 31 is disposed in the guide groove 13. Thus, the guide groove 13 can guide the movable body 31 to move relative to the body 10 along the first direction (X1 / X2), while also limiting the moving direction and moving stroke of the movable body 31 relative to the body 10, thereby preventing the moving direction and moving stroke of the movable body 31 in the first direction (X1 / X2) from being unrestricted when a program error occurs in the power module 40, 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.

[0101] In some embodiments, one of the main body 10 and the mobile body 31 is provided with a positioning member 101, and the other of the main body 10 and the mobile body 31 is provided with a positioning slot 103 extending along a first direction (X1 / X2). The positioning member 101 is configured to cooperate with the positioning slot 103 to restrict the movement of the mobile body 31 along the first direction (X1 / X2). It should be noted that in some embodiments, the relationship between the positioning members 101 and the positioning slots 103 can be one-to-one or many-to-one, that is, one positioning member 101 corresponds to one positioning slot 103, or multiple positioning members 101 correspond to one positioning slot 103.

[0102] In some embodiments, the positioning member 101 may be a protrusion, and the positioning groove 103 may be a groove. For example, if the positioning member 101 is provided on the body 10 and the positioning groove 103 extending along the first direction (X1 / X2) is provided on the mobile body 31, the positioning member 101 may be provided on the bottom wall of the guide groove 13. When the mobile body 31 is provided on the body 10, the protrusion can extend into the groove, thereby limiting the movement of the mobile body 31 along the first direction (X1 / X2).

[0103] In other embodiments, the positioning member 101 may be a roller, and the positioning groove 103 may be a groove of a guide rail. When the movable body 31 is arranged on the body 10, the roller can extend into the groove of the guide rail and can roll relative to the guide rail, thereby achieving the restriction of the movement of the movable body 31 along the first direction (X1 / X2).

[0104] The following describes in detail how to drive the cleaning module 20 to move relative to the main body 10.

[0105] 4 and 6 , in some embodiments, the power module 40 includes a driver 41 and a transmission component 43. The transmission component 43 is connected to the driver 41 at one end and to the mobile module 30 at the other end. The transmission component 43 is used to transmit the driving force of the driver 41 to the mobile module 30, thereby moving the mobile module 30 relative to the body 10.

[0106] Specifically, in some embodiments, when the driving member 41 is in stable motion, the driving force generated by the driving member 41 can be transmitted to the mobile module 30, and transmitted to the cleaning module 20 through the mobile module 30. Thus, the driving member 41 can drive the cleaning module 20 to move relative to the fuselage 10 along the first direction (X1 / X2) through the mobile module 30, 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 along the first direction (X1 / X2) is restricted, the driving member 41 can drive the cleaning module 20 to move relative to the fuselage 10 along the second direction Z through the mobile module 30, so that the cleaning module 20 can switch between the first state and the third state, or switch between the second state and the third state. It should be noted that, in some embodiments, the driving member 41 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.

[0107] Referring to Figure 9 , in some embodiments, the transmission component 43 includes a connecting member 431 and a transmission member 433. The connecting member 431 is connected to the movable module 30. One end of the transmission member 433 is connected to the driving member 41, and the other end is connected to the connecting member 431. The driving member 41 drives the connecting member 431 to move relative to the body 10 via the transmission member 433, thereby driving the movable module 30 to move relative to the body 10.

[0108] Specifically, referring to FIG10 , in certain embodiments, a connecting groove 311 is provided on the movable body 31 of the movable module 30. Along the opposite direction X2 of the first direction (X1 / X2), the connecting groove 311 includes a first connecting side wall 3111 and a second connecting side wall 3113, respectively, and at least a portion of the connecting member 431 is disposed within the connecting groove 311. When the driving member 41 is operating stably, the driving member 41 can drive the connecting member 431 to move relative to the body 10 along the first direction (X1 / X2) via the transmission member 433, thereby driving the movable module 30 to move relative to the body 10. Among them, when the driving member 41 drives the connecting member 431 to move relative to the body 10 along the reverse direction X2 of the first direction (X1 / X2) through the transmission member 433, the connecting member 431 can cooperate with the second connecting side wall 3113, thereby driving the movable module 30 to move relative to the body 10 along the reverse direction X2 of the first direction (X1 / X2), and driving the cleaning module 20 to move along the reverse direction X2 of the first direction (X1 / X2); when the driving member 41 drives the connecting member 431 to move relative to the body 10 along the positive direction X1 of the first direction (X1 / X2) through the transmission member 433, the connecting member 431 can cooperate with the first connecting side wall 3111, thereby driving the movable module 30 to move relative to the body 10 along the positive direction X1 of the first direction (X1 / X2), and driving the cleaning module 20 to move along the positive direction X1 of the first direction (X1 / X2).

[0109] In some embodiments, the transmission member 433 and the connecting member 431 are integrally formed, that is, the transmission member 433 and the connecting member 431 form a single unitary structure, thereby improving the bonding strength between the transmission member 433 and the connecting member 431, preventing the connecting member 431 from falling off the transmission member 433 during the process of the connecting member 431 driving the moving module 30 to move relative to the body 10, thereby improving the stability and reliability of the cleaning robot 100. In other embodiments, the transmission member 433 and the connecting member 431 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.

[0110] Further, referring to FIG9 , in some embodiments, the transmission member 433 includes a gear 4331 and a rack 4333. The gear 4331 is connected to the driving member 41, and the rack 4333 is connected to the connecting member 431. The gear 4331 cooperates with the rack 4333. When the driving member 41 drives the gear 4331 to rotate, the gear 4331 drives the rack 4333 to move, thereby driving the connecting member 431 to move relative to the body 10. Specifically, in some embodiments, when the driving member 41 drives the gear 4331 to rotate, the gear 4331 can drive the rack 4333 to move in the first direction (X1 / X2), so that the rack 4333 drives the connecting member 431 to move in the first direction (X1 / X2) relative to the body 10, thereby enabling the connecting member 431 to drive the movable module 30 to move in the first direction (X1 / X2).

[0111] Referring to Figure 11 , in some embodiments, the movable module 30 includes a first end 301 and a second end 303 that are opposite to each other in a first direction (X1 / X2). The transmission component 43 includes a connecting member 435 that is wound around the output shaft of the driving member 41. The connecting member 435 has two opposite ends connected to the first end 301 and the second end 303 of the movable module 30, respectively. The driving member 41 drives the movable module 30 to move relative to the body 10 via the connecting member 435.

[0112] Specifically, in some embodiments, the connecting member 435 may be a steel wire, and the transmission component 43 may further include a steel wire retracting disk 437, which is connected to the output shaft of the driving member 41 and can rotate together with the output shaft of the driving member 41. The connecting member 435 is arranged in the steel wire retracting disk 437, and the opposite ends of the connecting member 435 extend from the steel wire retracting disk 437 and are respectively connected to the first end 301 of the movable module 30 and the second end 303 of the movable module 30. Therefore, when the driving member 41 is operating stably, the output shaft of the driving member 41 can drive the steel wire retracting disk 437 to rotate so that the connecting member 435 can pull the movable module 30 to move relative to the fuselage 10.

[0113] It is understandable that in other embodiments, the transmission component 43 may also include but is not limited to one or more transmission structures such as a screw assembly, a gear 4331 assembly, a worm gear transmission assembly, a chain transmission assembly and a pulley transmission assembly, which are not described in detail here.

[0114] Please refer to Figure 7, Figure 11 or Figure 12. In some embodiments, the power module 40 also includes a buffer component 45. When the cleaning module 20 is in the second state and is subjected to an external force in the positive direction X1 along the first direction (X1 / X2), the buffer component 45 is used to buffer the external force in the positive direction X1 along the first direction (X1 / X2) exerted on the cleaning module 20.

[0115] 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, the cleaning module 20 may collide with the wall, causing the cleaning module 20 to be subjected to an external force in the positive direction X1 along the first direction (X1 / X2); or, when the cleaning module 20 is in the second state, the cleaning module 20 can clean the area along the edge of the wall, and since in this state, the end of the cleaning module 20 can be attached to the wall, or the distance between the end and the wall is very small, therefore, if the wall is not a straight wall but a non-straight wall, for example, the cross-sectional shape of the wall is a curved shape (including but not limited to an arc or a wave shape, etc.), the cleaning module 20 will also collide with the wall, causing the cleaning module 20 to be subjected to an external force in the positive direction X1 along the first direction (X1 / X2).

[0116] Among them, when the cleaning module 20 is subjected to an external force in the positive direction X1 along the first direction (X1 / X2), due to the reduction ratio of the driving member 41, the power module 40 cannot promptly drive the cleaning module 20 to move in the positive direction X1 of the first direction (X1 / X2) to release the external force, which will cause the cleaning module 20 to be damaged under the action of the external force, affecting the normal operation of the cleaning robot 100. In the present application, when the cleaning module 20 is in the second state and subjected to an external force in the positive direction X1 along the first direction (X1 / X2), the cleaning module 20 can move in the positive direction X1 of the first direction (X1 / X2), so that the buffer assembly 45 can buffer the external force in the positive direction X1 of the first direction (X1 / X2) subjected to the cleaning module 20, thereby reducing the influence of the reduction ratio of the driving member 41, preventing the cleaning module 20 from being damaged, and ensuring the normal operation of the cleaning robot 100. In addition, when the external force X1 in the positive direction along the first direction (X1 / X2) acting on the cleaning module 20 disappears, the buffer component 45 can also enable the cleaning module 20 to move in the reverse direction X2 of the first direction (X1 / X2) so that the cleaning module 20 can be moved again to basically fit with the wall. That is to say, the setting of the buffer component 45 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.

[0117] Referring to Figures 7, 11, or 12, in some embodiments, the buffer assembly 45 includes an elastic member 451. When the cleaning module 20 is in the second state and subjected to an external force in a positive direction X1 along the first direction (X1 / X2), the elastic member 451 is in an elastically deformed state. It should be noted that in some embodiments, the elastic member 451 includes at least one of the following: a spring, a spring, or a rubber member.

[0118] Specifically, in some embodiments, when the cleaning module 20 is in the second state and is subjected to an external force in the positive direction X1 along the first direction (X1 / X2), the cleaning module 20 can move toward the positive direction X1 of the first direction (X1 / X2) and cause the elastic member 451 to undergo elastic deformation (including stretching, compression or deformation, etc.). In this case, the elastic member 451 can generate elastic force, and the elastic force can act on the cleaning module 20 so that the cleaning module 20 has a tendency to move in the reverse direction X2 of the first direction (X1 / X2). When the external force in the positive direction X1 of the first direction (X1 / X2) applied to the cleaning module 20 disappears, for example, when the buffer assembly 45 causes the cleaning module 20 to move in the positive direction X1 of the first direction (X1 / X2) to overcome an obstacle, the elastic force can cause the cleaning module 20 to move back in the reverse direction X2 of the first direction (X1 / X2) to the position where the cleaning module 20 was in the second state, thereby ensuring the cleaning effect of the cleaning robot 100.

[0119] Please refer to Figures 7 and 10. In some embodiments, a connecting groove 311 is provided on the movable body 31, and the transmission component 43 includes a connecting member 431 and a transmission member 433. The elastic member 451 is connected to both the connecting member 431 and the first connecting side wall 3111, or the elastic member 451 is connected to both the connecting member 431 and the second connecting side wall 3113.

[0120] Specifically, in some embodiments, when the cleaning module 20 is in the second state and is subjected to an external force in the positive direction X1 along the first direction (X1 / X2), the cleaning module 20 can move in the positive direction X1 of the first direction (X1 / X2). In this case, the elastic member 451 can undergo elastic deformation to achieve buffering of the external force in the positive direction X1 along the first direction (X1 / X2) subjected to the cleaning module 20, that is, the elastic member 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.

[0121] In one example, when the elastic member 451 includes a tension spring, the tension spring is fixedly connected to both the connecting member 431 and the first connecting side wall 3111. For example, a tension spring with relatively high stiffness can be selected. During the lateral movement of the cleaning module 20, that is, during the movement of the cleaning module 20 in the opposite direction X2 of the first direction (X1 / X2), the tension spring can be stretched to a certain extent. The connecting member 431 pulls the movable module 30 via the tension spring to move the cleaning module 20 laterally. After the cleaning module 20 has moved into position, the tension spring still has some stretch margin. In which, after the cleaning module 20 is moved sideways into position, the connecting piece 431 is spaced from the second connecting side wall 3113 along the first direction (X1 / X2). In this way, when the cleaning module 20 is in the second state and is subjected to an external force in the positive direction X1 along the first direction (X1 / X2), the cleaning module 20 can move in the positive direction X1 of the first direction (X1 / X2). At this time, the tension spring can continue to be stretched to absorb the external force exerted on the cleaning module 20. When the external force in the positive direction X1 of the first direction (X1 / X2) exerted on the cleaning module 20 disappears, the elastic force generated by the stretching of the tension spring can enable the cleaning module 20 to move back to the position in the reverse direction X2 of the first direction (X1 / X2) to the position where the cleaning module 20 is in the second state. That is, the elastic force generated by the stretching of the tension spring can enable the cleaning module 20 to move back to the position in the reverse direction X2 of the first direction (X1 / X2) to the position where the cleaning module 20 is basically in contact with the wall, thereby ensuring the cleaning effect of the cleaning robot 100.

[0122] In another example, when the elastic member 451 includes a compression spring, the compression spring is connected to both the connecting member 431 and the second connecting side wall 3113, and the compression spring is connected to at least one of the connecting member 431 and the second connecting side wall 3113 in an abutting manner. For example, a compression spring with a relatively large stiffness can be selected. During the lateral movement of the cleaning module 20, that is, during the movement of the cleaning module 20 in the opposite direction X2 of the first direction (X1 / X2), the compression spring can be compressed to a certain extent. The connecting member 431 pushes the moving module 30 to move laterally via the compression spring, so that the cleaning module 20 moves laterally. After the cleaning module 20 moves laterally into place, the compression spring still has a compression margin. In which, after the cleaning module 20 is moved sideways into position, the connecting piece 431 is spaced from the second connecting side wall 3113 along the first direction (X1 / X2). In this way, when the cleaning module 20 is in the second state and is subjected to an external force in the positive direction X1 along the first direction (X1 / X2), the cleaning module 20 can move in the positive direction X1 of the first direction (X1 / X2). At this time, the compression spring can continue to be compressed to absorb the external force applied to the cleaning module 20. When the external force applied to the cleaning module 20 in the positive direction X1 of the first direction (X1 / X2) disappears, the elastic force generated by the compression of the compression spring can enable the cleaning module 20 to move back to the position in the reverse direction X2 of the first direction (X1 / X2) to the position where the cleaning module 20 is in the second state. That is, the elastic force generated by the compression of the compression spring can enable the cleaning module 20 to move back to the position in the reverse direction X2 of the first direction (X1 / X2) to which the cleaning module 20 is basically in contact with the wall, thereby ensuring the cleaning effect of the cleaning robot 100. It should be noted that, in some embodiments, when the elastic member 451 includes a compression spring, the compression spring and the connecting member 431 can be fixedly connected, and the compression spring and the second connecting side wall 3113 can be abutted without a fixed connection, or, the compression spring and the connecting member 431 can be abutted, and the compression spring and the second connecting side wall 3113 can be fixedly connected, or, the compression spring and the connecting member 431 and the second connecting side wall 3113 can all abut against each other, so that the cleaning module 20 can be easily moved relative to the body 10 along the height direction of the cleaning robot 100.

[0123] Please continue to refer to Figures 7 and 10. In some embodiments, the movable body 31 includes a connecting column 313, which is arranged in the connecting groove 311. The elastic member 451 is sleeved on the connecting column 313. The connecting column 313 is used to limit the deformation of the elastic member 451 along the first direction (X1 / X2). In other words, the connecting column 313 can limit the deformation direction of the elastic member 451 along the first direction (X1 / X2) (for example, compression direction or stretching direction, etc.), and prevent the elastic member 451 from deforming along other directions (for example, the second direction Z) to cause the cleaning module 20 to be unable to move when subjected to external force, thereby improving the stability and reliability of the cleaning robot 100.

[0124] Specifically, in certain embodiments, when one end of the elastic member 451 is connected to the first connecting side wall 3111, the connecting post 313 may protrude and extend from the first connecting side wall 3111 toward the second connecting side wall 3113, and be spaced apart from the second connecting side wall 3113, and the connecting member 431 may be movably disposed between the connecting post 313 and the second connecting side wall 3113. When one end of the elastic member 451 is connected to the second connecting side wall 3113, the connecting post 313 may protrude and extend from the second connecting side wall 3113 toward the first connecting side wall 3111, and be spaced apart from the first connecting side wall 3111, and the connecting member 431 may be movably disposed between the connecting post 313 and the first connecting side wall 3111.

[0125] 4 and 12 , in other embodiments, when the transmission component 43 includes a connecting member 435, one end of the elastic member 451 is connected to the connecting member 435, and the other end is connected to the first end of the movable body 31 (which may be the first end 301 of the movable module 30) and / or the second end of the movable body 31 (which may be the second end 303 of the movable module 30). Specifically, in some embodiments, when the cleaning module 20 is in the second state and is subjected to an external force in the positive direction X1 along the first direction (X1 / X2), the cleaning module 20 can move in the positive direction X1 of the first direction (X1 / X2). In this case, the elastic member 451 can undergo elastic deformation to achieve buffering of the external force in the positive direction X1 along the first direction (X1 / X2) applied to the cleaning module 20. That is, the elastic member 451 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.

[0126] In certain embodiments, when the elastic member 451 is disposed on the connecting member 435 and proximate to the first end 301 of the movable module 30, the elastic member 451 may be a tension spring. For example, a tension spring with relatively high stiffness may be selected. During the lateral movement of the cleaning module 20, i.e., during the movement of the cleaning module 20 in the opposite direction X2 of the first direction (X1 / X2), the tension spring may be stretched to a certain extent. The connecting member 431 pulls the cleaning module 20 laterally via the tension spring, and after the cleaning module 20 has moved into position, the tension spring still has some stretch margin. When the cleaning module 20 is in the second state and is subjected to an external force in the positive direction X1 along the first direction (X1 / X2), the cleaning module 20 can move together with the moving module 30 in the positive direction X1 of the first direction (X1 / X2). At this time, the tension spring can continue to be stretched to absorb the external force exerted on the cleaning module 20. When the external force in the positive direction X1 of the first direction (X1 / X2) exerted on the cleaning module 20 disappears, the elastic force generated by the stretching of the tension spring can make the moving module 30 and the cleaning module 20 move back to the position where the cleaning module 20 is in the second state along the reverse direction X2 of the first direction (X1 / X2). That is, the elastic force generated by the stretching of the tension spring can make the cleaning module 20 move back to the position where the cleaning module 20 is basically in contact with the wall along the reverse direction X2 of the first direction (X1 / X2), thereby ensuring the cleaning effect of the cleaning robot 100.

[0127] In some embodiments, a through slot 315 is provided at the first end of the movable body 31 and / or the second end of the movable body 31, and at least a portion of the elastic member 451 is disposed in the through slot 315, and the through slot 315 is used to limit the deformation of the elastic member 451 along the first direction (X1 / X2).

[0128] Please refer to Figures 4, 12 and 13. In some embodiments, the buffer assembly 45 of the power module 40 includes an anti-collision member 453, which is arranged on the fuselage 10 and can move relative to the fuselage 10. At least a portion of the movable body 31 of the movable module 30 is arranged on the anti-collision member 453 and can move relative to the anti-collision member 453. The opposite ends of the connecting member 435 are connected to the anti-collision member 453, and the elastic member 451 of the buffer assembly 45 is connected between the anti-collision member 453 and the movable body 31 along the first direction (X1 / X2).

[0129] Specifically, in some embodiments, if the anti-collision member 453 is not provided, that is, the opposite ends of the connecting member 435 are directly connected to the first end 301 of the movable module 30 and the second end 303 of the movable module 30, 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 (X1 / X2), the cleaning module 20 can move together with the movable module 30 in the positive direction X1 of the first direction (X1 / X2), but the driving member 41 does not work, which will cause the connecting member 435 (steel wire) close to the second end 303 of the movable module 30 to bend and deform, or even to wind up, thereby affecting the normal operation of the power module 40. In the embodiment shown in Figures 12 and 13, when the cleaning module 20 is in the second state and is subjected to an external force in the positive direction X1 along the first direction (X1 / X2), the movable module 30 can move along the positive direction X1 toward the first direction (X1 / X2) relative to the anti-collision member 453 with the cleaning module 20. At the same time, the elastic member 451 can undergo elastic deformation to achieve buffering of the external force in the positive direction X1 along the first direction (X1 / X2) exerted on the cleaning module 20, that is, the elastic member 451 can produce elastic deformation to absorb the external force exerted on the cleaning module 20. In this case, the anti-collision member 453 does not move relative to the fuselage 10, thereby preventing the connecting member 435 from bending and deforming, thereby ensuring the stability and reliability of the power module 40.

[0130] It can be understood that when the driving member 41 drives the anti-collision member 453 to move along the first direction (X1 / X2) through the connecting member 435, the anti-collision member 453 can drive the movable module 30 to move along the first direction (X1 / X2) to drive the cleaning module 20 to move relative to the body 10, thereby enabling the cleaning module 20 to switch between the first state, the second state and the third state.

[0131] In one example, one end of the elastic member 451 is connected to the second end 303 of the movable module 30, and the other end is connected to a position of the anti-collision member 453 opposite to the second end 303 of the movable module 30. In this case, the elastic member 451 can be a tension spring. For example, a tension spring with greater rigidity can be selected. During the lateral movement of the cleaning module 20, that is, during the movement of the cleaning module 20 in the opposite direction X2 of the first direction (X1 / X2), the tension spring can be stretched to a certain extent. The connecting member 435 pulls the movable module 30 to move via the tension spring, thereby driving the lateral movement of the cleaning module 20. After the cleaning module 20 has moved into place, the tension spring still has a certain amount of stretch. When the cleaning module 20 is in the second state and is subjected to an external force in the positive direction X1 along the first direction (X1 / X2), the cleaning module 20 can move together with the moving module 30 in the positive direction X1 of the first direction (X1 / X2). At this time, the tension spring can continue to be stretched to absorb the external force exerted on the cleaning module 20. When the external force in the positive direction X1 of the first direction (X1 / X2) exerted on the cleaning module 20 disappears, the elastic force generated by the stretching of the tension spring can enable the moving module 30 and the cleaning module 20 to move together in the reverse direction X2 of the first direction (X1 / X2) back to the position where the cleaning module 20 was in the second state. That is, the elastic force generated by the stretching of the tension spring can enable the cleaning module 20 to move back in the reverse direction X2 of the first direction (X1 / X2) back 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.

[0132] In another example, one end of the elastic member 451 is connected to the first end 301 of the movable module 30, and the other end is connected to the position of the anti-collision member 453 opposite to the first end 301 of the movable module 30. In this case, the elastic member 451 can be a compression spring. For example, a compression spring with a relatively large stiffness can be selected. During the lateral movement of the cleaning module 20, that is, during the movement of the cleaning module 20 in the opposite direction X2 of the first direction (X1 / X2), the compression spring can be compressed to a certain extent. The connecting member 435 pushes the movable module 30 to move via the compression spring, thereby driving the lateral movement of the cleaning module 20. After the cleaning module 20 has moved into place, the compression spring still has a compression margin. When the cleaning module 20 is in the second state and is subjected to an external force in the positive direction X1 along the first direction (X1 / X2), the cleaning module 20 can move together with the movable module 30 in the positive direction X1 of the first direction (X1 / X2). At this time, the compression spring can continue to be compressed to absorb the external force applied to the cleaning module 20. When the external force in the positive direction X1 of the first direction (X1 / X2) applied to the cleaning module 20 disappears, the elastic force generated by the compression of the compression spring can enable the movable module 30 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 (X1 / X2). 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 along the reverse direction X2 of the first direction (X1 / X2), thereby ensuring the cleaning effect of the cleaning robot 100.

[0133] 12 and 13 , in some embodiments, the anti-collision member 453 is provided with an anti-collision groove 4531, in which at least a portion of the movable module 30 is disposed, and the elastic member 451 can be disposed between the sidewall of the anti-collision groove 4531 and the movable module 30. The provision of the anti-collision groove 4531 can, on the one hand, reduce the space occupied by the anti-collision member 453 and the movable module 30, thereby facilitating the miniaturization of the cleaning robot 100, and on the other hand, facilitate the installation and positioning of the movable module 30 on the anti-collision member 453, thereby improving the assembly efficiency of the cleaning robot 100.

[0134] Referring to Figures 4, 14(a), 14(b), and 14(c), in some embodiments, the cleaning robot 100 further includes a detection module 50, which is used to detect the current state of the cleaning module 20, including a first state, a second state, and a third state. It should be noted that, in some embodiments, the detection module 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] In some embodiments, the detection module 50 includes a code disk, which is disposed on the driving member 41 of the power module 40 and is used to detect the number of rotations of the driving member 41 of the power module 40 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 41, whereby the code disk can detect the number of rotations of the output shaft of the driver 41 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 41 starts working, the code disk can detect the number of rotations of the output shaft of the driver 41 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 41 rotates a preset number of times, then when the code disk detects that the output shaft of the driver 41 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] 4 and 6 , in some embodiments, the cleaning module 20 further includes a body 21 and a moving member 27 disposed on the body 21 . The cleaning robot 100 further includes a guide member 60 disposed on the body 10 for guiding the moving member 27 to move relative to the body 10 .

[0141] Specifically, in some embodiments, when the movable module 30 drives the cleaning module 20 to move along the first direction (X1 / X2) or the second direction Z, the movable member 27 can move relative to the body 10 in the guide member 60 along the first direction (X1 / X2) and the second direction Z, so that the cleaning module 20 can switch between the first state, the second state and the third state.

[0142] In some embodiments, the moving part 27 can be made of elastic materials such as rubber, spring steel, silicone and glass fiber reinforced plastic. Thus, when the cleaning module 20 is in a normal cleaning state, that is, when the cleaning module 20 is in the first state and the second state, the cleaning module 20 can clean the surface to be cleaned. In this case, if the cleaning module 20 abuts against an obstacle, or the surface to be cleaned is uneven, the moving part 27 can undergo elastic deformation, so that the cleaning module 20 can move relative to the body 10 along the second direction Z. On the one hand, it can prevent protrusions or obstacles from interfering with the movement of the cleaning robot 100, thereby ensuring the normal operation of the cleaning robot 100; on the other hand, it can enable the cleaning module 20 to always maintain abutment with the surface to be cleaned, thereby improving the cleaning effect of the cleaning robot 100.

[0143] In some embodiments, as shown in FIG6 , the guide members 60 may include two, and the two guide members 60 are disposed on opposite sides in the width direction of the cleaning module 20. For example, the two guide members 60 are symmetrically disposed on opposite sides in the width direction of the cleaning module 20, so that the force applied to the cleaning module 20 is more balanced, which is beneficial to the stability of the cleaning module 20 during movement.

[0144] In some other embodiments, there may be only one guide member 60, which may be disposed on the top of the cleaning module 20 and located in the middle of the width direction of the cleaning module 20. Similarly, disposing the guide member 60 in the middle of the width direction of the cleaning module 20 may also facilitate force balance of the cleaning module 20.

[0145] In some embodiments, a guide groove 61 is provided on the body 10, and the guide groove 61 forms a guide member 60, and the centerline of the guide groove 61 extends in the first direction (X1 / X2). Specifically, in some embodiments, at least a portion of the movable member 27 is disposed within the guide groove 61 and is capable of moving relative to the body 10 within the guide groove 61. The provision of the guide groove 61 on the body 10, and the formation of the guide member 60 by the guide groove 61, enables the cleaning robot 100 to guide the movable member 27 without requiring an excessive number of structural components, thereby simplifying the installation steps of the cleaning robot 100.

[0146] In other embodiments, the guide member 60 is mounted on the body 10, and a guide groove 61 is provided on the guide member 60, wherein the longitudinal direction of the guide groove 61 is the first direction (X1 / X2). In certain embodiments, at least a portion of the movable member 27 is disposed within the guide groove 61 and is capable of moving relative to the body 10 within the guide groove 61. In some embodiments, the guide member 60 and the body 10 can be connected together using a non-detachable connection method, thereby enhancing the bonding strength between the guide member 60 and the body 10 and preventing the guide member 60 from falling off the body 10 when the cleaning module 20 is disposed on the body 10, thereby ensuring the stability and reliability of the installation of the cleaning robot 100. Non-detachable connection methods include, but are not limited to, bonding or welding. In other embodiments, the guide member 60 and the body 10 can be connected together using a detachable connection method, thereby facilitating disassembly and replacement of the guide member 60 when it is damaged (e.g., due to collision wear or deformation), thereby ensuring the normal operation of the cleaning robot 100. Non-detachable connection methods include, but are not limited to, bonding or welding.

[0147] In some further embodiments, the guide member 60 is installed on the fuselage 10. Wherein, the guide member 60 comprises a chain or a rack, and the extending direction of the chain or the rack is a first direction (X1 / X2). Specifically, in some embodiments, the moving member 33 can cooperate with the chain or the rack and move along the chain or the rack relative to the fuselage 10 along the first direction (X1 / X2). In one example, the moving member 33 can be a gear, and the gear meshes with the chain or the rack and can move relative to the chain. It is understandable that in other embodiments, the guide member 60 can also be other elements that can guide the moving member 33 to move relative to the fuselage 10 along the first direction (X1 / X2), and examples are not given one by one here.

[0148] In certain embodiments, when the cleaning module 20 includes a tracked cleaning member, the tracked cleaning member can be disposed on the body 10 via a guide groove 61. The tracked cleaning member can move relative to the body 10 in a first direction (X1 / X2) within the guide groove 61. Since tracked cleaning members are generally heavy, the guide groove 61 can serve to bear the weight and guide the tracked cleaning member. Specifically, since the length direction of the guide groove 61 is the first direction (X1 / X2), the guide groove 61 can better guide the tracked cleaning member, reduce shaking or movement of the tracked cleaning member during movement relative to the body 10, and improve the stability of the tracked cleaning member relative to the body 10. In addition, the setting of the guide groove 61 makes it possible for the cleaning module 20 including the crawler-type cleaning component to be removed from the body 10 of the cleaning robot by releasing the lateral limit of the cleaning module 20. Then, the cleaning module 20 can be slid out along the extension direction of the guide groove 61, thereby facilitating the installation and disassembly of the crawler-type cleaning component on the body 10, reducing the difficulty of loading and unloading, and improving the loading and unloading efficiency.

[0149] Referring to Figures 4 and 6, the cleaning robot 100 of certain embodiments of the present application includes a body 10, a cleaning module 20, a mobile module 30, and a power module 40. The cleaning module 20 is disposed on the body 10, and the cleaning module 20 is provided with a matching member 25. The mobile module 30 is movably disposed on the body 10 and can cooperate with the cleaning module 20. The mobile module 30 is provided with a linkage member 33 that cooperates with the matching member 25. The power module 40 is disposed on the body 10 and connected to the mobile module 30. The power module 40 is used to drive the mobile module 30 to move relative to the body 10 along a first direction (X1 / X2). When the power module 40 drives the moving module 30 to move along the first direction (X1 / X2), the linkage member 33 can move until the matching member 25 is supported on the linkage member 33, so that the cleaning module 20 moves from the first position to the second position relative to the body 10; 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. It should be noted that in some embodiments, the first direction (X1 / X2) is parallel to the surface to be cleaned.

[0150] In certain embodiments, the first position and the second position are both relative positions between the cleaning module 20 and the surface to be cleaned when the power module 40 drives the cleaning module 20 to move along the first direction (X1 / X2) via the moving module 30. When the cleaning module 20 is in the first position, the cleaning module 20 is 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 is spaced apart from the surface to be cleaned, thereby enabling the cleaning robot 100 to perform an obstacle-crossing function.

[0151] In the cleaning robot 100 of the embodiment of the present application, the power module 40 can drive the mobile module 30 to move relative to the fuselage 10 along the first direction (X1 / X2), and drive the cleaning module 20 to move relative to the fuselage 10, and in the process of the power module 40 driving the mobile module 30 to move along the first direction (X1 / X2), the linkage part 33 can move to the matching part 25 and be carried on the linkage part 33, so that the cleaning module 20 moves from the first position to the second position, that is, the cleaning module 20 can move from the position in contact with the ground to the lifted position during the movement along the first direction (X1 / X2). In this way, the cleaning module 20 of the cleaning robot 100 can be switched between the normal cleaning state and the state of being separated from the surface to be cleaned more easily, 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.

[0152] In addition, the cleaning robot 100 provided in the embodiment of the present application can switch the cleaning module 20 between three states by cooperating with a driving member 41 and a transmission member 43. In addition to the drive motor that drives the cleaning module 20 to rotate relative to the surface to be cleaned, the driving of the cleaning module 20 in the present application between the normal cleaning state, the side-movement cleaning state, and the lifting state can be achieved with only one power source, such as a motor. This can effectively reduce production costs, and because the number of power sources is small, the space occupied by the entire machine can be minimized, which is conducive to the miniaturization of the cleaning robot 100.

[0153] It can be understood that the specific structure of the cleaning robot 100 (including the body 10, cleaning module 20, mobile module 30 and power module 40, etc.) in the embodiment of the present application is exactly the same as the specific structure of the cleaning robot 100 in the above embodiment, and will not be repeated here.

[0154] In conjunction with Figure 16 , 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 217 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 217.

[0155] 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.

[0156] 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.

[0157] 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 is arranged on the fuselage, and the cleaning module is provided with a matching part; A movable module, the movable module is movably arranged on the body and can cooperate with the cleaning module, and the movable module is provided with a linkage member that cooperates with the matching member; and a power module, the power module being disposed on the body and connected to the mobile module, the power module being used to drive the mobile module to move relative to the body, and to drive the cleaning module to move relative to the body, so as to switch the cleaning module between a first state, a second state, and a third state; When the cleaning module is in the first state and the second state, the cleaning module is in contact with the surface to be cleaned, and the target end of the cleaning module is farther away from the center line of the width direction of the cleaning robot in the second state than in the first state; the linkage member can move until the matching member is carried on the linkage member, so that when the cleaning module is in the third state, the cleaning module is spaced from the surface to be cleaned; wherein, the target end of the cleaning module is the side of the cleaning module close to the obstacle when the cleaning robot moves along the obstacle; the width direction of the cleaning robot is perpendicular to the moving direction of the cleaning robot.

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

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

4. The cleaning robot according to claim 1, wherein: The power module is used to drive the moving module to move relative to the body along a first direction, so as to drive the cleaning module to switch between the first state and the second state; When one side of the cleaning module in the first direction is against the fuselage, the power module provides a force to drive the movable module to move along the first direction, and cooperates with the matching part through the linkage part of the movable module to drive the cleaning module to move along the second direction, so that the cleaning module switches between the first state and the third state, or switches between the second state and the third state, and the first direction intersects with the second direction.

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

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

7. The cleaning robot according to claim 4, 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.

8. The cleaning robot according to claim 7, wherein: In the first direction, the abutting portion of the body is provided at a position on the body away from a target end of the cleaning module, and the abutting portion is used to abut against an end of the cleaning module away from the target end.

9. The cleaning robot according to claim 7, wherein: The cleaning module includes a main body and a sliding member, wherein the sliding member is arranged on a side of the main body opposite to the abutting portion. When the sliding member abuts against the abutting portion, the movement of the cleaning module along the first direction is restricted by the body, and the sliding member is used to reduce the friction between the main body and the abutting portion when the main body moves along the second direction.

10. The cleaning robot according to claim 1, wherein: The cleaning module includes a body, and the matching member is arranged on the body; the moving module includes: a moving body, which is movably arranged on the body and connected to the power module; The linkage member is provided on the movable body and can cooperate with the cleaning module. The power module is used to drive the movable body to move along the first direction, and drive the matching member to move along the second direction through the linkage member to drive the body to move along the second direction.

11. The cleaning robot according to claim 10, wherein: The linkage member includes a first side and a second side opposite to each other along the first direction. When the linkage member is matched with the cleaning module, the first side of the linkage member is opposite to the matching member. The first side of the linkage member is tilted, and along the positive direction of the first direction, the distance between the first side of the linkage member and the surface to be cleaned gradually decreases.

12. The cleaning robot according to claim 10, wherein: The matching piece includes a first side and a second side opposite to each other along the positive direction of the first direction. When the linkage piece is matched with the cleaning module, the first side of the matching piece is opposite to the linkage piece, and the first side of the matching piece is tilted. Along the positive direction of the first direction, the distance between the first side of the matching piece and the surface to be cleaned gradually decreases.

13. The cleaning robot according to claim 10, wherein: The main body is provided with a matching groove, the main body is provided with a communication port connected to the matching groove, the matching piece is arranged in the matching groove, at least part of the linkage piece extends into the matching groove through the communication port and can match with the matching piece.

14. The cleaning robot according to claim 13, wherein: The matching member includes a pulley, the pulley is close to the side wall of the matching groove opposite to the linkage member in the first direction, and the pulley can be matched with the linkage member; or The matching piece includes a matching side wall of the matching groove opposite to the linkage piece in the first direction, and the matching side wall is capable of matching with the linkage piece.

15. The cleaning robot according to claim 10, wherein: The body is provided with a guide groove extending along the first direction, and at least a portion of the movable body is disposed in the guide groove. The guide groove is used to guide the movable body to move relative to the body along the first direction.

16. The cleaning robot according to claim 15, wherein: A positioning member is provided on one of the fuselage and the mobile body, and a positioning groove extending along the first direction is provided on the other of the fuselage and the mobile body. The positioning member is used to cooperate with the positioning groove to limit the movement of the mobile body along the first direction.

17. The cleaning robot according to claim 1, wherein: The matching piece on the cleaning module is arranged on the top of the cleaning module and is located in the middle position of the width direction of the cleaning module; wherein the width direction of the cleaning module is substantially perpendicular to the width direction of the cleaning robot.

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

19. The cleaning robot according to claim 18, 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.

20. The cleaning robot according to claim 19, wherein: The buffer assembly comprises: The elastic member is in an elastic deformation state when the cleaning module is in the second state and is subjected to a positive external force along the first direction; the elastic member includes at least one of the following: a spring, a spring, and a rubber member.

21. The cleaning robot according to any one of claims 18 to 20, 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 of which is connected to the connecting member. The driving member drives the connecting member to move relative to the fuselage through the transmission member, thereby driving the mobile module to move relative to the fuselage.

22. The cleaning robot according to claim 21, 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.

23. The cleaning robot according to claim 21, wherein: A connecting groove is provided on the movable body of the movable module. In the opposite direction of the first direction, the connecting groove includes a first connecting side wall and a second connecting side wall in sequence. At least a portion of the connecting member is arranged in the connecting groove. The elastic member of the buffer assembly of the power module is connected to both the connecting member and the first connecting side wall, or the elastic member is connected to both the connecting member and the second connecting side wall.

24. The cleaning robot according to claim 23, wherein: When the elastic member includes a tension spring, the tension spring is fixedly connected to both the connecting member and the first connecting side wall; when 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 abutment manner.

25. The cleaning robot according to claim 23, wherein: The movable body includes a connecting column, the connecting column is arranged in the connecting groove, the elastic member is sleeved on the connecting column, and the connecting column is used to limit the elastic member from deforming along the first direction.

26. The cleaning robot according to claim 18 or 19, wherein: The moving module includes a first end and a second end opposite to each other in the 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.

27. The cleaning robot according to claim 26, wherein: The buffer component of the power module includes an anti-collision part, which is arranged on the fuselage and can move relative to the fuselage. At least a part of the movable body of the movable module is arranged on the anti-collision part and can move relative to the anti-collision part. The opposite ends of the connecting part are connected to the anti-collision part, and the elastic part of the buffer component is connected between the anti-collision part and the movable body along the first direction.

28. The cleaning robot according to claim 26, wherein: One end of the elastic member of the buffer assembly of the power module is connected to the connecting member, and the other end is connected to the first end of the mobile body and / or the second end of the mobile body.

29. The cleaning robot according to claim 28, wherein: A through slot is provided at the first end of the movable body and / or the second end of the movable body, at least a portion of the elastic member is disposed in the through slot, and the through slot is used to limit deformation of the elastic member along the first direction.

30. The cleaning robot according to claim 1, 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 the first state, the second state, and the third state.

31. The cleaning robot according to claim 30, 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.

32. The cleaning robot according to claim 30, 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.

33. The cleaning robot according to claim 1, wherein: The cleaning module further includes a main body and a moving part provided on the main body; the cleaning robot further includes: A guide member is provided on the fuselage, and is used for guiding the moving member to move relative to the fuselage.

34. The cleaning robot according to claim 33, wherein: The guide members include two, and the two guide members are arranged on two opposite sides of the cleaning module in the width direction; Alternatively, the guide member includes one, and the guide member is provided on the top of the cleaning module and is located in the middle position in the width direction of the cleaning module; Wherein, the width direction of the cleaning module is substantially perpendicular to the width direction of the cleaning robot.

35. The cleaning robot according to claim 33, wherein: A guide groove is provided on the fuselage, the guide groove forms the guide member, and the length direction of the guide groove is the first direction; or The guide member is installed on the fuselage. A guide groove is provided on the guide member. The length direction of the guide groove is the first direction.

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

37. A cleaning robot, wherein: include: body; A cleaning module, the cleaning module is arranged on the fuselage, and the cleaning module is provided with a matching part; A movable module, the movable module is movably arranged on the body and can cooperate with the cleaning module, and the movable module is provided with a linkage member that cooperates with the matching member; and a power module, the power module being disposed on the fuselage and connected to the mobile module, the power module being configured to drive the mobile module to move relative to the fuselage along a first direction; In the process of the power module driving the moving module to move along the first direction, the linkage member can move until the matching member is supported on the linkage member. The cleaning module is mounted on a movable member so that the cleaning module moves from a first position to a second position relative to the body; wherein, when the cleaning module is in the first position, the cleaning module is in contact with the surface to be cleaned, and when the cleaning module is in the second position, the cleaning module is spaced from the surface to be cleaned.

38. The cleaning robot according to claim 37, wherein: The first direction is parallel to the width direction of the cleaning robot.

39. The cleaning robot according to claim 37, wherein: The cleaning module includes a body, and the matching member is arranged on the body; the moving module includes: a moving body, which is movably arranged on the body and connected to the power module; The linkage member is arranged on the movable body and can cooperate with the cleaning module. The power module is used to drive the movable body to move along the first direction, and drive the matching member to move along the second direction through the linkage member to drive the body to move along the second direction, and the second direction intersects with the first direction.

40. The cleaning robot according to claim 39, wherein: The linkage member includes a first side and a second side opposite to each other along the first direction. When the linkage member is matched with the cleaning module, the first side of the linkage member is opposite to the matching member. The first side of the linkage member is tilted, and along the positive direction of the first direction, the distance between the first side of the linkage member and the surface to be cleaned gradually decreases.

41. The cleaning robot according to claim 39, wherein: The matching piece includes a first side and a second side opposite to each other along the first direction. When the linkage piece is matched with the cleaning module, the first side of the matching piece is opposite to the linkage piece, and the first side of the matching piece is tilted. Along the positive direction of the first direction, the distance between the first side of the matching piece and the surface to be cleaned gradually decreases.

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

43. The cleaning robot according to claim 42, wherein: The matching member includes a pulley, the pulley is close to the side wall of the matching groove opposite to the linkage member in the first direction, and the pulley can be matched with the linkage member; or The matching piece includes a matching side wall of the matching groove opposite to the linkage piece in the first direction, and the matching side wall is capable of matching with the linkage piece.

44. The cleaning robot according to claim 37, 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 moving module. The transmission component is used to transmit the driving force of the driving component to the moving module so that the moving module moves relative to the fuselage.

45. The cleaning robot according to claim 44, wherein: The power module further includes: The buffer component is used to buffer the positive external force along the first direction applied to the cleaning module when the cleaning module is in the first position and is subjected to a positive (inward) external force along the first direction.

46. The cleaning robot according to claim 45, wherein: The buffer assembly comprises: an elastic member, wherein when the cleaning module is in the first position 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.

47. The cleaning robot according to any one of claims 44 to 46, 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 of which is connected to the connecting member. The driving member drives the connecting member to move relative to the fuselage through the transmission member, thereby driving the mobile module to move relative to the fuselage.

48. The cleaning robot according to claim 47, wherein: A connecting groove is provided on the movable body of the movable module. In the opposite direction of the first direction, the connecting groove includes a first connecting side wall and a second connecting side wall in sequence. At least a portion of the connecting member is arranged in the connecting groove. The elastic member of the buffer assembly of the power module is connected to both the connecting member and the first connecting side wall, or the elastic member is connected to both the connecting member and the second connecting side wall. Along the first direction, the connecting member is spaced apart from the second connecting side wall.

49. The cleaning robot according to claim 48, 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.

50. The cleaning robot according to claim 48, wherein The movable body includes a connecting column, which is arranged in the connecting groove. The elastic member of the buffer assembly of the power module is sleeved on the connecting column, and the connecting column is used to limit the deformation of the elastic member along the first direction.

51. The cleaning robot according to claim 44 or 45, wherein: The moving module includes a first end and a second end opposite to each other in the 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.

52. The cleaning robot according to claim 51, wherein: The buffer component of the power module includes an anti-collision part, which is arranged on the fuselage and can move relative to the fuselage. At least a part of the movable body of the movable module is arranged on the anti-collision part and can move relative to the anti-collision part. The opposite ends of the connecting part are connected to the anti-collision part, and the elastic part of the buffer component is connected between the anti-collision part and the movable body along the first direction.

53. The cleaning robot according to claim 51, wherein: One end of the elastic member of the buffer assembly of the power module is connected to the connecting member, and the other end is connected to the first end of the mobile body and / or the second end of the mobile body.

54. The cleaning robot according to claim 53, wherein: A through slot is provided at the first end of the movable body and / or the second end of the movable body, at least a portion of the elastic member is disposed in the through slot, and the through slot is used to limit deformation of the elastic member along the first direction.

55. The cleaning robot according to claim 37, wherein: The cleaning module further includes a main body and a moving part provided on the main body; the cleaning robot further includes: A guide member is provided on the fuselage, and is used for guiding the moving member to move relative to the fuselage.

56. A base station for use with the cleaning robot according to any one of claims 1-36, 37-55, the base station comprising a docking position for accommodating the cleaning robot.

57. A cleaning system comprising: The cleaning robot according to any one of claims 1 to 36 and 37 to 55; and A base station for use with the cleaning robot described in any one of claims 1-36 and 37-55, wherein the base station includes a docking position for accommodating the cleaning robot.

Images