Cleaning robot and cleaning system

Abstract

A cleaning robot (100) and a cleaning system (1000). The cleaning robot (100) comprises a body (10) and a cleaning module (30). The cleaning module (30) comprises a mounting frame (31), a cleaning member (33), a driving assembly (35), and a wastewater box (37). The driving assembly (35) is arranged at a first end (313) of the mounting frame (31), and the wastewater box (37) is close to a second end (315) of the mounting frame (31) and does not exceed the end surface of the second end of the mounting frame (31).

Description

Cleaning robots and cleaning systems Technical Field

[0001] The present disclosure relates to the field of cleaning technology, and more particularly, to a cleaning robot and a cleaning system. Background Art

[0002] A cleaning robot is a device used to automatically clean carpets or floors waiting to be cleaned, and is typically used in scenarios such as home interior cleaning and large venue cleaning. In related technologies, the cleaning module of a cleaning robot includes a cleaning member and a driving member, and the driving member is capable of driving the cleaning member to rotate to clean the surface to be cleaned. Among them, some cleaning modules can switch between a sideways state and a retracted state relative to the body, so that the cleaning robot can perform edge cleaning. In related technologies, the locations of the driving member and the sewage box on the cleaning robot are unreasonable, and are not well suited for cleaning robots whose cleaning modules can switch between a sideways state and a retracted state. Summary of the Invention

[0003] The embodiments of the present disclosure provide a cleaning robot and a cleaning system to solve at least one of the above-mentioned technical problems.

[0004] The cleaning robot provided in the first aspect of the embodiment of the present disclosure includes a fuselage and a cleaning module, wherein the cleaning module is installed on the fuselage, and the cleaning module includes a mounting frame, a cleaning member, a drive assembly and a sewage box. The mounting frame is movably connected to the fuselage, and the mounting frame is provided with a accommodating cavity. The length direction of the mounting frame is parallel to the width direction of the fuselage, and along the length direction of the mounting frame, the mounting frame includes a first end and a second end relative to each other; the cleaning member is detachably mounted in the accommodating cavity of the mounting frame, and the cleaning member includes a crawler-type or roller-type cleaning member. The mounting frame can move relative to the fuselage along the width direction of the fuselage so that the cleaning module can switch between a lateral shift state and a retracted state relative to the fuselage. When the cleaning module is in the lateral shift state, the direction along the first end of the mounting frame points to the second end of the mounting frame. , the cleaning module at least partially protrudes from the side wall of the fuselage; the cleaning module can move from the lateral displacement state to the retracted state along the direction from the second end of the mounting frame to the first end; the driving assembly is arranged at the first end of the mounting frame, and is used to drive the cleaning member to rotate relative to the surface to be cleaned to clean the surface to be cleaned, and the rotation axis of the cleaning member is parallel to the width direction of the fuselage; the sewage box is provided on the mounting frame, and the sewage box is used to store the dirt generated by the cleaning member when cleaning the surface to be cleaned, and the sewage box is close to the second end of the mounting frame, does not exceed the second end surface of the mounting frame, and is spaced from the driving assembly.

[0005] In the cleaning robot provided by the first aspect of the embodiment of the present disclosure, the cleaning module is in a sideways state, and the cleaning module at least partially protrudes from the side wall of the fuselage along the direction from the first end of the mounting frame to the second end of the mounting frame, and the driving component is arranged at the first end of the mounting frame. Therefore, compared with the driving component being arranged at the second end of the mounting frame, the output end of the driving component for driving the cleaning member to rotate will not occupy the space where the cleaning member protrudes toward the obstacle, thereby ensuring that the second end of the mounting frame can be as close to the obstacle (such as a wall, etc.) as possible, that is, ensuring that the cleaning module can effectively achieve edge cleaning. The cleaning module can be well suitable for a cleaning robot that can switch between a sideways state and a retracted state, thereby improving the cleaning effect of the cleaning robot.

[0006] The cleaning robot provided in the second aspect of the embodiment of the present disclosure includes a body, a first detection module, a second detection module, and a radar. Along the forward direction of the cleaning robot, the body includes a front side and a rear side relative to each other, and a left side and a right side connecting the front side and the rear side. A mounting slot is provided inside the body, and the slot of the mounting slot is provided on the rear side wall of the body; the first detection module is provided on the front side of the body; the second detection module is provided on the right side of the body; the radar is provided in the mounting slot, and the detection signal of the radar is emitted through the slot of the mounting slot. The radar, the first detection module, and the second detection module are used together to detect the surrounding environment of the cleaning robot.

[0007] In the cleaning robot provided in the second aspect of the embodiment of the present disclosure, an installation slot is provided inside the fuselage, and the slot of the installation slot is provided on the rear side wall of the fuselage. The radar is provided in the installation slot, and the detection signal of the radar is emitted through the slot of the installation slot. Compared with the radar being provided on the top of the cleaning robot and protruding from the fuselage of the cleaning robot, the radar will not increase the space in the height direction of the cleaning robot; and the radar, the first detection module, and the second detection module are jointly used to detect the surrounding environment of the cleaning robot, thereby ensuring the detection range while reducing the height of the cleaning robot, so that the cleaning robot can enter small spaces such as under the bed or under the sofa for cleaning, thereby improving the applicability of the cleaning robot and effectively meeting the user's usage needs.

[0008] The cleaning robot provided in the third aspect of the embodiment of the present disclosure includes a body, a first air duct, a heat dissipation hole, a suction piece, a control module and a cleaning module. Along the forward direction of the cleaning robot, the body includes a relative front side and a rear side, and along the width direction of the body, the body includes a relative left side and a right side. The first air duct is arranged on the left side of the body. The heat dissipation hole is arranged on the body and is located on the rear side of the first air duct, and the heat dissipation hole is connected to the first air duct. The suction piece is arranged between the left side of the body and the rear side of the body, and the suction piece is connected to the first air duct. The control module is arranged on the body and is located on the right side of the first air duct. The control module is used to control the operation of the cleaning robot. The control module includes a control component and a heat dissipation piece. The heat dissipation piece is connected to the control component and at least partially extends into the first air duct. The cleaning module is disposed on the rear side of the body and includes a cleaning member and a driving member. The driving member is configured to drive the cleaning member to move relative to the surface to be cleaned to clean the surface. The driving member is located behind the heat dissipation hole. When the suction member is operating and generates a suction airflow in the first air duct, the suction airflow passes through the portion of the heat dissipation member extending into the first air duct to dissipate heat for the control component. The suction airflow then flows through the heat dissipation hole to the driving member to dissipate heat for the driving member.

[0009] In the cleaning robot provided by the third aspect of the embodiment of the present disclosure, when the suction piece is working and generates a suction airflow in the first air duct, the suction airflow passes through the heat dissipation piece and extends into the part of the first air duct to achieve heat dissipation of the control component, and the suction airflow can also flow to the driving component through the heat dissipation hole to dissipate heat for the driving component, that is, the suction piece can simultaneously achieve heat dissipation of the control component and the driving component, thereby, on the one hand, preventing the control component or the driving component from being damaged by overheating due to heat accumulation, thereby ensuring the stability and reliability of the cleaning robot; on the other hand, there is no need to additionally set up a heat dissipation device for the control component or the driving component, thereby reducing the number of parts of the cleaning robot while reducing production costs and simplifying the structural design of the cleaning robot.

[0010] The fourth aspect of the disclosed embodiments provides a cleaning robot comprising a body and a cleaning module, the cleaning module being mounted on the body and comprising a mounting frame, a cleaning member, and a sewage box. The mounting frame is mounted on the body; the cleaning member is disposed on the mounting frame and is configured to contact a surface to be cleaned to clean the surface; the sewage box is configured to store dirt generated by the cleaning member when cleaning the surface; in a projection within a plane perpendicular to the direction of travel of the cleaning robot, the sewage box is positioned above the projection of the cleaning member; and in a projection within a plane perpendicular to the height direction of the body, the geometric center of the sewage box's projection falls within the projection of the cleaning member.

[0011] In the cleaning robot provided by the fourth aspect of the embodiment of the present disclosure, in a projection on a plane perpendicular to the forward direction of the cleaning robot, the projection of the sewage box is located above the projection of the cleaning member, and in a projection on a plane perpendicular to the height direction of the cleaning robot, the geometric center of the projection of the sewage box falls within the projection of the cleaning member. As a result, compared with cleaning robots in the related art, the sewage box and the cleaning member occupy less space on the cleaning robot along the forward direction of the cleaning robot, thereby improving the space utilization of the cleaning robot along the forward direction of the cleaning robot, facilitating the miniaturization of the cleaning robot, and reducing the possibility of interference between the cleaning module and other structural components of the cleaning robot, thereby not only facilitating the assembly of other structural components on the cleaning robot, but also facilitating the size design of other structural components. In addition, the geometric center of the projection of the sewage box falls within the projection of the cleaning member, which also facilitates the center of gravity of the sewage box to be closer to the cleaning member, ensuring that the pressure exerted by the sewage box on the cleaning member along the forward direction of the cleaning robot is more balanced when the cleaning robot is cleaning, thereby making the pressure exerted by the cleaning member on the surface to be cleaned more balanced, thereby improving the cleaning effect of the cleaning robot.

[0012] The cleaning robot provided in the fifth aspect of the embodiment of the present disclosure includes a fuselage and a cleaning module, wherein the cleaning module is installed on the fuselage, and the cleaning module includes a mounting frame, a cleaning member, and a recovery member. The mounting frame is movably connected to the fuselage, and the mounting frame is provided with a accommodating cavity. The length direction of the mounting frame is parallel to the width direction of the fuselage, and along the length direction of the mounting frame, the mounting frame includes a first end and a second end relative to each other; the cleaning member is detachably mounted in the accommodating cavity of the mounting frame, and the cleaning member includes a crawler-type or roller-type cleaning member. The mounting frame can move relative to the fuselage along the width direction of the fuselage so that the cleaning module can switch between a lateral shift state and a retracted state. When the cleaning module is in the lateral shift state, the first end of the mounting frame points to the mounting frame. In the direction of the second end of the cleaning module, at least part of the cleaning module protrudes from the side wall of the fuselage; the cleaning module can move from the side shift state to the retracted state along the direction from the second end of the mounting frame to the first end; the recovery member includes a dirt holding chamber and a dirt scraping portion, the dirt scraping portion is used to abut against the cleaning member to scrape off the dirt on the cleaning member, and the dirt holding chamber is used to accommodate the dirt scraped off the cleaning member by the dirt scraping portion; wherein, the recovery member is provided on the mounting frame, and during the process of switching the cleaning module between the side shift state and the retracted state, the mounting frame, the sewage box and the recovery member move together.

[0013] In the cleaning robot provided in the fifth aspect of the embodiment of the present disclosure, the mounting frame, the sewage box, and the recovery unit move together, so that when the cleaning module is in a sideways state to clean the surface to be cleaned, the recovery unit can still peel off the dirt from the cleaning surface of the cleaning unit, so that the cleaning surface of the cleaning unit remains in a relatively clean state. In addition, compared to the fact that the recovery unit cannot move together with the sewage box, the connection and cooperation between the recovery unit and the sewage box is more stable, reducing the risk of disconnection at the connection between the sewage box and the recovery unit when the sewage box moves. In addition, the recovery unit is arranged on the mounting frame, which can further increase the weight of the cleaning module, thereby further increasing the pressure of the cleaning module on the ground, and further improving the cleaning effect of the cleaning robot.

[0014] A sixth aspect of the present disclosure provides a cleaning system comprising a cleaning robot and a base station. The base station is configured to cooperate with the cleaning robot. The cleaning robot comprises a body and a cleaning module, the cleaning module being mounted on the body. The cleaning module comprises a mounting frame, a cleaning member, a drive assembly, and a sewage box. The mounting frame is movably connected to the body, the mounting frame having a receiving cavity, the length of the mounting frame being parallel to the width of the body, and the mounting frame comprising opposing first and second ends along the length of the mounting frame. The cleaning member is detachably mounted in the receiving cavity of the mounting frame, the cleaning member comprising a crawler-type or roller-type cleaning member, the mounting frame being movable relative to the body along the width of the body so that the cleaning module can switch between a sideways position and a retracted position relative to the body. In the sideways position, the cleaning module at least partially protrudes from a sidewall of the body in a direction from the first end of the mounting frame to the second end of the mounting frame; the cleaning module can move from the sideways position to the retracted position in a direction from the second end of the mounting frame to the first end. The drive assembly is disposed at the first end of the mounting frame and is used to drive the cleaning member to rotate relative to the surface to be cleaned to clean the surface, with the rotation axis of the cleaning member being parallel to the width of the machine body. The sewage box is disposed on the mounting frame and is used to store dirt generated by the cleaning member when cleaning the surface to be cleaned. The sewage box is close to the second end of the mounting frame, does not exceed the second end surface of the mounting frame, and is spaced apart from the drive assembly.

[0015] In the cleaning system provided by the sixth aspect of the embodiment of the present disclosure, the cleaning module is in a lateral displacement state, and the cleaning module at least partially protrudes from the side wall of the fuselage along the direction from the first end of the mounting frame to the second end of the mounting frame, and the driving component is arranged at the first end of the mounting frame. Therefore, compared with the driving component being arranged at the second end of the mounting frame, the output end of the driving component for driving the cleaning member to rotate will not occupy the space where the cleaning member protrudes toward the obstacle, thereby ensuring that the second end of the mounting frame can be as close to the obstacle (such as a wall, etc.) as possible, that is, ensuring that the cleaning module can effectively achieve edge cleaning, and the cleaning module can be well suitable for a cleaning robot that can switch between a lateral displacement state and a retracted state, thereby improving the cleaning effect of the cleaning robot.

[0016] The cleaning system provided in the seventh aspect of the embodiment of the present disclosure includes a cleaning robot and a base station for use with the cleaning robot, wherein the base station includes a docking position for accommodating the cleaning robot, wherein the cleaning robot includes a fuselage, a first detection module, a second detection module and a radar. Along the forward direction of the cleaning robot, the fuselage includes a front side and a rear side relative to each other, and a left side and a right side connecting the front side and the rear side, a mounting slot is provided inside the fuselage, and the slot of the mounting slot is provided on the rear side wall of the fuselage; the first detection module is provided on the front side of the fuselage; the second detection module is provided on the right side of the fuselage; the radar is provided in the mounting slot, and the detection signal of the radar is emitted through the slot of the mounting slot, and the radar, the first detection module and the second detection module are used together to detect the surrounding environment of the cleaning robot.

[0017] In the cleaning system provided in the seventh aspect of the embodiment of the present disclosure, an installation slot is provided inside the fuselage, the slot of the installation slot is provided on the rear side wall of the fuselage, and the radar is provided in the installation slot. The detection signal of the radar is emitted through the slot of the installation slot. Compared with the radar being provided on the top of the cleaning robot and protruding from the fuselage of the cleaning robot, the radar will not increase the space in the height direction of the cleaning robot; and the radar, the first detection module, and the second detection module are jointly used to detect the surrounding environment of the cleaning robot, thereby ensuring the detection range while reducing the height of the cleaning robot, so that the cleaning robot can enter small spaces such as under the bed or under the sofa for cleaning, thereby improving the applicability of the cleaning robot and effectively meeting the user's usage needs.

[0018] The cleaning system provided in an eighth aspect of the embodiments of the present disclosure includes a cleaning robot and a base station. The base station is used in conjunction with the cleaning robot and includes a docking position for accommodating the cleaning robot. The cleaning robot includes a body, a first air duct, a heat dissipation hole, a suction member, a control module, and a cleaning module. Along the forward direction of the cleaning robot, the body includes a front side and a rear side relative to each other, and along the width direction of the body, the body includes a left side and a right side relative to each other. The first air duct is provided on the left side of the body. The heat dissipation hole is provided on the body and located on the rear side of the first air duct, and the heat dissipation hole is connected to the first air duct. The suction member is provided between the left side and the rear side of the body and is connected to the first air duct. The control module is provided on the body and located on the right side of the first air duct. The control module is used to control the operation of the cleaning robot and includes a control component and a heat dissipation member. The heat dissipation member is connected to the control component and at least partially extends into the first air duct. The cleaning module is disposed on the rear side of the body and includes a cleaning member and a driving member. The driving member is configured to drive the cleaning member to move relative to the surface to be cleaned to clean the surface. The driving member is located behind the heat dissipation hole. When the suction member is operating and generates a suction airflow in the first air duct, the suction airflow passes through the portion of the heat dissipation member extending into the first air duct to dissipate heat for the control component. The suction airflow then flows through the heat dissipation hole to the driving member to dissipate heat for the driving member.

[0019] In the cleaning system provided in the eighth aspect of the embodiment of the present disclosure, when the suction member is working and generates a suction airflow in the first air duct, the suction airflow passes through the heat dissipation member and extends into the part of the first air duct to achieve heat dissipation of the control component, and the suction airflow can also flow to the driving member through the heat dissipation holes to dissipate heat for the driving member, that is, the suction member can simultaneously achieve heat dissipation of the control component and the driving member, thereby, on the one hand, preventing the control component or the driving member from being damaged by overheating due to heat accumulation, thereby ensuring the stability and reliability of the cleaning robot; on the other hand, there is no need to additionally provide a heat dissipation device for the control component or the driving member, thereby reducing the number of parts of the cleaning robot while reducing production costs and simplifying the structural design of the cleaning robot.

[0020] The cleaning system provided in the ninth aspect of the embodiment of the present disclosure includes a cleaning robot and a base station. The base station is used in conjunction with the cleaning robot. The cleaning robot includes a body and a cleaning module, the cleaning module is installed on the body, and the cleaning module includes a mounting frame, a cleaning member and a sewage box. The mounting frame is installed on the body; the cleaning member is provided on the mounting frame, and the cleaning member is used to contact the surface to be cleaned to clean the surface to be cleaned; the sewage box is used to store the dirt generated by the cleaning member when cleaning the surface to be cleaned. In the projection in the plane perpendicular to the forward direction of the cleaning robot, the projection of the sewage box is above the projection of the cleaning member, and in the projection in the plane perpendicular to the height direction of the body, the geometric center of the projection of the sewage box falls within the projection of the cleaning member.

[0021] In a ninth aspect of the presently disclosed embodiment, the cleaning system provides a system wherein, in a projection on a plane perpendicular to the forward direction of the cleaning robot, the projection of the sewage box is located above the projection of the cleaning member, and in a projection on a plane perpendicular to the height direction of the cleaning robot, the geometric center of the sewage box's projection falls within the projection of the cleaning member. Thus, compared to cleaning robots in related art, the sewage box and the cleaning member occupy less space on the cleaning robot along the forward direction of the cleaning robot, thereby improving the space utilization of the cleaning robot along the forward direction of the cleaning robot, facilitating the miniaturization of the cleaning robot, and reducing the possibility of interference between the cleaning module and other structural components of the cleaning robot, thereby facilitating the assembly of other structural components on the cleaning robot and facilitating the size design of other structural components. Furthermore, the geometric center of the sewage box's projection falls within the projection of the cleaning member, which facilitates bringing the center of gravity of the sewage box closer to the cleaning member, ensuring that the pressure exerted by the sewage box on the cleaning member along the forward direction of the cleaning robot is more balanced when the cleaning robot is cleaning, thereby making the pressure exerted by the cleaning member on the surface to be cleaned more balanced, thereby improving the cleaning effect of the cleaning robot.

[0022] The cleaning system provided in the tenth aspect of the embodiment of the present disclosure includes a cleaning robot and a base station. The base station is used in conjunction with the cleaning robot. The cleaning robot includes a fuselage and a cleaning module, the cleaning module is installed on the fuselage, and the cleaning module includes a mounting frame, a cleaning member and a recovery member. The mounting frame is movably connected to the fuselage, and the mounting frame is provided with a accommodating cavity. The length direction of the mounting frame is parallel to the width direction of the fuselage. Along the length direction of the mounting frame, the mounting frame includes a first end and a second end relative to each other; the cleaning member is detachably mounted in the accommodating cavity of the mounting frame, and the cleaning member includes a crawler-type or roller-type cleaning member. The mounting frame can move relative to the fuselage along the width direction of the fuselage so that the cleaning module can switch between a lateral shift state and a retracted state. When the cleaning module is in the lateral shift state, the first end of the mounting frame points to the mounting frame. In the direction of the second end of the cleaning module, at least part of the cleaning module protrudes from the side wall of the fuselage; the cleaning module can move from the side shift state to the retracted state along the direction from the second end of the mounting frame to the first end; the recovery member includes a dirt holding chamber and a dirt scraping portion, the dirt scraping portion is used to abut against the cleaning member to scrape off the dirt on the cleaning member, and the dirt holding chamber is used to accommodate the dirt scraped off the cleaning member by the dirt scraping portion; wherein, the recovery member is provided on the mounting frame, and during the process of switching the cleaning module between the side shift state and the retracted state, the mounting frame, the sewage box and the recovery member move together.

[0023] In the cleaning system provided by the tenth aspect of the embodiment of the present disclosure, the mounting frame, the sewage box, and the recovery unit move together, so that when the cleaning module is in a sideways state to clean the surface to be cleaned, the recovery unit can still peel off the dirt from the cleaning surface of the cleaning unit, so that the cleaning surface of the cleaning unit remains in a relatively clean state. In addition, compared to the fact that the recovery unit cannot move together with the sewage box, the connection and cooperation between the recovery unit and the sewage box is more stable, reducing the risk of disconnection at the connection between the sewage box and the recovery unit when the sewage box moves. In addition, the recovery unit is arranged on the mounting frame, which can further increase the weight of the cleaning module, thereby further increasing the pressure of the cleaning module on the ground, and further improving the cleaning effect of the cleaning robot.

[0024] Additional aspects and advantages of the present disclosure will be given in part in the description that follows and, in part, will be obvious from the description that follows, or will be learned through practice of the present disclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] The above and / or additional aspects and advantages of the present disclosure will become apparent and readily understood from the description of the embodiments with reference to the following drawings, in which:

[0026] FIG1 is a schematic diagram of the three-dimensional structure of a cleaning robot according to certain embodiments of the present disclosure;

[0027] FIG2 is an exploded perspective view of the cleaning robot shown in FIG1 ;

[0028] FIG3 is a perspective exploded schematic diagram of the cleaning robot shown in FIG1 from another perspective;

[0029] FIG4 is a schematic plan view of the cleaning robot shown in FIG1 from one perspective;

[0030] FIG5 is a schematic plan view of the cleaning robot shown in FIG1 from another perspective;

[0031] FIG6( a ) is a schematic cross-sectional view of a portion of the cleaning robot shown in FIG1 ;

[0032] FIG6( b ) is a perspective exploded schematic diagram of the cleaning module of the cleaning robot shown in FIG1 ;

[0033] FIG7 is a perspective exploded schematic diagram of a portion of the structure of the cleaning robot shown in FIG1 ;

[0034] FIG8 is a perspective exploded schematic diagram of the body and functional modules of the cleaning robot shown in FIG1 ;

[0035] FIG9 is a perspective exploded schematic diagram of the body and functional modules of the cleaning robot shown in FIG1 from another perspective;

[0036] FIG10 is a schematic cross-sectional view of a portion of the structure of the cleaning robot shown in FIG1 ;

[0037] FIG11 is a perspective exploded schematic diagram of a portion of the structure of the cleaning robot shown in FIG1 ;

[0038] FIG12 is a schematic perspective structural diagram of an embodiment of a heat dissipation member of a control assembly in the cleaning robot shown in FIG1 ;

[0039] FIG13 is a schematic perspective structural diagram of another embodiment of a heat dissipation member of the control assembly in the cleaning robot shown in FIG1 ;

[0040] FIG14 is a schematic plan view of a partial structure of the cleaning robot shown in FIG1 ;

[0041] FIG15 is a schematic diagram of a cleaning module of a cleaning robot in a retracted state and a sideways state in certain embodiments of the present disclosure;

[0042] FIG16 is a schematic diagram of a cleaning module provided in an embodiment of the present disclosure when cleaning a surface to be cleaned;

[0043] FIG17 is a schematic diagram of the planar structure of the cleaning module of the cleaning robot shown in FIG1 ;

[0044] 18 is a diagram showing the relationship between the radar field of view angle and the lateral movement direction of the cleaning module of the cleaning robot provided by certain embodiments of the present disclosure when the cleaning module is in a lateral movement state;

[0045] FIG19 is a schematic diagram of a cleaning robot provided by certain embodiments of the present disclosure in a right-angle turn scenario;

[0046] FIG20 is a side view and a top view of a cleaning robot provided in certain embodiments of the present disclosure, showing the installation angle of the second detection module;

[0047] FIG21 is a schematic diagram of a cleaning module provided in an embodiment of the present disclosure when cleaning a surface to be cleaned;

[0048] FIG22 is a schematic diagram of a cleaning module of a cleaning robot provided by an embodiment of the present disclosure in a retracted state and a maximum lateral displacement state;

[0049] FIG23 is a schematic structural diagram of a transmission assembly provided in one embodiment of the present disclosure;

[0050] FIG24 is a schematic structural diagram of an installation frame, a transmission assembly, and a power assembly provided in one embodiment of the present disclosure;

[0051] FIG. 25 is a schematic structural diagram of a cleaning system according to certain embodiments of the present disclosure.

[0052] Explanation of main component symbols: 1000 Cleaning system; 100 Cleaning robot; 300 Base station, 301 Docking station; 10 Body, 1021 Water inlet, 1023 Blind hole, 1041 Opening, 1043 First abutment top, 105 Mounting slot, 1051 Top wall, 1053 Bottom wall, 1055 Side wall, 1057 Reinforcement rib, 106 First air duct, 1061 Air inlet duct, 1063 Air outlet duct, 107 Heat dissipation hole, 108 Second air duct, 109 Installation space, 11 Middle frame, 101 Body power assembly, 12 Elastic buffer, 13 First shell, 15 Second shell, 17 Upper cover, 19 Air vent; 21 First detection module; 23 Second detection module; 25 Radar; 30 Cleaning module, 31 Mounting frame, 311 Receiving chamber, 313 First end, 315 Second end, 317 Second abutting top, 32 Elastic member, 33 Cleaning member, 331 Mounting bracket, 3311 Front roller, 3313 Rear roller, 333 Cleaning unit, 35 Driving assembly, 36 Recovery member, 361 Dirt receiving chamber, 363 Dirt scraping unit, 37 Dirt box, 38 Water supply member, 39 Transmission assembly, 391 First mounting member, 3911 Long chute, 392 Second mounting member, 3921 Slider; 41 Roller brush module, 401 Roller brush port; 42 Power supply unit; 43 Clean water box; 44 Universal wheel; 45 Driving wheel; 451 First driving wheel, 453 Second driving wheel; 46 Side brush module, 47 Garbage receiving chamber; 50 functional module, 51 mounting shell assembly, 511 upper shell, 513 lower shell, 515 sound receiving hole, 53 functional device, 531 button, 533 microphone, 535 light-emitting component, 55 circuit board, 57 soft rubber component; 60 suction component; 70 control module, 710 shielding space, 71 control component, 711 main control board, 713 chip, 73 heat sink, 731 heat sink body, 733 shielding part, 735 support part, 737 heat sink, 75 shielding part, 77 sealing part; 80 water system, 81 power component. DETAILED DESCRIPTION

[0053] To make the above-mentioned objects, features, and advantages of the present disclosure more clearly understood, specific embodiments of the present disclosure 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 disclosure. However, the present disclosure can be implemented in many other ways than those described herein, and those skilled in the art may make similar modifications without violating the scope of the present disclosure. Therefore, the present disclosure is not limited to the specific embodiments disclosed below.

[0054] In the description of the present disclosure, 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 disclosure 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 to the present disclosure.

[0055] 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 technical features being referred to. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. Throughout the present disclosure, "plurality" means at least two, such as two, three, etc., unless otherwise specifically defined.

[0056] In this disclosure, unless otherwise expressly specified or limited, terms such as "installed," "connected," "connect," and "fixed" should be understood in a broad sense. For example, they may refer to fixed connections, detachable connections, or integration; mechanical connections or electrical connections; direct connections or indirect connections through an intermediate medium; and internal communication between two components or interaction between two components, unless otherwise expressly limited. Those skilled in the art will understand the specific meanings of the above terms in this disclosure based on specific circumstances.

[0057] In the present disclosure, 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.

[0058] 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.

[0059] In the related art, the cleaning module of the cleaning robot includes a cleaning member and a driving member, and the driving member can drive the cleaning member to rotate to clean the surface to be cleaned. Among them, some cleaning modules can switch between a lateral state and a retracted state relative to the body, so that the cleaning robot can achieve edge cleaning. In the related art, the positions of the driving member and the sewage box on the cleaning robot are unreasonable, and cannot be well applied to the cleaning robot whose cleaning module can switch between a lateral state and a retracted state. In order to solve this problem, please refer to Figures 1 to 4, Figure 6(a), Figure 6(b), Figure 7, Figures 15 to 17, and Figures 21 to 25. A cleaning robot 100 is provided in the first aspect embodiment of the present disclosure.

[0060] 1 to 3 , the cleaning robot 100 provided in the first embodiment includes a body 10 and a cleaning module 30, which is mounted on the body 10. The cleaning module 30 includes a mounting frame 31, a cleaning member 33, a drive assembly 35, and a sewage box 37. The mounting frame 31 is movably connected to the body 10, and the mounting frame 31 is provided with a receiving cavity 311 (as shown in FIG6( b)). The length direction of the mounting frame 31 is parallel to the width direction Y of the body 10. Along the length direction of the mounting frame 31, the mounting frame 31 includes opposite first and second ends 313 and 315. The cleaning member 33 is detachably mounted in the receiving cavity 311 of the mounting frame 31.

[0061] The cleaning member 33 includes a crawler-type or roller-type cleaning member. The mounting frame 31 can move relative to the fuselage 10 along the width direction Y of the fuselage 10, so that the cleaning module 30 can switch between a sideways state and a retracted state relative to the fuselage 10. When the cleaning module 30 is in the sideways state, the cleaning module 30 at least partially protrudes from the sidewall of the fuselage 10 in the direction from the first end 313 of the mounting frame 31 to the second end 315 of the mounting frame 31. The cleaning module 30 can move from the sideways state to the retracted state in the direction from the second end 315 of the mounting frame 31 to the first end 313. The drive assembly 35 is disposed at the first end 313 of the mounting frame 31 and is used to drive the cleaning member 33 to rotate relative to the surface to be cleaned to clean the surface to be cleaned. The rotation axis of the cleaning member 33 is parallel to the width direction Y of the fuselage 10. The sewage box 37 is provided on the mounting frame 31. The sewage box 37 is used to store the dirt generated by the cleaning member 33 when cleaning the surface to be cleaned. The sewage box 37 is close to the second end 315 of the mounting frame 31 and does not exceed the end surface of the second end 315 of the mounting frame 31, and is spaced apart from the drive assembly 35. It can be understood that the cleaning robot 100 is an intelligent device that can perform functions such as sweeping, vacuuming and mopping. The cleaning robot 100 includes but is not limited to a mopping robot, a sweeping and mopping robot, a motion robot, etc. The mopping robot can be used to wipe and clean the surface to be cleaned, and the sweeping and mopping robot can be used to sweep the surface to be cleaned and also to wipe and clean the surface to be cleaned. It should be noted that in some embodiments, the surface to be cleaned can be the floor inside a building. In other embodiments, the surface to be cleaned can also be the surface of an object to be cleaned, such as a wall, a window, a bed, a floor, a marble surface, or a carpet.

[0062] The body 10 is a component of the cleaning robot 100 that is used to carry components other than the body 10 (e.g., the cleaning module 30). The body 10 may be made of metal and / or non-metal materials. Metal materials include, but are not limited to, aluminum, iron, steel, or aluminum alloys, and non-metal materials include, but are not limited to, plastics.

[0063] The cleaning module 30 is a module in the cleaning robot 100 that participates in cleaning the surface to be cleaned by providing a dragging force. The mounting frame 31 is a component for loading elements (such as the cleaning member 33) in the cleaning module 30 other than the mounting frame 31. In certain embodiments of the present disclosure, the mounting frame 31 is provided with a accommodating cavity 311, and the accommodating cavity 311 can be recessed from the bottom wall of the mounting frame 31 (the side of the mounting frame 31 opposite to the surface to be cleaned when the cleaning robot 100 is carried on the surface to be cleaned) in a direction away from the surface to be cleaned, and at least part of the cleaning member 33 is arranged in the accommodating cavity 311. On the one hand, the provision of the accommodating cavity 311 can reduce the size of the space jointly occupied by the mounting frame 31 and the cleaning member 33, which is conducive to the miniaturization of the cleaning module 30; on the other hand, it can facilitate the installation and positioning of the cleaning member 33 on the mounting frame 31, which is conducive to improving the assembly efficiency of the cleaning module 30.

[0064] The cleaning member 33 is a component in the cleaning module 30 that specifically provides a dragging force to clean the surface to be cleaned. In some embodiments, the cleaning member 33 is a crawler-type cleaning member, in which case the cleaning robot 100 is a crawler-type cleaning robot. In other embodiments, the cleaning member 33 is a drum-type cleaning member, in which case the cleaning robot 100 is a drum-type cleaning robot. Regardless of the type of cleaning member 33, when the cleaning member 33 cleans the surface to be cleaned, the cleaning member 33 contacts the surface to be cleaned and rotates to drag and clean the surface to be cleaned. During the rotation of the cleaning member 33, the cleaning member 33 can move relative to the surface to be cleaned, so that the cleaning member 33 can roll away or wipe away the dirt on the surface to be cleaned, so that the surface to be cleaned remains clean. The dirt here can include a mixture of liquid dirt and solid dirt, or liquid dirt.

[0065] In some embodiments, the rotation axis of the cleaning member 33 may be parallel to the surface to be cleaned. For example, both the crawler-type cleaning member and the drum-type cleaning member can clean the surface to be cleaned by rotating. Compared to a cleaning robot 100 that uses a traditional rotating disc-type or flat-plate mop-type cleaning member 33, the cleaning method for the traditional rotating disc-type or flat-plate mop-type cleaning member 33 is that after the cleaning robot 100 returns to the base station 300 (shown in FIG. 25 ), the base station 300 supplies water to the disc-type cleaning member 33 to clean the cleaning member 33. However, such a design causes the cleaning member 33 of the cleaning robot 100 with a rotating disc-type or flat-plate mop-type cleaning member 33 to become increasingly dirty as it cleans the surface to be cleaned, requiring the cleaning robot 100 to frequently return to the base station 300 to clean its cleaning member 33, which can easily affect the cleaning effect and efficiency of the cleaning robot 100. Since the crawler cleaning parts and the roller cleaning parts roll on the surface to be cleaned when cleaning the surface, the cleaning robot 100 is provided with a scraping part that abuts against the crawler cleaning parts or the roller cleaning parts, and can scrape the dirt on the crawler cleaning parts or the roller cleaning parts into the cleaning robot 100 for collection. At the same time, the garbage on the cleaning parts 33 will be continuously collected on the cleaning robot 100, and the cleaning parts 33 will remain in a relatively clean state. Therefore, the crawler cleaning robots and the roller cleaning robots have a better cleaning effect on the surface to be cleaned.

[0066] Among them, please refer to Figure 15(a) and Figure 15(b). When the cleaning module 30 is in the retracted state (as shown in Figure 15(a)), there is a cleaning blind spot between the right side of the cleaning module 30 and the wall (the area between the target end of the cleaning module 30 in the figure and the wall). In order to clean the cleaning blind spot, the cleaning module 30 can move toward the right, that is, the cleaning module 30 moves along the width direction Y away from the body 10, so that the cleaning module 30 switches to the side shift state. As shown in Figure 15(b), when the cleaning module 30 is in the side shift state, the right edge of the cleaning module 30 can be better fitted 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 30 can better clean the area on the edge of the wall. Therefore, in addition to working in the normal cleaning state (retracted state), the cleaning module 30 can also work in the side-moving cleaning state (side-moving state), so that the cleaning module 30 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), thereby reducing the limitation of the external dimensions of the fuselage 10 and improving the cleaning effect of the cleaning robot 100.

[0067] The drive assembly 35 is a structure within the cleaning module 30 for driving the cleaning member 33 to rotate. Specifically, in certain embodiments, the drive assembly 35 can be connected to the cleaning member 33. When the drive assembly 35 is operating normally, the driving force of the drive assembly 35 can be transmitted to the cleaning member 33, causing the cleaning member 33 to rotate relative to the mounting frame 31. It should be noted that the drive assembly 35 may include a drive structure such as a motor or an electric push rod. Motors include, but are not limited to, DC servo motors, AC servo motors, and stepper motors.

[0068] The sewage box 37 is a container on the cleaning module 30 for passing, loading and / or storing liquid. It should be noted that the naming of the sewage box 37 does not constitute a limitation on the type of liquid therein, that is, the liquid in the sewage box 37 is not limited to storing only sewage, but can store clean water, sewage, etc. "Sewage" is a relative concept, as long as water that is dirtier than the clean water recognized by the user (or a mixture of water and dirt) is within the scope of protection. The sewage box 37 can be of any shape, for example, the shape of the cross section of the sewage box 37 can be regular or irregular. In this article, the cross section of the sewage box 37 is irregular, and the irregular cross section design can adapt to the structural layout of the cleaning robot 100, facilitating the compact arrangement of other components.

[0069] In certain embodiments of the present disclosure, the sewage box 37 is located near the second end 315 of the mounting frame 31. Specifically, the sewage box 37 may be located on the mounting frame 31 at a position closer to, but not directly contacting, the second end 315 of the mounting frame 31 than the first end 313 of the mounting frame 31; or at a position closer to the second end 315 of the mounting frame 31 than a position midway between the first end 313 and the second end 315 of the mounting frame 31. Specifically, along the length of the mounting frame 31, the distance between the geometric center of the sewage box 37 and the second end 315 of the mounting frame 31 is smaller than the distance between the geometric center of the sewage box 37 and the first end 313 of the mounting frame 31.

[0070] It is understood that when the cleaning module 30 is in a sideways position, to ensure effective cleaning, the target end of the cleaning module 30, i.e., the second end 315 of the mounting frame 31, needs to be as close to an obstacle (e.g., a wall) as possible. Furthermore, since the rotation axis of the cleaning member 33 is parallel to the width direction Y of the machine body 10, the output shaft of the drive assembly 35 must also extend along the rotation axis of the cleaning member 33 to drive the cleaning member 33 in rotation. Therefore, the drive assembly 35 will inevitably extend beyond the cleaning member 33 along the width direction Y of the machine body 10. If the drive assembly 35 is located at the second end 315 of the mounting frame 31, the target end of the cleaning module 30 will not be able to approach the edge of the wall, thereby preventing the cleaning module 30 from effectively cleaning along the edge. In certain embodiments of the present disclosure, the drive assembly 35 is located at the first end 313 of the mounting frame 31, and the sewage box 37 is located near the second end 315 of the mounting frame 31 and spaced apart from the drive assembly 35. Taking the sewage box 37 as the center line of the length direction of the mounting frame 31 as the reference, the drive assembly 35 and the sewage box 37 are respectively located on both sides of the center line of the length direction of the mounting frame 31, and the sewage box 37 is close to the second end 315 of the mounting frame 31, which can be understood as the center line of the length direction of the mounting frame 31 does not pass through the location of the sewage box 37. Since the sewage box 37 can contain dirt, it can, to a certain extent, work together with the drive assembly 35 to balance the weight of the cleaning module 30 along the width direction Y of the fuselage 10. On the one hand, this can make the weight distribution of the cleaning module 30 along the width direction Y of the fuselage 10 more uniform, so that the pressure exerted by the cleaning element 33 on the surface to be cleaned can be more balanced, thereby reducing the risk of the entire cleaning robot 100 slipping sideways due to excessive pressure difference on the surface to be cleaned on both sides of the cleaning element 33; on the other hand, since the drive assembly 35 is arranged at the first end 313 of the mounting frame 31, The drive component 35 will not protrude from the second end 315 of the mounting frame 31, thereby ensuring that the cleaning module 30 can effectively achieve edge cleaning and improve the cleaning effect; on the other hand, when the cleaning module 30 is in a sideways state, the drive component 35 can be roughly located in the middle position of the fuselage 10 in the width direction Y of the fuselage 10, thereby centering the center of gravity of the cleaning robot 100, which is beneficial to improving the balance of the cleaning robot 100 after sideways movement, reducing the risk of the cleaning robot 100 slipping, and improving the stability and reliability of the cleaning robot 100.

[0071] Referring to Figures 2 and 15 , in certain embodiments, the cleaning module 30 is capable of moving along the width direction Y of the body 10 and switching between at least a maximum lateral displacement state (shown in Figure b of Figure 15 ) and a retracted state (shown in Figure a of Figure 15 ). When the cleaning module 30 is in the maximum lateral displacement state, the target end of the cleaning module 30 exceeds the widest area of ​​the body 10 of the cleaning robot 100. The target end of the cleaning module 30 is the end of the cleaning module 30 that is close to the obstacle when the cleaning robot 100 moves along the obstacle. It should be noted that the "obstacle" in this embodiment can be a grounded object such as a wall or a cabinet; the widest area of ​​the body 10 is the area formed by the projection of the body 10 on the surface to be cleaned along the two tangent lines (A1 and A2 in Figure 15 ) of the forward direction X of the cleaning robot 100.

[0072] Specifically, referring to Figure 16 , in certain embodiments, the retracted state may be the state in which the cleaning module 30 (cleaning element 33) is in contact with the surface to be cleaned, and the projection of the cleaning module 30 on the surface to be cleaned is within the widest area of ​​the body 10. The maximum sideways displacement state may be the state in which the cleaning module 30 (cleaning element 33) is in contact with the surface to be cleaned, and the target end of the projection of the cleaning module 30 on the surface to be cleaned is outside the widest area of ​​the body 10. In the retracted state (shown in Figure 16 a), if the cleaning robot 100 moves along an obstacle and cleans along its edge in this state, there will be a blind spot for mopping the obstacle. When the cleaning robot 100 rotates in place about its geometric center, the tracks (cleaning module 30) are fully retracted into the body 10, preventing collision with obstacles. The sideways displacement state is relative to the retracted state; any time the cleaning module 30 moves sideways toward an obstacle from the retracted state, it is considered a sideways displacement state. In the disclosed embodiment, the lateral movement states of the cleaning module 30 can include at least the following two: 1. After lateral movement, the target end of the cleaning module 30 is flush with the widest edge of the body 10 (as shown in Figure 16 b). In this state, the cleaning module 30 exceeds the outline of the body 10 at its location, but does not exceed the widest position on the right side of the body 10. That is, the cleaning module 30 does not exceed the tangent A2 along the forward direction X of the cleaning robot 100 relative to the body 10. The cleaning module 30 is still within the widest area of ​​the body 10. When the cleaning robot 100 moves straight along an obstacle (such as a wall) at a certain distance, it will not collide with the wall. At this time, the width of the mopping blind spot when mopping along the edge is the edge distance preset by the cleaning robot 100. When the cleaning robot 100 rotates in place about its own geometric center, there is a probability that the target end of the cleaning module 30 will collide with an obstacle (such as a wall). 2. After the sideways shift, the target end of the cleaning module 30 exceeds the widest edge of the body 10, i.e., the maximum sideways shift state (as shown in Figure c in Figure 16). At this time, the cleaning module 30 extends to the right, exceeding the widest position on the right side of the body. That is, the cleaning module 30 extends beyond the tangent A2 along the forward direction X of the cleaning robot 100 relative to the body 10. The target end of the cleaning module 30 is located outside the widest area of ​​the body 10. When the cleaning robot 100 moves straight along an obstacle (such as a wall) at a preset edge distance, the width of the mopping blind spot is less than the edge distance of the cleaning robot 100, and the cleaning blind spot for edge mopping is minimized. When the cleaning robot 100 rotates in place about its own geometric center, the probability of the target end of the cleaning module 30 colliding with an obstacle is very high.

[0073] In the cleaning robot 100 of the disclosed embodiment, the cleaning module 30 is in a sideways state, and is pointing along the direction of the first end 313 of the mounting frame 31 to the second end 315 of the mounting frame 31. The cleaning module 30 at least partially protrudes from the side wall of the fuselage 10, and the driving component 35 is arranged at the first end 313 of the mounting frame 31. Therefore, compared with the driving component 35 being arranged at the second end 315 of the mounting frame 31, the output end of the driving component 35 for driving the cleaning member 33 to rotate will not occupy the space where the cleaning member 33 protrudes toward the obstacle, thereby ensuring that the second end 315 of the mounting frame 31 can be as close to the obstacle (such as a wall, etc.) as possible, that is, ensuring that the cleaning module 30 can effectively achieve edge cleaning and improve the cleaning effect.

[0074] Furthermore, the inventors have discovered through creative work that, in theory, the greater the pressure exerted by the cleaning module 30 on the ground, the better the cleaning effect on stubborn stains.

[0075] Referring to Figures 2, 23, and 24, in some embodiments, the cleaning robot 100 further includes a transmission assembly 39, which is connected to the body 10 and the mounting frame 31 and is used to drive the cleaning module 30 to move relative to the body 10 along the width direction Y and the height direction Z of the body 10. In order to enable the cleaning module 30 to adapt to the uneven surface to be cleaned, the cleaning module 30 of the embodiment of the present disclosure further includes an elastic member 32, the elastic force of the elastic member 32 can act on the cleaning member 33 to provide a vertical upward force to the cleaning member 33. Exemplarily, along the height direction of the cleaning robot 100, the upper end of the elastic member 32 is relatively fixed to the mounting frame 31, and the lower end of the elastic member 32 is relatively fixed to the transmission assembly 39. When the cleaning member 33 is not in contact with the surface to be cleaned, the elastic member 32 is in a compressed state. Alternatively, along the height direction of the cleaning robot, the upper end of the elastic member 32 is relatively fixed to the transmission assembly 39, and the lower end of the elastic member 32 is relatively fixed to the mounting frame 31. When the cleaning member 33 is not in contact with the surface to be cleaned, the elastic member 32 is in a stretched state. The cleaning module 30 is connected to the transmission assembly 39 via an elastic member, which is used to provide a vertical upward force to the cleaning module 30 away from the surface to be cleaned. Since the body 10 of the cleaning robot 100 is supported on the surface to be cleaned by the driving wheels, the weight of the body 10 itself is not transmitted to the cleaning module 30, so that the pressure of the cleaning module 30 on the ground is determined only by the cleaning module 30 itself, rather than the weight of the entire cleaning robot 100. Therefore, in the embodiment of the present disclosure, the driving component 35 that drives the cleaning module 30 to rotate and the sewage box 37 that collects dirt are both integrated on the cleaning module 30, so that the cleaning module 30 itself is heavier. Therefore, the cleaning module 30 provided in the embodiment of the present disclosure has sufficient pressure on the ground when cleaning the surface to be cleaned, thereby fully improving the cleaning effect of the cleaning module 30 on the surface to be cleaned.

[0076] Moreover, since the cleaning module 30 and the transmission assembly 39 are floatingly connected via the elastic member 32 so as to provide the cleaning member 33 with a vertical upward force on the cleaning module 30, the pressure of the cleaning module 30 on the ground is determined only by the cleaning module 30 itself. Therefore, the pressure of the cleaning module 30 on the ground is provided by the cleaning module 30 itself. Therefore, even if the cleaning module 30 moves sideways along the width direction of the fuselage 10 to at least partially extend out of the side wall of the fuselage 10, the pressure of the cleaning module 30 on the ground is not affected, thereby ensuring the edge cleaning effect.

[0077] Exemplarily, as shown in FIG23 , the transmission assembly 39 includes a first mounting member 391 and a second mounting member 392. The fuselage 10 is provided with a fuselage power assembly 11 that drives the cleaning module 30 to move in the width and height directions. The second mounting member 392 is connected to the fuselage power assembly 11. A long inclined groove 3911 is provided on the side wall of the first mounting member 391, and a slider 3921 is provided to extend into the second mounting member 392. The fuselage power assembly 11 moves in the width direction, driving the slider 3921 of the second mounting member 392 to slide in the long inclined groove 3911, thereby driving the cleaning module 30 in the width and height directions via the first mounting member 391.

[0078] Furthermore, in order to prevent the cleaning module 30 from being hit by an obstacle when it is in a sideways state for cleaning along the edge, an elastic buffer 12 is provided between the fuselage 10 and the fuselage power assembly 11. The extension and retraction direction of the elastic buffer 12 is parallel to the width direction of the cleaning robot 100. Once the cleaning module 30 collides with an obstacle, the collision damage can be reduced by the buffering of the elastic buffer 12. If there is no gap in the height direction between the mounting frame 31 and the transmission assembly 39 when the cleaning module 30 contacts the surface to be cleaned, then if a protrusion is encountered on the surface to be cleaned during the cleaning process, the cleaning module 30 will move vertically upward, thereby driving the first mounting member 391 and the second mounting member 392 to move. Since the second mounting member 392 is connected to the fuselage power assembly 11, the spring buffer member 12 will be compressed; thereby the elastic force of the elastic buffer member 12 will generate a relatively large downward component force to the first mounting member 391 through the second mounting member 392, and this component force will be converted into the pressure of the cleaning member 33 on the surface to be cleaned, resulting in large fluctuations in the mopping pressure. The pressure on the surface to be cleaned will affect the degree of slippage of the cleaning robot 100 when walking, as well as the mopping effect, thereby making the cleaning robot 100 prone to slippage and unstable mopping effect.

[0079] To solve the above technical problems, when the cleaning module 30 contacts the surface to be cleaned, as shown in Figure 24, there is a gap between the mounting frame 31 and the first mounting member 391, and when the cleaning module 30 floats along the height direction of the cleaning robot 100, the floating amount of the cleaning module 30 is less than the size of the gap h. For example, when the cleaning module 30 just contacts the surface to be cleaned, the gap h is 5mm±2mm. It can be understood that the higher the protrusions (such as particles) on the surface to be cleaned, the more they will squeeze the cleaning module 30 to move upward, thereby reducing the gap. After research, the inventor found that the size of particles on the surface to be cleaned in household scenarios is generally not higher than 5mm±2mm. Therefore, in this embodiment, when the cleaning module 30 just contacts the surface to be cleaned, the gap h is 5mm±2mm, so that the cleaning robot 100 is not easily affected by the height fluctuations of the surface to be cleaned when cleaning, which causes changes in the mopping pressure, thereby ensuring the cleaning effect.

[0080] Please refer to Figures 2 and 23. In some embodiments, the cleaning robot 100 also includes a transmission assembly 39, which is connected to the body 10 and the mounting frame 31 and is used to drive the cleaning module 30 to move relative to the body 10 along the width direction Y and the height direction Z of the body 10, so that the sewage box 37 moves together with the cleaning element 33; along the length direction of the mounting frame 31, the transmission assembly 39 is arranged between the drive assembly 35 and the sewage box 37.

[0081] Specifically, please refer to Figure 15. In some embodiments, when the transmission component 39 drives the cleaning module 30 to move relative to the fuselage 10 along the width direction Y of the fuselage 10, the cleaning module 30 can switch between the retracted state and the side shift state, thereby the cleaning member 33 of the cleaning module 30 can clean most of the positions of the cleaning surface, reduce the blind spots of cleaning along the edges or corners, and thus improve the cleaning effect of the cleaning robot 100 as a whole; when the transmission component 39 drives the cleaning module 30 to move relative to the fuselage 10 along the height direction Z of the fuselage 10, the cleaning member 33 can switch between the retracted state and the side shift state. The cleaning module 30 can be spaced apart from the surface to be cleaned, so that the cleaning module 30 can be lifted when there are bumps on the surface to be cleaned, so as to facilitate the cleaning robot 100 to overcome obstacles and improve the passing performance of the cleaning robot 100; or, when there 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 30 is lifted to ensure the cleaning effect and prevent the cleaning robot 100 from mopping the carpet area and contaminating the carpet area, thereby facilitating the cleaning robot 100 to adapt to different cleaning environments and cleaning needs and improving the cleaning effect of the cleaning robot 100. Alternatively, when the cleaning robot 200 encounters a slipping scene, the cleaning module 30 is lifted to reduce the pressure applied by the cleaning module 30 on the surface to be cleaned, thereby reducing the degree of slippage of the cleaning robot 200. When the cleaning module 30 moves relative to the body 10, the sewage box 37 can move relative to the body 10 together with the cleaning member 33. Therefore, compared with the sewage box 37 being unable to move relative to the body 10 together with the cleaning member 33, the connection between the sewage box 37 and the cleaning member 33 is more stable, thereby reducing the risk of the connection between the sewage box 37 and the cleaning member 33 falling off when the cleaning member 33 moves, preventing the sewage box 37 from being unable to collect the dirt generated by the cleaning member 33 cleaning the surface to be cleaned, or preventing the dirt stored in the sewage box 37 from leaking, thereby improving the stability and reliability of the cleaning robot 100 while ensuring the cleaning effect of the cleaning robot 100 on the surface to be cleaned. Furthermore, along the length of the mounting frame 31, the transmission assembly 39 is disposed between the drive assembly 35 and the sewage box 37. For example, the transmission assembly 39 can be connected to a central position of the mounting frame 31 and located between the first end 313 of the mounting frame 31 and the second end 315 of the mounting frame 31. This ensures the stability of the transmission assembly 39 in driving the cleaning module 30 relative to the body 10, thereby improving the stability and reliability of the cleaning robot 100. Exemplarily, the transmission assembly 39 includes a motor and transmission components. Disposing the transmission assembly 39 on the mounting frame 31 can further increase the weight of the cleaning module 30, thereby further increasing the pressure of the cleaning module 30 against the ground and further improving the cleaning effect of the cleaning robot 100.

[0082] Please refer to Figures 2, 6(b) and 21. In some embodiments, the cleaning module 30 also includes a recovery member 36. The recovery member 36 includes a dirt holding chamber 361 and a scraping portion 363. The scraping portion 363 is used to abut against the cleaning member 33 to scrape off the dirt on the cleaning member 33. The dirt holding chamber 361 is used to accommodate the dirt scraped off the cleaning member 33 by the scraping portion 363. wherein, the recovery member 36 is provided on the mounting frame 31. When the cleaning module 30 switches between the lateral movement state and the retracted state, the mounting frame 31, the sewage box 37 and the recovery member 36 move together.

[0083] The recovery member 36 is used to collect, load and / or store dirt generated by the cleaning member 33 when cleaning the surface to be cleaned. The recovery member 36 can be mounted on the mounting frame 31 in a detachable or non-detachable manner. A dirt holding chamber 361 is provided inside the recovery member 36. The dirt holding chamber 361 is used to temporarily store the dirty water generated by the cleaning member 33 during the mopping process to prevent dirt from overflowing or reattaching to the cleaning member 33. The shape of the dirt holding chamber 361 can be a rectangular parallelepiped, a cylinder or other shapes. In certain embodiments of the present disclosure, the scraping portion 363 abuts against the cleaning member 33 to peel off the dirt on the cleaning member 33 from the cleaning member 33. In the forward direction X of the cleaning robot 100, the scraping portion 363 is in close contact with the cleaning member 33. As the cleaning member 33 rotates, the scraping portion 363 continuously scrapes dirt from the cleaning surface of the cleaning member 33 and guides the dirt into the dirt holding chamber 361. The dirt contained in the dirt holding chamber 361 can enter the sewage box 37 for storage, thereby keeping the cleaning surface of the cleaning member 33 in a relatively clean state, avoiding the accumulation of dirt that causes the mopping to be unclean, and improving the cleaning effect of the surface to be cleaned. It should be noted that in some embodiments, the liquid in the sewage box 37 (which may be clean water or sewage) can also enter the recovery member 36 and then be discharged from the recovery member 36 to the outside of the cleaning robot 100. Exemplarily, the liquid (clean water) in the sewage box 37 can enter the recovery member 36 and then be discharged from the recovery member 36 to the outside of the cleaning robot 100 to achieve the cleaning of the recovery member 36.

[0084] The mounting frame 31, the sewage box 37, and the recovery member 36 move together, allowing the recovery member 36 to remove dirt from the cleaning surface of the cleaning member 33 while the cleaning module 30 is moving sideways to clean the surface to be cleaned, thereby keeping the cleaning surface of the cleaning member 33 relatively clean. Furthermore, compared to a case where the recovery member 36 is unable to move with the sewage box 37, the connection between the recovery member 36 and the sewage box 37 is more stable, reducing the risk of the connection between the sewage box and the recovery member 36 becoming disconnected during movement of the sewage box 37. Furthermore, the location of the recovery member 36 on the mounting frame 31 can further increase the weight of the cleaning module 30, thereby further increasing the ground pressure of the cleaning module 30 and further improving the cleaning effect of the cleaning robot 100.

[0085] Please refer to Figure 15. In some embodiments, the cleaning module also includes a water supply component 38, which is provided on the mounting frame 31; in the forward direction X of the cleaning robot 100, the water spray port of the water supply component 38 is located on the front side of the cleaning component 33, and the recovery component 36 is located on the rear side of the cleaning component 33; in the process of switching the cleaning module 30 between the lateral movement state and the retracted state, the mounting frame 31, the sewage box 37, the water supply component 38 and the recovery component 36 move together.

[0086] Please refer to Figure 21. In some embodiments, the cleaning member 33 is a crawler-type cleaning member. In the forward direction X of the cleaning robot 100, the water outlet of the water supply member 38 is located at the front side of the cleaning member 33, and the recovery member 36 is located at the rear side of the cleaning member 33. It should be noted that the above-mentioned "front side" and "rear side" are relative. Please refer to Figure 6(b). In the embodiment of the present disclosure, the crawler-type cleaning member generally includes a mounting bracket 331 and a mop 333. The mounting bracket 331 includes two rollers arranged at intervals, namely a front roller 3311 and a rear roller 3313. The two rollers are arranged at intervals relative to each other, and the mop 333 is arranged around the outside of the mounting bracket 331. The rotation of the two rollers can drive the mop 333 to rotate. The water outlet of the water supply member 38 is located on the front side of the cleaning member 33, which means that the water outlet of the water supply member 38 is close to the front roller 3311 of the cleaning member 33. The recovery member 36 is located on the rear side of the cleaning member 33, which means that the recovery member 36 is located on the rear roller 3313 of the cleaning member 33. The clean water on the front side wets the cleaning member 33, and after coming into contact with the dirt on the cleaning member 33, it becomes dirty water. The dirty water rotates to the rear side with the cleaning member 33, and can be scraped and recovered by the recovery member 36 on the rear side, and then stored in the dirty water box 37. On the one hand, when the cleaning robot 100 is mopping the surface to be cleaned, the liquid on the cleaning member 33 can be kept relatively clean, avoiding the accumulation of dirt that would result in poor mopping, thereby improving the cleaning effect of the surface to be cleaned. On the other hand, the dirty water formed on the cleaning member 33 can be efficiently recovered by the recovery member 36 into the dirty water box 37, and will not overflow onto the surface to be cleaned.

[0087] Furthermore, if the water supply member 38 is positioned directly above the cleaning member 33 or near the rear side of the cleaning member 33, the distance between the water outlet and the recovery member 36 is too close. The clean water sprayed from the water outlet will not fully wet the mop 333 before being scraped off by the dirt scraping member 363 and entering the dirt holding chamber 361. This will result in insufficient wetting of the mop 333, ultimately affecting the cleaning effect of the cleaning member 33 on the surface to be cleaned. In the disclosed embodiment, since the water outlet of the water supply member 38 is located at the front side of the cleaning member 33 and the recovery member 36 is located at the rear side of the cleaning member 33, the water outlet and the recovery member 36 are relatively far apart. Therefore, the clean water sprayed from the water outlet takes a long time to reach the dirt scraping member 363. By this time, the clean water has already fully wetted the mop 333, ensuring that the cleaning effect of the cleaning member 33 on the surface to be cleaned is better.

[0088] In the present disclosure, the mounting frame 31, the wastewater box 37, the water supply member 38, and the recovery member 36 move together, so that when the cleaning module 30 is in a sideways position cleaning the surface to be cleaned, the water supply member 38 can still provide clean water to the cleaning member 33, and the recovery member 36 can still remove dirt from the cleaning surface of the cleaning member 33, ensuring an excellent cleaning effect. In addition, the water supply member 38 is arranged on the mounting frame 31, which can further increase the weight of the cleaning module 30, thereby further increasing the pressure of the cleaning module 30 on the ground, further improving the cleaning effect of the cleaning robot 100.

[0089] Please refer to Figure 2. In some embodiments, the sewage box 37 is connected to a water system 80. The water system 80 is provided with a power element 81. The power element 81 is used to provide suction force to suck the dirt generated by the cleaning member 33 when cleaning the surface to be cleaned into the sewage box 37.

[0090] Specifically, referring to Figure 21 , in certain embodiments, a power element 81 is disposed on the mounting frame 31 and is in communication with the sewage box 37. When the cleaning member 33 cleans the surface to be cleaned, dirt from the cleaning member 33 (i.e., dirt scraped from the cleaning member 33 by the scraping portion 363 of the recovery member 36) can be sucked into the sewage box 37 by the power element 81 and stored therein. This prevents dirt from the cleaning member 33 from flowing onto the surface to be cleaned after cleaning, thereby ensuring the cleaning effect of the cleaning device and realizing the self-cleaning function of the cleaning member 33. Furthermore, when the cleaning member 33 finishes cleaning or the dirt stored in the sewage box 37 reaches its maximum storage capacity, the power element 81 can pump the dirt out of the sewage box 37.

[0091] In certain embodiments, the projection of the transmission assembly 39 in a plane perpendicular to the forward direction X of the cleaning robot 100 is located above the projection of the power element 81. In other words, in the height direction Z of the body 10, the power element 81 is located below the transmission assembly 39. At this time, in the width direction Y of the body 10, the power element 81 is located between the drive assembly 35 and the sewage box 37. This ensures a more even weight distribution of the cleaning element 33 in the width direction Y of the body 10, thereby more evenly distributing the pressure exerted by the cleaning element 33 on the surface to be cleaned, thereby improving the cleaning effect of the cleaning element 33. In addition, the close distance between the power element 81 and the drive assembly 35 facilitates the wiring and connection between the power element 81 and the drive assembly 35 and the power supply unit of the cleaning robot 100, improving wiring installation efficiency while also making the wiring within the cleaning robot 100 neater. By also arranging the power element 81 on the mounting frame 31 , the weight of the cleaning module 30 can be further increased, thereby further increasing the pressure of the cleaning module 30 on the ground and further improving the cleaning effect of the cleaning robot 100 .

[0092] 3 , in some embodiments, the body 10 is provided with an installation space 109 for installing the cleaning module 30. The side of the body 10 (for connecting the front side of the body 10 and the rear side of the body 10) is provided with an opening 1041 that communicates with the installation space 109. When the cleaning module 30 switches from the retracted state to the sideways state, at least a portion of the cleaning module 30 can extend out of the installation space 109 through the opening 1041. The provision of the installation space 109 can, on the one hand, reduce the size of the space occupied by the cleaning module 30 and the body 10, thereby improving the space utilization of the cleaning robot 100 in the height direction Z of the body 10, thereby facilitating the miniaturization of the cleaning robot 100. On the other hand, it can facilitate the installation and positioning of the cleaning module 30 on the body 10, thereby improving assembly efficiency.

[0093] Specifically, in some embodiments, the installation space 109 may be recessed from the side of the housing 10 facing the surface to be cleaned toward a direction away from the surface to be cleaned. The sewage box 37 may be mounted on the mounting frame 31 and accommodated in the installation space 109. The mounting frame 31 is movably connected to the housing 10 along the width direction Y and the height direction Z of the housing 10, thereby enabling the cleaning member 33 and the sewage box 37 to move together relative to the housing 10 within the installation space 109 along the width direction Y and the height direction Z of the housing 10. In one example, the sewage box 37 and the mounting frame 31 may be connected in a detachable manner, thereby facilitating installation and removal of the sewage box 37 from the mounting frame 31. Examples of detachable connection methods include, but are not limited to, threaded connections, screw connections, or snap connections. In another example, the sewage box 37 and the mounting frame 31 may be connected in a non-detachable manner, including, but not limited to, welding, gluing, interference fit, ultrasonic welding, and the like.

[0094] Please refer to Figures 2 and 17. In some embodiments, in the length direction of the mounting frame 31, the end surface of the second end 315 of the mounting frame 31 is spaced apart from the sewage box 37, and the spacing distance W between the end surface of the second end 315 of the mounting frame 31 and the sewage box 37 is greater than or equal to the maximum lateral displacement distance of the cleaning module 30.

[0095] Specifically, referring to Figures 15 and 16 , in certain embodiments, the maximum lateral displacement distance of the cleaning module 30 is the distance the cleaning module 30 moves from the retracted state to the maximum lateral displacement state when the cleaning module 30 moves relative to the body 10 along the width direction Y of the body 10. The spacing W between the end surface of the second end 315 of the mounting frame 31 and the sewage box 37 is greater than or equal to the maximum lateral displacement distance of the cleaning module 30. Thus, when the cleaning module 30 is in the maximum lateral displacement state, a portion of the mounting frame 31 can extend outside the body 10, while the sewage box 37 does not appear at all from the body 10, thereby improving the appearance of the cleaning module 30 when in the maximum lateral displacement state.

[0096] It can be understood that when the spacing distance W between the end surface of the second end 315 of the mounting frame 31 and the sewage box 37 is 0, if the cleaning module 30 is to be switched from the retracted state to the maximum lateral displacement state, a larger opening 1041 needs to be opened on the side of the fuselage 10 (at this time, the size of the opening 1041 is roughly the same as the overall size formed by the mounting frame 31 and the sewage box 37) to ensure that part of the mounting frame 31 of the cleaning module 30 can extend outside the fuselage 10. However, opening a larger opening 1041 on the side of the fuselage 10 will cause the structural strength of the fuselage 10 to decrease, thereby affecting the service life of the fuselage 10. In certain embodiments of the present disclosure, the spacing distance W between the end surface of the second end 315 of the mounting frame 31 and the sewage box 37 is greater than or equal to the maximum lateral displacement distance of the cleaning module 30. As a result, there is no need to provide a large opening 1041 on the side of the fuselage 10 (in this case, the size of the opening 1041 is substantially the same as the size of the mounting frame 31). This ensures that the cleaning module 30 can be switched from the retracted state to the lateral displacement state, which is beneficial for ensuring the structural strength of the fuselage 10 and extending the service life of the fuselage 10.

[0097] Referring to Figure 6(a), in some embodiments, the side wall of the body 10 where the opening 1041 is located forms a first abutment portion 1043, and the side wall of the sewage box 37 near the end surface of the second end 315 of the mounting frame 31 forms a second abutment portion 317. When the cleaning module 30 is in the maximum lateral displacement state, the first abutment portion 1043 abuts the second abutment portion 317. This prevents the transmission assembly 39 from operating incorrectly, causing the cleaning module 30 to move excessively laterally, resulting in collision and damage to the cleaning module 30, thereby improving the stability and reliability of the cleaning robot 100.

[0098] If the sewage box 37 is large along the length of the mounting frame 31—for example, if the ratio of the sewage box 37 to the cleaning member 33 is greater than 1 / 3—then, given the same capacity, the overall shape of the sewage box 37 will be relatively narrow and long. If the cleaning robot 100 experiences bumps during travel, causing the liquid in the sewage box 37 to slosh, the water level in the sewage box 37 will fluctuate significantly, potentially leading to false reports of the sewage box 37 being full, affecting the normal operation of the cleaning robot 100 and reducing the user experience. Therefore, in certain embodiments of the present disclosure, the ratio of the sewage box 37 to the cleaning member 33 along the length of the mounting frame 31 is less than or equal to 1 / 3. Therefore, compared to a case where the ratio of the size of the sewage box 37 to the size of the cleaning member 33 is greater than 1 / 3, when the volume of the sewage box 37 is the same, the size of the sewage box 37 in the height direction of the mounting frame 31 can be designed to be larger, while the size in the length direction of the mounting frame 31 can be smaller. When the cleaning robot 100 encounters bumps during travel, causing the liquid in the sewage box 37 to slosh, the water level change is smaller, thereby reducing the possibility of false alarms and ensuring the normal operation of the cleaning robot 100. It should be noted that in some embodiments, the height direction of the mounting frame 31 can be parallel to the height direction Z of the body 10.

[0099] Similarly, in some embodiments, the size of the sewage box 37 in the width direction of the mounting frame 31 is smaller than or equal to the size of the cleaning member 33. This, on the one hand, compared to a case where the sewage box 37 is larger than the cleaning member 33 in the width direction of the mounting frame 31, allows the sewage box 37 to have a smaller cross-section (a cross-section of the sewage box 37 taken along a plane perpendicular to the height direction Z of the body 10) and thus be designed to have a larger height dimension of the sewage box 37 in the height direction of the mounting frame 31. This reduces water level fluctuations when the liquid in the sewage box 37 sloshes, thereby reducing the likelihood of false alarms. Furthermore, this reduces the space occupied by the sewage box 37 and the cleaning member 33 in the width direction of the mounting frame 31, thereby facilitating miniaturization of the cleaning module 30. It should be noted that in some embodiments, the width direction of the mounting frame 31 may be parallel to the forward direction X of the cleaning robot 100.

[0100] In some embodiments, the height of the sewage box 37 in the height direction of the mounting frame 31 is lower than or equal to the height of the drive assembly 35. This prevents the sewage box 37 from occupying too much space in the height direction of the mounting frame 31, facilitates the miniaturization of the cleaning robot 100, and can adapt to the structural layout of the cleaning robot 100.

[0101] 2 and 15 , in some embodiments, the maximum lateral displacement distance of the cleaning module 30 is 35 mm to 45 mm. It should be noted that in some embodiments, the maximum lateral displacement distance of the cleaning module 30 is any one of 35 mm, 36 mm, 37 mm, 38 mm, 39 mm, 40 mm, 41 mm, 42 mm, 43 mm, 44 mm, and 45 mm, or any value between any two of these values.

[0102] It is understandable that the maximum lateral displacement distance of the cleaning module 30 can be: the displacement distance when the cleaning module 30 switches from the retracted state to the maximum lateral displacement state. The inventor found through creative work that if the maximum lateral displacement distance of the cleaning module 30 is less than 35 mm, the lateral displacement of the cleaning module 30 is small. When the cleaning module 30 is in the maximum lateral displacement state, the cleaning module 30 may still not exceed the widest area of ​​the fuselage 10, resulting in the cleaning robot 100 still having a relatively obvious cleaning blind spot when cleaning along the edge, affecting the cleaning effect of the cleaning robot 100; and if the maximum lateral displacement distance of the cleaning module 30 is greater than 45 mm, the lateral displacement of the cleaning module 30 is too large. When the cleaning module 30 is in the maximum lateral displacement state, the cleaning module 30 exceeds the widest area of ​​the fuselage 10 too much, resulting in the cleaning module 30 colliding with an obstacle and being difficult to retract in time, affecting the service life of the cleaning module 30. In the embodiment of the present invention, the maximum lateral displacement distance of the cleaning module 30 is 35mm to 45mm. Therefore, on the one hand, when the cleaning module 30 is in the maximum lateral displacement state, the cleaning module 30 can exceed the widest area of ​​the fuselage 10, ensuring that the cleaning robot 100 has no cleaning blind spots and improving the cleaning effect; on the other hand, it can prevent the lateral displacement of the cleaning module 30 from being too large, so that the cleaning module 30 can be retracted in time when it collides with an obstacle, reducing the possibility of collision damage to the cleaning module 30 and extending the service life of the cleaning module 30.

[0103] In certain embodiments, when the cleaning module 30 is in its maximum lateral displacement, the cleaning module 30 extends 10 mm ± 3 mm beyond the tangent line of the widest sidewall of the body 10 along the width direction Y of the body 10. This ensures that when the cleaning module 30 is in the lateral displacement state, the right edge of the cleaning module 30 can be well aligned with the wall, or the distance between the right edge and the wall can be very small, thereby eliminating or reducing cleaning blind spots, thereby enabling the cleaning module 30 to effectively clean the area along the wall edge.

[0104] Please refer to Figures 1 and 2. In some embodiments, along the forward direction X of the cleaning robot 100, the body 10 includes a relative front side and a rear side. The orientations described in the embodiments of the present disclosure are all defined when the cleaning robot 100 is carried on the surface to be cleaned. The "front side" and the "rear side" are both relative to the forward direction X of the cleaning robot 100. When the cleaning robot 100 moves forward along the forward direction X, the frontmost end of the body 10 closest to the forward direction X is the front side of the body 10; the rearmost end of the body 10 closest to the forward direction X is the rear side of the body 10.

[0105] Please refer to Figures 2, 3 and 7. In some embodiments, the cleaning robot 100 further includes a roller brush module 41 and a garbage collection chamber 47. The roller brush module 41 is disposed on the body 10. The roller brush module 41 includes a roller brush chamber and a roller brush disposed in the roller brush chamber. The roller brush chamber is provided with a roller brush opening 401. At least a portion of the roller brush is exposed from the roller brush opening 401 for cleaning dust and garbage on the surface to be cleaned. The garbage collection chamber 47 is disposed on the body 10. The roller brush chamber is connected to the garbage collection chamber 47. The garbage collection chamber 47 is used to collect dust and garbage cleaned by the roller brush module 41. Along the forward direction X of the cleaning robot 100, the garbage collection chamber 47 is closer to the front side of the body 10 than the roller brush module 41.

[0106] Furthermore, in some embodiments, the cleaning robot 100 further includes a suction member 60, which is used to suck the dust and garbage cleaned by the roller brush module 41 into the garbage receiving chamber 47. Specifically, when the roller brush module 41 is operating normally, the roller brush can be exposed from the roller brush opening 401 and clean the dust and garbage (such as paper scraps or dust) on the surface to be cleaned. In this case, the suction member 60 can suck the dust and garbage cleaned by the roller brush into the garbage receiving chamber 47. The garbage receiving chamber 47 can collect and store the dust and garbage cleaned by the roller brush module 41, thereby preventing the dust and garbage from falling onto the surface to be cleaned after cleaning and causing contamination to the surface to be cleaned, thereby ensuring the cleaning effect of the cleaning robot 100.

[0107] In some embodiments, in the forward direction X of the cleaning robot 100, the roller brush module 41 and the cleaning member 33 are arranged at intervals, and the roller brush module 41 is closer to the front side of the body 10 than the cleaning member 33. In this way, during the normal cleaning process of the cleaning robot 100, the cleaning robot 100 can first sweep and then mop the surface to be cleaned, thereby improving the cleaning effect.

[0108] Referring to Figure 15 , in certain embodiments, when the cleaning module 30 is in its maximum lateral displacement state, the area enclosed by two reference planes formed by the two end surfaces of the cleaning member 33 extending along the forward direction X is defined as a first area, and the roller brush opening 401 of the roller brush module 41 is located within the first area. Thus, even when the cleaning module 30 is in its maximum lateral displacement state, the cleaning member 33 of the cleaning module 30 can still mop the area cleaned by the roller brush module 41. This avoids the situation where the cleaning member 33 cannot fully mop the area cleaned by the roller brush module 41 when the cleaning module 30 is in its maximum lateral displacement state, causing the cleaning robot 100 to re-mop the missed areas, thereby improving cleaning efficiency.

[0109] Exemplarily, the cleaning robot 100 is provided with a side brush module 46, a roller brush module 41 and a mopping module (cleaning member 33). Along the forward direction X of the cleaning robot 100, the side brush module 46 is located at the front side of the cleaning robot 100, the mopping module (cleaning member 33) is located at the rear side of the cleaning robot 100, and the roller brush module 41 is located between the side brush module 46 and the mopping module. When the cleaning robot 100 performs the tasks of sweeping and mopping at the same time, the cleaning mode of the cleaning robot 100 is front sweeping and rear mopping. Specifically, the side brush module 46 sweeps dust and garbage to the roller brush port 401 of the roller brush module 41, and the roller brush in the roller brush module 41 rotates to sweep up the dust and garbage at the roller brush port 401. At the same time, since the roller brush port 401 is fluidically connected to the suction member 60 of the cleaning robot 100, the suction force generated by the suction member 60 sucks the dust and garbage at the roller brush port 401 into the garbage receiving chamber 47. This front-sweep and back-mop cleaning mode can greatly improve the cleaning efficiency of the cleaning robot 100. The cleaning member 33 of the cleaning robot 100 provided in the embodiment of the present disclosure can switch between a lateral shift state and a retracted state because it can move along the width direction Y of the cleaning robot 100. This embodiment limits the maximum lateral shift state of the cleaning module 30, so that even when the cleaning module 30 is in the maximum lateral shift state, when the cleaning robot 100 performs the sweeping and mopping tasks, the cleaning robot 100 can still mop the area swept by the roller brush module 41. When the cleaning module 30 of the cleaning robot 100 is in the lateral shift state for sweeping and mopping, there are no areas that are swept but not mopped, thereby ensuring the cleaning effect while improving the cleaning efficiency.

[0110] Referring to Figures 5 and 22 , the body 10 is provided with two opposing first and second drive wheels 451, 453. In the width direction Y of the cleaning robot 100, the roller brush module 41 is disposed between the first and second drive wheels 451, 453. The first drive wheel 451 is located further away from the target end of the cleaning module 30 than the second drive wheel 453. In the width direction Y of the cleaning robot 100, the roller brush opening 401 includes an opposing first edge (the leftmost edge of the roller brush opening 401 in Figure 22) and a second edge (the rightmost edge of the roller brush opening 401 in Figure 22). The first edge is further away from the target end of the cleaning module 30 than the second edge. The maximum lateral displacement distance of the cleaning module 30 is L1. The distance from the end surface of the first drive wheel 451 away from the roller brush module 41 to the first edge of the roller brush opening 401 is L2, and L1 is less than or equal to L2. When the cleaning module 30 is retracted, the first and second drive wheels 451, 453 are located within the first region.

[0111] Exemplarily, as described above, the maximum lateral displacement distance L1 of the cleaning module 30 of the disclosed embodiment is 35 mm to 45 mm. Correspondingly, exemplarily, the distance L2 from the end surface of the first driving wheel 451 away from the roller brush module 41 to the first edge of the roller brush opening 401 is between 50 mm and 60 mm.

[0112] It should be noted that, in this embodiment, the relationship between the cleaning module 30 in the maximum lateral displacement state and the roller brush port 401 is not limited to the sewage box 37 and the drive assembly 35 being set on the mounting frame 31 of the cleaning module 30, as long as the cleaning module 30 can be switched between the lateral displacement state and the retracted state.

[0113] In addition, in some other embodiments, the above-mentioned roller brush module 41 can be replaced by a dust suction port, that is, the cleaning robot 100 is not provided with a roller brush, but the dust and garbage at the dust suction port is sucked into the garbage receiving chamber 47 by the suction force generated by the operation of the suction member 60. Similarly, when the cleaning module 30 is in the maximum lateral displacement state, the area enclosed by the two reference planes formed by the two end faces of the cleaning member 33 extending along the forward direction X is defined as the first area, and the dust suction port is located in the first area. For example, in this embodiment, the setting position of the dust suction port and the position and size relationship of the first drive wheel 451 and the second drive wheel 453 can be the same as those in the above embodiment, and this embodiment will not be repeated. The above embodiment is described in detail below in conjunction with specific application scenarios:

[0114] When the cleaning robot 100 is started and enters the normal cleaning state, the cleaning robot 100 can move on the floor of the living room driven by the first driving wheel 451 and the second driving wheel 453. During the movement, the side brush module 46 sweeps the dust and garbage on the living room floor to the roller brush mouth 401 of the roller brush module 41. The roller brush in the roller brush module 41 rotates to sweep up the dust and garbage at the roller brush mouth 401. The suction force generated by the suction part 60 sucks the dust and garbage at the roller brush mouth 401 into the garbage receiving chamber 47; at the same time, the water supply part 38 provides clean water to the crawler cleaning part to wet the crawler cleaning part. The wetted crawler cleaning part contacts the surface to be cleaned and rotates relative to the living room floor to wipe it. As the cleaning part 33 rotates, the scraping part 363 continuously scrapes the dirt on the cleaning surface of the cleaning part 33 into the dirt receiving chamber 361, so that the cleaning robot 100 can simultaneously achieve the sweeping and mopping tasks.

[0115] During the movement of the cleaning robot, the first drive wheel 451 and the second drive wheel 453 will become wet due to running over liquid dirt or solid-liquid mixed dirt on the living room floor, and leave wheel marks on the surface to be cleaned. If the wheel marks cannot be cleaned, the cleaning effect of the living room floor will be affected. In the present disclosure, when the cleaning robot 100 is away from obstacles (such as living room walls, furniture, etc.), the cleaning module 30 remains in the retracted state. At this time, the first drive wheel 451 and the second drive wheel 453 are located in the first area, that is, the first drive wheel 451 and the second drive wheel 453 are located within the cleaning range of the cleaning member 33. Therefore, during the process of the cleaning member 33 rotating to wipe the living room floor, the cleaning member 33 can also wipe the wheel marks left by the first drive wheel 451 and the second drive wheel 453 to ensure the cleaning effect.

[0116] The cleaning robot 100 may also include a detection device. During the movement of the cleaning robot 100, when the detection device of the cleaning robot 100 detects that the cleaning robot 100 is approaching an obstacle (such as a living room wall, furniture, etc.), the cleaning robot 100 can drive the cleaning module 30 relative to the body 10 along the width direction Y of the body 10 through the driving component 35 to switch from the retracted state to the side shift state, thereby achieving edge cleaning, reducing or even eliminating cleaning blind spots, and improving the cleaning effect. Moreover, when the cleaning module 30 is in the maximum lateral displacement state, the roller brush mouth 401 is located in the first area, that is, along the forward direction X, the roller brush mouth 401 is within the cleaning range of the cleaning member 33. Therefore, during the movement of the cleaning robot 100, the cleaning module 30 can mop the area swept by the roller brush module 41 at one time, and there is no area that has been swept but not mopped. On the one hand, this can improve the cleaning efficiency while ensuring the cleaning effect; on the other hand, the cleaning robot 100 does not need to return to the living room floor again to mop the area that has been swept but not mopped, which can reduce the possibility of the target end of the cleaning module 30 colliding with obstacles and extend the service life of the cleaning module 30.

[0117] Referring to Figures 2 and 4 , in conjunction with Figure 7 , in certain embodiments, the cleaning robot 100 further includes a clean water tank 43 . The clean water tank 43 is disposed on the body 10 . It is used to store cleaning liquid and to supply cleaning liquid to the cleaning elements 33 . In the forward direction X of the cleaning robot 100 , the clean water tank 43 is disposed on the rear side of the body 10 . This places the center of gravity of the cleaning robot 100 closer to the rear side of the body 10 , ensuring that the pressure of the cleaning elements 33 on the surface being cleaned is maintained when the cleaning robot 100 is in a normal cleaning state, thereby improving the cleaning performance of the cleaning robot 100 .

[0118] The clean water box 43 is a container in the cleaning robot 100 for loading and / or storing cleaning liquid. It should be noted that the name of the clean water box 43 does not limit the type of liquid contained therein. That is, the cleaning liquid in the clean water box 43 is not limited to clean water. Instead, it can store clean water, a mixture of cleaning liquid and clean water, a mixture of curing liquid and clean water, and other liquids used to clean the cleaning elements 33 and / or the surfaces to be cleaned. Furthermore, the term "clean water" is a relative term; any water that is cleaner than what the user would consider sewage is considered protected. For example, clean water can be municipal tap water, clean water flowing from rivers, lakes, or seas, etc. The clean water box 43 can have any shape. For example, the cross-section of the clean water box 43 (the plane of the clean water box 43 cut by a plane perpendicular to the height direction Z of the body 10) can be regular or irregular. "Regular shapes" herein include, but are not limited to, rectangles, circles, ellipses, triangles, regular polygons, etc. As shown in FIG7 , the irregular cross-sectional design can adapt to the structural layout of the cleaning robot 100 and facilitate the compact arrangement of other components.

[0119] Specifically, in some embodiments, the cleaning robot 100 further includes a power component (e.g., a water pump, an air pump, etc.), which is connected to the clean water box 43 and is used to pump out the cleaning liquid in the clean water box 43. For example, when the cleaning member 33 is cleaning the surface to be cleaned, the power component can pump the cleaning liquid in the clean water box 43 into the cleaning member 33 to provide the cleaning liquid to the cleaning member 33, thereby keeping the cleaning member 33 moist, and the cleaning effect of the cleaning member 33 on the surface to be cleaned is better.

[0120] In some embodiments, a counterweight 90 is provided on the rear side of the cleaning module 30 and away from the drive assembly 35 along the width direction Y of the main body 10. Furthermore, in some embodiments, the counterweight 90 is located below the clean water box 43. That is, in the height direction Z of the main body 10, the counterweight 90 is provided below the clean water box 43.

[0121] The arrangement of the counterweight 90 can increase the structural weight of the rear side of the body 10, thereby bringing the center of gravity of the cleaning robot 100 closer to the rear side of the body 10. This, on the one hand, can improve the stability of the cleaning robot 100 and ensure the normal operation of the cleaning robot 100; on the other hand, it can increase the pressure exerted by the cleaning member 33 on the surface to be cleaned, thereby improving the cleaning effect of the cleaning robot 100. In addition, as mentioned above, the drive assembly 35 is arranged at the first end 313 of the mounting frame 31. Due to the large weight of the drive assembly 35, the cleaning member 33 near the first end 313 of the mounting frame 31 may exert excessive pressure on the surface to be cleaned, affecting the stability and cleaning effect of the cleaning robot 100. In the present disclosure, the counterweight 90 is located away from the drive assembly 35, thereby balancing the weight of the drive assembly 35, making the pressure of the cleaning member 33 on the surface to be cleaned more uniform, preventing the occurrence of local overpressure or local leakage, and improving the stability and cleaning effect of the cleaning robot 100.

[0122] It is understandable that the counterweight 90 can be of different weights according to the specific needs of the cleaning robot 100. For example, when the weight of the drive component 35 is large, a counterweight 90 of larger weight can be selected to balance the weight of the drive component 35.

[0123] Referring to Figures 1 and 2 , an embodiment of the present disclosure provides a cleaning robot 100. The cleaning robot 100 includes a body 10 and a cleaning module 30. The cleaning module 30 is mounted on the body 10 and includes a mounting frame 31, a cleaning member 33, and a sewage box 37. The mounting frame 31 is mounted on the body 10; the cleaning member 33 is disposed on the mounting frame 31 and is configured to contact a surface to be cleaned to clean the surface; the sewage box 37 is configured to store dirt generated by the cleaning member 33 when cleaning the surface. In a projection within a plane perpendicular to the forward direction X of the cleaning robot 100, the projection of the sewage box 37 is located above the projection of the cleaning member 33. In a projection within a plane perpendicular to the height direction Z of the body 10, the geometric center of the projection of the sewage box 37 falls within the projection of the cleaning member 33.

[0124] It can be understood that the structure and function of the cleaning robot 100 in this embodiment are the same as the structure and function of the cleaning robot 100 in the above embodiment. For details, please refer to the specific description in the above embodiment, and no repeated description will be made here.

[0125] In the projection onto a plane perpendicular to the forward direction X of the cleaning robot 100, the projection of the sewage box 37 is located above the projection of the cleaning member 33. In the projection onto a plane perpendicular to the height direction Z of the body 10, the geometric center of the projection of the sewage box 37 falls within the projection of the cleaning member 33. That is, along the height direction Z of the body 10, the sewage box 37 is disposed above the cleaning member 33, and at least a portion of the sewage box 37 is directly opposite the cleaning member 33. In one example, along the height direction Z of the body 10, the sewage box 37 is carried on top of the cleaning member 33 (on the side of the cleaning member 33 facing away from the surface to be cleaned when the cleaning robot 100 is placed on the surface to be cleaned). For example, the sewage box 37 can be carried on top of the mounting frame 31 (on the side of the mounting frame 31 facing away from the surface to be cleaned when the cleaning robot 100 is placed on the surface to be cleaned). In another example, along the height direction Z of the body 10, at least a portion of the sewage box 37 is disposed within the cleaning member 33. For example, the mounting frame 31 is provided with a mounting groove, which is recessed from the top of the mounting frame 31 toward the surface to be cleaned. At least part of the sewage box 37 can be set in the mounting groove, thereby reducing the space occupied by the cleaning member 33 and the sewage box 37 in the height direction Z of the fuselage 10, thereby improving the space utilization rate of the fuselage 10 in the height direction Z of the fuselage 10, which is conducive to the miniaturization of the cleaning robot 100.

[0126] It will be appreciated that, in one example, the geometric center of the projection of the sewage box 37 falling within the projection of the cleaning member 33 in a projection on a plane perpendicular to the height direction Z of the fuselage 10 may include: the projection of the sewage box 37 being completely located within the projection of the cleaning member 33. For example, when the sewage box 37 is carried on top of the mounting frame 31, the cross-sectional dimension of the sewage box 37 does not exceed the range of the top of the mounting frame 31. In another example, the geometric center of the projection of the sewage box 37 falling within the projection of the cleaning member 33 in a projection on a plane perpendicular to the height direction Z of the fuselage 10 may include: a portion of the projection of the sewage box 37 being located within the projection of the cleaning member 33 and another portion being located outside the projection of the cleaning member 33. For example, when the sewage box 37 is carried on top of the mounting frame 31, a portion of the cross-sectional dimension of the sewage box 37 exceeds the range of the top of the mounting frame 31.

[0127] In the cleaning robot 100 of the presently disclosed embodiment, in the projection in the plane perpendicular to the forward direction X of the cleaning robot 100, the projection of the sewage box 37 is located above the projection of the cleaning member 33, and in the projection in the plane perpendicular to the height direction Z of the body 10, the geometric center of the projection of the sewage box 37 falls within the projection of the cleaning member 33. Therefore, compared with the cleaning robots in the related art, along the forward direction X of the cleaning robot 100, the sewage box 37 and the cleaning member 33 occupy less space on the body 10, thereby improving the space utilization rate of the body 10 in the forward direction X of the cleaning robot 100, which is beneficial to the miniaturization of the cleaning robot 100 and can also reduce the possibility of interference between the cleaning module 30 and other structural parts of the cleaning robot 100, thereby not only facilitating the assembly of other structural parts on the body 10, but also facilitating the size design of other structural parts. In addition, the geometric center of the projection of the sewage box 37 falls within the projection of the cleaning member 33, which is also beneficial for making the center of gravity of the sewage box 37 closer to the cleaning member 33, ensuring that the pressure generated by the sewage box 37 on the cleaning member 33 along the forward direction X of the cleaning robot 100 when the cleaning robot 100 is cleaning is more balanced, thereby making the pressure generated by the cleaning member 33 on the surface to be cleaned more balanced, thereby improving the cleaning effect of the cleaning robot 100.

[0128] In some embodiments, in the projection within the plane perpendicular to the height direction Z of the body 10, the projection of the sewage box 37 falls within the projection of the cleaning member 33, that is, the projection of the sewage box 37 is completely located within the projection of the cleaning member 33. Thus, along the forward direction X of the cleaning robot 100, the sewage box 37 and the cleaning member 33 occupy a smaller space on the body 10, thereby improving the space utilization of the body 10 in the forward direction X of the cleaning robot 100, which is conducive to the miniaturization of the cleaning robot 100.

[0129] In addition, in some embodiments, the cleaning member 33 is arranged on the rear side of the fuselage 10. Thus, compared with the cleaning robots in the related art, the projection of the sewage box 37 falls within the projection of the cleaning member 33. On the one hand, the center of gravity of the sewage box 37 can be made closer to the center of gravity of the cleaning member 33 in the forward direction X of the cleaning robot 100, ensuring that the pressure generated by the sewage box 37 on the cleaning member 33 along the forward direction X of the cleaning robot 100 when the cleaning robot 100 is cleaning is more balanced. On the other hand, the weight distribution on the rear side of the fuselage 10 can be made more uniform, so that the pressure of the cleaning member 33 on the surface to be cleaned by the cleaning member 33 is more uniform when the cleaning robot 100 is in the cleaning state, thereby preventing the uneven pressure applied by the cleaning member 33 to the surface to be cleaned, resulting in local overpressure or local leakage, thereby improving the cleaning effect of the cleaning robot 100.

[0130] Please refer to Figures 1, 2 and 21, and in combination with Figure 15, an embodiment of the present disclosure provides a cleaning robot 100. The cleaning robot 100 includes a body 10 and a cleaning module 30. The cleaning module 30 is installed on the body 10. The cleaning module 30 includes a mounting frame 31, a cleaning member 33 and a recovery member 36. The mounting frame 31 is movably connected to the body 10. The mounting frame 31 is provided with a accommodating cavity 311. The length direction of the mounting frame 31 is parallel to the width direction Y of the body 10. Along the length direction of the mounting frame 31, the mounting frame 31 includes a first end 313 and a second end 315 relative to each other; the cleaning member 33 is detachably mounted in the accommodating cavity 311 of the mounting frame 31. The cleaning member 33 includes a crawler-type or roller-type cleaning member. The mounting frame 31 can move relative to the body 10 along the width direction Y of the body 10 so that the cleaning module 30 can switch between a lateral movement state and a retracted state. When the cleaning module 30 is in the lateral movement state, the first end 313 of the mounting frame 31 points to the mounting frame 31. In the direction of the second end 315 of the mounting frame 31, the cleaning module 30 at least partially protrudes from the side wall of the fuselage 10; the cleaning module 30 can move from the lateral displacement state to the retracted state along the direction from the second end 315 of the mounting frame 31 to the first end 313; the recovery member 36 includes a dirt holding chamber 361 and a dirt scraping portion 363, the dirt scraping portion 363 is used to abut against the cleaning member 33 to scrape off the dirt on the cleaning member 33, and the dirt holding chamber 361 is used to accommodate the dirt scraped off the cleaning member 33 by the dirt scraping portion 363; wherein, the recovery member 36 is provided on the mounting frame 31, and when the cleaning module 30 switches between the lateral displacement state and the retracted state, the mounting frame 31, the sewage box 37 and the recovery member 36 move together.

[0131] It can be understood that the structure and function of the cleaning robot 100 in this embodiment are the same as the structure and function of the cleaning robot 100 in the above embodiment. For details, please refer to the specific description in the above embodiment, and no repeated description will be made here.

[0132] In the cleaning robot 100 of the disclosed embodiment, the mounting frame 31, the sewage box 37, and the recovery member 36 move together, so that when the cleaning module 30 is in a sideways state to clean the surface to be cleaned, the recovery member 36 can still peel off the dirt from the cleaning surface of the cleaning member 33, so that the cleaning surface of the cleaning member 33 remains in a relatively clean state. In addition, compared to the recovery member 36 being unable to move with the sewage box 37, the connection between the recovery member 36 and the sewage box 37 is more stable, reducing the risk of the connection between the sewage box 37 and the recovery member 36 being disconnected when the sewage box 37 moves. In addition, the recovery member 36 is arranged on the mounting frame 31, which can further increase the weight of the cleaning module 30, thereby further increasing the pressure of the cleaning module 30 on the ground, and further improving the cleaning effect of the cleaning robot 100.

[0133] Please refer to Figures 2, 3 and 25. An embodiment of the present disclosure provides a cleaning system 1000. The cleaning system 1000 includes a cleaning robot 100 and a base station 300. The base station 300 is used in conjunction with the cleaning robot 100. The cleaning robot 100 includes a body 10 and a cleaning module 30. The cleaning module 30 is installed on the body 10. The cleaning module 30 includes a mounting frame 31, a cleaning member 33, a drive assembly 35 and a sewage box 37. The mounting frame 31 is movably connected to the body 10. The mounting frame 31 is provided with a accommodating cavity 311. The length direction of the mounting frame 31 is parallel to the width direction Y of the body 10. Along the length direction of the mounting frame 31, the mounting frame 31 includes a first end 313 and a second end 315 relative to each other. The cleaning member 33 is detachably mounted in the accommodating cavity 311 of the mounting frame 31. The cleaning member 33 includes a crawler-type or roller-type cleaning member. The mounting frame 31 is movable relative to the fuselage 10 along the width direction of the fuselage 10 so that the cleaning module 30 can switch between a sideways state and a retracted state relative to the fuselage 10. When the cleaning module 30 is in the sideways state, the cleaning module 30 at least partially protrudes from the sidewall of the fuselage 10 in a direction from the first end 313 of the mounting frame 31 to the second end 315 of the mounting frame 31. The cleaning module 30 can move from the sideways state to the retracted state in a direction from the second end 315 of the mounting frame 31 to the first end 313. The drive assembly 35 is disposed at the first end 313 of the mounting frame 31 and is used to drive the cleaning member 33 to rotate relative to the surface to be cleaned to clean the surface to be cleaned. The rotation axis of the cleaning member 33 is parallel to the width direction of the fuselage 10. The sewage box 37 is provided on the mounting frame 31 and is used to store dirt generated by the cleaning member 33 when cleaning the surface to be cleaned. The sewage box 37 is close to the second end 315 of the mounting frame 31 and does not exceed the end surface of the second end 315 of the mounting frame 31, and is spaced apart from the drive assembly 35.

[0134] It can be understood that the structure and function of the cleaning robot 100 in this embodiment are the same as the structure and function of the cleaning robot 100 provided in the first embodiment described above. For details, please refer to the specific description in the above embodiment, and no repeated description will be made here.

[0135] Specifically, in some embodiments, the base station 300 is provided with a docking position 301 for the cleaning robot 100 to dock, and the base station 300 is used to perform maintenance on the cleaning robot 100. It is understandable that in some embodiments, when the cleaning robot 100 is located at the docking position 301 of the cleaning robot 100, the base station 300 can perform maintenance on the cleaning robot 100, and the types of maintenance include but are not limited to charging, dust collection, cleaning parts, replenishing fresh water, pumping sewage, etc. It can be understood that the cleaning robot 100 can complete at least one of the following within the base station 300: 1. The base station 300 charges the cleaning robot 100; 2. The base station 300 collects garbage from the cleaning robot 100 (e.g., garbage in the dust box or sewage box 37 of the cleaning robot 100) into its dust collection container; 3. The cleaning components 33 of the cleaning robot 100 are cleaned within the base station 300 (e.g., washing the mop 333, cleaning the roller brush, washing the drum, etc.); 4. The base station 300 replenishes fresh water into the clean water box 43 of the cleaning robot 100; 5. The base station 300 collects dirt from the sewage box 37 of the cleaning robot 100 into its dirty container and discharges it to the outside. The above maintenance types are merely illustrative and are not intended to be limiting of this disclosure.

[0136] In the cleaning system 1000 of the disclosed embodiment, the cleaning module 30 is in a sideways state, and the first end 313 of the mounting frame 31 points to the direction of the second end 315 of the mounting frame 31. The cleaning module 30 at least partially protrudes from the side wall of the fuselage 10, and the driving component 35 is arranged at the first end 313 of the mounting frame 31. Therefore, compared with the driving component 35 being arranged at the second end 315 of the mounting frame 31, the output end of the driving component 35 for driving the cleaning member 33 to rotate will not occupy the space where the cleaning member 33 protrudes toward the obstacle, thereby ensuring that the second end 315 of the mounting frame 31 can be as close to the obstacle (such as a wall, etc.) as possible, that is, ensuring that the cleaning module 30 can effectively achieve edge cleaning. The cleaning module 30 can be well suited for the cleaning robot 100 that can switch between a sideways state and a retracted state, thereby improving the cleaning effect of the cleaning robot 100.

[0137] Referring to Figures 2, 3, and 25, an embodiment of the present disclosure provides a cleaning system 1000. The cleaning system 1000 includes a cleaning robot 100 and a base station 300. The base station 300 is used in conjunction with the cleaning robot 100. The cleaning robot 100 includes a body 10 and a cleaning module 30. The cleaning module 30 is mounted on the body 10 and includes a mounting frame 31, a cleaning member 33, and a sewage box 37. The mounting frame 31 is mounted on the body 10; the cleaning member 33 is disposed on the mounting frame 31 and is configured to contact and clean a surface to be cleaned. The sewage box 37 is configured to store dirt generated by the cleaning member 33 when cleaning the surface. In a projection onto a plane perpendicular to the forward travel direction X of the cleaning robot 100, the sewage box 37 is located above the projection of the cleaning member 33. In a projection onto a plane perpendicular to the height direction Z of the body 10, the geometric center of the projection of the sewage box 37 falls within the projection of the cleaning member 33.

[0138] It can be understood that the structure and function of the cleaning robot 100 and the base station 300 in this embodiment are the same as the structure and function of the cleaning robot 100 and the base station 300 in the above embodiment. For details, please refer to the specific description in the above embodiment and no repeated description will be made here.

[0139] In the cleaning system 1000 of the embodiment of the present disclosure, in the projection in the plane perpendicular to the forward direction X of the cleaning robot 100, the projection of the sewage box 37 is located above the projection of the cleaning member 33, and in the projection in the plane perpendicular to the height direction Z of the fuselage 10, the geometric center of the projection of the sewage box 37 falls within the projection of the cleaning member 33. Therefore, compared with the cleaning robots in the related art, along the forward direction X of the cleaning robot 100, the sewage box 37 and the cleaning member 33 occupy less space on the fuselage 10, thereby improving the space utilization rate of the fuselage 10 in the forward direction X of the cleaning robot 100, which is beneficial to the miniaturization of the cleaning robot 100 and can also reduce the possibility of interference between the cleaning module 30 and other structural parts of the cleaning robot 100, thereby not only facilitating the assembly of other structural parts on the fuselage 10, but also facilitating the size design of other structural parts. In addition, the geometric center of the projection of the sewage box 37 falls within the projection of the cleaning member 33, which is also beneficial for making the center of gravity of the sewage box 37 closer to the cleaning member 33, ensuring that the pressure generated by the sewage box 37 on the cleaning member 33 along the forward direction X of the cleaning robot 100 when the cleaning robot 100 is cleaning is more balanced, thereby making the pressure generated by the cleaning member 33 on the surface to be cleaned more balanced, thereby improving the cleaning effect of the cleaning robot 100.

[0140] Referring to Figures 2, 3, 21, and 25, an embodiment of the present disclosure provides a cleaning system 1000. The cleaning system 1000 includes a cleaning robot 100 and a base station 300. The base station 300 is configured to cooperate with the cleaning robot 100. The cleaning robot 100 includes a body 10 and a cleaning module 30. The cleaning module 30 is mounted on the body 10 and includes a mounting frame 31, a cleaning element 33, and a recovery element 36. The mounting frame 31 is movably connected to the fuselage 10, and the mounting frame 31 is provided with a receiving cavity 311. The length direction of the mounting frame 31 is parallel to the width direction Y of the fuselage 10. Along the length direction of the mounting frame 31, the mounting frame 31 includes a first end 313 and a second end 315 opposite to each other; the cleaning member 33 is detachably mounted in the receiving cavity 311 of the mounting frame 31, and the cleaning member 33 includes a crawler-type or roller-type cleaning member. The mounting frame 31 can move relative to the fuselage 10 along the width direction Y of the fuselage 10 so that the cleaning module 30 can switch between a sideways state and a retracted state. When the cleaning module 30 is in the sideways state, the first end 313 of the mounting frame 31 points to the mounting frame In the direction of the second end 315 of the mounting frame 31, the cleaning module 30 at least partially protrudes from the side wall of the fuselage 10; the cleaning module 30 can move from the lateral displacement state to the retracted state along the direction from the second end 315 of the mounting frame 31 to the first end 313; the recovery member 36 includes a dirt holding chamber 361 and a dirt scraping portion 363, the dirt scraping portion 363 is used to abut against the cleaning member 33 to scrape off the dirt on the cleaning member 33, and the dirt holding chamber 361 is used to accommodate the dirt scraped off the cleaning member 33 by the dirt scraping portion 363; wherein, the recovery member 36 is provided on the mounting frame 31, and when the cleaning module 30 switches between the lateral displacement state and the retracted state, the mounting frame 31, the sewage box 37 and the recovery member 36 move together.

[0141] It can be understood that the structure and function of the cleaning robot 100 and the base station 300 in this embodiment are the same as the structure and function of the cleaning robot 100 and the base station 300 in the above embodiment. For details, please refer to the specific description in the above embodiment and no repeated description will be made here.

[0142] In the cleaning system 1000 of the disclosed embodiment, the mounting frame 31, the sewage box 37, and the recovery unit 36 ​​move together, so that when the cleaning module 30 is in a sideways state to clean the surface to be cleaned, the recovery unit 36 ​​can still peel off the dirt from the cleaning surface of the cleaning unit 33, so that the cleaning surface of the cleaning unit 33 remains in a relatively clean state. In addition, compared to the situation where the recovery unit 36 ​​cannot move with the sewage box 37, the connection between the recovery unit 36 ​​and the sewage box 37 is more stable, reducing the risk of the connection between the sewage box 37 and the recovery unit 36 ​​being disconnected when the sewage box 37 moves. In addition, the recovery unit 36 ​​is arranged on the mounting frame 31, which can further increase the weight of the cleaning module 30, thereby further increasing the pressure of the cleaning module 30 on the ground, and further improving the cleaning effect of the cleaning robot 100.

[0143] The above embodiment is described below with reference to specific application scenarios:

[0144] The user activates the cleaning robot 100, which is driven by the first and second drive wheels 451, 453 and moves across the living room floor. During this movement, the cleaning element 33 can perform a mopping task. When the mopping task begins and the cleaning robot 100 is away from obstacles (e.g., living room walls, furniture, etc.), the cleaning module 30 is retracted. At this point, the water supply element 38 supplies clean water from the clean water box 43 to the tracked cleaning element to wet it. The wetted tracked cleaning element contacts the surface to be cleaned and, driven by the drive assembly 35, rotates relative to the living room floor to wipe it. Simultaneously, the scraping element 363 maintains contact with the cleaning element 33, scraping dirt off the cleaning surface of the cleaning element 33 and into the dirt holding chamber 361. During this process, the rotation of the cleaning element 33 provides a stable driving force for the mopping task, effectively removing dirt from the living room floor. In addition, the sewage box 37 can store the dirt that enters the dirt holding chamber 361. To a certain extent, it can work together with the drive component 35 to balance the weight of the cleaning module 30 along the width direction Y of the fuselage 10, thereby reducing the risk of the entire cleaning robot 100 slipping sideways due to excessive pressure difference on the cleaning surface on both sides of the cleaning member 33.

[0145] As the cleaning robot 100 moves, when the cleaning robot 100 approaches an obstacle, if the cleaning module 30 cannot move sideways at this time, a large cleaning blind spot will be formed between the target end of the cleaning module 30 and the obstacle, affecting the cleaning effect. At this time, the transmission component 39 can drive the cleaning module 30 to move relative to the fuselage 10 along the width direction Y of the fuselage 10 to switch from the retracted state to the sideways state. During this process, the driving component 35 gradually approaches the middle position of the fuselage 10 in the width direction Y of the fuselage 10, and the cleaning module 30 exceeds the contour line of the fuselage 10 at its position. The cleaning blind spot of the cleaning module 30 when it moves straight along the edge of the obstacle is reduced, thereby not only enabling the cleaning module 30 to achieve edge cleaning and improve the cleaning effect, but also ensuring the balance of the cleaning robot 100 after sideways movement, reducing the risk of the cleaning robot 100 slipping, and improving the stability and reliability of the cleaning robot 100. During the sideways movement, the water supply unit 38, wastewater box 37, and recovery unit 36 ​​all move with the cleaning module 30, ensuring that the water supply unit 38 can still supply clean water to the cleaning unit 33 and the recovery unit 36 ​​can still remove dirt from the cleaning surface of the cleaning unit 33, ensuring a clean cleaning effect. After the edge cleaning is completed, the transmission assembly 39 can drive the cleaning module 30 again from the sideways movement state to the retracted state, and this reciprocating process can mop most of the floor in the living room clean.

[0146] In the related art, a cleaning robot is provided with a radar, which is used to realize the functions of the cleaning robot such as mapping, navigation, and obstacle avoidance. To ensure the detection range of the radar, the radar is usually set on the top of the cleaning robot and protrudes from the body of the cleaning robot. However, such a setting will result in the overall height of the cleaning robot being relatively high, and it will not be able to enter a small space such as under a bed or a sofa for cleaning, resulting in poor applicability of the cleaning robot and being unable to meet the user's usage needs. In order to solve this problem, please refer to Figures 1 to 5, Figure 6 (a), Figure 6 (b), Figures 7 to 9, Figure 15, Figures 18 to 20, and Figures 23 to 25. The second embodiment of the present disclosure provides a cleaning robot 100. It should be noted that the structure and function of the cleaning robot 100 provided in the second aspect are basically the same as those of the cleaning robot 100 provided in the first aspect, and will not be repeated here. The following describes the differences between the cleaning robot 100 provided in the second aspect and the cleaning robot 100 provided in the first aspect.

[0147] Please refer to Figures 1 to 3. In this embodiment, the cleaning robot 100 includes a body 10, a first detection module 21, a second detection module 23 and a radar 25. Along the forward direction X of the cleaning robot 100, the body 10 includes a front side and a rear side relative to each other, and a left side and a right side connecting the front side and the rear side. A mounting groove 105 is provided inside the body 10, and the notch of the mounting groove 105 is provided on the side wall of the rear side of the body 10. The first detection module 21 is provided on the front side of the body 10. The second detection module 23 is provided on the right side of the body 10. The radar 25 is provided in the mounting groove 105, and the detection signal of the radar 25 is emitted through the notch of the mounting groove 105. The radar 25, the first detection module 21 and the second detection module 23 are used together to detect the surrounding environment of the cleaning robot 100.

[0148] Among them, the fuselage 10 is a component of the cleaning robot 100 used to load components other than the fuselage 10 (including but not limited to the first detection module 21, the second detection module 23 and the radar 25). The material of the fuselage 10 can be a metal material and / or a non-metallic material. The metal material is not limited to aluminum, iron, steel or aluminum alloy, and the non-metallic material is not limited to plastic. In certain embodiments of the present disclosure, a mounting groove 105 is provided inside the fuselage 10. The notch of the mounting groove 105 is provided on the rear side wall of the fuselage 10. That is, the mounting groove 105 can be a groove formed by being recessed from the rear side wall of the fuselage 10 into the interior of the fuselage 10, and in the height direction Z of the fuselage 10, the mounting groove 105 is spaced from the top wall of the fuselage 10. It should be noted that the forward direction X of the cleaning robot 100 is substantially perpendicular to the height direction Z of the fuselage 10. "Substantially perpendicular" essentially means that the angle between the two is 90°±5° within the range of tolerance allowed by the manufacturing process or assembly process.

[0149] Please refer to Figure 1. The directions described in the embodiments of the present disclosure are all defined when the cleaning robot 100 is carried on the surface to be cleaned. "Front", "rear", "left" and "right" are all relative to the forward direction X of the cleaning robot 100. When the cleaning robot 100 moves forward along the forward direction X, the front end of the body 10 closest to the forward direction X is the front side of the body 10; the rear end of the body 10 closest to the forward direction X is the rear side of the body 10; when facing the front side of the body 10, the leftmost end of the body 10 is the left side of the body 10; when facing the front side of the body 10, the rightmost end of the body 10 is the right side of the body 10.

[0150] The radar 25, the first detection module 21, and the second detection module 23 are used together to detect the surrounding environment of the cleaning robot 100. In this way, the cleaning robot 100 can obtain sufficient surrounding environment information to provide a basis for the implementation of the cleaning robot 100's positioning, mapping, navigation, obstacle avoidance and other functions, thereby ensuring the normal operation of the cleaning robot 100. The surrounding environment information includes, but is not limited to, at least one of the following: the type of surface to be cleaned, the dirtiness of the surface to be cleaned, the location of obstacles, etc.

[0151] Specifically, the first detection module 21 is a component of the cleaning robot 100 for obtaining the surrounding environment information on the front side of the fuselage 10. Exemplarily, during the cleaning process of the cleaning robot 100, the first detection module 21 can detect obstacles on the front side, so that the cleaning robot 100 can understand the position and distance of the obstacles in real time, so that it can make correct obstacle avoidance strategies in time, and reduce the possibility of collision damage to the cleaning robot 100. The first detection module 21 includes but is not limited to binocular sensors, infrared sensors, line laser sensors, TOF sensors, etc. In certain embodiments of the present disclosure, the first detection module 21 is a binocular sensor module, and the binocular sensor module is arranged on the front side wall 1055 of the fuselage 10. Among them, the binocular camera can use two cameras to simultaneously shoot the surrounding environment from different angles, and determine the surrounding environment information based on the difference between the two pictures taken, such as determining the three-dimensional position and distance of the obstacle.

[0152] The second detection module 23 is a component of the cleaning robot 100 used to obtain information about the surrounding environment on the right side of the body 10. The cleaning robot 100 is generally capable of edge cleaning, that is, the cleaning robot 100 can clean along the edge of a wall or furniture, thereby increasing the cleaning area of ​​the cleaning robot 100 and improving the cleaning effect. In certain embodiments of the present disclosure, the cleaning robot 100 is capable of right-side edge cleaning, that is, the right sidewall of the body 10 can be cleaned along the edge of a wall or furniture. In this case, the second detection module 23 can detect obstacles on the right side of the body 10 and determine the distance between the obstacle and the right side of the cleaning robot 100 to ensure the stability of the cleaning robot 100's right-side edge cleaning. The second detection module 23 includes but is not limited to a binocular sensor, an infrared sensor, a line laser sensor, a TOF sensor, and the like. In certain embodiments of the present disclosure, the second detection module 23 is a line laser sensor module, which is disposed on the right sidewall of the body 10.

[0153] The radar 25 is a component of the cleaning robot 100 used to obtain information about the surrounding environment behind the body 10. Radar 25 includes, but is not limited to, a laser radar, a pulse radar, a continuous wave radar, and the like. In certain embodiments of the present disclosure, the geometric center of the radar 25 intersects the centerline of the width direction Y of the body 10. That is, the radar 25 is positioned in the middle of the body 10 in the width direction Y and is located behind the body 10. This ensures that the left and right detection ranges of the radar 25 are consistent, ensuring that the radar 25 can effectively detect the environment behind the body 10.

[0154] In the cleaning robot 100 of the disclosed embodiment, a mounting slot 105 is provided inside the body 10, and the notch of the mounting slot 105 is provided on the rear side wall of the body 10. The radar 25 is provided in the mounting slot 105, and the detection signal of the radar 25 is emitted through the notch of the mounting slot 105. Compared with the radar 25 being provided on the top of the cleaning robot 100 and protruding from the body 10 of the cleaning robot 100, the radar 25 will not occupy the space in the height direction Z of the cleaning robot 100; and the radar 25, the first detection module 21, and the second detection module 23 are jointly used to detect the surrounding environment of the cleaning robot 100. On the one hand, this can reduce the height of the cleaning robot 100, so that the cleaning robot 100 can enter a small space such as under a bed or under a sofa for cleaning, thereby improving the applicability of the cleaning robot 100 and effectively meeting the user's usage needs; on the other hand, it can ensure the detection range and ensure the normal operation of the cleaning robot 100.

[0155] In addition, since the cleaning movement of the cleaning robot 100 generally includes forward movement and rotation, when the radar 25 is placed on the rear side of the fuselage 10, there is basically no obstacle that will collide with the radar 25 during the cleaning process of the cleaning robot 100, so there is no need to set up a protective mechanism for the radar 25. This not only reduces production costs and improves the industry competitiveness of the cleaning robot 100, but also reduces the space occupied by the fuselage 10, facilitating the size design of other structural parts of the cleaning robot 100. Moreover, compared to the case where the radar 25 is set on the front side of the fuselage 10 or the right side of the fuselage 10, when the radar 25 is placed on the rear side of the fuselage 10, the rear detection blind spot of the fuselage 10 is small, effectively reducing the possibility of collision when the cleaning robot 100 moves backward. In addition, in some related technologies, the radar is set on the top of the fuselage 10, and the charging plate of the cleaning robot 100 is set on the rear side wall of the fuselage 10. When the cleaning robot 100 needs to enter the base station 300 (as shown in Figure 25) for maintenance, the charging plate of the cleaning robot 100 needs to be docked with the charging terminal of the base station 300, and the cleaning robot 100 can enter the base station 300 in a backward posture. For the related technology in which the radar 25 is set on the top of the fuselage 10, the base station 300 is identified by using the radar 25 to identify the reflective sticker of the base station 300. This solution has relatively strict constraints on the identification distance, generally within 80 cm. If the distance limit is exceeded, the reflective sticker cannot be distinguished by intensity, and the radar point cloud will become sparser as the distance becomes farther; this solution requires the radar 25 to switch to light intensity mode, the ranging range becomes smaller, and accurate positioning cannot be achieved. To protect the radar 25 protruding from the top of the body 10 from damage, a radar shield is typically installed above the radar 25. However, this shield creates a blind spot in the radar's field of view, resulting in poor reliability in the cleaning robot 100's recognition of the base station 300. Other related technologies employ infrared sensors on the cleaning robot 100 to complement or replace the top radar's recognition of the base station 300. However, infrared sensors are relatively expensive, leading to higher overall machine costs. In certain embodiments of the present disclosure, by arranging the radar 25 on the rear side of the fuselage 10 and in the installation slot 105 that does not protrude from the fuselage 10, since the radar 25 does not protrude from the fuselage, there is no need to set the above-mentioned radar protection cover, thereby ensuring the accuracy of the radar 25 in identifying the reflective sticker of the base station 300, and thus it is also necessary to set an infrared sensor. In this way, when the cleaning robot 100 needs to enter the base station 300, the cleaning robot 100 can directly use the radar 25 to realize the positioning of the cleaning robot 100 entering and exiting the base station 300. Compared with adding infrared sensors, the cost is lower, which helps to improve industry competitiveness.

[0156] The cleaning robot 100 of the second aspect will be described in detail below with reference to the accompanying drawings.

[0157] Referring to Figures 2 and 3 , in conjunction with Figure 4 , in certain embodiments, the geometric center of the radar 25 intersects the centerline of the width direction Y of the fuselage 10. The line connecting the geometric center of the second detection module 23 and the geometric center of the fuselage 10 is Z1, and the line connecting the geometric center of the radar 25 and the geometric center of the fuselage 10 is Z2. The angle formed between Z1 and Z2 is greater than 90° and less than or equal to 110°. It should be noted that in certain embodiments, the angle formed between Z1 and Z2 in the horizontal plane can be any one of 90°, 92°, 94°, 96°, 98°, 100°, 102°, 104°, 106°, 108°, and 110°, or any value between any two of these values. For example, in certain embodiments, the angle formed between Z1 and Z2 is 100°±5°.

[0158] In the embodiment of the present disclosure, the second detection module 23 is used to detect the distance between the body 10 of the cleaning robot 100 and the obstacle. Since the geometric center of the radar 25 intersects with the center line Y in the width direction of the body 10, that is, the radar 25 is arranged on the rear side of the cleaning robot 100 and on the center line of the width direction Y of the cleaning robot 100, the angle formed by the line connecting the geometric center of the radar 25 to the geometric center of the body 10 and the line connecting the geometric center of the second detection module 23 to the geometric center of the body 10 is greater than 90°, and the first detection module 21 is arranged on the front side of the body 10, so that the second detection module 23 is closer to the front side along the front-to-back direction of the cleaning robot 100. The second detection module 23 can be used to assist the first detection module 21 to a certain extent in detecting obstacles in front in advance and estimating the distance of obstacles in front, which is beneficial for the cleaning robot 100 to avoid obstacles more reasonably in advance. If the second detection module 23 is positioned too far forward, that is, if the angle formed between Z1 and Z2 is greater than 110°, the obstacle distance detected by the second detection module 23 will deviate significantly from the distance from the widest point of the fuselage 10 to the obstacle, thereby reducing the reliability of obstacle detection.

[0159] Referring to Figure 2 , in some embodiments, a diffuse reflection layer is provided on the inner wall of the mounting groove 105. The diffuse reflection layer is used to reflect the detection signal emitted by the radar 25. It should be noted that the diffuse reflection layer can be made of a material with high reflectivity and good diffuse reflection properties, so that the diffuse reflection layer can reflect the detection signal emitted by the radar 25. The diffuse reflection layer can be applied to the inner wall of the mounting groove 105 by spraying, electroplating, or printing.

[0160] Specifically, in certain embodiments, in the height direction Z of the fuselage 10, the mounting slot 105 includes opposing top and bottom walls 1051 and 1053, and a side wall 1055 connecting the top and bottom walls 1051 and 1053. A diffuse reflection layer may be provided on at least one of the top, bottom, or side walls 1055 of the mounting slot 105. The provision of the diffuse reflection layer can uniformly reflect detection signals emitted by the radar 25 back to the radar 25, ensuring that the radar 25 receives sufficient signals for effective data processing and improving the detection accuracy of the radar 25. For example, if the radar 25 is a lidar sensor, the lidar sensor can emit laser pulses, and the diffuse reflection layer can uniformly reflect the laser pulses back to the lidar sensor, ensuring that the lidar sensor receives sufficient light signals for data processing.

[0161] It is understandable that since the mounting groove 105 is provided inside the fuselage 10, if the top wall of the fuselage 10 carries a heavy object or is subjected to a large impact force, that is, if the top wall of the fuselage 10 is subjected to a large force, the top wall of the fuselage 10 is prone to deformation and damage. Specifically, the top wall of the fuselage 10 opposite to the mounting groove 105 in the height direction Z is more likely to be deformed and damaged when subjected to a large force, which not only affects the service life of the fuselage 10, but may also cause damage to the radar 25 in the mounting groove 105.

[0162] In certain embodiments of the present disclosure, reinforcing ribs 1057 are provided between the top wall 1051 and the side walls 1055 of the mounting slot 105. The ribs 1057 extend from the top wall 1051 and the side walls 1055 of the mounting slot 105 toward the center of the mounting slot 105. The ribs 1057 are used to enhance the structural strength of the top wall 1051 and the side walls 1055 of the mounting slot 105. Thus, the provision of the reinforcing ribs 1057 can reduce the likelihood of deformation and damage to the fuselage 10 (e.g., the top wall 1051 of the mounting slot 105) when subjected to a large force. This not only extends the service life of the fuselage 10 but also prevents deformation of the fuselage 10 that could damage the radar 25 within the mounting slot 105, thereby ensuring the normal operation of the radar 25.

[0163] Please refer to Figures 2, 5 and 15. In some embodiments, the cleaning robot 100 also includes a cleaning module 30, which is used to contact the surface to be cleaned to drag the surface to be cleaned. The cleaning module 30 can move along a first direction parallel to the width direction Y of the fuselage 10 and switch from a retracted state (as shown in Figure (15a)) to a sideways state (as shown in Figure (15b)), and move along a second direction parallel to the width direction Y of the fuselage 10 and switch from the sideways state to the retracted state. The first direction is opposite to the second direction. When the cleaning module 30 is in the sideways state, the cleaning module 30 at least partially protrudes from the right side wall of the fuselage 10; when the cleaning module 30 is in the retracted state, the cleaning module 30 is located within the projection range of the fuselage 10 on the horizontal plane.

[0164] In which, please refer to Figure 15(a). When the cleaning module 30 is in the retracted state, there is a cleaning blind spot between the right side of the cleaning module 30 and the wall (the area between the target end of the cleaning module 30 and the wall in Figure 15). In order to clean the cleaning blind spot, the cleaning module 30 can move toward the right, that is, the cleaning module 30 moves along the width direction Y away from the body 10, so that the cleaning module 30 switches to the side shift state. As shown in Figure 15(b), when the cleaning module 30 is in the side shift state, the right edge of the cleaning module 30 can fit well with the wall, or the distance between the right side and the wall can be very small, so as to eliminate or reduce the cleaning blind spot, so that the cleaning module 30 can better clean the area on the edge of the wall. Therefore, in addition to working in the normal cleaning state (retracted state), the cleaning module 30 can also work in the side-moving cleaning state (side-moving state), so that the cleaning module 30 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), thereby reducing the limitation of the external dimensions of the fuselage 10 and improving the cleaning effect of the cleaning robot 100.

[0165] The driving wheel 45 is provided on the body 10 and is used to drive the cleaning robot 100 forward. In the front-to-back direction of the cleaning robot 100, the cleaning module 30 and the radar 25 are both located behind the driving wheel 45. The cleaning module 30 and the radar 25 are spaced apart, and the cleaning module 30 is closer to the driving wheel 45 than the radar 25. In other words, the cleaning module 30 and the radar 25 are both located in the rear end area of ​​the cleaning robot 100 and are relatively close to each other.

[0166] Please refer to FIG18 . The radar 25 has a first field of view. The first field of view includes a first field of view edge that emits toward the right side of the fuselage 10 and a second field of view edge that emits toward the left side of the fuselage 10. The emission direction corresponding to the first field of view edge forms a first acute angle A1 with the first direction. Compared to the first field of view edge of the radar 25 being parallel to the first direction, the first field of view edge on the right side of the radar 25 is tilted toward the side where the cleaning module 30 is located. This allows the radar 25 to detect obstacles near the rear of the cleaning module 30 as much as possible. Under certain conditions, it can also assist in monitoring obstacles that the cleaning module 30 may collide with, reducing the risk of damage to the cleaning module 30 due to collision with obstacles and improving the reliability of the cleaning robot 100.

[0167] Exemplarily, when the geometric center of the radar 25 intersects the center line of the width direction of the fuselage 10, the angle formed by the effective detection range of the radar 25 in the horizontal plane is between 185° and 200°.

[0168] The following example uses a specific application scenario as shown in FIG19 to illustrate the technical solution and technical effects of this embodiment in detail.

[0169] The user's home scene is complex. The living room floor is covered with a floor mat, and the user has a naughty little boy at home. One weekend morning, the little boy was playing with dolls on the living room floor mat and placed a small stool on the floor mat as a "locomotive." At this time, the user started the cleaning robot 100 at home and started mopping mode. After cleaning each room, the cleaning robot 100 returned to the living room to clean the living room. When cleaning near the living room floor mat, another part of the cleaning module 30 of the cleaning robot 100 extended to the right, and the cleaning module 10 cleaned close to the edge of the floor mat. Just as the cleaning reached the corner of the floor mat and was about to turn right, the little boy pushed the stool to the position shown in Figure 19 (the three black dots in Figure 19 indicate the stool legs). As shown in FIG19 , when the cleaning robot 100 turns right, the cleaning module 10 moves sideways and tends to move to the lower left. The cleaning module 10 may collide with the obstacle (stool leg). At this time, the radar 25 on the rear side of the body 10 sensitively detects the presence of the obstacle (stool leg), and the cleaning module 30 quickly returns to the recovery state, perfectly avoiding the collision of the cleaning module 30 with the obstacle (stool leg). Users can't help but sigh that this cleaning robot is really smart and has very sensitive obstacle avoidance.

[0170] In certain embodiments, as shown in FIG20 , the second detection module 23 includes a plurality of line laser emitters, which are arranged along a third direction from bottom to top on the body 10 , and the angle between the third direction and the forward direction X of the cleaning robot 100 is a second acute angle A2; the emission direction of each line laser emitter is tilted forward toward the front, and the angle between the third direction and the width direction Y of the body 10 is a third acute angle. Exemplarily, the second acute angle A2 is 70°±3°; and the third acute angle A3 is 10°±3°. In the disclosed embodiment, by designing the emission directions of the plurality of line laser sensors to be tilted forward, and by arranging the plurality of line laser emitters along the third direction, the line laser sensors can further detect obstacles in the front right area earlier, thereby allowing the cleaning robot 100 to make obstacle avoidance preparations earlier and faster, thereby further improving the passage performance of the cleaning robot 100.

[0171] It is worth noting that in the above scenario, the viewing angle height of the radar 25 is set to coincide with the height of the cleaning module 30 . The lower the radar 25 is set, the lower the obstacles that can be detected are.

[0172] The cleaning module 30 is the module within the cleaning robot 100 that provides dragging force to clean the surface to be cleaned. Referring to Figures 3, 6(a), and 6(b), in certain embodiments of the present disclosure, the cleaning module 30 includes a mounting frame 31 and a cleaning member 33. The mounting frame 31 is connected to the body 10 and defines a receiving cavity 311. The cleaning member 33 is removably mounted in the receiving cavity 311 of the mounting frame 31. The cleaning member 33 is a crawler-type cleaning member or a roller-type cleaning member.

[0173] Among them, in certain embodiments of the present disclosure, the cleaning member 33 is provided on the fuselage 10 and is located at the bottom of the fuselage 10 (the side of the fuselage 10 facing the surface to be cleaned when the cleaning robot 100 is carried on the surface to be cleaned). Thus, when the cleaning robot 100 is in a normal cleaning state, the cleaning member 33 can be closely attached to the surface to be cleaned to achieve a mopping function. In addition, in certain embodiments of the present disclosure, the cleaning member 33 is provided on the rear side of the fuselage 10. Moreover, in combination with the above, it can be seen that the radar 25 is provided on the rear side of the fuselage 10, thereby enabling the center of gravity of the cleaning robot 100 to be closer to the rear side of the fuselage 10, thereby increasing the pressure generated by the cleaning member 33 on the surface to be cleaned and improving the cleaning effect of the cleaning robot 100.

[0174] Referring to Figures 3 and 5 , in some embodiments, the cleaning robot 100 further includes a roller brush module 41 and a power supply unit 42. The roller brush module 41 is disposed on the body 10 and is used to remove debris from the surface to be cleaned. The power supply unit 42 is disposed on the body 10 and is used to power the cleaning robot 100. In the forward direction X of the cleaning robot 100, the roller brush module 41 and the cleaning module 30 are spaced apart, and the power supply unit 42 is located in the space between the roller brush module 41 and the cleaning module 30.

[0175] The roller brush module 41 is a structure that can clean garbage on the surface to be cleaned. In certain embodiments of the present disclosure, the roller brush module 30 includes a roller brush chamber and a roller brush arranged in the roller brush chamber. The roller brush chamber is provided with a roller brush opening 401 (as shown in FIG15 ). At least a portion of the roller brush is exposed from the roller brush opening 401 to clean garbage on the surface to be cleaned. In the forward direction X of the cleaning robot 100, the roller brush module 41 and the cleaning member 33 are arranged at intervals, and the roller brush module 41 is closer to the front side of the fuselage 10 than the cleaning module 30. In this way, during the normal cleaning process of the cleaning robot 100, the cleaning robot 100 can realize the function of first sweeping and then mopping the surface to be cleaned, thereby improving the cleaning effect.

[0176] The power supply unit 42 is a structure that can supply power to devices that require electricity in the cleaning robot 100. Exemplarily, the power supply unit 42 can supply power to the cleaning member 33 so that the cleaning member 33 rotates to clean the surface to be cleaned. The power supply unit 42 includes but is not limited to lithium batteries, storage batteries or nickel-cadmium batteries. In certain embodiments of the present disclosure, the power supply unit 42 is located in the interval area between the roller brush module 41 and the cleaning module 30, which can facilitate the layout and connection of the lines between the roller brush module 41 and the cleaning module 30 and the power supply unit 42, improve the line installation efficiency, and make the wiring inside the cleaning robot 100 neater, so that the space inside the fuselage 10 can be fully utilized, which is conducive to the compact design of the cleaning robot 100.

[0177] In addition, when the cleaning member 33 is a crawler-type cleaning member, the crawler-type cleaning member has a large size in the height direction Z. In this case, if the power supply unit 42 is arranged above the cleaning module 30, the space occupied by the power supply unit 42 and the cleaning module 30 in the height direction Z is large, which is not conducive to the miniaturization of the cleaning robot 100. Therefore, the power supply unit 42 in the present disclosure is arranged in the interval area between the roller brush module 41 and the cleaning module 30, thereby preventing the power supply unit 42 and the cleaning module 30 from occupying too much space in the height direction Z, which is conducive to the miniaturization of the cleaning robot 100. It can be understood that in the forward direction X of the cleaning robot 100, the power supply unit 42 is closer to the front side of the body 10 than the cleaning module 30; the roller brush module 41 is closer to the front side of the body 10 than the power supply unit 42.

[0178] Referring to Figures 3, 6(a), and 6(b), in conjunction with Figure 21, in certain embodiments, the cleaning member 33 includes a mounting bracket 331 and a cleaning portion 333. The mounting bracket 331 includes two rollers (including a front roller 3311 and a rear roller 3313) spaced apart and arranged in parallel. The cleaning portion 333 is annular and is sleeved on the mounting bracket 331. When the cleaning member 33 is mounted on the mounting bracket 331, the length of the cleaning member 33 is between 263 mm and 268 mm, the width is between 58 mm and 65 mm, and the wheelbase between the two rollers is between 42 mm and 47 mm. It should be noted that in certain embodiments, the cleaning portion 333 specifically includes, but is not limited to, a disposable electrostatic mop, a disposable wet mop, or a reusable fabric mop.

[0179] Specifically, in some embodiments, when the cleaning portion 333 is sleeved on the mounting bracket 331 and the cleaning portion 333 is tightly fitted with the mounting bracket 331, the cleaning portion 333 can be tightly fitted with the two rollers. Thus, when the cleaning robot 100 is in a normal cleaning state, the cleaning portion 333 can rotate on the mounting bracket 331 relative to the surface to be cleaned, thereby enabling the cleaning robot 100 to achieve the wiping function of the surface to be cleaned.

[0180] The length of the cleaning member 33 can be any one of 263mm, 264mm, 265mm, 266mm, 267mm, and 268mm, or any value between any two values; the width can be any one of 58mm, 59mm, 60mm, 61mm, 62mm, 63mm, 64mm, and 65mm, or any value between any two values; the wheelbase between the two rollers can be any one of 42mm, 43mm, 44mm, 45mm, 46mm, and 47mm, or any value between any two values. In certain embodiments of the present disclosure, the length of the cleaning member 33 is between 263mm and 268mm, the width is between 58mm and 65mm, and the wheelbase between the two rollers is between 42mm and 47mm. This ensures the cleaning range of the crawler cleaning member and improves the cleaning effect of the cleaning robot 100. It also prevents the crawler cleaning member from being too large, which in turn causes the body 10 to be too large, thereby facilitating the miniaturization of the cleaning robot 100.

[0181] Please refer to Figures 2 and 4, and in combination with Figure 7, in some embodiments, the cleaning robot 100 also includes a clean water box 43, which is arranged on the body 10. The clean water box 43 is used to store cleaning liquid and to provide cleaning liquid to the cleaning component 33. In the forward direction X of the cleaning robot 100, the clean water box 43 is arranged on the rear side of the body 10 and is spaced apart from the power supply unit 42 of the cleaning robot 100. The cleaning component 33 is located in the spacing area between the clean water box 43 and the power supply unit 42.

[0182] It should be noted that in some embodiments, the cleaning liquid in the clean water box 43 can be heated to form a cleaning liquid with a certain amount of heat. In this way, the clean water box 43 can provide hot water to the cleaning element 33, so that the cleaning element 33 can wipe the surface to be cleaned with the hot water, thereby improving the cleaning effect. In this case, if the clean water box 43 is in contact with the power supply unit 42 or the two are relatively close, the heat of the cleaning liquid in the clean water box 43 may cause the power supply unit 42 to overheat and damage. Therefore, the clean water box 43 in the present disclosure is arranged on the rear side of the body 10 and separated from the power supply unit 42. This can reduce or even prevent the heat of the cleaning liquid from affecting the power supply unit 42, thereby extending the service life of the power supply unit 42 and improving the stability and reliability of the cleaning robot 100. In addition, the clean water box 43 is arranged on the rear side of the body 10, which can also bring the center of gravity of the cleaning robot 100 closer to the rear side of the body 10, thereby ensuring the pressure of the cleaning element 33 on the surface to be cleaned when the cleaning robot 100 is in the normal cleaning state, thereby improving the cleaning effect of the cleaning robot 100.

[0183] Referring to Figures 2 and 4 , in certain embodiments, the radar 25 is projected above the clean water box 43 in a plane perpendicular to the forward direction X of the cleaning robot 100. Furthermore, the radar 25 has its geometric center within the clean water box 43 in a plane perpendicular to the height direction Z of the body 10. That is, along the height direction Z of the body 10, the radar 25 is positioned above the clean water box 43, with at least a portion of the radar 25 facing the clean water box 43. Therefore, compared with the staggered arrangement of the radar 25 and the clean water box 43 in the forward direction X of the cleaning robot 100, the radar 25 and the clean water box 43 occupy less space on the fuselage 10 along the forward direction X of the cleaning robot 100, thereby improving the space utilization rate of the fuselage 10 in the forward direction X of the cleaning robot 100, which is beneficial to the miniaturization of the cleaning robot 100. At the same time, it can also reduce the possibility of interference between the radar 25 and the clean water box 43 and other structural parts, and facilitate the assembly and size design of other structural parts on the fuselage 10.

[0184] In one example, along the height direction Z of the fuselage 10, the entire structure of the clean water box 43 is located below the radar 25. Referring to FIG7 , in another example, a clearance space is provided in the middle of the clean water box 43. The clearance space is recessed from the top of the clean water box 43 (the side of the clean water box 43 opposite to the surface to be cleaned when the cleaning robot 100 is placed on the surface to be cleaned) toward the surface to be cleaned. At least part of the radar 25 is located within the clearance space. At this time, along the height direction Z of the fuselage 10, part of the structure of the clean water box 43 is located below the radar 25. In this way, along the height direction Z of the fuselage 10, the radar 25 and the clean water box 43 occupy less space on the fuselage 10, which is conducive to miniaturization of the cleaning robot 100.

[0185] It is understood that, in one example, in the projection within the plane perpendicular to the height direction Z of the fuselage 10, the geometric center of the projection of the radar 25 being located within the projection of the clean water box 43 may include: the projection of the radar 25 being completely located within the projection of the clean water box 43. In another example, in the projection within the plane perpendicular to the height direction Z of the fuselage 10, the geometric center of the projection of the radar 25 being located within the projection of the clean water box 43 may include: a portion of the projection of the radar 25 being located within the projection of the clean water box 43 and another portion being located outside the projection of the clean water box 43.

[0186] Please refer to Figures 2, 4 and 5. In some embodiments, the cleaning robot 100 also includes a universal wheel 44, which is arranged on the rear side of the fuselage 10, and in the height direction Z of the fuselage 10, the radar 25, the clean water box 43 and the universal wheel 44 are stacked in sequence from top to bottom.

[0187] Because the radar 25 and cleaning element 33 are relatively heavy and both are located on the rear side of the body 10, the center of gravity of the cleaning robot 100 is closer to the rear side of the body 10. Therefore, the universal wheels 44 located on the rear side of the body 10 provide better support for the cleaning robot 100, thereby improving the stability of the cleaning robot 100 and ensuring its proper operation. Furthermore, the placement of the universal wheels 44 on the rear side of the body 10 prevents interference with the installation of the front structural components of the body 10. This ensures proper assembly of the front structural components of the body 10 while also facilitating the design of the dimensions of the front structural components. For example, the placement of the universal wheels 44 on the rear side of the body 10 eliminates interference with the trash chamber 47, increasing the size of the trash chamber 47 and reducing the frequency with which users need to dump trash or maintain the trash chamber 47, thereby improving the user experience.

[0188] Furthermore, referring to FIG3 , in some embodiments, the central axis MM1 of the driving wheel 45 is located in the middle of the body 10, and the middle of the body 10 is the middle area between the front and rear sides. It should be noted that in some embodiments, the driving wheel 45 can have good waterproof capabilities when operating in wading, splashing, or humid environments, thereby enabling the cleaning robot 100 to meet wading, splashing, and humid operating conditions, enriching the use scenarios of the cleaning robot 100 and improving the applicability of the cleaning robot 100.

[0189] Specifically, in some embodiments, the cleaning robot 100 can be carried on the surface to be cleaned by the drive wheel 45 and the universal wheel 44, and when the drive wheel 45 rotates relative to the fuselage 10, the drive wheel 45 can drive the cleaning robot 100 to move so that the cleaning robot 100 moves on the surface to be cleaned. The central axis MM1 of the drive wheel 45 is located in the middle of the fuselage 10, which can better balance the cleaning robot 100, make the cleaning robot 100 more stable during the cleaning process, prevent the cleaning robot 100 from having an unstable walking posture, and improve the stability and reliability of the cleaning robot 100. Among them, the universal wheel 44 can rotate freely in any direction, so that the drive wheel 45 can cooperate with the universal wheel 44 to jointly realize the movement of the cleaning robot 100 on the surface to be cleaned (including forward, backward, turning and rotating, etc.), thereby improving the flexibility of the cleaning robot 100 movement and optimizing the cleaning effect of the cleaning robot 100.

[0190] It can be understood that, in some embodiments, the center axis MM1 of the driving wheel 45 is located in the middle of the fuselage 10, which does not limit the center axis MM1 of the driving wheel 45 to be exactly located on the center line of the forward direction X of the fuselage 10. The center axis MM1 of the driving wheel 45 can also be offset by an appropriate distance toward the front side of the fuselage 10 relative to the center line of the forward direction X of the fuselage 10, or the center axis MM1 of the driving wheel 45 can be offset by an appropriate distance toward the rear side of the fuselage 10 relative to the center line of the forward direction X of the fuselage 10.

[0191] In certain embodiments of the present disclosure, in the projection in the plane perpendicular to the height direction Z of the body 10, along the forward direction X of the cleaning robot 100, the projection of the cleaning member 33 is located on the rear side of the projection of the driving wheel 45. Thus, in the process of the cleaning robot 100 wiping the surface to be cleaned by the cleaning member 33, the cleaning member 33 can not only wipe the garbage on the surface to be cleaned, but also wipe the marks left by the driving wheel 45 on the surface to be cleaned, thereby ensuring the cleaning effect of the cleaning robot 100.

[0192] Please refer to Figures 1, 2 and 25. In some embodiments, a water inlet 1021 is provided on the rear side wall of the cleaning robot 100. The water inlet 1021 is connected to the clean water box 43. The water inlet 1021 is used to connect with the external water source of the cleaning robot 100 to inject water into the clean water box 43 through the water inlet 1021.

[0193] For example, when the cleaning robot 100 needs to return to the base station 300 or when the amount of water in the clean water box 43 is insufficient, the cleaning robot 100 can navigate to the positioning point of the base station 300 and rotate the water injection port 1021 toward the entrance of the base station 300. The cleaning robot 100 then retreats into the base station 300. During this process, the water injection port 1021 can be docked and connected with the docking port of the base station 300, and the water source in the base station 300 can be sequentially injected into the clean water box 43 through the docking port and the water injection port 1021. In certain embodiments of the present disclosure, in the width direction Y of the body 10, the water injection port 1021 is disposed in the middle of the rear side wall, which facilitates the docking and connection between the water injection port 1021 and the docking port of the base station 300.

[0194] In some embodiments, the geometric center of the universal wheel 44 is located on the center line of the width direction Y of the cleaning robot 100. Along the width direction Y of the cleaning robot 100, the water inlet 1021 is located on one side of the universal wheel 44 and is spaced apart from the universal wheel 44.

[0195] Among them, the geometric center of the universal wheel 44 is located on the center line of the width direction Y of the cleaning robot 100. At this time, the universal wheel 44 and the two drive wheels 45 can be arranged in an isosceles triangle on the fuselage 10. Thus, the universal wheel 44 and the drive wheels 45 can better keep the cleaning robot 100 balanced, thereby improving the stability and reliability of the cleaning robot 100.

[0196] In some embodiments, a blind hole 1023 is further provided on the rear side wall of the cleaning robot 100 . The blind hole 1023 and the water inlet 1021 are symmetrically arranged on both sides of the universal wheel 44 along the width direction Y of the cleaning robot 100 .

[0197] Please refer to Figures 2 and 4. In some embodiments, the cleaning robot 100 also includes a garbage receiving chamber 47, which is arranged on the body 10. The garbage receiving chamber 47 is used to collect garbage cleaned by the roller brush module 41. Along the forward direction X of the cleaning robot 100, the garbage receiving chamber 47 is closer to the front side of the body 10 than the roller brush module 41.

[0198] Specifically, in some embodiments, when the roller brush module 41 cleans the surface to be cleaned, the roller brush module 41 can clean the garbage (including paper scraps or dust, etc.) on the surface to be cleaned into the garbage receiving chamber 47. The garbage receiving chamber 47 can collect and store the garbage cleaned by the roller brush module 41, thereby preventing the garbage from falling onto the surface to be cleaned after cleaning and causing pollution to the surface to be cleaned, thereby ensuring the cleaning effect of the cleaning robot 100.

[0199] As can be seen from the above, along the forward direction X of the cleaning robot 100, most of the structures of the cleaning robot 100 are closer to the rear side of the fuselage 10 than the central axis of the driving wheel 45. Therefore, the front side of the fuselage 10 has a larger space, and thus the garbage storage chamber 47 has a larger design space. That is, in this embodiment, the size of the garbage storage chamber 47 is larger, thereby increasing the storage capacity of the garbage storage chamber 47 for garbage, avoiding the user from frequently cleaning the garbage in the garbage storage chamber 47, and thus improving the user experience.

[0200] Furthermore, referring to Figure 7 , in some embodiments, the body 10 is provided with a first air duct 106 , which is in communication with the garbage collection chamber 47 . The cleaning robot 100 also includes a suction member 60 , which is in communication with the first air duct 106 and is configured to draw garbage removed by the roller brush module 41 into the garbage collection chamber 47 through the first air duct 106 . It should be noted that in some embodiments, the suction member 60 may be a fan, etc. In some embodiments of the present disclosure, the fan may be an axial flow fan.

[0201] Specifically, in some embodiments, when the roller brush module 41 is cleaning the surface to be cleaned, the roller brush can be exposed from the roller brush opening 401 and can clean dust and garbage (such as paper scraps or dust) on the surface to be cleaned. In this case, the suction member 60 can suck the dust and garbage cleaned by the roller brush module 41 into the garbage receiving chamber 47 and store the garbage. The garbage receiving chamber 47 can collect and store the dust and garbage cleaned by the roller brush module 41, thereby preventing the dust and garbage from falling onto the surface to be cleaned after cleaning and causing contamination to the surface to be cleaned, thereby ensuring the cleaning effect of the cleaning robot 100.

[0202] Illustratively, the first air duct 106 is arranged on the left side of the body 10, which, on the one hand, can facilitate the connection between the suction piece 60 and the first air duct 106, shorten the flow formation of the suction airflow, and reduce the suction resistance, thereby improving the suction efficiency of the suction piece 60 and ensuring the cleaning effect of the cleaning robot 100; on the other hand, it can prevent the cleaning module 30 from interfering with the first air duct 106 when the cleaning robot 100 is cleaning the right side edge, thereby ensuring the normal operation of the cleaning robot 100.

[0203] Please refer to Figure 5. In some embodiments, the cleaning robot 100 may also include a side brush module 46, which is arranged on the body 10 and includes at least one brush sweeping member. The brush sweeping member is used to rotate around the center of the side brush module 46 relative to the body 10 to brush the surface to be cleaned. In the projection in the plane perpendicular to the height direction Z of the body 10, the brush sweeping range of the brush sweeping member partially overlaps with the projection of the roller brush module 41.

[0204] As can be seen from the above, along the forward direction X of the cleaning robot 100, the power supply unit 42 is closer to the front side of the machine body 10 than the cleaning member 33. Therefore, to prevent the power supply unit 42 from interfering with the assembly of the roller brush module 41 on the machine body 10, the roller brush module 41 is closer to the front side of the machine body 10 than the power supply unit 42 in the forward direction X of the cleaning robot 100. This allows the brush member's sweeping range to overlap with the projection of the roller brush module 41 in the plane perpendicular to the height direction Z of the machine body 10. This allows garbage to be better cleaned to the area where the roller brush module 41 is located, thereby improving the cleaning effect of the cleaning robot 100. On the other hand, the brush member can extend into the roller brush module 41 and contact the roller brush of the roller brush module 41, facilitating the roller brush to clean dirt (such as hair, etc.) entangled with the brush member.

[0205] Please refer to Figures 2, 8 and 9. In some embodiments, the cleaning robot 100 also includes a functional module 50, which includes a mounting shell assembly 51 and a functional device 53 installed on the mounting shell assembly 51. The functional module 50 is assembled to the body 10 through the mounting shell assembly 51, and the functional device 53 includes a button 531, a microphone 533, and a light-emitting component 535.

[0206] It should be noted that the mounting housing assembly 51 is a structure within the functional module 50 for housing devices such as the functional device 53. In one example, the mounting housing assembly 51 and the body 10 can be connected using a detachable or non-detachable connection. Detachable connection methods include, but are not limited to, snap-fit ​​or bolt connections; non-detachable connection methods include, but are not limited to, bonding or welding.

[0207] The functional device 53 is a structure in the functional module 50 for realizing the various functions of the cleaning robot 100. In the embodiment of the present disclosure, the functional device 53 includes a button 531, a microphone 533, and a light-emitting component 535. Specifically, the button 531 can be used to execute functions such as turning the cleaning robot 100 on and off or switching modes; the microphone 533 can be used to execute functions such as audio transmission and reception of the cleaning robot 100; and the light-emitting component 535 can be used to execute the lighting function of the cleaning robot 100. Among them, the button 531, the microphone 533 and the light-emitting component 535 are all arranged on the mounting shell assembly 51, so that the three can form a modular structure together. Compared with the independent arrangement of the button 531, the microphone 533 and the light-emitting component 535, the size of the functional device 53 is smaller, which reduces the structural complexity of the functional module 50 and facilitates the assembly of the functional module 50 on the fuselage 10.

[0208] In some embodiments, the geometric center of the functional module 50 coincides with the geometric center of the body 10 in the same horizontal plane. That is, the functional module 50 is disposed in the middle of the body 10, thereby facilitating user interaction with the functional module 50 and enhancing the user experience.

[0209] 8 and 9 , in some embodiments, the mounting shell assembly 51 includes an upper shell 511 and a lower shell 513 , a circuit board 55 is disposed between the upper shell 511 and the lower shell 513 , and a button 531 and a microphone 533 are disposed on the circuit board 55 .

[0210] Specifically, in some embodiments, when the button 531 receives a touch or press action; and / or the microphone 533 receives audio, the circuit board 55 can output a corresponding electrical signal to the control device of the cleaning robot 100 (such as the control module 70 in the embodiment below), and the control device can receive and process the electrical signal and trigger a corresponding instruction or command. It should be noted that in some embodiments, the button 531 includes but is not limited to a physical button or a virtual button.

[0211] In certain embodiments of the present disclosure, when the upper shell 511 and the lower shell 513 are connected, the upper shell 511 and the lower shell 513 can jointly form an installation gap, and the circuit board 55 and the structural parts installed on the circuit board 55 are all arranged in the installation gap. Therefore, the installation gap can, on the one hand, install and fix the circuit board 55 to prevent the circuit board 55 from being installed unstable and causing the functional module 50 to fail; on the other hand, it can protect the circuit board 55 and the functional device 53 to prevent them from being damaged by external influences, thereby improving the stability and reliability of the operation of the functional module 50.

[0212] In some embodiments, the upper shell 511 and the lower shell 513 may be an integral structure, that is, the upper shell 511 and the lower shell 513 are an integral structure made using an integrated molding process, which ensures the stability of the connection between the upper shell 511 and the lower shell 513. In other embodiments, the upper shell 511 and the lower shell 513 may be split structures, that is, the upper shell 511 and the lower shell 513 are two different structures. The upper shell 511 and the lower shell 513 may be connected together using a detachable connection method or a non-detachable connection method. Removable connection methods include but are not limited to snap-on or bolted connections; non-detachable connection methods include but are not limited to bonding or welding.

[0213] In some embodiments, the mounting housing assembly 51 is flexibly connected to the body 10 via a soft rubber member 57. It should be noted that in some embodiments, the material of the soft rubber member 57 includes, but is not limited to, silicone, rubber, and foam. The flexible connection between the mounting housing and the body 10 via the soft rubber member 57 prevents vibrations generated by the body 10 during the movement of the cleaning robot 100 from being transmitted to the mounting housing assembly 51, potentially degrading or even damaging the microphone 533's sound reception. This extends the lifespan of the microphone 533 and improves its operational stability.

[0214] Furthermore, in some embodiments, a sound receiving hole 515 is provided on the mounting housing, and a microphone 533 is disposed below the sound receiving hole 515. A sealing ring is disposed below the sound receiving hole 515 and surrounds the microphone 533. The provision of the sealing ring prevents external water or dust from passing through the sound receiving hole 515 and contacting the microphone 533, thereby preventing damage to the microphone 533 or other structures of the functional device 53. This can extend the service life of the functional device 53 and ensure the normal operation of the functional device 53.

[0215] Referring to Figure 7 , in some embodiments, a counterweight 90 is provided on the rear side of the cleaning module 30 and away from the drive assembly 35 along the width direction Y of the main body 10. Furthermore, in some embodiments, the counterweight 90 is located below the clean water box 43. That is, in the height direction Z of the main body 10, the counterweight 90 is provided below the clean water box 43.

[0216] The arrangement of the counterweight 90 can increase the structural weight of the rear side of the body 10, thereby bringing the center of gravity of the cleaning robot 100 closer to the rear side of the body 10. This, on the one hand, can improve the stability of the cleaning robot 100 and ensure the normal operation of the cleaning robot 100; on the other hand, it can increase the pressure exerted by the cleaning member 213 on the surface to be cleaned, thereby improving the cleaning effect of the cleaning robot 100. In addition, as mentioned above, the drive assembly 35 is arranged at the first end 313 of the mounting frame 31. Due to the large weight of the drive assembly 35, the cleaning chamber 33 near the first end 313 of the mounting frame 31 may cause excessive pressure on the surface to be cleaned, affecting the stability and cleaning effect of the cleaning robot 100. In the present disclosure, the counterweight 90 is located away from the drive assembly 35, thereby balancing the weight of the drive assembly 35, making the pressure of the cleaning member 33 on the surface to be cleaned more uniform, preventing the occurrence of local overpressure or local leakage, and improving the stability and cleaning effect of the cleaning robot 100.

[0217] It is understandable that the counterweight 90 can be of different weights according to the specific needs of the cleaning robot 100. For example, when the center of gravity of the cleaning robot 100 is far away from the rear side of the body 10, a counterweight 90 with a heavier weight can be selected to move the center of gravity of the cleaning robot 100 backward.

[0218] Referring to Figures 2, 4, and 23, in some embodiments, the cleaning module 30 further includes a transmission assembly 39. The transmission assembly 39 is connected to the body 10 and the mounting frame 31 and is used to drive the cleaning module 30 to move relative to the body 10 in the width direction Y and the height direction Z of the body 10, thereby moving the sewage box 37 together with the cleaning member 33. The transmission assembly 39 is disposed between the drive assembly 35 and the sewage box 37 along the length of the mounting frame 31.

[0219] Specifically, in some embodiments, when the transmission component 39 drives the cleaning module 30 to move relative to the fuselage 10 along the width direction Y of the fuselage 10, the cleaning module 30 can switch between a retracted state and a side shift state, thereby, the cleaning parts 33 of the cleaning module 30 can clean most of the positions of the surface to be cleaned, reduce the blind spots of cleaning along the edges or corners, and thus improve the cleaning effect of the cleaning robot 100 as a whole; when the transmission component 39 drives the cleaning module 30 to move relative to the fuselage 10 along the height direction Z of the fuselage 10, the cleaning module 30 can be spaced from the surface to be cleaned, so that the cleaning module 30 can be lifted when there is a protrusion on the surface to be cleaned, so as to facilitate the cleaning robot 100 to overcome obstacles and improve the passing performance of the cleaning robot 100. Alternatively, when there is an area on the surface to be cleaned that the user does not want to mop (such as a carpet area, etc.), the cleaning module 30 is lifted to ensure the cleaning effect and prevent the cleaning robot 100 from mopping the carpet area and contaminating the carpet area, thereby helping the cleaning robot 100 adapt to different cleaning environments and cleaning needs and improving the cleaning effect of the cleaning robot 100. Alternatively, when the cleaning robot 200 encounters a slipping situation, the cleaning module 30 is lifted to reduce the pressure applied by the cleaning module 30 to the surface to be cleaned, thereby reducing the degree of slipping of the cleaning robot 200. When the cleaning module 30 moves relative to the body 10, the sewage box 37 can move relative to the body 10 together with the cleaning member 33. Therefore, compared with the sewage box 37 being unable to move relative to the body 10 together with the cleaning member 33, the connection between the sewage box 37 and the cleaning member 33 is more stable, thereby reducing the risk of the connection between the sewage box 37 and the cleaning member 33 falling off when the cleaning member 33 moves, preventing the sewage box 37 from being unable to collect the dirt generated by the cleaning member 33 cleaning the surface to be cleaned, or preventing the dirt stored in the sewage box 37 from leaking, thereby improving the stability and reliability of the cleaning robot 100 while ensuring the cleaning effect of the cleaning robot 100 on the surface to be cleaned.

[0220] Furthermore, along the length of the mounting frame 31, the transmission assembly 39 is disposed between the drive assembly 35 and the sewage box 37. For example, the transmission assembly 39 can be connected to a central position of the mounting frame 31 and located between the first end 313 of the mounting frame 31 and the second end 315 of the mounting frame 31. This ensures the stability of the transmission assembly 39 in driving the cleaning module 30 to move relative to the body 10, thereby improving the stability and reliability of the cleaning robot 100. Exemplarily, the second drive assembly 39 includes a motor and a transmission assembly. Disposing the second drive assembly 39 on the mounting frame 31 can further increase the weight of the cleaning module 30, thereby further increasing the ground pressure of the cleaning module 30 and further improving the cleaning effect of the cleaning robot 100.

[0221] In certain embodiments, the projection of the transmission assembly 39 onto a plane perpendicular to the forward direction X of the cleaning robot 100 is located above the projection of the power element 81. That is, in the height direction Z of the body 10, the power element 81 is located below the transmission assembly 39. In this case, in the width direction Y of the body 10, the power element 81 is located between the drive assembly 35 and the wastewater box 37. This ensures a more even weight distribution of the cleaning module 30 across the width direction Y of the body 10, thereby more evenly distributing the pressure exerted by the cleaning elements 33 on the surface being cleaned, improving the cleaning performance of the cleaning elements 33. Furthermore, the proximity of the power element 81 to the drive assembly 35 facilitates the wiring and connection between the power element 81, the drive assembly 35, and the power supply unit 42, improving wiring installation efficiency while also tidying up the internal wiring of the cleaning robot 100. Placing the power element 81 on the mounting frame 31 further increases the weight of the cleaning module 30, thereby further increasing the ground pressure of the cleaning module 30 and further improving the cleaning performance of the cleaning robot 100.

[0222] Referring to Figures 2, 3, 7 and 25, an embodiment of the present disclosure provides a cleaning system 1000, which includes a cleaning robot 100 and a base station 300 for use with the cleaning robot 100. The base station 300 includes a docking position 301 for accommodating the cleaning robot 100, wherein the cleaning robot 100 includes a body 10, a first detection module 21, a second detection module 23 and a radar 25. Along the forward direction X of the cleaning robot 100, the body 10 includes a front side and a rear side relative to each other, and a left side and a right side connecting the front side and the rear side. A mounting groove 105 is provided inside the body 10, and the notch of the mounting groove 105 is provided on the rear side wall of the body 10. The first detection module 21 is provided on the front side of the body 10. The second detection module 23 is provided on the right side of the body 10. The radar 25 is disposed in the mounting slot 105 , and the detection signal of the radar 25 is emitted through the slot opening of the mounting slot 105 . The radar 25 , the first detection module 21 , and the second detection module 23 are jointly used to detect the surrounding environment of the cleaning robot 100 .

[0223] It can be understood that the structure and function of the cleaning robot 100 in this embodiment are the same as the structure and function of the cleaning robot 100 provided in the above-mentioned second embodiment. For details, please refer to the specific description in the above-mentioned embodiment, and no further details will be given here.

[0224] Specifically, in certain embodiments, the base station 300 is used to maintain the cleaning robot 100 described in any of the above embodiments. When the cleaning robot 100 is located in the parking position 301 of the cleaning robot 100, the base station 300 can perform maintenance on the cleaning robot 100. The types of maintenance include but are not limited to charging, dust collection, cleaning cleaning parts, replenishing fresh water, and pumping out sewage. It can be understood that the cleaning robot 100 can complete at least one of the following within the base station 300: 1. The base station 300 charges the cleaning robot 100; 2. The base station 300 collects garbage on the cleaning robot 100 (for example, garbage in the dust box or sewage box 37 of the cleaning robot 100) into its dust collection container; 3. The base station 300 cleans the cleaning parts of the cleaning robot 100 (for example, washing the mop, cleaning the roller brush, washing the drum, etc.); 4. The base station 300 replenishes fresh water into the clean water box 43 of the cleaning robot 100; 5. The base station 300 collects dirt in the sewage box 37 of the cleaning robot 100 into its dirty container and discharges it to the outside. The above maintenance types are merely exemplary descriptions and are not intended to limit the present disclosure.

[0225] Among them, since the cleaning system 1000 in this embodiment includes the cleaning robot 100 provided by the above-mentioned second aspect embodiment, it can be understood that the cleaning system 1000 at least includes the same beneficial effects as the above-mentioned cleaning robot 100. Therefore, the beneficial effects of the cleaning system 1000 can refer to the beneficial effects of the cleaning robot 100 above, and will not be repeated here.

[0226] In the related art, during the operation of the cleaning robot, some of its components will generate heat, such as the control component, the drive component, etc. The control component can control the operation of the cleaning robot, and the drive component can drive the moving parts of the cleaning robot to move. However, if the cleaning robot cannot dissipate the heat of the heating components in time, the heat will continue to accumulate, causing the heating components to overheat and be damaged, affecting the normal operation of the cleaning robot. In order to solve this problem, please refer to Figures 1 and 2, Figures 4 and 5, Figure 7, Figures 10 to 14, and Figure 25. The third embodiment of the present disclosure provides a cleaning robot 100. It should be noted that the structure and function of the cleaning robot 100 provided in the third aspect are basically the same as the structure and function of the cleaning robot 100 provided in the first aspect, and will not be repeated here. The following describes the differences between the cleaning robot 100 provided in the third aspect and the cleaning robot 100 provided in the first aspect.

[0227] Please refer to Figures 1 and 2, and in combination with Figures 11 and 14, in this embodiment, the cleaning robot 100 includes a body 10, a first air duct 106, a heat dissipation hole 107, a suction piece 60, a control module 70 and a cleaning module 30. Along the forward direction X of the cleaning robot 100, the body 10 includes a front side and a rear side relative to each other, and along the width direction Y of the body 10, the body 10 includes a left side and a right side. The first air duct 106 is provided on the left side of the body 10. The heat dissipation hole 107 is provided on the body 10 and is located on the rear side of the first air duct 106, and the heat dissipation hole 107 is connected to the first air duct 106. The suction piece 60 is provided between the left side 101 of the body 10 and the rear side of the body 10, and the suction piece 60 is connected to the first air duct 106. The control module 70 is disposed on the body 10 and is located to the right of the first air duct 106. The control module 70 is used to control the operation of the cleaning robot 100. The control module 70 includes a control assembly 71 and a heat sink 73. The heat sink 73 is connected to the control assembly 71 and at least partially extends into the first air duct 106. The cleaning module 30 is disposed on the rear side of the body 10. The cleaning module 30 includes a cleaning member 33 and a drive assembly 35. The drive assembly 35 is used to drive the cleaning member 33 to move relative to the surface to be cleaned to clean the surface. The drive assembly 35 is located behind the heat dissipation holes 107. When the suction member 60 is in operation and generates a suction airflow in the first air duct 106, the suction airflow is used to dissipate heat from the heat sink 73, thereby dissipating heat from the control assembly 71. The suction airflow then flows through the heat dissipation holes 107 to the drive assembly 35 to dissipate heat from the drive assembly 35.

[0228] The body 10 is a component of the cleaning robot 100 that houses and protects components other than the body 10 (including but not limited to the suction unit 60, the control module 70, and the cleaning module 30). The body 10 can be made of metal and / or non-metal materials. Metal materials include but are not limited to aluminum, iron, steel, or aluminum alloys, while non-metal materials include but are not limited to plastics.

[0229] The directions described in the embodiments of the present disclosure are all defined when the cleaning robot 100 is carried on the surface to be cleaned. "Front", "back", "left" and "right" are all relative to the forward direction X of the cleaning robot 100. When the cleaning robot 100 moves forward along the forward direction X, the front end of the body 10 closest to the forward direction X is the front side of the body 10, or, with the center point of the body 10 as the dividing line, an area on the body 10 close to the front end of the forward direction X is the front side of the body 10; the rear end of the body 10 close to the forward direction X is the rear side of the body 10, or, with the center point of the body 10 as the dividing line, an area on the body 10 close to the rear end of the forward direction X is the rear side of the body 10; when the cleaning robot 100 moves forward along the forward direction X, looking down at the cleaning robot 100, the leftmost end of the body 10 in the width direction closest to the cleaning robot 100 is the left side of the body 10, or, with the center point of the body 10 as the dividing line, an area of ​​the body 10 close to the leftmost end in the width direction is the left side of the body 10; when the cleaning robot 100 moves forward along the forward direction X, looking down at the cleaning robot 100, the rightmost end of the body 10 in the width direction closest to the cleaning robot 100 is the right side of the body 10, or, with the center point of the body 10 as the dividing line, an area of ​​the body 10 close to the rightmost end in the width direction is the right side 103 of the body 10. In other words, the "front side", "rear side", "left side" and "right side" can be either a side wall or an end in corresponding positions on the body 10 of the cleaning robot 100, or an area in corresponding positions on the body 10 of the cleaning robot 100.

[0230] For example, for a cleaning robot 100 with a regular shape, the center point of the body 10 may be the center point of the regular shape, for example, the center of a circular body 10 is the center of the circle; for a cleaning robot 100 with an irregular shape, the center point of the body 10 may be the center of gravity of the cleaning robot 100. It should be noted that the shape of the cleaning robot 100 defined in the present disclosure is a shape that is roughly close to a certain shape (such as roughly close to a circle), and is not an absolutely standard geometric shape.

[0231] Similarly, taking the forward direction X of the cleaning robot 100 as a reference direction, the rear side of the first air duct 106 may be the area located behind the first air duct 106, or it may be the rearmost end of the first air duct 106 closest to the forward direction X of the cleaning robot 100; the right side of the first air duct 106 may be the area located to the right of the first air duct 106, or it may be the rightmost end in the width direction of the first air duct 106 closest to the cleaning robot 100 when facing the front side of the fuselage 10.

[0232] The suction member 60 is a component of the cleaning robot 100 used to extract dirt by generating suction or negative pressure. In certain embodiments of the present disclosure, the cleaning robot 100 further includes a dirt storage chamber 47 (e.g., a dust box), which is provided on the body 10. The dirt storage chamber 47 is used to collect dirt cleaned by the roller brush module 41 (shown in Figures 4 and 7). The dirt can be liquid, solid (such as paper scraps or dust), or a solid-liquid mixture, etc., which is not limited in the present disclosure. Specifically, the first air duct 106 is connected to the dirt storage chamber 47. When the roller brush module 41 is cleaning the surface to be cleaned, the suction member 60 operates and generates a suction airflow in the first air duct 106, allowing the roller brush module 41 to sweep dirt on the surface to be cleaned into the dirt storage chamber 47. The dirt storage chamber 47 can collect and store the dirt swept by the roller brush module 41, thereby preventing the dirt from falling onto the surface to be cleaned after cleaning and contaminating the surface to be cleaned, thereby ensuring the cleaning effect of the cleaning robot 100. It should be noted that in some embodiments, the suction member 60 can be a fan, etc., including but not limited to centrifugal fans, axial flow fans, and cross flow fans. In some embodiments of the present disclosure, the fan can be an axial flow fan.

[0233] Illustratively, a filter is provided between the first air duct 106 and the dirt receiving chamber 47 , and the filter can filter dirt to prevent dirt from entering the first air duct 106 and causing damage to the suction member 60 , thereby improving the working stability and reliability of the suction member 60 .

[0234] In the embodiments of the present disclosure, the cleaning robot 100 can perform right-side edge cleaning, that is, the right side wall of the body 10 can clean the edge of a wall or furniture. It is understandable that when the cleaning robot 100 performs right-side edge cleaning, the center of gravity of the cleaning robot 100 may shift to the right, which may affect the stability of the cleaning robot 100. Therefore, in certain disclosed embodiments, the suction member 60 is arranged between the left side of the body 10 and the rear side of the body 10. This ensures that the center of gravity of the cleaning robot 100 is roughly centered when performing right-side edge cleaning, so that the pressure of the cleaning member 33 of the cleaning robot 100 on the surface to be cleaned is more uniform, preventing the occurrence of undesirable phenomena such as local overpressure or local leakage gaps, and improving the stability and cleaning effect of the cleaning robot 100.

[0235] In addition, in certain embodiments of the present disclosure, the first air duct 106 is arranged on the left side of the body 10. On the one hand, this can facilitate the connection between the suction piece 60 and the first air duct 106, shorten the flow formation of the suction airflow, and reduce the suction resistance, thereby improving the suction efficiency of the suction piece 60 and ensuring the cleaning effect of the cleaning robot 100; on the other hand, it can prevent the cleaning module 30 from interfering with the first air duct 106 when the cleaning robot 100 is cleaning the right side edge, thereby ensuring the normal operation of the cleaning robot 100.

[0236] The control component 71 is a component that can control the operation of the cleaning robot 100. Exemplarily, the control module 70 can control the movement of the cleaning robot 100 (including forward, backward, turning, etc.), plan and execute the cleaning path, monitor the operating status of the cleaning robot 100, etc. In conjunction with Figure 5, in certain embodiments of the present disclosure, the control component 71 includes a main control board 711 and a chip 713 provided on the main control board 711. The main control board 711 and the chip 713 cooperate with each other to enable the cleaning robot 100 to effectively realize functions such as autonomous navigation, obstacle avoidance, and planning of cleaning paths, to ensure that the cleaning robot 100 can operate normally and efficiently, and complete various cleaning tasks. The chip 713 may include multiple chips. Among them, the multiple chips 713 can be sensor chips, storage chips, drive control chips, etc., which are not limited here.

[0237] The heat sink 73 is a component that can conduct, convect or radiate heat from a heat source to the surrounding environment. The materials of the heat sink 73 include but are not limited to copper, aluminum, thermal grease and thermal silica gel. In certain embodiments of the present disclosure, the heat sink 73 is connected to the control component 71 and at least partially extends into the first air duct 106. In this way, the heat sink 73 can conduct the heat of the control component 71 to the first air duct 106 by heat conduction, and use the flow of the suction airflow to take away the heat, thereby achieving heat dissipation of the control component 71 and ensuring that the control component 71 will not be damaged by overheating due to heat accumulation. Among them, the heat dissipation method for the control component 71 in the embodiment of the present disclosure is relatively simple, and can make full use of the suction function of the suction component 60, realize efficient use of resources, and make the heat dissipation efficiency of the heat sink 73 for the control component 71 higher, thereby being able to reduce the number of parts of the cleaning robot 100 while reducing production costs and simplifying the structural design of the cleaning robot 100.

[0238] It is understandable that because chip 713 is a highly integrated electronic component containing a large number of circuit elements such as transistors, resistors, and capacitors, a large amount of heat is generated during the operation of chip 713. This heat is difficult to dissipate effectively, making it prone to overheating and damage. Therefore, in the present disclosure, heat sink 73 can be connected to chip 713. In this way, heat sink 73 can directly dissipate heat from chip 713, thereby improving heat dissipation efficiency and enhancing the heat dissipation effect of heat sink 73 on control component 71.

[0239] The cleaning module 30 is the module within the cleaning robot 100 that provides a dragging and wiping force to clean the surface to be cleaned. The cleaning member 33 is the component within the cleaning module 30 that specifically provides the dragging and wiping force to clean the surface to be cleaned. In certain embodiments of the present disclosure, the cleaning member 33 is disposed on the body 10 and is located at the bottom of the body 10 (the side of the body 10 facing the surface to be cleaned when the cleaning robot 100 is supported on the surface to be cleaned). Thus, when the cleaning robot 100 is in a normal cleaning state, the cleaning member 33 can closely adhere to the surface to be cleaned to perform the dragging and wiping function.

[0240] The drive assembly 35 is a structure within the cleaning module 30 that drives the cleaning member 33. Specifically, in certain embodiments, the drive assembly 35 can be connected to the cleaning member 33. When the drive assembly 35 is operating normally, the driving force of the drive assembly 35 can be transmitted to the cleaning member 33, causing the cleaning member 33 to rotate relative to the body 10. It should be noted that the drive assembly 35 may include a drive structure such as a motor or an electric push rod. Examples of motors include, but are not limited to, DC servo motors, AC servo motors, and stepper motors.

[0241] It is understandable that, in the case where the cleaning member 33 is a crawler-type cleaning member, the drive assembly 35 can use a relatively high-power motor to ensure the stability of the cleaning member 33 in rotating and cleaning. However, a relatively high-power motor generates more heat during operation, and is more likely to cause heat accumulation, resulting in damage to the drive assembly 35. Therefore, in certain embodiments of the present disclosure, at least a portion of the drive assembly 35 corresponds to the heat dissipation hole 107, whereby the suction airflow flows from the first air duct 106 through the heat dissipation hole 107 to the drive assembly 35, and takes away the heat on the surface of the drive assembly 35, thereby achieving heat dissipation for the drive assembly 35 and ensuring that the drive assembly 35 will not be damaged by overheating due to heat accumulation. Among them, the heat dissipation method for the drive assembly 35 in the embodiment of the present disclosure is relatively simple, and can make full use of the suction function of the suction member 60, thereby achieving efficient use of resources, and there is no need to set up a separate heat dissipation device to dissipate heat for the drive assembly 35, thereby reducing the number of parts of the cleaning robot 100 while reducing production costs and simplifying the structural design of the cleaning robot 100.

[0242] In the cleaning robot 100 of the disclosed embodiment, when the suction member 60 is working and generates a suction airflow in the first air duct 106, the suction airflow passes through the heat sink 73 and extends into the part of the first air duct 106 to dissipate heat for the control component 71, and the suction airflow can also flow to the drive component 35 through the heat dissipation hole 107 to dissipate heat for the drive component 35. That is, the suction member 60 can simultaneously dissipate heat for the control component 71 and the drive component 35. On the one hand, this can prevent the control component 71 or the drive component 35 from being damaged by overheating due to heat accumulation, thereby ensuring the stability and reliability of the cleaning robot 100. On the other hand, there is no need to additionally set up a heat dissipation device for the control component 71 or the drive component 35, thereby reducing the number of parts of the cleaning robot 100 while reducing production costs, thereby simplifying the structural design of the cleaning robot 100.

[0243] The cleaning robot 100 according to the third embodiment will be described in detail below with reference to the accompanying drawings.

[0244] 2 , 11 , and 14 , in certain embodiments, the first air duct 106 includes an air inlet duct 1061 and an air outlet duct 1063. The air inlet duct 1061 communicates with the air inlet of the suction member 60 and is located in front of the suction member 60, i.e., the air inlet duct 1061 is located in the front region of the suction member 60. The air outlet duct 1063 communicates with the air outlet of the suction member 60 and is located in the rear of the suction member 60, i.e., the air outlet duct 1063 is located in the rear region of the suction member 60. The heat dissipation holes 107 communicate with the air outlet duct 1063. At least a portion of the drive assembly 35 corresponds to the heat dissipation holes 107. At least a portion of the heat dissipation element 73 is disposed in the air inlet duct 1061.

[0245] Exemplarily, at least a portion of the drive assembly 35 corresponds to the heat dissipation hole 107, including but not limited to the following situations:

[0246] The heat dissipation holes 107 are directly opposite to the overall structure of the drive assembly 35. Thus, when the suction air flows through the heat dissipation holes 107 toward the drive assembly 35, the suction air can contact most of the structure of the drive assembly 35, thereby achieving uniform heat dissipation of the drive assembly 35 and improving the heat dissipation effect.

[0247] The heat dissipation holes 107 are directly opposite to a portion of the structure of the drive assembly 35. For example, the main heat source of the drive assembly 35 (when the drive assembly 35 is a motor, it can be the motor windings, etc.) is directly opposite to the heat dissipation holes 107. This allows the suction airflow to dissipate heat from the drive assembly 35 in a targeted manner, thereby improving heat dissipation efficiency.

[0248] The heat dissipation holes 107 correspond to the side of the drive assembly 35 (for example, the top or bottom of the drive assembly 35 in the height direction Z of the fuselage 10, or one end or one side wall of the drive assembly 35 in the front-to-back direction or the left-to-right direction Y of the fuselage 10). When the suction airflow flows toward the drive assembly 35 through the heat dissipation holes 107, the suction airflow can remove the heat dissipated around the drive assembly 35, thereby achieving heat dissipation for the drive assembly 35.

[0249] The drive assembly 35 may include a heat transfer portion that corresponds to the heat dissipation holes 107. When the suction airflow flows through the heat dissipation holes 107 and toward the heat transfer portion, the suction airflow can remove heat from the heat transfer portion, thereby dissipating heat from the drive assembly 35. The provision of the heat transfer portion enables the drive assembly 35 to adapt to the structural layout of the cleaning robot 100, facilitating the compact arrangement of other components. The heat transfer portion can be made of a material with good thermal conductivity, such as aluminum, copper, aluminum nitride, or silicon carbide.

[0250] Therefore, the heat sink 73 is arranged at the air inlet duct 1061, and the heat dissipation hole 107 is arranged at the air outlet duct 1063. Therefore, compared with the heat sink 73 and the heat dissipation hole 107 being both arranged at the air inlet duct 1061 or both arranged at the air outlet duct 1063, the heat sink 73 and the heat dissipation hole 107 in the present disclosure are far apart, and the heat of the air flow brought from the heat sink 73 will not flow directly to the heat dissipation hole 73, thereby avoiding the suction air flow from conducting too much heat of the heat sink 73 through the heat dissipation hole 107 to the drive component 35, thereby ensuring the heat dissipation effect of the suction air flow on the drive component 35.

[0251] Furthermore, in some embodiments, an air vent 19 is provided on the fuselage 10, and the air vent 19 is connected to the air outlet duct 1063, so that the suction air flow can flow out to the outside through the air vent 19 to dissipate the carried heat to the external environment. Exemplarily, the air vent 19 is provided on the side wall between the left side and the rear side of the fuselage 10. In some embodiments of the present disclosure, the air vent 19 includes at least one. In one example, the air vent 19 includes one, and in this case, a filter is provided at the air vent 19, so that while ensuring the circulation of the suction air flow, it can prevent external impurities from entering the first air duct 106 through the air vent 19 and causing damage to the suction piece 60 or other structures, thereby ensuring the stability and reliability of the suction piece 60. In another example, the air vent 19 includes a plurality of air vents 19, and the plurality of air vents 19 are arranged at intervals and are used together to allow the suction air flow to flow out to the outside.

[0252] 10 , in some embodiments, a seal 77 is provided between the heat sink 73 and the air inlet duct 1061. The seal 77 is used to seal the gap between the heat sink 73 and the air inlet duct 1061. It should be noted that in some embodiments, the seal 77 includes but is not limited to rubber, silicone, or foam.

[0253] Among them, the setting of the seal 77 can prevent the suction airflow from flowing out of the first air duct 106 through the gap between the heat sink 73 and the air inlet duct 1061, thereby ensuring the suction force of the suction part 60 on the dirt cleaned by the roller brush module 41, and ensuring the cleaning effect of the cleaning robot 100 on the cleaning surface.

[0254] Please refer to Figures 2, 10 and 11, and in combination with Figures 12 and 13, in some embodiments, the heat sink 73 includes a heat sink body 731 and a shielding portion 733 connected to the heat sink body 731, the shielding portion 733 protrudes and extends from the heat sink body 731 toward the main control board 711, and abuts against the main control board 711, the chip 713 is located in the shielding space 710 surrounded by the heat sink body 731, the shielding portion 733 and the main control board 711, and a shielding member 75 is provided on the outer peripheral wall of the shielding portion 733, and the shielding member 75 is used to prevent electromagnetic radiation from entering and exiting the shielding space 710.

[0255] Specifically, in some embodiments, the heat dissipation body 731, the shielding portion 733 and the main control board 711 can together form a closed shielding space 710, and the chip 713 is located in the shielding space 710. In this way, the setting of the shielding space 710 can protect the chip 713 and reduce the possibility of damage to the chip 713. In addition, the setting of the shielding member 75 can make the shielding space 710 have an electromagnetic shielding effect, blocking electromagnetic radiation from entering and exiting the shielding space 710, protecting components such as the chip 713 from electromagnetic interference, and improving the stability and reliability of the control component 71. It should be noted that in some embodiments, the shielding member 75 can be conductive cloth, etc. Conductive cloth is a material based on fiber cloth (such as cotton, polyester, etc.) that has been specially treated to make its surface have conductive properties. Of course, in other embodiments, the shielding member 75 can also be any other structure with electromagnetic shielding function, which is not limited by the present disclosure.

[0256] It is understandable that in the present disclosure, there is no need to set up an additional shielding device to shield the chip 713, thereby reducing the number of parts of the cleaning robot 100 and simplifying the structural design of the cleaning robot 100 while reducing production costs.

[0257] In certain embodiments of the present disclosure, a heat conductor may be provided between the chip 713 and the heat sink 731. The heat conductor can improve the heat conduction efficiency between the chip 713 and the heat sink 731, thereby improving the heat dissipation effect. It should be noted that in certain embodiments, the heat conductor may be a component with good thermal conductivity, such as thermal grease, and this disclosure does not limit this.

[0258] In conjunction with Figures 12 and 13 , in certain embodiments, the heat sink 73 further includes a support portion 735 connected to the heat sink body 731. The support portion 735 protrudes and extends from the heat sink body 731 toward the main control board 711 and is connected to the main control board 711. The support portion 735 and the main control board 711 can be joined together by welding or bolting, thereby achieving a connection between the heat sink 73 and the main control board 711. In certain embodiments of the present disclosure, the support portion 735 may include at least two support portions 735, with at least two support portions 735 spaced apart from each other on the heat sink body 731. This can improve the stability of the connection between the heat sink 73 and the main control board 711.

[0259] And / or, referring to FIG13 , in some embodiments, the heat sink 73 further includes a heat dissipation portion 737 connected to the heat sink body 731. The heat dissipation portion 737 is disposed in the air inlet duct 1061 and protrudes from the heat sink body 731 toward the air inlet duct 1061. The provision of the heat dissipation portion 737 can increase the contact area between the heat sink 73 and the suction airflow, thereby improving heat dissipation efficiency and enhancing the heat dissipation effect of the heat sink 73 on the control assembly 71. It will be appreciated that in some embodiments, the heat sink 737 includes multiple heat dissipation portions 737, with the multiple heat dissipation portions 737 being spaced apart on the heat sink body 731.

[0260] Referring to Figures 1, 2, and 11, in certain embodiments, the air inlet duct 1061 is disposed between the left side of the body 10 and the front side of the body 10, that is, the air inlet duct 1061 is disposed in the area between the left and front sides of the body 10. This ensures that the air inlet duct 1061 can communicate with the dirt storage chamber 47 and the air inlet of the suction member 60, ensuring that the suction member 60 can suck dirt cleaned by the roller brush module 41 into the dirt storage chamber 47. In addition, compared to the case where the air inlet duct 1061 is disposed between the right side of the body 10 and the front side of the body 10, the configuration of the air inlet duct 1061 in the present disclosure can shorten the flow path of the suction airflow, thereby improving the suction efficiency of the suction member 60 and ensuring the cleaning effect of the cleaning robot 100.

[0261] In certain embodiments, the outlet duct 1063 is disposed between the left side and the rear side of the body 10, that is, the outlet duct 1063 is disposed in the area between the left and rear sides of the body 10. This ensures that the outlet duct 1063 can connect the air outlet of the suction member 60 with the outside atmosphere, ensuring the normal operation of the suction member 60. Furthermore, compared to a configuration in which the outlet duct 1063 is disposed between the right side and the rear side of the body 10, the configuration of the inlet duct 1061 in the present disclosure reduces the flow distance of the suction airflow, thereby improving the suction efficiency of the suction member 60 and ensuring the cleaning effect of the cleaning robot 100.

[0262] In certain embodiments, the body 10 includes a middle frame 11 and a first housing 13. At least a portion of the cleaning module 30, the suction element 60, the control module 70, and the heat dissipation holes 107 are disposed in the middle frame 11. The first housing 13 is connected to the middle frame 11 and together they form a first air duct 106. Exemplarily, the first housing 13 is disposed over the middle frame 11 so that the suction airflow flows within the space between the first housing 13 and the middle frame 11.

[0263] Compared with the solution without setting the first shell 13, the first air duct 106 can be formed by the upper cover 17 and the middle frame 11 of the cleaning robot, or by some shell structures located between the middle frame 11 and the upper cover 17 and the middle frame 11. The first air duct 106 thus formed is a relatively divergent space without a fixed shape. The flow path of the suction airflow flowing therein is also relatively divergent, without a fixed direction, and is easy to leak from the various gaps therein, which is not conducive to the suction airflow to achieve the heat dissipation function; wherein, the setting of the first shell 13 can make the suction airflow formed when the suction part 60 is working flow along a predetermined path, conveniently control the direction of the suction airflow and prevent it from spreading to the surroundings, thereby achieving effective heat dissipation of the control component 71 and the drive component 35 by the suction airflow, extending the service life of the control component 71 and the drive component 35, and ensuring the normal operation of the cleaning robot 100.

[0264] In certain embodiments of the present disclosure, a sealing member may be provided between the first housing 13 and the middle frame 11. The sealing member can seal the gap between the first housing 13 and the middle frame 11, so that the first housing 13 and the middle frame 11 can jointly form a closed first air duct 106 to prevent leakage of the suction airflow. This, on the one hand, ensures the suction function of the suction member 60 to suck dirt and improves the cleaning effect of the cleaning robot 100; on the other hand, it prevents the leakage of the suction airflow and generates noise, thereby improving the user experience. It should be noted that the first air duct 106 in the present disclosure can be an irregular shape as shown in Figure 11, which can adapt to the structural layout of the cleaning robot 100 and facilitate the compact arrangement of other components.

[0265] For example, the middle frame 11 may be provided with a groove, which is recessed from the top of the middle frame 11 (the side of the middle frame 11 opposite the surface to be cleaned when the cleaning robot 100 is placed on the surface to be cleaned) toward the surface to be cleaned. The first shell 13 is disposed over the opening of the groove and, together with the middle frame 11, forms a first air duct 106. The provision of the first shell 13 can provide a decorative effect on the body 10, reduce visual defects of the body 10, and improve the aesthetics of the body 10.

[0266] In some embodiments, the first housing 13 may be a monolithic structure, connected to the middle frame 11, and together they form the first air duct 106. In other embodiments, the first housing 13 may be a split structure, for example, the first housing 13 may include a first sub-housing and a second sub-housing. The first sub-housing is connected to the middle frame 11, and together they form the air inlet duct 1061. The second sub-housing is connected to the middle frame 11, and together they form the air outlet duct 1063.

[0267] In some embodiments, the middle frame 11 and the first shell 13 may be an integral structure, that is, the middle frame 11 and the first shell 13 are an integral structure made using an integrated molding process. This can improve the bonding strength between the middle frame 11 and the first shell 13, ensure the sealing of the first air duct 106, prevent the middle frame 11 and the first shell 13 from separating during the cleaning process of the cleaning robot 100, and ensure the normal operation of the cleaning robot 100. In other embodiments, the middle frame 11 and the first shell 13 may be a split structure, that is, the middle frame 11 and the first shell 13 are two different structures. This can facilitate the assembly of structures such as the suction piece 60 on the middle frame 11 and improve assembly efficiency. The middle frame 11 and the first shell 13 can be connected together using a detachable connection method or a non-detachable connection method. Removable connection methods include but are not limited to snap-on or bolted connection; non-detachable connection methods include but are not limited to bonding or welding.

[0268] Please refer to Figures 1 and 2. In some embodiments, a mounting slot 105 is provided on the rear side of the fuselage 10, and the slot opening of the mounting slot 105 faces the rear side of the fuselage 10. A radar 25 is provided in the mounting slot 105. The detection signal of the radar 25 is emitted through the slot opening of the mounting slot 105. The radar 25 is used to detect the surrounding environment of the cleaning robot 100.

[0269] Specifically, in some embodiments, the mounting groove 105 may be a groove formed by recessing from the rear sidewall of the body 10 toward the interior of the body 10, and the mounting groove 105 is spaced apart from the top wall of the body 10 in the height direction Z of the body 10. It should be noted that the forward direction X of the cleaning robot 100 is substantially perpendicular to the height direction Z of the body 10. "Substantially perpendicular" means that the angle between the two is within the tolerance range of the manufacturing or assembly process, and is 90°±5°.

[0270] In certain embodiments of the present disclosure, the edges of the mounting groove 105 are provided with rounded corners, which, on the one hand, can reduce scratches on the user when installing the radar 25 or other structural parts, thereby facilitating the assembly of the radar 25 and other structural parts in the mounting groove 105; on the other hand, it can reduce the visual defects of the groove of the mounting groove 105, thereby improving the aesthetics of the cleaning robot 100.

[0271] In certain embodiments of the present disclosure, the opening angle of the mounting slot 105 is greater than the field of view of the radar 25. This, on the one hand, avoids limiting the detection range of the radar 25 due to the narrow opening angle of the mounting slot 105, thereby reducing the possibility of the cleaning robot 100 having a detection blind spot and improving the stability and reliability of the cleaning robot 100; on the other hand, it effectively utilizes the radar 25 and reduces resource waste. It should be noted that the radar 25 in this embodiment may not have a 360° field of view.

[0272] In certain embodiments of the present disclosure, the opening angle of the mounting slot 105 is less than 240°. This ensures that the cleaning robot 100 can detect the rear side of the body 10 while preventing the mounting slot 105 from being too large, which would result in a weakened structural strength of the body 10. This reduces the likelihood of deformation and damage to the body 10, thereby extending the service life of the body 10. It should be noted that the radar 25 in this embodiment may be a radar without a 360° field of view, or a radar with a 360° field of view.

[0273] Please refer to Figures 11 and 14. In some embodiments, the fuselage 10 is further provided with a second air duct 108. The second air duct 108 is connected to the mounting slot 105 and the heat dissipation hole 107. When the suction member 60 is working and generates a suction airflow, the suction airflow flows through the heat dissipation hole 107 and the second air duct 108 to the mounting slot 105 to dissipate heat for the radar 25.

[0274] Specifically, in some embodiments, the heat dissipation hole 107 is connected to the air outlet duct 1063. When the suction member 60 is in operation and generates a suction airflow in the first air duct 106, the suction airflow can not only dissipate heat for the control component 71 and the drive component 35, but can also flow to the mounting slot 105 through the heat dissipation hole 107 and the second air duct 108 to dissipate heat for the radar 25 in the mounting slot 105. This can prevent the accumulation of heat generated by the radar 25 and cause overheating damage, and prevent the heat of the radar 25 from adversely affecting other structural components of the cleaning robot 100, thereby extending the service life of the radar 25 and improving the stability and reliability of the radar 25. In addition, using the suction airflow generated by the suction member 60 to dissipate heat from the radar 25 is a relatively simple heat dissipation method, which can fully utilize the suction function of the suction member 60 and achieve efficient resource utilization. There is no need to set up a separate heat dissipation device to dissipate heat for the radar 25. This can reduce the number of parts of the cleaning robot 100 while reducing production costs and simplifying the structural design of the cleaning robot 100.

[0275] In certain embodiments, the body 10 includes a middle frame 11 and a second housing 15. At least a portion of the cleaning module 30, the suction element 60, the control module 70, and the heat dissipation holes 107 are disposed in the middle frame 11. The second housing 15 is connected to the middle frame 11 and together they form a second air duct 108. Exemplarily, the second housing 15 is disposed over the middle frame 11 so that the suction airflow flows within the space between the second housing 15 and the middle frame 11.

[0276] Compared with the solution without setting the second shell 15, the second air duct 108 can be formed by the upper cover 17 and the middle frame 11 of the cleaning robot, or by some shell structures located between the middle frame 11 and the upper cover 17 and the middle frame 11. The second air duct 108 thus formed is a relatively divergent space without a fixed shape. The flow path of the suction airflow flowing therein is also relatively divergent, without a fixed direction, and is easy to leak from the various gaps therein, which is not conducive to the suction airflow to achieve the heat dissipation function; wherein, the setting of the second shell 15 can make the suction airflow formed when the suction part 60 is working flow along a preset path, so that the suction airflow can achieve effective heat dissipation of the radar 25, extend the service life of the radar 25, and ensure the normal operation of the cleaning robot 100.

[0277] In certain embodiments of the present disclosure, a sealing member may be provided between the second housing 15 and the middle frame 11. The sealing member can seal the gap between the second housing 15 and the middle frame 11, so that the second housing 15 and the middle frame 11 can together form a closed second air duct 108, preventing leakage of the suction airflow. This can prevent the suction airflow leakage from generating noise and improve the user experience. In some embodiments, the middle frame 11 and the second housing 15 can be an integral structure, that is, the middle frame 11 and the second housing 15 are made into a single piece using an integrated molding process. This can improve the bonding strength of the middle frame 11 and the second housing 15, prevent the middle frame 11 and the second housing 15 from separating during the cleaning process of the cleaning robot 100, and ensure the normal operation of the cleaning robot 100. In other embodiments, the middle frame 11 and the second housing 15 can be a split structure, that is, the middle frame 11 and the second housing 15 are two different structures. This can facilitate the assembly of structures such as the suction unit 60 on the middle frame 11, improving assembly efficiency. The middle frame 11 and the second housing 15 can be connected together using a detachable connection or a non-detachable connection. Removable connection methods include but are not limited to snap connections or bolt connections; non-detachable connection methods include but are not limited to bonding or welding.

[0278] Please refer to Figures 1, 2 and 25. The embodiment of the present disclosure also provides a cleaning system 1000, including the cleaning robot 100 as described in the third aspect of the embodiment and a base station 300 used in conjunction with the cleaning robot 100, the base station 300 includes a docking position 301 for accommodating the cleaning robot 100.

[0279] The base station 300 is a device capable of performing maintenance on the cleaning robot 100. It is understood that in certain embodiments, when the cleaning robot 100 is located in the docking position 301 of the base station 300, the base station 300 can perform maintenance on the cleaning robot 100. The types of maintenance include, but are not limited to, charging, dust collection, cleaning cleaning components, replenishing fresh water, and pumping out sewage. It is understood that the cleaning robot 100 can perform at least one of the following tasks within the base station 300: 1. The base station 300 charges the cleaning robot 100; 2. The base station 300 collects garbage from the cleaning robot 100 (e.g., garbage in the dust box or sewage tank of the cleaning robot 100) into its dust collection container; 3. The base station 300 cleans the cleaning components 33 of the cleaning robot 100 (e.g., washing the mop, cleaning the roller brush, washing the drum, etc.); 4. The base station 300 replenishes fresh water in the clean water tank of the cleaning robot 100; 5. The base station 300 collects dirt from the sewage tank of the cleaning robot 100 into its dirty container and discharges it to the outside. The above maintenance types are merely exemplary descriptions and are not intended to limit the present disclosure. Since the cleaning system 1000 in this embodiment includes the cleaning robot 100 provided in the third embodiment, it is 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 be referenced to the beneficial effects of the cleaning robot 100 described above and are not further elaborated herein.

[0280] The technical features of the above-mentioned embodiments can be combined arbitrarily. In order to make the description concise, not all possible combinations of the technical features in the above-mentioned embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification. At the same time, other implementation methods can be derived from the above-mentioned embodiments, so that structural and logical replacements and changes can be made without departing from the scope of this disclosure. The above-mentioned embodiments only express several implementation methods of the present disclosure, and their descriptions are relatively specific and detailed, but they cannot be understood as limiting the scope of the patent. It should be pointed out that for ordinary technicians in this field, without departing from the concept of the present disclosure, several variations and improvements can be made, which all fall within the scope of protection of the present disclosure. Therefore, the scope of protection of the patent of the present disclosure shall be based on the attached claims.

Claims

1. A cleaning robot, comprising a body and a cleaning module, wherein the cleaning module is mounted on the body, characterized in that: The cleaning module comprises: a mounting frame movably connected to the fuselage, the mounting frame being provided with a receiving cavity, the length direction of the mounting frame being parallel to the width direction of the fuselage, and the mounting frame including a first end and a second end opposite to each other along the length direction of the mounting frame; A cleaning member, the cleaning member being detachably mounted in the accommodating cavity of the mounting frame, the cleaning member comprising a crawler-type or roller-type cleaning member, the mounting frame being movable relative to the fuselage along the width direction of the fuselage so that the cleaning module can switch between a sideways shift state and a retracted state relative to the fuselage, wherein the cleaning module is in the sideways shift state, along a direction from the first end of the mounting frame to the second end of the mounting frame, the cleaning module at least partially protrudes from the side wall of the fuselage; the cleaning module can be moved from the sideways shift state to the retracted state along a direction from the second end of the mounting frame to the first end; a driving assembly, the driving assembly being disposed at the first end of the mounting frame and configured to drive the cleaning member to rotate relative to the surface to be cleaned so as to clean the surface to be cleaned, wherein the rotation axis of the cleaning member is parallel to the width direction of the body; and A sewage box is provided on the mounting frame and is used to store dirt generated by the cleaning member when cleaning the surface to be cleaned. The sewage box is close to the second end of the mounting frame and does not exceed the second end surface of the mounting frame, and is spaced from the drive assembly.

2. The cleaning robot according to claim 1, characterized in that: The cleaning module also includes: a recovery member, the recovery member comprising a dirt holding cavity and a dirt scraping portion, the dirt scraping portion being used to abut against the cleaning member to scrape dirt off the cleaning member, and the dirt holding cavity being used to accommodate dirt scraped off the cleaning member by the dirt scraping portion; The recovery component is provided on the mounting frame, and when the cleaning module switches between the lateral displacement state and the retracted state, the mounting frame, the sewage box and the recovery component move together.

3. The cleaning robot according to claim 2, characterized in that: The cleaning module also includes: A water supply component, the water supply component is arranged on the mounting frame; In the forward direction of the cleaning robot, the water spray port of the water supply member is located on the front side of the cleaning member, and the recovery member is located on the rear side of the cleaning member; During the switching of the cleaning module between the side shift state and the retracted state, the mounting frame, the sewage box, the water supply component and the recovery component move together.

4. The cleaning robot according to any one of claims 1 to 3, characterized in that: The cleaning module is capable of moving along the width direction of the body and switching between at least a maximum lateral displacement state and a retracted state. When the cleaning module is in the maximum lateral displacement state, the target end of the cleaning module exceeds the widest area of the body of the cleaning robot, wherein the target end of the cleaning module is an end of the cleaning module close to the obstacle when the cleaning robot moves along the obstacle.

5. The cleaning robot according to claim 4, characterized in that: The cleaning robot also includes: a transmission assembly connected to the body and the mounting frame and configured to drive the cleaning module to move relative to the body in a width direction and a height direction of the body; an elastic member, wherein the elastic force of the elastic member can act on the cleaning member to provide a vertical upward force to the cleaning member; In which, along the height direction of the cleaning robot, the upper end of the elastic member is relatively fixed to the mounting frame, and the lower end of the elastic member is relatively fixed to the transmission assembly, and when the cleaning member is not in contact with the surface to be cleaned, the elastic member is in a compressed state; or, along the height direction of the cleaning robot, the upper end of the elastic member is relatively fixed to the transmission assembly, and the lower end of the elastic member is relatively fixed to the mounting frame, and when the cleaning member is not in contact with the surface to be cleaned, the elastic member is in a stretched state.

6. The cleaning robot according to claim 1, characterized in that: The cleaning robot also includes: a transmission assembly connected to the body and the mounting frame and configured to drive the cleaning module to move relative to the body in the width and height directions of the body, so as to move the sewage box together with the cleaning member; Along the length direction of the mounting frame, the transmission assembly is arranged between the drive assembly and the sewage box.

7. The cleaning robot according to claim 6, characterized in that: The sewage box is connected to a water system, and a power element is provided on the water system, and the power element is used to provide a suction force to suck the dirt generated by the cleaning element when cleaning the surface to be cleaned into the sewage box; The power element is arranged on the mounting frame, and in a projection in a plane perpendicular to the forward direction of the cleaning robot, the projection of the transmission assembly is located above the projection of the power element.

8. The cleaning robot according to claim 1, characterized in that: The body is provided with an installation space for installing the cleaning module, and a side portion of the body is provided with an opening communicating with the installation space, so that when the cleaning module switches from the retracted state to the sidewardly moved state, at least a portion of the cleaning module can extend from the opening to outside the installation space; In the length direction of the mounting frame, the second end surface of the mounting frame is spaced apart from the sewage box, and the spacing distance between the second end surface of the mounting frame and the sewage box is greater than or equal to the maximum lateral displacement distance of the cleaning module.

9. The cleaning robot according to claim 8, characterized in that: The side wall of the fuselage where the opening is located forms a first abutment top portion, and the side wall of the sewage box close to the second end surface of the mounting frame forms a second abutment top portion. When the cleaning module is in the maximum lateral displacement state, the first abutment top portion abuts against the second abutment top portion.

10. The cleaning robot according to claim 1, characterized in that: In the length direction of the mounting frame, the ratio of the size of the sewage box to the size of the cleaning member is less than or equal to 1 / 3; and / or in the width direction of the mounting frame, the size of the sewage box is less than or equal to the size of the cleaning member; And / or, in the height direction of the mounting frame, the height of the sewage box is lower than or equal to the height of the driving assembly.

11. The cleaning robot according to claim 1, characterized in that: The maximum lateral displacement distance of the cleaning module is 35 mm to 45 mm.

12. The cleaning robot according to claim 1, characterized in that: When the cleaning module is in a state of maximum lateral displacement, the distance by which the cleaning module exceeds the tangent line of the widest side wall of the fuselage along the width direction of the fuselage is 10 mm±3 mm.

13. The cleaning robot according to claim 4, characterized in that: Along the forward direction of the cleaning robot, the body includes a front side and a rear side opposite to each other; the cleaning robot further includes: a roller brush module, the roller brush module being arranged on the body, the roller brush module comprising a roller brush chamber and a roller brush arranged in the roller brush chamber, the roller brush chamber being provided with a roller brush opening, at least a portion of the roller brush being exposed from the roller brush opening for cleaning garbage on the surface to be cleaned; and a garbage receiving chamber, the garbage receiving chamber being provided in the body, the roller brush chamber being in communication with the garbage receiving chamber, the garbage receiving chamber being used to collect garbage cleaned by the roller brush module, and being closer to the front side of the body than the roller brush module along the forward direction of the cleaning robot; When the cleaning module is in the maximum lateral displacement state, the area enclosed by two reference planes formed by the two end surfaces of the cleaning member extending along the forward direction is defined as the first area, and the roller brush opening of the roller brush module is located in the first area.

14. The cleaning robot according to claim 13, characterized in that: The body is provided with two oppositely arranged first and second driving wheels. In the width direction of the cleaning robot, the roller brush module is provided between the first and second driving wheels. The first driving wheel is further away from the target end of the cleaning module than the second driving wheel. In the width direction of the cleaning robot, the roller brush opening includes a first edge and a second edge that are oppositely arranged, and the first edge is farther away from the target end of the cleaning module than the second edge; The maximum lateral displacement distance of the cleaning module is L1, the distance from the end surface of the first driving wheel away from the roller brush module to the first edge of the roller brush opening is L2, and L1 is less than or equal to L2.

15. The cleaning robot according to claim 14, characterized in that: The cleaning module is in the retracted state, and the first driving wheel and the second driving wheel are located in the first area.

16. A cleaning robot comprising a body and a cleaning module, wherein the cleaning module is mounted on the body, characterized in that: The cleaning module comprises: a mounting frame, the mounting frame being mounted on the fuselage; a cleaning member, the cleaning member being disposed on the mounting frame and configured to contact the surface to be cleaned to clean the surface; and A sewage box is used to store dirt generated by the cleaning member when cleaning the surface to be cleaned. In the projection within a plane perpendicular to the forward direction of the cleaning robot, the projection of the sewage box is located above the projection of the cleaning member. In the projection within a plane perpendicular to the height direction of the fuselage, the geometric center of the projection of the sewage box falls within the projection of the cleaning member.

17. The cleaning robot according to claim 16, characterized in that: In a projection in a plane perpendicular to the height direction of the machine body, the projection of the sewage box falls within the projection of the cleaning member.

18. A cleaning robot, characterized in that: The cleaning robot comprises a body and a cleaning module, wherein the cleaning module is mounted on the body, and is characterized in that the cleaning module comprises: a mounting frame movably connected to the fuselage, the mounting frame being provided with a receiving cavity, the length direction of the mounting frame being parallel to the width direction of the fuselage, and the mounting frame including a first end and a second end opposite to each other along the length direction of the mounting frame; A cleaning member, the cleaning member being detachably mounted in the accommodating cavity of the mounting frame, the cleaning member comprising a crawler-type or roller-type cleaning member, the mounting frame being movable relative to the fuselage along the width direction of the fuselage so that the cleaning module can switch between a sideways movement state and a retracted state, wherein when the cleaning module is in the sideways movement state, the cleaning module at least partially protrudes from the side wall of the fuselage along a direction from the first end of the mounting frame to the second end of the mounting frame; the cleaning module can be moved from the sideways movement state to the retracted state along a direction from the second end of the mounting frame to the first end; a recovery member, the recovery member comprising a dirt holding cavity and a dirt scraping portion, the dirt scraping portion being used to abut against the cleaning member to scrape dirt off the cleaning member, and the dirt holding cavity being used to accommodate dirt scraped off the cleaning member by the dirt scraping portion; The recovery component is provided on the mounting frame, and when the cleaning module switches between the lateral displacement state and the retracted state, the mounting frame, the sewage box and the recovery component move together.

19. A cleaning system, characterized in that: include: cleaning robots; and A base station, used in conjunction with the cleaning robot; The cleaning robot comprises a body and a cleaning module, wherein the cleaning module is mounted on the body and comprises: a mounting frame movably connected to the fuselage, the mounting frame being provided with a receiving cavity, the length direction of the mounting frame being parallel to the width direction of the fuselage, and the mounting frame including a first end and a second end opposite to each other along the length direction of the mounting frame; A cleaning member, the cleaning member being detachably mounted in the accommodating cavity of the mounting frame, the cleaning member comprising a crawler-type or roller-type cleaning member, the mounting frame being movable relative to the fuselage along the width direction of the fuselage so that the cleaning module can switch between a sideways shift state and a retracted state relative to the fuselage, wherein the cleaning module is in the sideways shift state, along a direction from the first end of the mounting frame to the second end of the mounting frame, the cleaning module at least partially protrudes from the side wall of the fuselage; the cleaning module can be moved from the sideways shift state to the retracted state along a direction from the second end of the mounting frame to the first end; a driving assembly, the driving assembly being disposed at the first end of the mounting frame and configured to drive the cleaning member to rotate relative to the surface to be cleaned so as to clean the surface to be cleaned, wherein the rotation axis of the cleaning member is parallel to the width direction of the body; and A sewage box is provided on the mounting frame and is used to store dirt generated by the cleaning member when cleaning the surface to be cleaned. The sewage box is close to the second end of the mounting frame and does not exceed the second end surface of the mounting frame, and is spaced from the drive assembly.

20. A cleaning system, characterized in that: include: cleaning robots; and A base station, used in conjunction with the cleaning robot; The cleaning robot comprises a body and a cleaning module, wherein the cleaning module is mounted on the body and comprises: a mounting frame, the mounting frame being mounted on the fuselage; a cleaning member, the cleaning member being disposed on the mounting frame and configured to contact the surface to be cleaned to clean the surface; and A sewage box is used to store dirt generated by the cleaning member when cleaning the surface to be cleaned. In the projection within a plane perpendicular to the forward direction of the cleaning robot, the projection of the sewage box is located above the projection of the cleaning member. In the projection within a plane perpendicular to the height direction of the fuselage, the geometric center of the projection of the sewage box falls within the projection of the cleaning member.

21. A cleaning system, characterized in that: include: cleaning robots; and A base station, used in conjunction with the cleaning robot; The cleaning robot comprises a body and a cleaning module, wherein the cleaning module is mounted on the body and comprises: a mounting frame movably connected to the fuselage, the mounting frame being provided with a receiving cavity, the length direction of the mounting frame being parallel to the width direction of the fuselage, and the mounting frame including a first end and a second end opposite to each other along the length direction of the mounting frame; A cleaning member, the cleaning member being detachably mounted in the accommodating cavity of the mounting frame, the cleaning member comprising a crawler-type or roller-type cleaning member, the mounting frame being movable relative to the fuselage along the width direction of the fuselage so that the cleaning module can switch between a sideways movement state and a retracted state, wherein when the cleaning module is in the sideways movement state, the cleaning module at least partially protrudes from the side wall of the fuselage along a direction from the first end of the mounting frame to the second end of the mounting frame; the cleaning module can be moved from the sideways movement state to the retracted state along a direction from the second end of the mounting frame to the first end; a recovery member, the recovery member comprising a dirt holding cavity and a dirt scraping portion, the dirt scraping portion being used to abut against the cleaning member to scrape dirt off the cleaning member, and the dirt holding cavity being used to accommodate dirt scraped off the cleaning member by the dirt scraping portion; The recovery component is provided on the mounting frame, and when the cleaning module switches between the lateral displacement state and the retracted state, the mounting frame, the sewage box and the recovery component move together.

22. A cleaning robot, characterized in that: include: A body, along the forward direction of the cleaning robot, the body including a front side and a rear side opposite to each other, and a left side and a right side connecting the front side and the rear side, a mounting groove being provided inside the body, and a notch of the mounting groove being provided on a rear side wall of the body; a first detection module, the first detection module being arranged on the front side of the fuselage; a second detection module, the second detection module being arranged on the right side of the fuselage; and Radar, the radar is arranged in the installation groove, the detection signal of the radar is emitted through the notch of the installation groove, and the radar, the first detection module and the second detection module are jointly used to detect the surrounding environment of the cleaning robot.

23. The cleaning robot according to claim 22, characterized in that: The cleaning robot also includes: a cleaning module, the cleaning module being configured to contact a surface to be cleaned so as to mop the surface to be cleaned, the cleaning module being capable of moving in a first direction parallel to the width direction of the body to switch from a retracted state to a sideways state, and moving in a second direction parallel to the width direction of the body to switch from the sideways state to a retracted state, the first direction being opposite to the second direction, the cleaning module being in the sideways state, at least partially protruding from a right side wall of the body; and being in the retracted state, the cleaning module being located within a projection range of the body on a horizontal plane; A driving wheel is provided on the fuselage and is used to drive the cleaning robot to move forward. Along the front and rear directions of the cleaning robot, the cleaning module and the radar are both located behind the driving wheel. The cleaning module and the radar are spaced apart, and the cleaning module is closer to the driving wheel than the radar.

24. The cleaning robot according to claim 22, characterized in that The geometric center of the radar intersects with the center line of the width direction of the fuselage, and the angle formed by the effective detection range of the radar in the horizontal plane is between 185° and 200°.

25. The cleaning robot according to claim 24, characterized in that: The line connecting the geometric center position of the second detection module and the geometric center position of the fuselage is Z1, the line connecting the geometric center position of the radar and the geometric center position of the fuselage is Z2, and the angle formed between Z1 and Z2 in the horizontal plane is greater than 90° and less than or equal to 110°.

26. The cleaning robot according to claim 23, characterized in that The radar has a first field of view angle, the first field of view angle having a first field of view angle edge emitting toward the right side of the fuselage and a second field of view angle edge emitting toward the left side of the fuselage, and the emission direction corresponding to the first field of view angle edge forms a first acute angle with the first direction.

27. The cleaning robot according to claim 22, characterized in that The second detection module includes a plurality of line laser emitters, which are arranged along a third direction from bottom to top on the fuselage, and the angle between the third direction and the forward direction of the cleaning robot is a second acute angle; the emission direction of each line laser emitter is inclined forward, and the angle between the third direction and the width direction of the fuselage is a third acute angle.

28. The cleaning robot according to claim 22 or 23, characterized in that: The cleaning robot also includes: A cleaning module, the cleaning module being used to contact the surface to be cleaned to mop the surface to be cleaned, the cleaning module comprising a mounting frame and a cleaning member, the mounting frame being connected to the body, the mounting frame being provided with a receiving cavity, the cleaning member being detachably mounted in the receiving cavity, the cleaning member being a crawler-type cleaning member or a roller-type cleaning member; A roller brush module, the roller brush module is arranged on the body, and the roller brush module is used to clean the garbage on the surface to be cleaned; and A power supply unit, which is arranged on the body and is used to supply power to the cleaning robot; In the forward direction of the cleaning robot, the roller brush module and the cleaning module are spaced apart, and the power supply unit is located in the spaced area between the roller brush module and the cleaning module.

29. The cleaning robot according to claim 22 or 23, characterized in that: The cleaning robot also includes: a cleaning module, the cleaning module being used to contact the surface to be cleaned to mop the surface to be cleaned, the cleaning module comprising a mounting frame and a cleaning member, the mounting frame being connected to the body, the mounting frame being provided with a receiving cavity, the cleaning member being detachably mounted in the receiving cavity; The cleaning member includes a mounting bracket and a cleaning portion, the mounting bracket includes two rollers that are relatively spaced and arranged in parallel, the cleaning portion is annular and is sleeved on the mounting bracket, and when the cleaning member is installed on the mounting bracket, the length of the cleaning member is between 263mm and 268mm, the width is between 58mm and 65mm, and the wheelbase between the two rollers is between 42mm and 47mm.

30. The cleaning robot according to claim 28, characterized in that The cleaning robot also includes: A clean water box is arranged on the body, and is used to store cleaning liquid and provide the cleaning liquid to the cleaning component. In the forward direction of the cleaning robot, the clean water box is arranged on the rear side of the body and is spaced apart from the power supply unit of the cleaning robot. The cleaning component is located in the spacing area between the clean water box and the power supply unit.

31. The cleaning robot according to claim 30, characterized in that In the projection within a plane perpendicular to the forward direction of the cleaning robot, the projection of the radar is located above the projection of the clean water box; in the projection within a plane perpendicular to the height direction of the fuselage, the geometric center of the projection of the radar is located within the projection of the clean water box.

32. The cleaning robot according to claim 30, characterized in that The cleaning robot also includes: The universal wheel is arranged on the rear side of the fuselage, and in the height direction of the fuselage, the radar, the clean water box and the universal wheel are stacked in sequence from top to bottom.

33. The cleaning robot according to claim 32, characterized in that: A water inlet is provided on the rear side wall of the cleaning robot, the water inlet being connected to the clean water box, and the water inlet being used to connect with an external water source of the cleaning robot so as to inject water into the clean water box through the water inlet via the external water source; The geometric center of the universal wheel is located on the center line of the cleaning robot in the width direction. Along the width direction of the cleaning robot, the water injection port is located on one side of the universal wheel and is spaced apart from the universal wheel.

34. The cleaning robot according to claim 33, characterized in that The rear side wall of the cleaning robot is further provided with a blind hole, and the blind hole and the water inlet are symmetrically arranged on both sides of the universal wheel along the width direction of the cleaning robot.

35. The cleaning robot according to claim 22, characterized in that The cleaning robot also includes: a functional module, the functional module comprising a mounting shell assembly and functional devices mounted on the mounting shell assembly, the functional module being assembled to the body via the mounting shell assembly, the functional devices comprising a button, a microphone, and a light-emitting element; the geometric center of the functional module coinciding with the geometric center of the body in the same horizontal plane; The mounting shell assembly is flexibly connected to the fuselage via a soft rubber member; A sound receiving hole is provided on the mounting shell assembly, the microphone is arranged below the sound receiving hole, a sealing ring is provided below the sound receiving hole, and the sealing ring is arranged around the microphone.

36. A cleaning system, characterized in that include: cleaning robots; and A base station, for use with the cleaning robot, the base station including a docking position for accommodating the cleaning robot, wherein the cleaning robot includes: A body, along the forward direction of the cleaning robot, the body including a front side and a rear side opposite to each other, and a left side and a right side connecting the front side and the rear side, a mounting groove being provided inside the body, and a notch of the mounting groove being provided on a rear side wall of the body; a first detection module, the first detection module being arranged on the front side of the fuselage; a second detection module, the second detection module being disposed on the right side of the fuselage; and Radar, the radar is arranged in the installation groove, the detection signal of the radar is emitted through the notch of the installation groove, and the radar, the first detection module and the second detection module are jointly used to detect the surrounding environment of the cleaning robot.

37. A cleaning robot, characterized in that: include: A body, wherein along the forward direction of the cleaning robot, the body includes a front side and a rear side opposite to each other, and along the width direction of the body, the body includes a left side and a right side opposite to each other; a first air duct, arranged on the left side of the fuselage; a heat dissipation hole, provided on the body and located at the rear side of the first air duct, the heat dissipation hole being in communication with the first air duct; a suction member, disposed between the left side of the fuselage and the rear side of the fuselage, the suction member being in communication with the first air duct; a control module, disposed on the body and located on the right side of the first air duct, the control module being used to control the operation of the cleaning robot, the control module comprising a control assembly and a heat sink, the heat sink being connected to the control assembly and at least partially extending into the first air duct; and a cleaning module disposed on the rear side of the body, the cleaning module comprising a cleaning member and a driving member, the driving member being used to drive the cleaning member to move relative to the surface to be cleaned so as to clean the surface to be cleaned, the driving member being located on the rear side of the heat dissipation hole; In which, when the suction member is working and generates a suction airflow in the first air duct, the suction airflow passes through the heat dissipation member and extends into the part of the first air duct to achieve heat dissipation of the control component, and the suction airflow flows to the driving member through the heat dissipation hole to dissipate heat for the driving member.

38. The cleaning robot according to claim 37, characterized in that The first air duct includes an air inlet duct and an air outlet duct, the air inlet duct is connected to the air inlet of the suction member and is located on the front side of the suction member, and the air outlet duct is connected to the air outlet of the suction member and is located on the rear side of the suction member; The heat dissipation hole is communicated with the air outlet duct, at least a portion of the driving member corresponds to the heat dissipation hole, and at least a portion of the heat dissipation member is disposed in the air inlet duct.

39. The cleaning robot according to claim 38, characterized in that The control component includes a main control board and a chip arranged on the main control board; the heat sink includes: and a shielding portion connected to the heat dissipation body, the shielding portion protruding and extending from the heat dissipation body toward the main control board and abutting against the main control board, the chip being located in a shielding space surrounded by the heat dissipation body, the shielding portion and the main control board.

40. The cleaning robot according to claim 39, characterized in that A shielding member is provided on the outer peripheral wall of the shielding portion, and the shielding member is used to prevent electromagnetic radiation from entering or exiting the shielding space.

41. The cleaning robot according to claim 39, characterized in that The heat sink further includes: a support portion connected to the heat sink body, the support portion protruding from the heat sink body toward the main control board and connected to the main control board; and / or, The heat sink further includes a heat dissipation portion connected to the heat dissipation body, the heat dissipation portion is disposed in the air inlet duct, and protrudes from the heat dissipation body toward the air inlet duct.

42. The cleaning robot according to claim 38, characterized in that A sealing member is provided between the heat sink and the air inlet duct, and the sealing member is used to seal the gap between the heat sink and the air inlet duct.

43. The cleaning robot according to claim 37, characterized in that The fuselage comprises: a middle frame, on which at least part of the cleaning module, the suction component, the control module, and the heat dissipation holes are disposed; and A first shell is connected to the middle frame and together forms the first air duct.

44. The cleaning robot according to claim 37, characterized in that A mounting slot is provided on the rear side of the fuselage, the notch of the mounting slot faces the rear side of the fuselage, and a radar is provided in the mounting slot, and the radar is used to detect the surrounding environment of the cleaning robot; The fuselage is also provided with a second air duct, which is connected to the mounting slot and the heat dissipation hole. When the suction piece is working and generates a suction airflow, the suction airflow flows through the heat dissipation hole and the second air duct to the mounting slot to dissipate heat for the radar.

45. The cleaning robot according to claim 44, characterized in that The fuselage comprises: a middle frame, on which at least part of the cleaning module, the suction component, the control module, and the heat dissipation holes are disposed; and The second shell is connected to the middle frame and together forms the second air duct.

46. A cleaning system, characterized in that include: cleaning robots; and a base station for use with the cleaning robot, the base station including a docking position for accommodating the cleaning robot; wherein the cleaning robot includes: A body, wherein along the forward direction of the cleaning robot, the body includes a front side and a rear side opposite to each other, and along the width direction of the body, the body includes a left side and a right side opposite to each other; a first air duct, arranged on the left side of the fuselage; a heat dissipation hole, provided on the body and located at the rear side of the first air duct, the heat dissipation hole being in communication with the first air duct; a suction member, disposed between the left side of the fuselage and the rear side of the fuselage, the suction member being in communication with the first air duct; a control module, disposed on the body and located on the right side of the first air duct, the control module being used to control the operation of the cleaning robot, the control module comprising a control assembly and a heat sink, the heat sink being connected to the control assembly and at least partially extending into the first air duct; and a cleaning module disposed on the rear side of the body, the cleaning module comprising a cleaning member and a driving member, the driving member being used to drive the cleaning member to move relative to the surface to be cleaned so as to clean the surface to be cleaned, the driving member being located on the rear side of the heat dissipation hole; In which, when the suction member is working and generates a suction airflow in the first air duct, the suction airflow passes through the heat dissipation member and extends into the part of the first air duct to achieve heat dissipation of the control component, and the suction airflow flows to the driving member through the heat dissipation hole to dissipate heat for the driving member.

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