Cleaning robot and cleaning system

Abstract

A cleaning robot (1000) comprises a robot body (300) provided with a driving wheel (400), and a mopping and scrubbing assembly (30), a self-cleaning member (51), and a control device (60), wherein the mopping and scrubbing assembly (30) comprises a mounting base (10) and a mopping and scrubbing member (31), the mounting base (10) being movably arranged on the robot body (300). The self-cleaning member (51) is movably connected to the mounting base (10) and can move relative to the mopping and scrubbing member (31) to switch between a first state and a second state, wherein in the first state, a scraping end (510) of the self-cleaning member (51) is spaced apart from and not in contact with the mopping and scrubbing member (31) or is in contact with the mopping and scrubbing member (31) by a first magnitude of interference; and in the second state, the scrubbing end (510) of the self-cleaning member (51) abuts against the mopping and scrubbing member (31) by a second magnitude of interference, the first magnitude of interference being less than the second magnitude of interference. In a mopping mode, the mopping and scrubbing member (31) is in contact with a surface to be cleaned, the control device (60) controls the mopping and scrubbing member (31) to rotate relative to the mounting base (10) and the robot body (300) so as to mop and scrub said surface, and the self-cleaning member (51) is in the first state; and in a mopping and scrubbing member cleaning mode, the self-cleaning member (51) is in the second state, and the control device (60) controls the mopping and scrubbing member (31) to rotate relative to the self-cleaning member (51), such that the self-cleaning member (51) scrapes dirt from the mopping and scrubbing member (31).

Description

Cleaning robots and cleaning systems

[0001] Priority information

[0002] This application claims priority and benefits of patent application No. 2024202921039 filed with the State Intellectual Property Office of China on February 9, 2024, and the entire text of which is incorporated herein by reference. Technical Field

[0003] The present disclosure relates to the field of cleaning technology, and more particularly, to a cleaning robot and a cleaning system. Background Art

[0004] A cleaning robot is a device used to automatically clean surfaces such as floors, walls, glass windows, and beds. Its application scenarios include cleaning indoors at home or cleaning large venues. Compared with cleaning robots with disc-type mopping parts, cleaning robots with crawler-type mopping parts (hereinafter referred to as "crawler robots") have better cleaning effects. Some crawler robots in related technologies do not have the self-cleaning function of the mopping parts. The cleaning of the mopping parts can only be performed by the cleaning structure in the base station after the crawler robot returns to the base station, such as by the scraping strips in the base station to clean and dry the mopping parts. However, the coordination error between the cleaning structure of the base station and the mopping parts of the cleaning robot is large, making it difficult to ensure the cleaning effect of the cleaning robot. Summary of the Invention

[0005] Embodiments of the present disclosure provide a cleaning robot and a cleaning system.

[0006] In a first aspect, the present disclosure provides a cleaning robot, comprising a body, the body being provided with drive wheels, the drive wheels being used to provide driving power to drive the body forward. The cleaning robot further comprises a mopping assembly, a self-cleaning member, and a control device. The mopping assembly comprises a mounting seat and a mopping member mounted on the mounting seat, the mounting seat being movably provided on the body, and the mopping member being rotatable relative to the mounting seat. The self-cleaning member is movably connected to the mounting seat and is configured to be able to move relative to the mopping member to switch between a first state and a second state. In the first state, the scraping end of the self-cleaning member is spaced apart from and does not contact the mopping member, or is in contact with the mopping member with a first interference fit. In the second state, the scraping end of the self-cleaning member abuts the mopping member with a second interference fit, the first interference fit being smaller than the second interference fit. The control device is used to control the operating mode of the mopping assembly. In which, when the mopping assembly is in the mopping mode, the mopping member contacts the surface to be cleaned, and the control device controls the mopping member to rotate relative to the mounting base and the body to mop the surface to be cleaned, and the self-cleaning member is in the first state relative to the mopping member; when the mopping assembly is in the mopping member cleaning mode, the self-cleaning member is in the second state relative to the mopping member, and the control device controls the mopping member to rotate relative to the self-cleaning member so that the self-cleaning member scrapes off the dirt on the mopping member.

[0007] In some embodiments, the body is provided with a dust collecting chamber, the dust collecting chamber is used to accommodate a dust collecting container, the dust collecting container is used to accommodate dry garbage, or the dust collecting chamber is used to accommodate dry garbage.

[0008] In some embodiments, the rotation axis of the mopping member is parallel to the surface to be cleaned.

[0009] In certain embodiments, the wiping member includes a track-type wiping member and / or a roller-type wiping member.

[0010] In some embodiments, the mopping assembly is configured to be movable relative to the body between a lowered position and a raised position. When the mopping assembly is in the mopping member cleaning mode, the control device controls the mopping assembly to be in the raised position relative to the body.

[0011] In some embodiments, the mopping assembly is configured to be movable between a lowered position and a raised position relative to the fuselage, and the control device is further configured to control the mopping assembly to move from the lowered position to the raised position relative to the fuselage so as to switch the self-cleaning member from the first state to the second state relative to the mopping member.

[0012] In some embodiments, the self-cleaning member is further connected to an operating member, which is used to adjust the relative position of the self-cleaning member and the wiping member so that the self-cleaning member switches from the first state to the second state relative to the wiping member.

[0013] In some embodiments, the self-cleaning member is rotatably connected to the mounting seat, and the self-cleaning member is driven by the operating member to rotate relative to the mounting seat and switch between the first state and the second state.

[0014] In some embodiments, the operating member is arranged at an end of the self-cleaning member opposite to the scraping end and is exposed from the mounting seat. When the wiping assembly can move from a lowered position to a raised position relative to the fuselage, the fuselage contacts the operating member and applies force to the operating member, so that the operating member drives the self-cleaning member to rotate and switch from the first state to the second state.

[0015] In some embodiments, the cleaning robot further includes: a driving member and a controller arranged on the mounting base and / or the body, the operating member is connected to the driving member, the driving member is connected to the controller signal, and is used to respond to the control signal of the controller to drive the operating member to drive the self-cleaning member to rotate to adjust the relative position of the self-cleaning member and the wiping member.

[0016] In some embodiments, the self-cleaning member is further connected to a connecting shaft and a first reset member. The self-cleaning member is rotatably mounted to the mounting base via the connecting shaft. The first reset member is sleeved on the connecting shaft, with one end of the first reset member connected to the self-cleaning member and the other end of the first reset member connected to the mounting base. When the mopping assembly is in mopping mode, the first reset member is compressed. During the process of the mopping assembly moving from a lowered position to a raised position relative to the body, the first reset member is used to reset the self-cleaning member to its initial position, thereby placing the self-cleaning member in the first state.

[0017] In some embodiments, the mopping assembly is constructed to be movable between a lowered position and a raised position relative to the body; when the cleaning robot moves on the surface to be cleaned and the mopping assembly is in the raised position, the self-cleaning member is in the second state relative to the mopping member, and the control device controls the mopping member not to rotate; when the cleaning robot is docked at a base station and the mopping assembly is in the raised position, the self-cleaning member is in the second state relative to the mopping member, and the mopping member rotates to scrape off dirt on the mopping member.

[0018] In some embodiments, when the mop assembly is in mopping mode, the rotation direction of the mop member is a first direction; when the mop assembly is in mop cleaning mode, the rotation direction of the mop member is a second direction; the first direction is opposite to the second direction; when the mop member rotates along the second direction, the scraping end of the self-cleaning member has a tendency to approach the mop member.

[0019] In some embodiments, when the cleaning robot is moving, the first direction is opposite to the rotation direction of the driving wheel.

[0020] In some embodiments, the self-cleaning member is further connected to a connecting shaft and a linkage member, and the self-cleaning member is rotatably mounted on the mounting seat via the connecting shaft. The linkage member and the self-cleaning member are both arranged on the connecting shaft, and the linkage member is always in contact with the wiping member.

[0021] In certain embodiments, a contact depth between the linkage member and the wiping member is smaller than a contact depth between the self-cleaning member and the wiping member when the wiping member is cleaned.

[0022] In some embodiments, when the wiping member rotates along the first direction, the self-cleaning member is in an initial position relative to the wiping member; the self-cleaning member is further connected to a first reset member, which is sleeved on the connecting shaft, one end of the first reset member is connected to the linkage member or the self-cleaning member, and the other end of the first reset member is connected to the mounting seat, and the first reset member is used to reset the self-cleaning member to the initial position.

[0023] In some embodiments, the first reset member is configured to enable the connecting shaft to drive the self-cleaning member to reset to the initial position when the wiping member switches from rotating in the second direction to rotating in the first direction.

[0024] In some embodiments, the first return member includes a torsion spring. When the wiping member rotates along the second direction, the torsion spring is compressed, and the self-cleaning member contacts the wiping member to clean the wiping member. When the wiping member rotates along the first direction, the torsion spring is in a natural state.

[0025] In some embodiments, the linkage member includes at least one linkage portion, at least one of the linkage portions is sleeved on the connecting shaft, the self-cleaning member includes at least one connecting portion and a self-cleaning portion bent and extended from the connecting portion, the connecting portion is sleeved on the connecting shaft, and one of the linkage portions is arranged adjacent to at least one of the connecting portions, and the linkage portion and the self-cleaning portion both extend toward the wiping member.

[0026] In some embodiments, the linkage portion is spaced apart from the self-cleaning portion, and in the height direction of the cleaning robot, the self-cleaning portion is closer to the surface to be cleaned than the linkage portion.

[0027] In certain embodiments, the self-cleaning portion includes bristles and a scraping bar.

[0028] In some embodiments, the wiping member is a crawler-type wiping member, and the wiping assembly includes a first roller and a second roller. The wiping member is installed on the first roller and the second roller. When the wiping member rotates along the second direction, the wiping member is located between the self-cleaning member and the first roller, or between the self-cleaning member and the second roller.

[0029] In some embodiments, the wiping member is a crawler-type wiping member, the wiping assembly includes a first roller and a second roller, the wiping member is installed on the first roller and the second roller, the first roller includes a first contact side, the first contact side is in contact with the wiping member, the second roller includes a second contact side, the second contact side is in contact with the wiping member, and the self-cleaning member is arranged on the side where the first contact side is located or the side where the second contact side is located.

[0030] In some embodiments, the mopping assembly is movable along the width direction of the body so that at least a portion of the mopping assembly moves out of the body.

[0031] In some embodiments, the mopping assembly further includes a flexible blocking member, one end of the blocking member being connected to the scraping end of the self-cleaning member, and the other end being connected to the mounting seat; when the self-cleaning member is in the first state or the second state relative to the mopping member, the blocking member prevents dirt on the mopping member from moving toward the gap between the self-cleaning member and the mounting seat.

[0032] In certain embodiments, the self-cleaning element and the blocking element are formed together through a laminating process.

[0033] In some embodiments, when the self-cleaning member is in the first state relative to the wiping member, the blocking member is unfolded and in contact with the wiping member; when the self-cleaning member is in the second state relative to the wiping member, the blocking member is folded and at least partially out of contact with the wiping member.

[0034] In some embodiments, the cleaning robot further includes a soft rubber fixing member, and one end of the blocking member is connected to the mounting seat via the soft rubber fixing member.

[0035] In certain embodiments, the soft rubber fixing member includes a fixing bar and a positioning portion, a first fixing portion, and a second fixing portion provided on the fixing bar. The fixing bar is located below the mounting seat. The positioning portion, the first fixing portion, and the second fixing portion are spaced apart along the length of the fixing bar. One end of the blocking member is positioned on the fixing bar by the positioning portion and is clamped and fixed between the fixing bar and the mounting seat. The fixing bar is connected to the mounting seat via the first fixing portion and / or the second fixing portion.

[0036] In some embodiments, the end surface of the scraping end is in an arc shape that protrudes toward the wiping member.

[0037] In a second aspect, the present disclosure further provides a cleaning robot, comprising a body, the body being provided with drive wheels for providing driving power to drive the body. The cleaning robot further comprises a wiping assembly and a self-cleaning member. The wiping assembly comprises a mounting base and a wiping member mounted on the mounting base, the mounting base being movably mounted on the body and rotatable relative to the mounting base. The self-cleaning member is disposed on the mounting base, movably connected to the mounting base, and configured to move relative to the wiping member to switch between a first state and a second state. In the first state, the scraping end of the self-cleaning member is spaced from and does not contact the wiping member, or contacts the wiping member with a first interference fit. In the second state, the scraping end of the self-cleaning member abuts the wiping member with a second interference fit, the first interference fit being smaller than the second interference fit. A flexible barrier is connected between the scraping end of the self-cleaning member and the mounting base, the barrier being configured to prevent foreign matter from entering the connection end of the self-cleaning member.

[0038] In certain embodiments, when the self-cleaning member is in the first state or the second state relative to the wiping member, the blocking member blocks the gap between the wiping member and the self-cleaning member.

[0039] In certain embodiments, the self-cleaning element and the blocking element are formed together through a laminating process.

[0040] In some embodiments, when the self-cleaning member is in the first state relative to the wiping member, the blocking member is unfolded and in contact with the wiping member; when the self-cleaning member is in the second state relative to the wiping member, the blocking member is folded and at least partially out of contact with the wiping member.

[0041] In some embodiments, the cleaning robot further includes a soft rubber fixing member, and one end of the blocking member is connected to the mounting seat via the soft rubber fixing member.

[0042] In certain embodiments, the soft rubber fixing member includes a fixing bar and a positioning portion, a first fixing portion, and a second fixing portion provided on the fixing bar. The fixing bar is located below the mounting seat. The positioning portion, the first fixing portion, and the second fixing portion are spaced apart along the length of the fixing bar. One end of the blocking member is positioned on the fixing bar by the positioning portion and is clamped and fixed between the fixing bar and the mounting seat. The fixing bar is connected to the mounting seat via the first fixing portion and / or the second fixing portion.

[0043] In a third aspect, the present disclosure provides a cleaning robot, comprising a body and a cleaning module. The body is provided with a drive wheel for driving the body forward, the body is provided with a dust collection chamber, the dust collection chamber is used to accommodate a dust collection container, the dust collection container is used to accommodate dry garbage, or the dust collection chamber is used to accommodate dry garbage. The cleaning module comprises a wiping assembly and a self-cleaning assembly, the wiping assembly comprising a mounting base and a wiping member mounted on the mounting base, the wiping member being rotatable relative to the mounting base, the self-cleaning member being movably connected to the mounting base and configured to be movable relative to the wiping member to switch between a first state and a second state, wherein in the first state, the scraping end of the self-cleaning member is not in contact with the wiping member or is in contact with the wiping member with a first interference fit, and in the second state, the scraping end of the self-cleaning member is in contact with the wiping member with a second interference fit, the first interference fit being smaller than the second interference fit. The body is provided with a force-applying portion for abutting against the connecting portion of the self-cleaning member, and the wiping assembly can move between a lowered position and a raised position relative to the body. The wiping assembly moves from the lowered position to the raised position relative to the body, so that the connecting portion moves toward the force-applying portion until a force is applied by the force-applying portion, thereby switching the self-cleaning member from the first state to the second state.

[0044] In some embodiments, when the wiping member is in contact with the surface to be cleaned and rotates relative to the body to wipe the surface to be cleaned, the self-cleaning member is in the first state relative to the wiping member; when the wiping member is in a raised position relative to the body, the self-cleaning member is in the second state relative to the wiping member to scrape off dirt on the wiping member.

[0045] In a fourth aspect, the present disclosure provides a cleaning robot, comprising a body and a cleaning module. The body is provided with a driving wheel, which is used to provide driving power to drive the body forward. The cleaning module comprises a wiping assembly and a self-cleaning member, the wiping assembly comprising a mounting seat and a wiping member mounted on the mounting seat, the wiping member being rotatable relative to the mounting seat, the self-cleaning member being movably connected to the mounting seat, and being configured to be able to move relative to the wiping member to switch between a first state and a second state, wherein in the first state, the scraping end of the self-cleaning member is not in contact with the wiping member or is in contact with the wiping member with a first interference, and in the second state, the scraping end of the self-cleaning member is in contact with the wiping member with a second interference, and the first interference is smaller than the second interference. Wherein, when the cleaning robot is in the mopping mode, the self-cleaning member is in the first state relative to the wiping member; when the cleaning robot is in the non-mopping mode, the self-cleaning member is in the second state relative to the wiping member, and the wiping member rotates relative to the body and the self-cleaning member so that the self-cleaning member scrapes off the dirt on the wiping member.

[0046] In some embodiments, when the wiping member is in contact with the surface to be cleaned and rotates relative to the mounting base and the body to wipe the surface to be cleaned, the self-cleaning member is in the first state relative to the wiping member; when the wiping member is in a raised position relative to the body, the self-cleaning member is in the second state relative to the wiping member, and the wiping member rotates relative to the body and the self-cleaning member so that the self-cleaning member scrapes off dirt on the wiping member.

[0047] In a fifth aspect, the present disclosure provides a cleaning system, which includes a base station and the cleaning robot described in any one of the above embodiments.

[0048] Compared to cleaning robots in related art, the cleaning robots and cleaning systems disclosed herein have a smaller error in the matching between the mopping and wiping components and the self-cleaning components when cleaning the mopping and wiping components, resulting in a better cleaning effect of the self-cleaning components. Furthermore, the cleaning modules disclosed herein do not require a wastewater recovery system, eliminating the need for user maintenance. Furthermore, the base station does not require a complex cleaning tank; the self-cleaning components simply scrape dirt off the mopping and wiping components into a designated wastewater discharge location or a relatively simple groove within the base station. This is a convenient and simple solution that improves the cleaning efficiency of the mopping and wiping components and enhances the user experience.

[0049] 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

[0050] 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:

[0051] FIG1 is a perspective schematic diagram of a cleaning module according to some embodiments of the present disclosure;

[0052] FIG2 is a perspective schematic diagram of a partial structure of the cleaning module shown in FIG1 ;

[0053] 3 is a schematic cross-sectional view of the cleaning module shown in FIG1 taken along line III-III, wherein the wiping member of the cleaning module is in a first state;

[0054] FIG4 is a schematic cross-sectional view of the cleaning module of FIG1 taken along line III-III, wherein the wiping member of the cleaning module is in a second state;

[0055] FIG5 is a perspective schematic diagram of a cleaning module according to other embodiments of the present disclosure;

[0056] 6 is a schematic cross-sectional view of the cleaning module shown in FIG5 taken along line VI-VI, wherein the wiping member of the cleaning module is in a first state;

[0057] 7 is a schematic cross-sectional view of the cleaning module shown in FIG5 taken along line VI-VI, wherein the wiping member of the cleaning module is in a first state;

[0058] FIG8 is a schematic structural diagram of a portion of the cleaning module shown in FIG1 or FIG5;

[0059] FIG9 is a schematic structural diagram of a portion of the cleaning module shown in FIG1 or FIG5;

[0060] FIG10 is a perspective schematic diagram of a cleaning robot according to certain embodiments of the present disclosure;

[0061] FIG11( a ) is a schematic diagram of a cleaning module in a first state when the cleaning robot is walking along an edge in some embodiments of the present disclosure;

[0062] FIG11( b ) is a schematic diagram of the cleaning module in the second state when the cleaning robot is walking along an edge in some embodiments of the present disclosure;

[0063] FIG12( a ) is a schematic diagram of a cleaning module in a first state when the cleaning robot is walking along an edge in some other embodiments of the present disclosure;

[0064] FIG12( b ) is a schematic diagram of the cleaning module in the second state when the cleaning robot is walking along the edge in some other embodiments of the present disclosure;

[0065] 13 is a perspective schematic diagram of a cleaning system according to certain embodiments of the present disclosure.

[0066] Explanation of the main component symbols: 10000, cleaning system; 1000, cleaning robot; 3000, base station; 100, cleaning module; 300, fuselage; 301, dust collection chamber; 400, driving wheel; 10, mounting base; 30, wiping assembly; 31, wiping member; 311, first end of the wiping member; 313, second end of the wiping member; 33, first roller; 331, first contact side; 35, second roller; 351, second contact side; 37, first bracket; 39, second bracket; 36, second reset member; 37, blocking member; 38, soft glue fixation Part; 381, fixing strip; 383, positioning part; 385, first fixing part; 387, second fixing part; 50, self-cleaning assembly; 51, self-cleaning part; 510, scraping end; 511, connecting part; 512, connecting end; 513, self-cleaning part; 52, operating part; 53, connecting shaft; 55, linkage part; 551, linkage part; 57, first reset part; 571, torsion spring; 60, control device; 61, power module; 63; drive module; 71, drive part; 73; controller; X, width direction of the fuselage. DETAILED DESCRIPTION

[0067] 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.

[0068] 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.

[0069] 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.

[0070] 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.

[0071] 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.

[0072] 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.

[0073] Compared to cleaning robots with disc-type mopping parts, cleaning robots with track-type mopping parts have a higher cleaning effect. Some track-type robots in the related art do not have a self-cleaning function for the mopping parts. The cleaning of the mopping parts can only be performed by the cleaning structure in the base station after the track-type robot returns to the base station, for example, the mopping parts are cleaned and dried by the scraping strips in the base station. However, the coordination error between the cleaning structure of the base station and the mopping parts of the cleaning robot is large, making it difficult to ensure the cleaning effect of the cleaning robot. Alternatively, some track-type robots are equipped with a dirt recovery link and a sewage box, and some track-type robots have a self-cleaning function for the mopping parts, that is, they recover dirt while mopping the floor. This requires the user to frequently dump the sewage in the sewage box, resulting in a poor user experience. To solve this problem, the embodiments of the present disclosure provide a cleaning module 100 (shown in Figures 1 and 5), a cleaning robot 1000 (shown in Figure 10), and a cleaning system 10000 (shown in Figure 13).

[0074] Referring to Figures 1 to 4, or Figures 5 to 7, and in conjunction with Figure 10, in a first aspect, an embodiment of the present disclosure provides a cleaning robot 1000 (as shown in Figure 10) having a cleaning module 100. The cleaning robot 1000 includes a body 300, and the body 300 is provided with a drive wheel 400. The drive wheel 400 is used to provide driving power to drive the body 300 to move. The cleaning module 100 includes a mounting base 10, a wiping assembly 30, a self-cleaning assembly 50, and a control device 60. The mounting base 10 is mounted on the body 300. The wiping assembly 30 includes a wiping member 31 mounted on the mounting base 10, and the wiping member 31 is rotatable relative to the mounting base 10. The self-cleaning assembly 50 includes a self-cleaning member 51 disposed on the mounting base 10, and the self-cleaning member 51 is movably connected to the mounting base 10 and is configured to be able to move relative to the wiping member 31 to switch between a first state and a second state. In the first state, the scraping end 510 of the self-cleaning member 51 is spaced from and not in contact with the wiping member 31, or is in contact with the wiping member 31 with a first interference fit. In the second state, the scraping end 510 of the self-cleaning member 51 abuts the wiping member 31 with a second interference fit, where the first interference fit is smaller than the second interference fit. The control device 60 is used to control the operating mode of the wiping assembly 30. Specifically, when the wiping assembly 30 is in mopping mode, the wiping member 31 is in contact with the surface to be cleaned. The control device 60 controls the wiping member 31 to rotate relative to the mounting base 10 and the body 300 to mop the surface to be cleaned, and the self-cleaning member 51 is in the first state relative to the wiping member 31. When the wiping assembly 30 is in cleaning mode, the self-cleaning member 51 is in the second state relative to the wiping member 31. The control device 60 controls the wiping member 31 to rotate relative to the self-cleaning member 51, causing the self-cleaning member 51 to scrape dirt off the wiping member 31.

[0075] Specifically, the body 300 is a component of the cleaning robot 1000 for loading components other than the body 300. Components other than the body 300 herein include but are not limited to the cleaning module 100, the driving wheel 400, and the power module 500 (mentioned below).

[0076] The driving wheel 400 is a structure provided on the body 300 for driving the body 300 to move on the surface to be cleaned. With reference to the front-to-back direction Y of the cleaning robot 1000, the cleaning module 100 provided in the embodiment of the present disclosure can be provided behind the driving wheel 400 of the cleaning robot 1000.

[0077] The cleaning module 100 is a module used in the cleaning robot 1000 to provide a mopping force to clean the surface to be cleaned. The cleaning module 100 is used to clean the surface to be cleaned. The surface to be cleaned may be, but is not limited to, a floor, marble, or glass surface. This disclosure uses a floor as an example. The cleaning robot 1000 is a device used to clean the surface to be cleaned. For example, the cleaning robot 1000 may include a sweeping robot, a mopping robot, or a sweeping and mopping robot. A sweeping robot can be used to sweep the surface to be cleaned, while a mopping robot can be used to wipe and clean the surface to be cleaned. A sweeping and mopping robot can combine the functions of both robots, i.e., a sweeping and mopping robot can be used to sweep the surface to be cleaned, while a sweeping and mopping robot can also be used to wipe and clean the surface to be cleaned. The cleaning robot 1000 of this disclosure is described using a sweeping and mopping robot as an example. Regardless of the type of cleaning robot 1000, the cleaning module 100 of the cleaning robot 1000 includes a mounting base 10, a mopping assembly 30, a self-cleaning assembly 50, and a control device 60.

[0078] The mounting base 10 is a component used to hold components of the cleaning module 100 other than the mounting base 10 (e.g., the mopping assembly 30, the self-cleaning assembly 50, and the control device 60). Mounting the mounting base 10 on the body 300 specifically involves mounting the mounting base 10 on the body 300 in a detachable or non-detachable manner. For example, the mounting base 10 is movably connected to the body 300. For example, the mounting base 10 can be raised or lowered relative to the body 300 in a height direction Z, and can be moved relative to the body 10 in a width direction X. This allows the cleaning module 100 to be raised or lowered relative to the body 300 in a height direction Z and moved relative to the body 300 in a width direction X.

[0079] The wiping assembly 30 is a structure used to clean the surface to be cleaned. Specifically, the wiping assembly 30 is the component within the cleaning module 100 that provides the wiping force to clean the surface to be cleaned. The wiping member 31 is mounted on the mounting base 10 in a detachable or non-detachable manner. This allows the wiping member 31 to be indirectly attached to the body 300. Exemplarily, the connection between the wiping member 31 and the mounting base 10 may be a movable connection, for example, allowing the wiping member 31 to rotate relative to the mounting base 10. When the cleaning module 100 is cleaning the surface to be cleaned, the wiping member 31 is in contact with the surface to be cleaned and wipes the surface by rotating. During its rotation, the wiping member 31 can sweep away dirt from the surface to be cleaned, keeping the surface clean. Dirt in this context can include both liquid and solid dirt. In addition, the mopping member 31 includes but is not limited to a disposable electrostatic mop, a disposable wet mop, or a reusable fabric mop.

[0080] Referring to Figures 3 and 4, or Figures 6 and 7, the wiping member 31 can rotate in a first direction R1 or a second direction R2, with the first direction R1 being opposite to the second direction R2. The self-cleaning assembly 50 includes a self-cleaning member 51. In some embodiments, when the wiping member 31 rotates in the first direction R1, the wiping member 31 cleans the surface to be cleaned. When the wiping member 31 rotates in the second direction R2, the self-cleaning member 51 contacts the wiping member 31 to clean the surface to be cleaned. In other embodiments, when the wiping member 31 rotates in the first direction R1, the self-cleaning member 51 cleans the wiping member 31. When the wiping member 31 rotates in the second direction R2, the wiping member 31 cleans the surface to be cleaned. In still other embodiments, the wiping member 31 cleans the surface to be cleaned by rotating in both the first direction R1 and the second direction R2.

[0081] Referring to Figures 3 and 4, or Figures 6 and 7, in certain embodiments, the mop assembly 30 includes a mounting base 10, a mop member 31 of the mop assembly 30 is mounted on the mounting base 10, and a self-cleaning assembly 50 is mounted on the mounting base 10. That is, both the mop member 31 of the mop assembly 30 and the self-cleaning assembly 50 are mounted on the mounting base 10, and the self-cleaning assembly 50 can clean the mop assembly 30.

[0082] Referring to Figures 3 and 4, or Figures 6 and 7, the wiping member 31 may include a track-type wiping member, a roller-type wiping member, or a roller brush. Each of these types of wiping member can rotate to clean the surface to be cleaned. The rotation axis of the wiping member 31 is parallel to the surface to be cleaned and can also be parallel to the width direction X of the body. In one embodiment, the wiping member 31 is a track-type wiping member. In this case, the cleaning robot 1000 is a track-type cleaning robot, specifically a track-type mopping robot or a track-type sweeping and mopping robot. The wiping member 31 has a larger contact area with the surface to be cleaned, resulting in a better cleaning effect and higher cleaning efficiency during rotation. Furthermore, a track-type wiping member with a larger contact area with the surface to be cleaned has a greater dirt holding capacity and is less likely to entangle hair. In other embodiments, the mopping and wiping member 31 is a roller-type mopping and wiping member. In this case, the cleaning robot 1000 is a roller-type cleaning robot, specifically a roller-type mopping robot and a roller-type sweeping and mopping robot. In another embodiment, the mopping and wiping member 31 is a roller brush. In this case, the cleaning robot 1000 is a roller-brush type cleaning robot, specifically a roller-brush type sweeping robot. The roller brush is relatively small in size, so that the overall volume of the cleaning module 100 can be relatively small, and the cleaning module 100 is easy to carry and store. The mopping and wiping member 31 disclosed in the present invention is described using a crawler-type mopping and wiping member 31 as an example. When the cleaning robot 1000 is a crawler-type sweeping and mopping robot, a drum-type sweeping and mopping robot, or a roller-brush type sweeping robot, the body 300 is provided with a dust collection chamber 301. The dust collection chamber 301 is used to accommodate a dust collection container. The dust collection container is used to accommodate dry garbage, or the dust collection chamber 301 is used to accommodate dry garbage.

[0083] The self-cleaning assembly 50 is a structure used to clean the mop 31. After the mop 31 has cleaned a certain area of ​​the surface to be cleaned, some dirt will remain on the mop 31, requiring cleaning. The mop 31 then continues to clean the surface to be cleaned, effectively cleaning the surface and preventing dirt from falling onto the surface. The cleaning member 51 includes a scraping end 510 and a connecting end 512. The scraping end 510 is a free end located adjacent to the mop 31 for contact with the mop 31. In some embodiments, the end surface of the scraping end 510 is arc-shaped and convex toward the mop 31. This allows the scraping end 510 to scrape dirt off the mop 31 more smoothly and avoids catching dirt. The connecting end 512 is one end that is movably connected to the mounting base 10. The self-cleaning member 51 is configured to move relative to the mop 31 to switch between a first state and a second state. In the first state, the scraping end 510 of the self-cleaning member 51 is not in contact with the wiping member 31 or is in contact with the wiping member 31 with a first interference fit (as shown in FIG. 3 or FIG. 6 ). In the second state, the scraping end 510 of the self-cleaning member 51 is in contact with the wiping member 31 with a second interference fit (as shown in FIG. 4 or FIG. 7 ), and the first interference fit is smaller than the second interference fit.

[0084] It should be noted that the "interference" herein refers to the contact depth between the self-cleaning member 51 and the rubbing member 31. Specifically, the rubbing member 31 has a certain thickness. The contact depth between the self-cleaning member 51 and the rubbing member 31 refers to the amount of deformation of the rubbing member 31 caused by the self-cleaning member 51 along the thickness direction of the rubbing member 31 when the self-cleaning member 51 and the rubbing member 31 are engaged (contacted). The first interference is smaller than the second interference means that: when the self-cleaning member 51 is in the first state relative to the rubbing member 31 (as shown in FIG. 3 or 6 ), the deformation amount of the rubbing member 31 squeezed by the self-cleaning member 51 along the thickness direction of the rubbing member 31 when the self-cleaning member 51 contacts the rubbing member 31 is smaller than the deformation amount of the rubbing member 31 squeezed by the self-cleaning member 51 along the thickness direction of the rubbing member 31 when the self-cleaning member 51 is in the second state relative to the rubbing member 31 (as shown in FIG. 4 or 7 ).

[0085] Exemplarily, as shown in FIG. 3 or FIG. 6, when the self-cleaning member 51 is in the first state relative to the mopping member 31, the value range of the contact depth (the first interference amount) between the self-cleaning member 51 and the mopping member 31 is a first preset range, and the first preset range can be [0, a]. As shown in FIG. 4 or FIG. 7, when the self-cleaning member 51 is in the second state relative to the mopping member 31, the value range of the contact depth (the second interference amount) between the self-cleaning member 51 and the mopping member 31 is a second preset range, and the second preset range can be [b, c]. The first preset range and the second preset range can satisfy: a < b. When the value of the contact depth between the self-cleaning member 51 and the mopping member 31 is less than a, it is difficult for the self-cleaning member 51 to scrape off the dirt on the mopping member 31 when the self-cleaning member 51 contacts the mopping member 31. When the value range of the contact depth between the self-cleaning member 51 and the mopping member 31 is within [b, c], the self-cleaning member 51 can scrape off the dirt on the mopping member 31 to clean the mopping member 31.

[0086] In some embodiments, in the mopping mode of the mopping assembly 30, the rotation direction of the mopping member 31 is the first direction R1 (as shown in FIGS. 3 and 6); in the mopping member cleaning mode of the mopping assembly 30, the rotation direction of the mopping member 31 is the second direction R2 (as shown in FIGS. 4 and 7). When the mopping member 31 rotates along the second direction R2, the scraping end 510 of the self-cleaning member 51 has a tendency to approach the mopping member 31. Therefore, when the mopping assembly 30 is in the mopping member cleaning mode, controlling the rotation direction of the mopping member 31 to be the second direction R2 can enable the self-cleaning member 51 to better maintain the state of scraping contact with the mopping member 31, thereby better ensuring the dirt scraping effect of the scraping end 510 of the self-cleaning member 51 on the mopping member 31.

[0087] As shown in FIG. 3 or FIG. 6, when the mopping member 31 rotates along the first direction R1, the self-cleaning member 51 does not contact the mopping member 31 or contacts it with a first interference amount (that is, the contact depth between the two is relatively shallow). At this time, along the thickness direction of the mopping member 31, the deformation amount of the mopping member 31 squeezed by the self-cleaning member 51 is small. During the rotation of the mopping member 31 along the first direction R1, it is difficult for the self-cleaning member 51 to scrape off the dirt on the mopping member 31, thereby avoiding the problem that the dirt scraped off by the self-cleaning member 51 falls onto the to-be-cleaned surface that has already been cleaned, and the cleaning effect of the cleaning module 100 on the to-be-cleaned surface is good. Moreover, at this time, the friction force between the self-cleaning member 51 and the mopping member 31 is small, and the rotation of the mopping member 31 is relatively smooth, thereby ensuring that the cleaning effect of the mopping member 31 on the to-be-cleaned surface is good.

[0088] As shown in FIG4 or FIG7 , when the wiping member 31 rotates in the second direction R2, the self-cleaning member 51 abuts against the wiping member 31 with a second interference fit (i.e., the contact depth between the two is deeper). At this time, along the thickness direction of the wiping member 31, the deformation amount of the wiping member 31 squeezed by the self-cleaning member 51 is larger, so that the self-cleaning member 51 can scrape off the dirt on the wiping member 31, and the self-cleaning member 51 has a better cleaning effect on the wiping member 31.

[0089] The control device 60 is a device within the cleaning module 100 for controlling the operating mode of the mopping assembly 30. Specifically, the mopping assembly 30 has at least two operating modes: a mopping mode and a non-mopping mode. Accordingly, the control device 60 includes a power unit 61, which is a driving component for driving the mopping member 31 to rotate. In the mopping mode, the mopping member 31 contacts the surface to be cleaned. The control device 60 (power unit 61) controls (i.e., drives) the mopping member 31 to rotate relative to the mounting base 10 and the body 300 to mop the surface to be cleaned. At this time, the self-cleaning member 51 is in a first state relative to the mopping member 31. The non-mopping mode at least includes a cleaning mode for the wiping member 31. When the wiping assembly 30 is in the cleaning mode for the wiping member 31, the self-cleaning member 51 is in the second state relative to the wiping member 31, and the control device 60 (power device 61) controls (i.e., drives) the wiping member 31 to rotate relative to the self-cleaning member 51, so that the self-cleaning member 51 scrapes off the dirt on the wiping member 31.

[0090] When the wiping member 31 does not need to be cleaned and the wiping assembly 30 is in the mopping mode, the self-cleaning member 51 is in a first state relative to the wiping member 31, that is, the scraping end 510 of the self-cleaning member 51 does not contact the wiping member 31 or abuts against the wiping member 31 with a first interference fit. The control device 60 controls the wiping member 31 to rotate relative to the self-cleaning member 51 in a first direction R1 to wipe the surface to be cleaned. When the wiping member 31 needs to be cleaned (the wiping assembly 30 is in the wiping member 31 cleaning mode), the self-cleaning member 51 is in a second state relative to the wiping member 31, that is, the scraping end 510 of the self-cleaning member 51 abuts against the wiping member 31 with a second interference fit. The control device 60 can control the wiping member 31 to rotate relative to the self-cleaning member 51 in a second direction R2 to cause the self-cleaning member 51 to scrape off dirt on the wiping member 31. In other words, when the self-cleaning member 51 is cleaning the wiping member 31, the self-cleaning member 51 remains stationary relative to the mounting base 10, while the wiping member 31 can rotate relative to the mounting base 10 in the second direction R2, thereby allowing the wiping member 31 to rotate relative to the self-cleaning member 51. When the wiping member 31 rotates relative to the self-cleaning member 51 in the second direction R2, dirt on the wiping member 31 can be scraped off by the self-cleaning member 51. In one embodiment, the cleaning robot 1000 can move to a designated waste discharge location before discharging waste. At this time, the wiping member 31 rotates in the second direction R2, and dirt on the wiping member 31 is scraped off by the self-cleaning member 51. The scraped dirt can then be discharged into the designated waste discharge location under the action of gravity. In another embodiment, the cleaning robot 1000 returns to the base station 3000 to discharge dirt. At this time, the wiping member 31 rotates along the second direction R2, and the dirt on the wiping member 31 is scraped off by the self-cleaning member 51. The scraped dirt can be discharged into the base station 3000 under the action of gravity, and the base station 3000 will process the dirt.

[0091] In which, please refer to Figure 13, the base station 3000 is a device for maintaining and servicing the cleaning robot 1000. For example, the base station 3000 can clean the cleaning robot 1000, and the base station 3000 can also charge the cleaning robot 1000. Furthermore, the base station 3000 can also have at least one of the following functions: replenishing water, draining water, collecting dust, etc. for the cleaning robot 1000. For example, when the cleaning robot 1000 is low on power, the cleaning robot 1000 returns to the base station 3000 to charge. When the cleaning robot 1000 is fully charged, the cleaning robot 1000 can leave the base station 3000 and continue to clean the surface to be cleaned. When the cleaning robot 1000 needs to drain water (dirty), the cleaning robot 1000 returns to the base station 3000 to discharge the sewage, and the cleaning robot 1000 then leaves the base station 3000 to continue cleaning the surface to be cleaned.

[0092] Furthermore, in the width direction X of the machine body, the width of the self-cleaning member 51 may be greater than or equal to the length of the wiping member 31. In this case, in the cleaning mode for the wiping member 31, the self-cleaning member 51 can contact the wiping member 31 along its entire length in the length direction X and scrape off dirt thereon, thereby achieving a better cleaning effect on the wiping member 31.

[0093] In the cleaning module 100 of the disclosed embodiment, both the mopping assembly 30 and the self-cleaning assembly 50 are mounted on the mounting base 10. The self-cleaning assembly 50 can clean the mopping assembly 30, and the relative positions of the self-cleaning assembly 50 and the mopping assembly 30 remain essentially unchanged. Compared to cleaning robots in the related art, the self-cleaning assembly 50 of the disclosed embodiment has a smaller matching error between the mopping assembly 30 and the self-cleaning assembly 50 when cleaning the mopping assembly 30, and the self-cleaning assembly 50 has a better cleaning effect on the mopping assembly 30. Furthermore, the cleaning module 100 of the disclosed embodiment does not require a wastewater recovery system, and users do not need to maintain the wastewater recovery system. Furthermore, the base station 3000 does not need a complex cleaning tank. The self-cleaning member 51 directly scrapes dirt off the mopping member 31 into a designated wastewater discharge location or a relatively simple groove within the base station. This is convenient and simple, improving the cleaning efficiency of the mopping member 31 and enhancing the user experience.

[0094] The cleaning module 100 will be further described below with reference to the accompanying drawings.

[0095] Please refer to Figures 3 and 4, or Figures 6 and 7. In some embodiments, when the self-cleaning member 51 is in a first state relative to the wiping member 31, the scraping end 510 of the self-cleaning member 51 is spaced from the wiping member 31 but does not contact it; when the self-cleaning member 51 is in a second state relative to the wiping member 31, the scraping end 510 of the self-cleaning member 51 is in contact with the wiping member 31.

[0096] To achieve the switching of the self-cleaning member 51 between the first state and the second state relative to the wiping member 31.

[0097] Referring to Figures 1, 5 and 10, in some embodiments, the mopping assembly 30 is constructed to be movable between a lowered position and a raised position relative to the body 300. When the mopping assembly 30 is in the mopping member 31 cleaning mode, the control device 60 controls the mopping assembly 30 to be in the raised position relative to the body 300.

[0098] Specifically, the control device 60 is further configured to control (drive) the wiping assembly 30 to move from a lowered position to a raised position relative to the body 300, thereby switching the self-cleaning member 51 from a first position to a second position relative to the wiping member 31. More specifically, the control device 60 also includes a drive module 63, which is a driving component for driving the wiping assembly 30 to rise and fall relative to the body 300 in the height direction Z of the body 300. When the self-cleaning member 51 is in a first state relative to the wiping member 31 (the scraping end 510 of the self-cleaning member 51 is not in contact with the wiping member 31 or is in contact with the wiping member 31 with a first interference fit), the wiping assembly 30 is in a lowered position relative to the body 300; when the self-cleaning member 51 is in a second state relative to the wiping member 31 (the scraping end 510 of the self-cleaning member 51 is in contact with the wiping member 31 with a second interference fit, and the first interference fit is smaller than the second interference fit), the wiping assembly 30 is in a raised position relative to the body 300, that is, compared to when the self-cleaning member 51 is in the first state relative to the wiping member 31, the wiping assembly 30 is further away from the surface to be cleaned when the self-cleaning member 51 is in the second state relative to the wiping member 31. In some embodiments, the driving module 63 can be installed on the fuselage 300 and connected to the mounting base 10. At this time, the driving module 63 drives the entire mounting base 10 to rise and fall along the height direction Z of the fuselage 300, thereby driving the wiping assembly 30 on the mounting base 10 to rise and fall relative to the fuselage 300 along the height direction Z of the fuselage 300.

[0099] In the cleaning module 100 of the disclosed embodiment, the driving module 63 can drive the wiping assembly 30 to rise and fall to realize the switching of the self-cleaning member 51 relative to the wiping member 31 between the first state and the second state. Since the driving module 63 drives the wiping assembly 30 to rise and fall, it can not only change the pressure of the wiping assembly 30 on the ground, thereby realizing that the wiping assembly 30 performs different cleaning operations on different surfaces to be cleaned, but also change the distance between the wiping assembly 30 and the surface to be cleaned, which can facilitate the cleaning robot 1000 to overcome obstacles. That is, the driving module 63 takes into account multiple functions, and the cleaning module 100 does not need to separately set up a device for switching the wiping member 31 between the first state and the second state, so that the overall structure of the cleaning module 100 is simple and the cost is low.

[0100] Referring to Figures 2 to 4, or to Figures 2, 6, and 7, in some embodiments, the self-cleaning assembly 50 further includes an operating member 52 connected to the self-cleaning member 51. The operating member 52 is used to control (or adjust) the relative position of the self-cleaning member 51 and the wiping member 31 so as to switch the self-cleaning member 51 from a first state to a second state relative to the wiping member 31. More specifically, the self-cleaning member 51 is rotatably connected to the mounting base 10. The self-cleaning member 51 is driven by the operating member 52 to rotate relative to the mounting base 10 to switch between the first state and the second state.

[0101] In other embodiments, the cleaning module 100 may be provided with a driving module 63 and an operating member 52 at the same time. In this case, the operating member 52 is provided at the end of the self-cleaning member 51 opposite to the scraping end 510 (the connecting end 512 below) and is exposed from the mounting seat 10. When the driving module 63 drives the wiping assembly 30 to move from a lowered position to a raised position relative to the body 300, the body 300 contacts the operating member 52 and applies force to the operating member 52, so that the operating member 52 drives the self-cleaning member 51 to rotate and switch from the first state to the second state.

[0102] In one embodiment, the operating member 52 may be a lever. When the wiping member 31 rotates in the first direction R1, the lever drives the self-cleaning member 51 connected thereto to rotate, thereby controlling the spacing between the self-cleaning member 51 and the wiping member 31, or controlling the contact between the self-cleaning member 51 and the wiping member 31, with the contact depth falling within a first preset range. In this case, the self-cleaning member 51 is in a first state relative to the wiping member 31. When the wiping member 31 rotates in the second direction R2, the lever similarly drives the self-cleaning member 51 connected thereto to rotate (the rotation direction here is different from the direction in which the lever drives the self-cleaning member 51 connected thereto to rotate), thereby controlling the contact between the self-cleaning member 51 and the wiping member 31, with the contact depth falling within a second preset range. In this case, the self-cleaning member 51 is in a second state relative to the wiping member 31.

[0103] In one example, the lever can be manually controlled. When the wiping member 31 needs to rotate in the first direction R1, the user manually adjusts the lever, causing the lever to rotate the self-cleaning member 51 connected thereto (e.g., clockwise from FIG. 7 to FIG. 6 , or clockwise from FIG. 4 to FIG. 3 ) to control the spacing between the self-cleaning member 51 and the wiping member 31. Alternatively, the lever is used to control the contact between the self-cleaning member 51 and the wiping member 31, with the contact depth falling within a first preset range. When the wiping member 31 needs to rotate in the second direction R2, the user manually adjusts the lever, causing the lever to rotate the self-cleaning member 51 connected thereto (e.g., counterclockwise from FIG. 6 to FIG. 7 , or counterclockwise from FIG. 3 to FIG. 4 ) to control the contact between the self-cleaning member 51 and the wiping member 31, with the contact depth falling within a second preset range. In one case, the cleaning module 100 does not need to be provided with a driving module 63 with a complex structure. At this time, instead of driving the wiping assembly 30 to rise and fall by the driving module 63 to achieve the switching of the self-cleaning member 51 relative to the wiping member 31 between the first state and the second state as described above, the self-cleaning member 51 is switched between the first state and the second state relative to the wiping member 31 by toggling the toggle lever. The cleaning module 100 of this embodiment does not need to be provided with a driving module 63 with a complex structure, the toggle lever has a simple structure, and the switching cost is low.

[0104] In another example, the cleaning module 100 may further include a driving member 71 and a controller 73. The operating member 52 is connected to the driving member 71, and the driving member 71 is signal-connected to the controller 73. When the operating member 52 is a lever, the lever may be controlled by the driving member 71.

[0105] Specifically, the driver 71 is a structure used to control the operating state of the operating member 52. The driver 71 can be a motor, including but not limited to DC servo motors, AC servo motors, and stepper motors. The motor is connected to the operating member 52 and is used to control the operating member 52 to adjust the contact depth between the self-cleaning member 51 and the wiping member 31.

[0106] The controller 73 is in communication with the driver 71 and is used to issue instructions to the driver 71, causing the driver 71 to control the operating state of the operating member 52. The communication connection between the driver 71 and the controller 73 includes, but is not limited to, Bluetooth, wireless broadband, near-field communication (NFC), and infrared communication. The communication connection can transmit instructions from the controller 73 to the driver 71 via electromagnetic wave signals propagating through space. The communication connection has high information transmission speeds and does not require wires to connect the two ends of the communication, resulting in low costs.

[0107] In one example, when the controller 73 detects that the wiping member 31 is rotating in the first direction R1, or when the drive module 63 drives the wiping assembly 30 from a raised position to a lowered position relative to the body 300, the controller 73 issues a first control command to the driver 71. After receiving the first control command, the driver 71 controls the operating member 52, thereby adjusting the contact depth between the self-cleaning member 51 and the wiping member 31 so that the distance between the self-cleaning member 51 and the wiping member 31 is within a first preset range, or the contact depth between the self-cleaning member 51 and the wiping member 31 is within a first preset range. When the controller 73 detects that the wiping member 31 is rotating in the second direction R2, or when the drive module 63 drives the wiping assembly 30 from a lowered position to a raised position relative to the body 300, the controller 73 issues a second control command to the driver 71. After the driving member 71 receives the second control instruction, the driving member 71 controls the operating member 52, so that the operating member 52 adjusts the contact depth between the self-cleaning member 51 and the wiping member 31, so that the self-cleaning member 51 contacts the wiping member 31, and the value range of the contact depth is within the second preset range.

[0108] In another example, a user may input commands to the controller 73. These commands may include: the wiping member 31 cleaning the surface to be cleaned; and the self-cleaning member 51 cleaning the wiping member 31. When the controller 73 receives the command "the wiping member 31 cleaning the surface to be cleaned," and the wiping member 31 rotates in the first direction R1, or when the drive module 63 drives the wiping assembly 30 from a raised position to a lowered position relative to the body 300, the controller 73 issues a first control command to the drive member 71. After receiving the first control command, the drive member 71 controls the operating member 52, causing the operating member 52 to adjust the contact depth between the self-cleaning member 51 and the wiping member 31, such that the distance between the self-cleaning member 51 and the wiping member 31 is maintained, or the contact depth between the self-cleaning member 51 and the wiping member 31 is within a first preset range. When the controller 73 receives the instruction "the self-cleaning member 51 cleans the wiping member 31" and the wiping member 31 rotates in the second direction R2, or when the drive module 63 drives the wiping assembly 30 from a lowered position to a raised position relative to the body 300, the controller 73 issues a second control instruction to the driver 71. After receiving the second control instruction, the driver 71 controls the operating member 52, which causes the operating member 52 to adjust the contact depth between the self-cleaning member 51 and the wiping member 31, so that the self-cleaning member 51 contacts the wiping member 31, and the contact depth is within a second preset range.

[0109] In another example, the cleaning module 100 further includes a detector (not shown) that is in communication with the controller 73. The detector is used to detect the rotational state of the wiping member 31 or the height of the wiping assembly 30 relative to the body 300. When the detector detects that the wiping member 31 is rotating in the first direction R1, or when the drive module 63 drives the wiping assembly 30 from a lowered position to a raised position relative to the body 300, the detector transmits a signal to the controller 73. After receiving the signal from the detector, the controller 73 issues a first control instruction to the driver 71. After receiving the first control instruction, the driver 71 controls the operating member 52, which causes the operating member 52 to adjust the contact depth between the self-cleaning member 51 and the wiping member 31, so that the distance between the self-cleaning member 51 and the wiping member 31 is within a first predetermined range, or the contact depth between the self-cleaning member 51 and the wiping member 31 is within a first predetermined range. When the detector detects that the wiping member 31 is rotating in the second direction R2, or when the drive module 63 drives the wiping assembly 30 from a lowered position to a raised position relative to the body 300, the detector transmits a signal to the controller 73. After receiving the signal from the detector, the controller 73 issues a second control instruction to the driver 71. Upon receiving the second control instruction, the driver 71 controls the operating member 52, which causes the operating member 52 to adjust the contact depth between the self-cleaning member 51 and the wiping member 31, ensuring that the contact depth is within a second predetermined range.

[0110] Please refer to Figures 3 and 4. In some embodiments, the self-cleaning assembly 50 further includes a connecting shaft 53 and a first reset member 57. The self-cleaning member 51 is rotatably mounted on the mounting seat 10 via the connecting shaft 53. The first reset member 57 is sleeved on the connecting shaft 53, one end of the first reset member 57 is connected to the self-cleaning member 51, and the other end of the first reset member 57 is connected to the mounting seat 10. When the mopping assembly 30 is in the mopping mode, the first reset member 57 is compressed (as shown in Figure 3); during the process of the mopping assembly 30 moving from the lowered position to the raised position relative to the body 300 (such as switching from Figure 3 to Figure 4), the first reset member 57 is used to reset the self-cleaning member 51 to the initial position (with a tendency to reset the self-cleaning member 51 to the initial position), so that the self-cleaning member 51 is in the first state (as shown in Figure 3).

[0111] In some embodiments, the first return member 57 may be a torsion spring 571. When the mopping assembly 30 is in the mopping mode (when the mopping member 31 rotates in the first direction R1), as shown in FIG3 , the rotation of the mopping member 31 in the first direction R1 (counterclockwise) pushes the self-cleaning member 51 away, causing the torsion spring 571 to be compressed. When the wiping member 31 needs to be cleaned, the mounting base 10 is driven by the drive module 63 to lift the wiping assembly 30. The raised ribs on the housing 300 press against the operating member 52, causing the operating member 52 to rotate the connected self-cleaning member 51 in the first direction R1 (counterclockwise). As the wiping assembly 30 moves from the lowered position to the raised position relative to the housing 300 and the wiping member 31 rotates in the second direction R2 (clockwise), the self-cleaning member 51 is further pushed to the pre-limited position by the clockwise rotation of the wiping member 31. The self-cleaning member 51 remains in this position unless the wiping member 31 rotates counterclockwise. Simultaneously, the first return member 57 returns the self-cleaning member 51 to its initial position, placing it in the first state (as shown in FIG. 3 ).

[0112] Referring to Figures 1 to 7 , in some embodiments, the mopping assembly 30 is configured to be movable relative to the body 300 between a lowered position and a raised position. When the cleaning robot 1000 is traveling over a surface to be cleaned and the mopping assembly 30 is in the raised position, the self-cleaning member 51 is in the second position relative to the mopping member 31, and the mopping member 31 does not rotate. For example, during normal cleaning of the surface to be cleaned, such as when sweeping the floor, the cleaning robot 1000 may need to raise the mopping member 31 to separate wet and dry materials and facilitate obstacle navigation. To prevent dirty water from being scraped off the mopping member 31 by the scraping bar while the mopping member 31 is raised, the control device 60 controls the mopping member 31 to not rotate (i.e., the power module 61 does not drive the mopping member 31 to rotate). In another embodiment, when the cleaning robot 1000 is docked at the base station 3000 and the wiping assembly 30 is in the raised state, the self-cleaning member 51 is in the second state relative to the wiping member 31 , and the wiping member 31 rotates to scrape off dirt on the wiping member 31 .

[0113] Furthermore, as previously described, when the mopping assembly 30 is in mopping mode, the mopping member 31 rotates in a first direction R1. When the mopping assembly 30 is in cleaning mode, the mopping member 31 rotates in a second direction R2. The first direction R1 is opposite to the second direction R2. When the cleaning robot 1000 is moving, the first direction R1 is opposite to the rotational direction of the drive wheel 400.

[0114] Referring to Figures 6 and 7 , in other embodiments, the self-cleaning member 51 can switch between the first and second positions relative to the wiping member 31 simply by rotating the wiping member 31 from the first direction R1 to the second direction R2. In this case, the wiping assembly 30 does not need to move between the lowered position and the raised position relative to the body 300.

[0115] Furthermore, the self-cleaning assembly 50 may further include a connecting shaft 53 and a linkage 55. The self-cleaning member 51 is rotatably mounted on the mounting base 10 via the connecting shaft 53. The linkage 55 and the self-cleaning member 51 are both disposed on the connecting shaft 53, and the linkage 55 is always in contact with the wiping member 31.

[0116] Specifically, the self-cleaning member 51 and the linkage member 55 are both fixedly connected to the connecting shaft 53. The connecting shaft 53 is a structure used to drive the self-cleaning member 51 and the linkage member 55 to rotate relative to the mounting base 10. The linkage member 55 is configured to contact the wiping member 31. When the wiping member 31 rotates, the linkage member 55 drives the connecting shaft 53 and the self-cleaning member 51 to rotate together, thereby automatically adjusting the contact depth between the self-cleaning member 51 and the wiping member 31.

[0117] The linkage member 55 is in contact with the wiping member 31. When the wiping member 31 rotates in the first direction R1, the friction between the wiping member 31 and the linkage member 55 causes the linkage member 55 to rotate in the second direction R2. The linkage member 55 transmits a steering force to the connecting shaft 53, which in turn transmits the steering force to the self-cleaning member 51, causing the self-cleaning member 51 to rotate in the second direction R2. When the self-cleaning member 51 tends to rotate in the second direction R2, it tends to move away from the wiping member 31, thereby maintaining a distance between the self-cleaning member 51 and the wiping member 31 or maintaining the contact depth between the self-cleaning member 51 and the wiping member 31 within a first predetermined range.

[0118] When the wiping member 31 rotates in the second direction R2, the friction between the wiping member 31 and the linkage member 55 causes the linkage member 55 to rotate in the first direction R1. The linkage member 55 transmits the steering force to the connecting shaft 53, which in turn transmits the steering force to the self-cleaning member 51, thereby enabling the self-cleaning member 51 to rotate in the first direction R1. When the self-cleaning member 51 rotates in the first direction R1, it approaches the wiping member 31, maintaining the contact depth between the self-cleaning member 51 and the wiping member 31 within the second preset range, allowing the self-cleaning member 51 to clean the wiping member 31.

[0119] 6 and 7 , in some embodiments, the contact depth between the linkage member 55 and the wiping member 31 is smaller than the contact depth between the self-cleaning member 51 and the wiping member 31 when the wiping member 31 is cleaned.

[0120] Exemplarily, when the contact depth between the linkage member 55 and the mopping member 31 is d, the value of d can satisfy: d < b. At this time, the contact depth between the linkage member 55 and the mopping member 31 is relatively shallow, and the linkage member 55 will not scrape off the dirt on the mopping member 31, thereby avoiding the problem that the dirt falls onto the to-be-cleaned surface that has already been cleaned, and the cleaning effect of the cleaning module 100 on the to-be-cleaned surface is better.

[0121] In some other embodiments, when the mopping member 31 rotates along the first direction R1, the value of the contact depth between the linkage member 55 and the mopping member 31 is within a second preset range. Exemplarily, when the contact depth between the linkage member 55 and the mopping member 31 is d, the value of d can satisfy: b ≥ d ≥ c. At this time, when the mopping member 31 rotates along the first direction R1, the linkage member 55 can scrape off the dirt on the mopping member 31, and the scraped-off dirt can enter the sewage tank of the cleaning robot 1000 and then enter the sewage box from the sewage tank. The mopping member 31 can maintain a relatively clean state, and the cleaning effect of the mopping member 31 on the to-be-cleaned surface is better. When the mopping member 31 rotates along the second direction R2, the linkage member 55 and the self-cleaning member 51 can jointly scrape off the dirt on the mopping member 31, and the cleaning efficiency of the mopping member 31 is relatively high.

[0122] Please refer to FIGS. 6 and 7. In some embodiments, when the mopping member 31 rotates along the first direction R1, the self-cleaning member 51 is at the initial position of the mopping member 31. When the self-cleaning member 51 is at the initial position of the mopping member 31, the value range of the contact depth between the self-cleaning member 51 and the mopping member 31 is within a first preset range.

[0123] Please refer to FIGS. 6 and 7. In some embodiments, the self-cleaning assembly 50 further includes a first reset member 57. The first reset member 57 is sleeved on the connecting shaft 53. One end of the first reset member 57 is connected to the linkage member 55 or the self-cleaning member 51, and the other end of the first reset member 57 is connected to the mounting base 10. The first reset member 57 is used to make the connecting shaft 53 drive the self-cleaning member 51 to reset to the initial position when the mopping member 31 rotates along the second direction R2 and switches to rotate along the first direction R1.

[0124] Specifically, in one embodiment, one end of the first return member 57 is connected to the linkage member 55, and the other end is connected to the mounting base 10. When the wiping member 31 rotates in the second direction R2, dirt on the wiping member 31 is scraped off by the self-cleaning member 51. After the wiping member 31 completes cleaning, it switches to rotating in the first direction R1 to continue cleaning the surface. During the process of switching from the second direction R2 to the first direction R1, the first return member 57 drives the linkage member 55 back to its initial position. The linkage member 55 transmits a steering force to the connecting shaft 53, which in turn transmits the steering force to the self-cleaning member 51. This allows the connecting shaft 53 to drive both the linkage member 55 and the self-cleaning member 51 to rotate to their initial positions. In this manner, the self-cleaning member 51 is easily reset to its initial position, eliminating the need for additional components. Consequently, the structure of the self-cleaning assembly 50 is relatively simple. Furthermore, the self-cleaning member 51 automatically resets, eliminating the need for manual operation by the user, providing a superior user experience.

[0125] In another embodiment, one end of the first return member 57 is connected to the self-cleaning member 51, and the other end is connected to the mounting base 10. When the wiping member 31 rotates in the second direction R2, dirt on the wiping member 31 is scraped off by the self-cleaning member 51. After the wiping member 31 completes cleaning, it switches to rotating in the first direction R1 to continue cleaning the surface. During the process of switching from the second direction R2 to the first direction R1, the first return member 57 drives the self-cleaning member 51 back to its initial position. The self-cleaning member 51 transmits a steering force to the connecting shaft 53, which in turn transmits the steering force to the linkage member 55. The connecting shaft 53 then drives the linkage member 55 and the self-cleaning member 51 to rotate together to their initial positions. In this case, the method for returning the self-cleaning member 51 to its initial position is relatively simple, without the need for additional components, and the structure of the self-cleaning assembly 50 is relatively simple. Moreover, the self-cleaning member 51 can be automatically reset, eliminating the need for manual operation by the user, providing a better user experience.

[0126] Please refer to Figures 6 and 7. Furthermore, in some embodiments, the first return member 57 includes a torsion spring 571. When the wiping member 31 rotates along the second direction R2, the torsion spring 571 is compressed, and the self-cleaning member 51 contacts the wiping member 31 to clean the wiping member 31; when the wiping member 31 rotates along the first direction R1, the torsion spring 571 is in a natural state.

[0127] The torsion spring 571 is sleeved on the connecting shaft 53. One end of the torsion spring 571 is connected to the linkage member 55 or the self-cleaning member 51, and the other end of the torsion spring 571 is connected to the mounting base 10. When the wiping member 31 rotates in the first direction R1, the torsion spring 571 is in a natural state and does not exert any external force on the self-cleaning member 51. As a result, the self-cleaning member 51 can be stably maintained in the initial position of the wiping member 31. In other words, the contact depth between the self-cleaning member 51 and the wiping member 31 can be stably maintained within the first preset range.

[0128] In one embodiment, when the wiping member 31 rotates in the second direction R2, the self-cleaning member 51 rotates in the first direction R1. At this time, the torsion spring 571 is in a compressed state. Due to its own elastic potential energy, the torsion spring 571 exerts an external force on the self-cleaning member 51, causing the self-cleaning member 51 to rotate in the second direction R2 and return to its initial position. When the wiping member 31 switches from rotating in the second direction R2 to rotating in the first direction R1, the torsion spring 571 returns from its compressed state to its natural state, quickly returning the self-cleaning member 51 to its initial position. Because the duration of time the wiping member 31 cleans the surface to be cleaned (when the wiping member 31 rotates in the first direction R1 and the torsion spring 571 is in its natural state) is typically longer than the duration of time the self-cleaning member 51 cleans the wiping member 31 (when the wiping member 31 rotates in the second direction R2 and the torsion spring 571 is in its compressed state), the torsion spring 571 does not need to be compressed for a long time, resulting in a longer service life.

[0129] In another embodiment, when the rubbing member 31 rotates in the first direction R1, the self-cleaning member 51 tends to rotate in the second direction R2. At this time, the torsion spring 571 is in a compressed state. Due to its inherent elastic potential energy, the torsion spring 571 exerts an external force on the self-cleaning member 51, causing the self-cleaning member 51 to tend to rotate in the first direction R1. When the rubbing member 31 switches from rotating in the first direction R1 to rotating in the second direction R2, the torsion spring 571 returns from the compressed state to its natural state. The torsion spring 571 can quickly rotate the self-cleaning member 51 in the first direction R1 until the contact depth with the rubbing member 31 falls within a second preset range.

[0130] Please refer to Figures 5 to 7. In some embodiments, the linkage member 55 includes at least one linkage portion 551, and at least one linkage portion 551 is sleeved on the connecting shaft 53. The self-cleaning member 51 includes at least one connecting portion 511 and a self-cleaning portion 513 bent and extended from the connecting portion 511. The connecting portion 511 is sleeved on the connecting shaft 53, and one linkage portion 551 is arranged adjacent to at least one connecting portion 511. The linkage portion 551 and the self-cleaning portion 513 both extend toward the wiping member 31.

[0131] Specifically, the linkage portion 551 is configured to contact the wiping member 31 and transmit the steering force to the connecting shaft 53 and the self-cleaning member 51. One end of the linkage portion 551 is sleeved onto the connecting shaft 53, while the other end contacts the wiping member 31. The number of linkage portions 551 can be, but is not limited to, one, two, three, four, or more. If there is only one linkage portion 551, the total width of the linkage portion 551 in the longitudinal direction X of the wiping member 31 can be the same as the length of the wiping member 31. In this case, during the rotation of the wiping member 31, the linkage portion 551 can stably transmit the steering force to the connecting shaft 53 and the self-cleaning member 51. The total width of the linkage portion 551 can also be less than the length of the wiping member 31. In this case, the material of the linkage portion 551 can be reduced, and the cleaning module 100 can be lightweight, making it easier to carry. If there are multiple linkage portions 551, the multiple linkage portions 551 can be evenly or unevenly sleeved onto the connecting shaft 53 and contact the wiping member 31. During the rotation of the wiping member 31 , the plurality of linkage parts 551 can simultaneously transmit the steering force to the connecting shaft 53 and the self-cleaning member 51 .

[0132] The connecting portion 511 is configured to connect to the connecting shaft 53 and is located at the connecting end 512, or the aforementioned connecting end 512. The self-cleaning portion 513 is configured to clean the wiping member 31 and is located at the scraping end 510, or the aforementioned scraping end 510. The self-cleaning portion 513 extends and curves from the connecting portion 511 toward the wiping member 31. When the wiping member 31 rotates in the second direction R2, the end of the self-cleaning portion 513 contacts the wiping member 31 to a depth within a second predetermined range, thereby enabling the self-cleaning portion 513 to scrape dirt off the wiping member 31.

[0133] The number of connecting portions 511 can be, but is not limited to, one, two, three, four, or more. The number of self-cleaning portions 513 is the same as the number of connecting portions 511. If there is only one connecting portion 511, there is also only one self-cleaning portion 513. Preferably, in the longitudinal direction X of the wiping member 31, the total width of the self-cleaning portion 513 is greater than or equal to the length of the wiping member 31, so that the cleaning portion can fully contact the wiping member 31 to scrape away dirt from the wiping member 31. In this case, the self-cleaning portion 513 effectively cleans the wiping member 31. If there are multiple connecting portions 511, there are also multiple self-cleaning portions 513. Preferably, the total width of the plurality of self-cleaning portions 513 is greater than or equal to the length of the wiping member 31, and there is no gap between adjacent self-cleaning portions 51, so that in the length direction X of the wiping member 31, the self-cleaning portions 513 can fully contact the wiping member 31 to scrape off the dirt on the wiping member 31, and the self-cleaning portions 513 have a better cleaning effect on the wiping member 31.

[0134] Referring to Figures 3 and 4 , or Figures 5 to 7 , in certain embodiments, the scraping end 510 (specifically, the self-cleaning portion 513 in the embodiments shown in Figures 5 to 7 ) includes bristles and a scraping strip. If the self-cleaning portion 513 is a brush, it contacts the wiping member 31 and is used to remove solid dirt from the wiping member 31. If the self-cleaning portion 513 is a scraping strip, it contacts the wiping member 31 to scrape dirt from the wiping member 31.

[0135] Referring to Figures 6 and 7 , in some embodiments, the self-cleaning portion 513 is spaced apart from the linkage portion 551. In the height direction Z of the cleaning module 100 (or cleaning robot 1000), the self-cleaning portion 513 is closer to the bottom of the cleaning module 100 (and therefore closer to the surface to be cleaned) than the linkage portion 551. That is, during normal use of the cleaning robot 1000, the self-cleaning portion 513 is positioned lower than the linkage portion 551. Consequently, when the wiping member 31 rotates in the first direction R1, the linkage portion 551 can drive the self-cleaning portion 513 to rotate in the second direction R2. This allows the self-cleaning portion 513 to maintain a distance from the wiping member 31, or maintain a contact depth within a first predetermined range. In this manner, the self-cleaning portion 513 does not hinder the rotation of the wiping member 31, nor does it scrape dirt off the wiping member 31. When the wiping member 31 rotates in the second direction R2, the linkage portion 551 can drive the self-cleaning portion 513 to rotate in the first direction R1, so that the end of the self-cleaning portion 513 can gradually approach the wiping member 31. When the contact depth between the self-cleaning portion 513 and the wiping member 31 is within the second preset range, the self-cleaning portion 513 can scrape dirt off the wiping member 31 to clean it.

[0136] Please refer to Figures 3, 4, 8 and 9, or refer to Figures 6 to 9. In some embodiments, when the wiping member 31 is a crawler-type wiping member, the wiping assembly 30 includes a first roller 33 and a second roller 35. The wiping member 31 is installed on the first roller 33 and the second roller 35. When the wiping member 31 rotates along the second direction R2, the wiping member 31 is located between the self-cleaning member 51 and the first roller 33, or between the self-cleaning member 51 and the second roller 35.

[0137] The first roller 33 can rotate relative to the mounting base 10 in a first direction R1 and a second direction R2, and the second roller 35 can also rotate relative to the mounting base 10 in the first direction R1 and the second direction R2. The first roller 33 and the second roller 35 can rotate simultaneously and in the same direction. When the rubbing member 31 is mounted on the first roller 33 and the second roller 35, the first roller 33 and the second roller 35 can drive the rubbing member 31 to rotate relative to the mounting base 10. When the first roller 33 and the second roller 35 both rotate in the first direction R1, the first roller 33 and the second roller 35 can drive the rubbing member 31 to rotate in the first direction R1. When the first roller 33 and the second roller 35 both rotate in the second direction R2, the first roller 33 and the second roller 35 can drive the rubbing member 31 to rotate in the second direction R2.

[0138] In the direction from the first roller 33 to the second roller 35, the rubbing member 31 includes a first end 311 and a second end 313 opposite each other. The inner side of the first end 311 of the rubbing member 31 engages with the first roller 33, while the inner side of the second end 313 of the rubbing member 31 engages with the second roller 35. In one embodiment, a self-cleaning member 51 is disposed on the outer side of the first end 311 of the rubbing member 31. When the rubbing member 31 rotates in the second direction R2 and the contact depth between the self-cleaning member 51 and the rubbing member 31 falls within a second predetermined range, the first roller 33 and the self-cleaning member 51 jointly compress the rubbing member 31, thereby scraping away dirt from the rubbing member 31 and achieving a better cleaning effect. In another embodiment, the self-cleaning member 51 is disposed on the outer side of the second end 313 of the rubbing member 31. When the wiping member 31 rotates in the second direction R2 and the contact depth between the self-cleaning member 51 and the wiping member 31 is within the second preset range, the second roller 35 cooperates with the self-cleaning member 51 to squeeze the wiping member 31, so that the self-cleaning member 51 can scrape off the dirt on the wiping member 31, and the self-cleaning member 51 has a better cleaning effect on the wiping member 31.

[0139] Please refer to Figures 3 and 4, or refer to Figures 6 and 7. Further, in some embodiments, the first roller 33 includes a first contact side 331, which contacts the rubbing member 31, the second roller 35 includes a second contact side 351, which contacts the rubbing member 31, and the self-cleaning member 51 is arranged on the side where the first contact side 331 is located or the side where the second contact side 351 is located.

[0140] The first contact side 331 of the first roller 33 refers to the side of the first roller 33 that contacts the inner side of the first end 311 of the wiping member 31. As the first roller 33 rotates the wiping member 31, different positions of the first roller 33 contact the inner side of the first end 311 of the wiping member 31, while the position of the first contact side 331 relative to the mounting base 10 remains unchanged. The second contact side 351 of the second roller 35 refers to the side of the second roller 35 that contacts the inner side of the second end 313 of the wiping member 31. As the second roller 35 rotates the wiping member 31, different positions of the second roller 35 contact the inner side of the second end 313 of the wiping member 31, while the position of the second contact side 351 relative to the mounting base 10 remains unchanged.

[0141] In one embodiment, the self-cleaning member 51 is disposed on the outer side of the first end 311 of the wiping member 31, corresponding to the position of the first contact side 331. The end surface of the self-cleaning portion 513 and the first contact side 331 of the first roller 33 jointly press the wiping member 31, thereby scraping off dirt on the wiping member 31 and achieving a better cleaning effect. In another embodiment, the self-cleaning member 51 is disposed on the outer side of the second end 313 of the wiping member 31 and corresponding to the position of the second contact side 351. The end surface of the self-cleaning portion 513 and the second contact side 351 jointly press the wiping member 31, thereby scraping off dirt on the wiping member 31 and achieving a better cleaning effect.

[0142] Referring to Figures 1 to 4 and 11(a) to 12(b), or to Figures 5 to 7 and 11(a) to 12(b), in some embodiments, the wiping assembly 30 can move along the width direction X of the body, such that at least a portion of the wiping assembly 30 moves outside the body 300. Specifically, the driving module 63 is also a driving component for driving the wiping assembly 30 to move relative to the body 300 along the width direction X of the body.

[0143] For example, referring to Figures 11(a) to 11(b), and Figures 12(a) to 12(b), it can be seen from Figures 11(a) and 12(a) that when the cleaning robot 1000 is in a normal cleaning state, there is a cleaning blind spot between the right side of the cleaning robot 1000 and the wall. In order to clean the cleaning blind spot, the driving module 63 can be used to drive the cleaning module 100 to move toward the right side, so that the cleaning module 100 switches to a cleaning state in which the cleaning module 100 is in a sideways movement, as shown in Figures 11(b) and 12(b), thereby switching the mopping assembly 30 from a normal cleaning state to a cleaning state in which the cleaning module 1000 is in a sideways movement. When the cleaning module 1000 is in a sideways movement, the right edge of the cleaning module 1000 can be well aligned with the wall, or the distance between the cleaning module 1000 and the wall can be very small, so as to eliminate or reduce the cleaning blind spot, thereby enabling the cleaning module 1000 to better clean the area along the wall.

[0144] Therefore, in addition to working in a normal cleaning state, the cleaning module 100 of the cleaning robot 1000 can also work in a sideways cleaning state, so that the cleaning module 100 can clean the corners of the surface to be cleaned (for example, when the surface to be cleaned is the ground, the position close to the wall on the ground, or the position at the corner), thereby reducing the limitation of the external dimensions of the fuselage 300 and improving the cleaning effect of the cleaning robot 1000.

[0145] Referring to Figures 2 to 4 , in some embodiments, the wiping assembly 30 further includes a flexible blocking member 37. One end of the flexible blocking member 37 is connected to the scraping end 510 of the self-cleaning member 51, and the other end of the flexible blocking member 37 is connected to the mounting base 10. When the self-cleaning member 51 is in the first state or the second state relative to the wiping member 31, the blocking member 37 prevents dirt on the wiping member 31 from moving toward the gap between the self-cleaning member 51 and the mounting base 10.

[0146] The blocking member 37 is used to prevent dirt on the wiping member 31 from migrating toward the gap between the self-cleaning member 51 and the mounting base 10. In some examples, the blocking member 37 can be made of a flexible material, such as rubber or a flexible plastic. This allows the blocking member 37 to deform when the position of the self-cleaning member 51 relative to the wiping member 31 changes. Since the rotational direction of the wiping member 31 also changes when the self-cleaning member 51 changes relative to the wiping member 31, if the blocking member 37 is made of a hard material, it will not deform and will remain in hard contact with the wiping member 31. When the rotational direction of the wiping member 31 changes, this creates reciprocating friction. Over time, the blocking member 37 will wear out, becoming unable to prevent dirt on the wiping member 31 from migrating toward the self-cleaning member 51. This can eventually cause the self-cleaning member 51 to become stuck, preventing it from completing its cleaning function. Therefore, in this embodiment, the blocking member 37 is made of a flexible material. This allows the blocking member 37 to change contact with the wiping member 31 when the rotational direction of the wiping member 31 changes, preventing reciprocating friction between the two. This extends the service life of the blocking member 37 and further prevents dirt on the wiping member 31 from migrating toward the self-cleaning member 51, thereby ensuring that the self-cleaning member 51 can continue to clean the wiping member 31. Furthermore, whether the self-cleaning member 51 is in the first or second position relative to the wiping member 31, the deformable blocking member 37 remains connected to the scraping end 510 and the mounting base 10, preventing it from being pulled away from the scraping end 510 or the mounting base 10. This prevents dirt on the wiping member 31 from migrating toward the gap between the self-cleaning member 51 and the mounting base 10, preventing foreign matter from getting stuck in the self-cleaning member 51 and ensuring that the cleaning member 51 can continue to clean the wiping member 31.

[0147] Please refer to Figures 2 to 4. In some embodiments, the self-cleaning part 51 and the blocking part 37 are molded together through a nesting process. The nesting process is an injection molding technology, which specifically includes three steps. The first step is the first injection molding: injecting the first material (such as plastic) into the mold to form the self-cleaning part 51 of the product; the second step is mold conversion: transferring the semi-finished product molded for the first time to another mold. The third step is the second injection molding: injecting the second material (such as rubber) into the second mold, combining it with the self-cleaning part 51 molded for the first time, to form a blocking part 37 connected to the self-cleaning part 51. The nesting process can tightly combine the self-cleaning part 51 and the blocking part 37 made of different materials to avoid separation.

[0148] Referring to Figures 2 to 4 , in some embodiments, when the self-cleaning member 51 is in a first position relative to the wiping member 31, the blocking member 37 is unfolded and in contact with the wiping member 31, as shown in Figure 3 . Thus, when the wiping member 31 rotates in the first direction R1 to wipe the surface to be cleaned, it is not interfered with by the blocking member 37, thereby ensuring a cleaning effect on the surface to be cleaned. When the self-cleaning member 51 is in a second position relative to the wiping member 31, the blocking member 37 is folded and at least partially out of contact with the wiping member 31, as shown in Figure 4 . Thus, when the wiping member 31 rotates in the second direction R2 to achieve self-cleaning, the scraping end 510 primarily scrapes dirt off the wiping member 31, ensuring cleaning efficiency while avoiding reciprocating friction between the wiping member 31 and the blocking member 37. This extends the service life of the blocking member 37, thereby preventing dirt on the wiping member 31 from migrating toward the self-cleaning member 51 and ensuring that the cleaning member 51 can continue to perform its cleaning function on the wiping member 31.

[0149] It should be noted that, as previously described, the width of the self-cleaning member 51 in the width direction X of the fuselage can be greater than or equal to the length of the wiping member 31. Accordingly, the width of the blocking member 37 in the width direction X can be greater than or equal to the length of the wiping member 31. In this case, when the wiping member 31 rotates in the second direction R2 and the self-cleaning member 51 contacts the wiping member 31, the self-cleaning member 51 can fully contact the wiping member 31 in the width direction X of the fuselage and scrape away dirt from the wiping member 31. The blocking member 37 can also completely prevent any dirt on the wiping member 31 in the width direction X from moving toward the self-cleaning member 51.

[0150] Please refer to Figures 2 to 4 and Figure 13. Furthermore, in some embodiments, the cleaning robot 1000 also includes a soft rubber fixing member 38, and one end of the blocking member 37 is connected to the mounting base 10 through the soft rubber fixing member 38.

[0151] Specifically, in some embodiments, the soft rubber fixing member 38 includes a fixing bar 381, a positioning portion 383, a first fixing portion 385, and a second fixing portion 387, all provided on the fixing bar 381. The fixing bar 381 is located below the mounting base 10. The positioning portion 383, the first fixing portion 385, and the second fixing portion 387 are arranged at intervals along the length of the fixing bar 381. One end of the blocking member 37 is positioned on the fixing bar 381 by the positioning portion 383 and is clamped and fixed between the fixing bar 381 and the mounting base 10. The fixing bar 381 is connected to the mounting base 10 via the first fixing portion 385 and / or the second fixing portion 387.

[0152] More specifically, in the width direction X of the body, the length of the fixing strip 381 can be greater than or equal to the total width of the wiping member 31 and / or the self-cleaning member 51. In one example, the positioning portion 383 is a protrusion extending from the upper surface of the fixing strip 381, facing away from the surface to be cleaned. One end of the blocking member 37 can be provided with a positioning groove or positioning hole, and the protrusion cooperates with the positioning groove or positioning hole to position the blocking member 37. In another example, the positioning portion 383 is a positioning groove or positioning hole formed by a recessed depression in the upper surface of the fixing strip 381. One end of the blocking member 37 can be provided with a protrusion extending from the upper surface, and the protrusion cooperates with the positioning groove or positioning hole to position the blocking member 37. In some embodiments, the first fixing portion 385 can be a stud that passes through the mounting base 10. A screw is screwed into the stud from the upper side of the mounting base 10 to connect the fixing strip 381 to the mounting base 10. In other embodiments, the second fixing portion 387 is a hook, and the mounting base 10 is provided with a locking hole. The hook passes through the locking hole and engages with a surface of the mounting base 10, thereby connecting the fixing strip 381 to the mounting base 10. In still other embodiments, the fixing strip 381 is connected to the mounting base 10 via the first fixing portion 385 and the second fixing portion 387. The specific details are the same as above and will not be repeated here.

[0153] Referring to Figures 4, 8-10, or 7-10, in certain embodiments, the cleaning robot 1000 further includes a power module 61 mounted on the body 300. The mopping assembly 30 further includes a first bracket 37 and a second bracket 39. The first roller 33 is mounted on the first bracket 37, and the second roller 35 is mounted on the second bracket 39. The first bracket 37 is connected to the second bracket 39 via a second reset member 36. The output shaft of the power module 61 is connected to the second roller 35 and is used to drive the second roller 35 to rotate. The second roller 35 drives the first roller 33 to rotate via the mopping member 31.

[0154] Specifically, the first bracket 37 and the second bracket 39 are structures for mounting and supporting the first roller 33 and the second roller 35. When the wiping member 31 is sleeved on the first roller 33 and the second roller 35, the first bracket 37 and the second bracket 39 are used to provide stable support force to the opposite ends of the wiping member 31, so that the rotation of the wiping member 31 is relatively stable when the wiping member 31 is cleaning the surface to be cleaned.

[0155] The material of the first bracket 37 includes, but is not limited to, metal 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, plastic. In one example, the first bracket 37 can be made of a metal material, thereby increasing the structural strength of the first bracket 37, improving the load capacity of the first bracket 37, preventing deformation and damage of the first bracket 37 during operation of the cleaning module 100, and improving the stability and reliability of the cleaning module 100. In another example, the first bracket 37 can be made of a non-metal material, thereby reducing the weight of the first bracket 37, thereby facilitating the lightweighting of the cleaning module 100.

[0156] The material of the second bracket 39 includes, but is not limited to, metal 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, plastic. In one example, the second bracket 39 can be made of a metal material, thereby increasing the structural strength of the second bracket 39, improving the load capacity of the second bracket 39, preventing deformation and damage of the second bracket 39 during operation of the cleaning module 100, and ensuring the stability and reliability of the operation of the cleaning module 100. In another example, the second bracket 39 can be made of a non-metal material, thereby reducing the weight of the second bracket 39, thereby facilitating the lightweighting of the cleaning module 100.

[0157] The power module 61 is used to drive the second roller 35 to rotate relative to the second bracket 39, thereby allowing the wiping member 31 to rotate relative to the second bracket 39. When the wiping member 31 rotates, the first roller 33 can rotate relative to the first bracket 37. Consequently, the first and second rollers 33, 35 can jointly drive the wiping member 31 to rotate relative to the first and second brackets 37, 39, thereby enabling the wiping member 31 to clean the surface to be cleaned. The power module 61 may include a driving member connected to the second roller 35. The driving member can drive the second roller 35 to rotate relative to the second bracket 39, and the second roller 35 can drive the first roller 33 to rotate relative to the first bracket 37, thereby enabling the first and second rollers 33, 35 to jointly drive the wiping member 31 to rotate relative to the first and second brackets 37, 39. It should be noted that the driving member can be 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.

[0158] Please refer to Figures 4, 8 to 10, or Figures 7 to 9. In some embodiments, when the wiping assembly 30 is subjected to an external force causing the first bracket 37 and the second bracket 39 to move away from each other, the first roller 33 and the second roller 35 are both tightly fitted with the wiping member 31 (as shown in Figure 9). When the external force disappears, the second restoring member 36 drives the first bracket 37 and the second bracket 39 to move closer to each other, so that at least one of the first roller 33 and the second roller 35 is loosely fitted with the wiping member 31 (as shown in Figure 8).

[0159] It should be noted that the external force exerted on the first bracket member 37 and the second bracket member 39 may be: the force exerted on the first bracket member 37 and the second bracket member 39 by an external mechanical structure; or the force exerted on the first bracket member 37 and the second bracket member 39 by a user.

[0160] Specifically, the second return member 36 is configured to return the first and second brackets 37, 39 to their initial positions when the external force acting on them ceases. When the cleaning module 100 is mounted on the body 300, the first and second brackets 37, 39 move away from each other due to the external force, resulting in a spaced-apart state. In this spaced-apart state, the gap between the first and second brackets 37, 39 is larger. That is, the combined dimensions of the first and second brackets 37, 39 are larger along the direction from the first bracket 37 to the second bracket 39. In this state, the first and second rollers 33, 35 can fit tightly with the wiping member 31. With the first and second rollers 33, 35 tightly fitted with the wiping member 31, the cleaning module 100 can be mounted on the body 300, allowing the cleaning robot 1000 to clean the surface to be cleaned. When the cleaning module 100 is removed from the body 300, the external force acting on the first and second brackets 37, 39 ceases. At this point, the second return member 36 can drive the first bracket 37 and the second bracket 39 toward each other, allowing them to transition from the spaced-apart state to the initial state. In the initial state, the gap between the first bracket 37 and the second bracket 39 is small or even non-existent, and at least one of the first roller 33 and the second roller 35 can loosely engage with the wiping member 31. With at least one of the first roller 33 and the second roller 35 loosely engaged with the wiping member 31, the wiping member 31 can be easily attached and detached from the first roller 33 and the second roller 35. This facilitates removal of the wiping member 31 for cleaning or replacement if it becomes soiled, thereby ensuring the cleaning effectiveness of the cleaning robot 1000.

[0161] The first roller 33 and the second roller 35 are tightly fitted with the rubbing member 31. When the rubbing member 31 is sleeved on the first roller 33 and the second roller 35, the rubbing member 31 is in a tensioned state, that is, the fitting clearance between the rubbing member 31 and the first roller 33 and the second roller 35 is very small, or even zero. In this case, the rubbing member 31 is difficult or even impossible to remove from the first roller 33 and the second roller 35, thereby preventing the rubbing member 31 from falling off during the operation of the cleaning module 100, thereby improving the stability and reliability of the cleaning module 100. At least one of the first roller 33 and the second roller 35 may be loosely fitted with the rubbing member 31. When the rubbing member 31 is disposed on the first roller 33 and the second roller 35, the rubbing member 31 is in a relaxed state, that is, the fitting clearance between the rubbing member 31 and the first roller 33, and / or the rubbing member 31 and the second roller 35 is relatively large. In this case, the rubbing member 31 can be easily removed from the first roller 33 and the second roller 35, thereby facilitating the installation and removal of the rubbing member 31 on the first roller 33 and the second roller 35.

[0162] In the cleaning robot 1000 of the disclosed embodiment, both the mopping assembly 30 and the self-cleaning assembly 50 are mounted on the mounting base 10. The self-cleaning assembly 50 can clean the mopping assembly 30, and the relative positions of the self-cleaning assembly 50 and the mopping assembly 30 remain substantially unchanged. Compared to cleaning robots of the related art, the self-cleaning assembly 50 of the disclosed embodiment has a smaller matching error when cleaning the mopping assembly 30, resulting in a better cleaning effect of the self-cleaning assembly 50 on the mopping assembly 30.

[0163] Referring to Figures 5, 6, 7, and 10, in a second aspect, the embodiments of the present disclosure further provide a cleaning robot 1000. The cleaning robot 1000 includes a body 300, a cleaning module 100, and a self-cleaning assembly 50. The cleaning module 100 includes a wiping assembly 30, which includes a wiping member 31. The wiping member 31 is capable of rotating in a first direction R1 or a second direction R2, with the first direction R1 being opposite to the second direction R2. The self-cleaning assembly 50 is mounted on the body 300 and includes a self-cleaning member 51. When the wiping member 31 rotates in the first direction R1, the wiping member 31 is used to clean the surface to be cleaned. When the wiping member 31 rotates in the second direction R2, the self-cleaning member 51 contacts the wiping member 31 to clean the wiping member 31.

[0164] Specifically, the cleaning module 100 is mounted on the body 300, and the self-cleaning member 51 is also mounted on the body 300. The position of the self-cleaning member 51 corresponds to the position of the wiping member 31, allowing the self-cleaning member 51 to clean the wiping member 31. The relative position of the self-cleaning member 50 and the wiping member 30 of the cleaning module 100 remains substantially unchanged, resulting in a minimal error in the fit between the self-cleaning member 51 and the wiping member 31, and a better cleaning effect of the self-cleaning member 51 on the wiping member 31.

[0165] The body 300 of this embodiment has the same structure as the body 300 of the cleaning robot 1000 of the first aspect. The mounting base 10, the mopping assembly 30 and the self-cleaning assembly 50 of this embodiment have the same structure as the mounting base 10, the mopping assembly 30 and the self-cleaning assembly 50 of the cleaning robot 1000 of the first aspect, and will not be described in detail here.

[0166] Referring to Figure 6 , in some embodiments, when the wiping member 31 rotates in the first direction R1, the self-cleaning member 51 is spaced apart from the wiping member 31. In this case, the self-cleaning member 51 does not hinder the rotation of the wiping member 31, allowing the wiping member 31 to rotate smoothly in the first direction R1, thereby improving the cleaning effect of the wiping member 31 on the surface to be cleaned. Furthermore, when the self-cleaning member 51 is spaced apart from the wiping member 31, dirt on the wiping member 31 is not scraped off by the self-cleaning member 51, thereby preventing dirt scraped off by the self-cleaning member 51 from falling onto the already cleaned surface to be cleaned. Consequently, the cleaning robot 1000 provides a better cleaning effect on the surface to be cleaned.

[0167] Referring to Figures 6 and 7 , in some other embodiments, when the wiping member 31 rotates in the first direction R1, the self-cleaning member 51 contacts the wiping member 31, and the contact depth between the self-cleaning member 51 and the wiping member 31 is less than the contact depth between the self-cleaning member 51 and the wiping member 31 when the wiping member 31 rotates in the second direction R2. In this case, when the wiping member 31 rotates in the first direction R1, the contact depth between the self-cleaning member 51 and the wiping member 31 is shallower. During the rotation of the wiping member 31, the self-cleaning member 51 is less likely to scrape dirt off the wiping member 31, thereby preventing dirt scraped off by the self-cleaning member 51 from falling onto the already cleaned surface. Consequently, the cleaning robot 1000 achieves a better cleaning effect on the surface to be cleaned. Furthermore, in this case, the self-cleaning member 51 presents less obstruction to the rotation of the wiping member 31 in the first direction R1, allowing the wiping member 31 to rotate more smoothly, resulting in a better cleaning effect on the surface to be cleaned.

[0168] When the mopping member 31 rotates along the second direction R2, the contact depth between the self-cleaning member 51 and the mopping member 31 is relatively deep, so that the self-cleaning member 51 can scrape off the dirt on the mopping member 31, and the cleaning effect of the self-cleaning member 51 on the mopping member 31 is relatively good. At this time, in one embodiment, the resistance of the self-cleaning member 51 to the rotation of the mopping member 31 along the second direction R2 is small, and the rotation of the mopping member 31 is relatively smooth, so that the self-cleaning member 51 can quickly scrape off the dirt on the mopping member 31, and the efficiency of the self-cleaning member 51 in cleaning the mopping member 31 is relatively high. In another embodiment, the self-cleaning member 51 may have a greater resistance to the rotation of the mopping member 31 along the second direction R2. At this time, the rotation speed of the mopping member 31 along the second direction R2 is slow, and the self-cleaning member 51 can scrape off the dirt on the mopping member 31 more cleanly, and the cleaning effect of the self-cleaning member 51 on the mopping member 31 is relatively good.

[0169] Exemplarily, when the mopping member 31 rotates along the first direction R1, the value range of the contact depth between the self-cleaning member 51 and the mopping member 31 is a first preset range, and the first preset range can be [0, a]. When the mopping member 31 rotates along the second direction R2, the value range of the contact depth between the self-cleaning member 51 and the mopping member 31 is a second preset range, and the second preset range can be [b, c]. The first preset range and the second preset range can satisfy: a < b. When the value of the contact depth between the self-cleaning member 51 and the mopping member 31 is less than a, when the self-cleaning member 51 contacts the mopping member 31, the self-cleaning member 51 will not hinder the rotation of the mopping member 31, and the self-cleaning member 51 will not scrape off the dirt on the mopping member 31. When the value range of the contact depth between the self-cleaning member 51 and the mopping member 31 is within [b, c], the self-cleaning member 51 can scrape off the dirt on the mopping member 31 to clean the mopping member 31.

[0170] Please refer to FIGS. 5 to 7. In some embodiments, the cleaning module 100 includes a mounting base 10, and the mopping assembly 30 is mounted on the mounting base 10. When the mopping member 31 rotates along the first direction R1, the self-cleaning member 51 is in the initial position of the mopping member 31. When the self-cleaning member 51 is in the initial position of the mopping member 31, the value range of the contact depth between the self-cleaning member 51 and the mopping member 31 is within the first preset range.

[0171] Referring to Figures 5 to 7, in certain embodiments, the self-cleaning assembly 50 further includes a connecting shaft 53, a linkage member 55, and a first reset member 57. The connecting shaft 53 is rotatably mounted on the mounting base 10. The linkage member 55 and the self-cleaning member 51 are both disposed on the connecting shaft 53, and the linkage member 55 always maintains contact with the wiping member 31. The first reset member 57 is sleeved on the connecting shaft 53. One end of the first reset member 57 is connected to the linkage member 55 or the self-cleaning member 51, and the other end is connected to the mounting base 10. The first reset member 57 is configured to cause the connecting shaft 53 to drive the self-cleaning member 51 to return to its initial position when the wiping member 31 switches from rotating in the second direction R2 to rotating in the first direction R1.

[0172] Specifically, in one embodiment, one end of the first return member 57 is connected to the linkage member 55, and the other end is connected to the mounting base 10. When the wiping member 31 rotates in the second direction R2, dirt on the wiping member 31 is scraped off by the self-cleaning member 51. After the wiping member 31 completes cleaning, it switches to rotating in the first direction R1 to continue cleaning the surface. During the process of switching from the second direction R2 to the first direction R1, the first return member 57 drives the linkage member 55 back to its initial position. The linkage member 55 transmits a steering force to the connecting shaft 53, which in turn transmits the steering force to the self-cleaning member 51. This allows the connecting shaft 53 to drive both the linkage member 55 and the self-cleaning member 51 to rotate to their initial positions. In this manner, the self-cleaning member 51 is easily reset to its initial position, eliminating the need for additional components. Consequently, the structure of the self-cleaning assembly 50 is relatively simple. Furthermore, the self-cleaning member 51 automatically resets, eliminating the need for manual operation by the user, providing a superior user experience.

[0173] In another embodiment, one end of the first return member 57 is connected to the self-cleaning member 51, and the other end is connected to the mounting base 10. When the wiping member 31 rotates in the second direction R2, dirt on the wiping member 31 is scraped off by the self-cleaning member 51. After the wiping member 31 completes cleaning, it switches to rotating in the first direction R1 to continue cleaning the surface. During the process of switching from the second direction R2 to the first direction R1, the first return member 57 drives the self-cleaning member 51 back to its initial position. The self-cleaning member 51 transmits a steering force to the connecting shaft 53, which in turn transmits the steering force to the linkage member 55. The connecting shaft 53 then drives the linkage member 55 and the self-cleaning member 51 to rotate together to their initial positions. In this case, the method for returning the self-cleaning member 51 to its initial position is relatively simple, without the need for additional components, and the structure of the self-cleaning assembly 50 is relatively simple. Moreover, the self-cleaning member 51 can be automatically reset, eliminating the need for manual operation by the user, providing a better user experience.

[0174] Please refer to Figures 5 to 7. In some embodiments, the linkage member 55 includes at least one linkage portion 551, and at least one linkage portion 551 is sleeved on the connecting shaft 53. The self-cleaning member 51 includes at least one connecting portion 511 and a self-cleaning portion 513 bent and extended from the connecting portion 511. The connecting portion 511 is sleeved on the connecting shaft 53, and one linkage portion 551 is arranged adjacent to at least one connecting portion 511. The linkage portion 551 and the self-cleaning portion 513 both extend toward the wiping member 31.

[0175] Specifically, the linkage portion 551 is configured to contact the wiping member 31 and transmit steering force to the connecting shaft 53 and the self-cleaning member 51. One end of the linkage portion 551 is sleeved onto the connecting shaft 53, while the other end contacts the wiping member 31. The number of linkage portions 551 can be, but is not limited to, one, two, three, four, or more. If there is only one linkage portion 551, its width in the width direction X of the wiping member 31 can be the same as the width of the wiping member 31. In this case, the linkage portion 551 can stably transmit steering force to the connecting shaft 53 and the self-cleaning member 51 during rotation of the wiping member 31. The width of the linkage portion 551 can also be smaller than the width of the wiping member 31. In this case, the linkage portion 551 can save material for the linkage portion 551 and reduce the weight of the cleaning robot 1000, making it easier to carry. If there are multiple linkage portions 551, the multiple linkage portions 551 can be evenly or unevenly sleeved onto the connecting shaft 53 and contact the wiping member 31. During the rotation of the wiping member 31 , the plurality of linkage parts 551 can simultaneously transmit the steering force to the connecting shaft 53 and the self-cleaning member 51 .

[0176] The connecting portion 511 is configured to connect to the connecting shaft 53, while the self-cleaning portion 513 is configured to clean the wiping member 31. The self-cleaning portion 513 extends and curves from the connecting portion 511 toward the wiping member 31. When the wiping member 31 rotates in the second direction R2, the end of the self-cleaning portion 513 contacts the wiping member 31 to a depth within a second predetermined range, allowing the self-cleaning portion 513 to scrape dirt off the wiping member 31.

[0177] The number of connecting portions 511 can be, but is not limited to, one, two, three, four, or more. The number of self-cleaning portions 513 is the same as the number of connecting portions 511. If there is only one connecting portion 511, there is also only one self-cleaning portion 513. Preferably, in the width direction X of the wiping member 31, the width of the self-cleaning portion 513 is greater than or equal to the width of the wiping member 31, so that the cleaning portion can fully contact the wiping member 31 to scrape away dirt from the wiping member 31. In this case, the self-cleaning portion 513 effectively cleans the wiping member 31. If there are multiple connecting portions 511, there are also multiple self-cleaning portions 513. Preferably, the width of the plurality of self-cleaning portions 513 is greater than or equal to the width of the wiping member 31, and there is no gap between adjacent self-cleaning portions 51, so that in the width direction X of the wiping member 31, the self-cleaning portions 513 can fully contact the wiping member 31 to scrape off the dirt on the wiping member 31, and the self-cleaning portions 513 have a better cleaning effect on the wiping member 31.

[0178] In the cleaning robot 1000 of the disclosed embodiment, both the mopping assembly 30 and the self-cleaning assembly 50 are mounted on the mounting base 10. The self-cleaning assembly 50 can clean the mopping assembly 30, and the relative positions of the self-cleaning assembly 50 and the mopping assembly 30 remain substantially unchanged. Compared to cleaning robots of the related art, the self-cleaning assembly 50 of the disclosed embodiment has a smaller matching error when cleaning the mopping assembly 30, resulting in a better cleaning effect of the self-cleaning assembly 50 on the mopping assembly 30.

[0179] Referring to Figures 1 to 10, in a third aspect, an embodiment of the present disclosure provides a cleaning robot 1000, which includes a body 300. The body 300 is provided with a driving wheel 400, and the driving wheel 400 is used to provide driving power to drive the body 300 to move. The cleaning robot 1000 also includes a mopping assembly 30 and a self-cleaning member 51. The mopping assembly 30 includes a mounting seat 10 and a mopping member 31 mounted on the mounting seat 10. The mounting seat 10 is movably mounted on the body 300, and the mopping member 31 can rotate relative to the mounting seat 10. The self-cleaning member 51 is provided on the mounting seat 10, and the self-cleaning member 51 is movably connected to the mounting seat 10 and is constructed to be able to move relative to the mopping member 31 to switch between a first state and a second state. In a first state, the scraping end 510 of the self-cleaning member 51 is spaced apart from and not in contact with the rubbing member 31, or is in contact with the rubbing member 31 with a first interference fit. In a second state, the scraping end 510 of the self-cleaning member 51 abuts the rubbing member 31 with a second interference fit, where the first interference fit is smaller than the second interference fit. A flexible barrier 37 is connected between the scraping end 510 of the self-cleaning member 51 and the mounting seat 10 to prevent foreign matter from entering the connecting end 512 of the self-cleaning member 51.

[0180] In some embodiments, when the self-cleaning member 51 is in the first state or the second state relative to the wiping member 31 , the blocking member 37 blocks the gap between the wiping member 31 and the self-cleaning member 51 .

[0181] In some embodiments, the self-cleaning member 51 and the blocking member 37 are formed together through a laminating process.

[0182] In some embodiments, when the self-cleaning member 51 is in a first state relative to the wiping member 31, the blocking member 37 is unfolded and in contact with the wiping member 31; when the self-cleaning member 51 is in a second state relative to the wiping member 31, the blocking member 37 is folded and at least partially not in contact with the wiping member 31.

[0183] In some embodiments, the cleaning robot 1000 further includes a soft rubber fixing member 38 , and one end of the blocking member 37 is connected to the mounting base 10 via the soft rubber fixing member 38 .

[0184] Specifically, in some embodiments, the soft rubber fixing member 38 includes a fixing bar 381, a positioning portion 383, a first fixing portion 385, and a second fixing portion 387, all provided on the fixing bar 381. The fixing bar 381 is located below the mounting base 10. The positioning portion 383, the first fixing portion 385, and the second fixing portion 387 are arranged at intervals along the length of the fixing bar 381. One end of the blocking member 37 is positioned on the fixing bar 381 by the positioning portion 383 and is clamped and fixed between the fixing bar 381 and the mounting base 10. The fixing bar 381 is connected to the mounting base 10 via the first fixing portion 385 and / or the second fixing portion 387.

[0185] For the explanation of the above content, please refer to the explanation in the cleaning robot 1000 of the first aspect, which will not be repeated here.

[0186] Please refer to Figures 1 to 10. In a fourth aspect, an embodiment of the present disclosure provides a cleaning robot 1000. The cleaning robot 1000 includes a body 300 and a cleaning module 100.

[0187] The body 300 is provided with a driving wheel 400 for driving the body 300. The body 300 is also provided with a dust collecting chamber 301, which is used to accommodate a dust collecting container, which is used to accommodate dry garbage, or the dust collecting chamber 301 is used to accommodate dry garbage.

[0188] The cleaning module 100 includes a wiping assembly 30 and a self-cleaning assembly 50. The wiping assembly 30 includes a mounting base 10 and a wiping member 31 mounted on the mounting base 10. The wiping member 31 can rotate relative to the mounting base 10. The self-cleaning member 51 is movably connected to the mounting base 10 and is constructed to be able to move relative to the wiping member 31 to switch between a first state and a second state. In the first state, the scraping end 510 of the self-cleaning member 51 does not contact the wiping member 31 or contacts it with a first interference fit. In the second state, the scraping end 510 of the self-cleaning member 51 abuts the wiping member 31 with a second interference fit, and the first interference fit is smaller than the second interference fit.

[0189] The body 300 is provided with a force-applying portion for abutting against the connecting portion 511 of the self-cleaning member 51. The wiping assembly 30 can move between a lowered position and a raised position relative to the body 300. The wiping assembly 30 moves from the lowered position to the raised position relative to the body 300, so that the connecting portion 511 moves toward the force-applying portion to apply a force to the force-applied portion, thereby switching the self-cleaning member 51 from the first state to the second state.

[0190] The force-applying portion is any solid structure on the body 300 , and may be a plane, a protrusion, or a groove, without limitation, as long as it can be used to abut against the connecting portion 511 .

[0191] In some embodiments, when the wiping member 31 is in contact with the surface to be cleaned and rotates relative to the body 300 to wipe the surface to be cleaned, the self-cleaning member 51 is in a first state relative to the wiping member 31; when the wiping member 31 is in a raised position relative to the body 300, the self-cleaning member 51 is in a second state relative to the wiping member 31 to scrape off dirt on the wiping member 31.

[0192] For the explanation of the above content, please refer to the explanation in the cleaning robot 1000 of the first aspect, which will not be repeated here.

[0193] Please refer to Figures 1 to 10. In a fifth aspect, an embodiment of the present disclosure provides a cleaning robot 1000. The cleaning robot 1000 includes a body 300 and a cleaning module 100.

[0194] The body 300 is provided with driving wheels 400 , which are used to provide driving power to drive the body 300 to move forward.

[0195] The cleaning module 100 includes a wiping assembly 30 and a self-cleaning member 51. The wiping assembly 30 includes a mounting base 10 and a wiping member 31 mounted on the mounting base 10. The wiping member 31 can rotate relative to the mounting base 10. The self-cleaning member 51 is movably connected to the mounting base 10 and is configured to be able to move relative to the wiping member 31 to switch between a first state and a second state. In the first state, the scraping end 510 of the self-cleaning member 51 does not contact the wiping member 31 or contacts it with a first interference fit. In the second state, the scraping end 510 of the self-cleaning member 51 abuts the wiping member 31 with a second interference fit, and the first interference fit is smaller than the second interference fit.

[0196] Among them, when the cleaning robot 1000 is in the mopping mode, the self-cleaning member 51 is in the first state relative to the wiping member 31; when the cleaning robot 1000 is in the non-mopping mode, the self-cleaning member 51 is in the second state relative to the wiping member 31, and the wiping member 31 rotates relative to the body 300 and the self-cleaning member 51, so that the self-cleaning member 51 scrapes off the dirt on the wiping member 31.

[0197] In some embodiments, when the wiping member 31 is in contact with the surface to be cleaned and rotates relative to the mounting base 10 and the body 300 to wipe the surface to be cleaned, the self-cleaning member 51 is in a first state relative to the wiping member 31; when the wiping member 31 is in a raised position relative to the body 300, the self-cleaning member 51 is in a second state relative to the wiping member 31, and the wiping member 31 rotates relative to the body 300 and the self-cleaning member 51, so that the self-cleaning member 51 scrapes off the dirt on the wiping member 31.

[0198] For the explanation of the above content, please refer to the explanation in the cleaning robot 1000 of the first aspect, which will not be repeated here.

[0199] Please refer to Figure 13. In the sixth aspect, the embodiment of the present disclosure further provides a base station 3000 for use with the cleaning robot 1000 described in any of the above embodiments. The base station 3000 includes a docking position for accommodating the cleaning robot 1000.

[0200] Continuing with Figure 13 , the seventh aspect of the present disclosure further provides a cleaning system 10000 , comprising a base station 3000 and a cleaning robot 1000 according to any of the aforementioned embodiments. The cleaning system 10000 is a device for cleaning a surface to be cleaned. The cleaning system 10000 of the present disclosure can automatically clean the surface to be cleaned, automatically clean the mopping member 31 , and perform other functions such as charging, effectively freeing the user's hands and providing a better user experience.

[0201] In the cleaning system 10000 of the disclosed embodiment, both the mopping assembly 30 and the self-cleaning assembly 50 are mounted on the mounting base 10. The self-cleaning assembly 50 can clean the mopping assembly 30, and the relative positions of the self-cleaning assembly 50 and the mopping assembly 30 remain essentially unchanged. Compared to cleaning robots in the related art, the self-cleaning assembly 50 of the disclosed embodiment has a smaller matching error when cleaning the mopping assembly 30, and the self-cleaning assembly 50 has a better cleaning effect on the mopping assembly 30. Furthermore, the cleaning module 100 of the disclosed embodiment does not require a wastewater recovery system, and users do not need to maintain a wastewater recovery system. Furthermore, the base station 3000 does not need a complex cleaning tank. The self-cleaning element 51 directly scrapes dirt off the mopping element 31 into a designated wastewater discharge location or a relatively simple groove within the base station. This is convenient and simple, improving the cleaning efficiency of the mopping element 31 and enhancing the user experience.

[0202] The technical features of the above-described embodiments may be combined in any manner. To simplify the description, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as there are no conflicts in the combination of these technical features, they should be considered to be within the scope of this specification. Furthermore, other implementations can be derived from the above-described embodiments, allowing for structural and logical substitutions and changes without departing from the scope of this disclosure.

[0203] The above-described embodiments merely represent several implementation methods of the present disclosure. While the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the patent. It should be noted that a person of ordinary skill in the art may make various modifications and improvements without departing from the spirit of the present disclosure, all of which fall within the scope of protection of the present disclosure. Therefore, the scope of protection of the patent disclosed herein shall be determined by the appended claims.

Claims

1. A cleaning robot, comprising a body, wherein the body is provided with a driving wheel, the driving wheel being used to provide driving power to drive the body forward; wherein: The cleaning robot also includes: A wiping assembly includes a mounting base and a wiping member mounted on the mounting base, wherein the mounting base is movably mounted on the fuselage, and the wiping member is rotatable relative to the mounting base; a self-cleaning member movably connected to the mounting seat and configured to be movable relative to the wiping member to switch between a first state and a second state, wherein in the first state, the scraping end of the self-cleaning member is spaced from and does not contact the wiping member or contacts the wiping member with a first interference fit, and in the second state, the scraping end of the self-cleaning member abuts the wiping member with a second interference fit, the first interference fit being smaller than the second interference fit; and a control device for controlling the operating mode of the mopping assembly; wherein, when the mopping assembly is in the mopping mode, the mopping member contacts the surface to be cleaned, the control device controls the mopping member to rotate relative to the mounting base and the body to mop the surface to be cleaned, and the self-cleaning member is in the first state relative to the mopping member; When the mop assembly is in the mop cleaning mode, the self-cleaning member is in the second state relative to the mop, and the control device controls the mop to rotate relative to the self-cleaning member so that the self-cleaning member scrapes off dirt on the mop.

2. The cleaning robot according to claim 1, wherein: The body is provided with a dust collecting chamber, the dust collecting chamber is used to accommodate a dust collecting container, the dust collecting container is used to accommodate dry garbage, or the dust collecting chamber is used to accommodate dry garbage; The rotation axis of the wiping member is parallel to the surface to be cleaned; The rubbing member includes a track-type rubbing member and / or a roller-type rubbing member.

3. The cleaning robot according to claim 1, wherein: The drag and wiping assembly is configured to be movable between a lowered position and a raised position relative to the body. When the drag and wiping assembly is in a drag and wiping member cleaning mode, the control device controls the drag and wiping assembly to be in the raised position relative to the body.

4. The cleaning robot according to claim 1, wherein: The wiping assembly is configured to be movable between a lowered position and a raised position relative to the body, and the control device is further configured to control the wiping assembly to move from the lowered position to the raised position relative to the body, thereby switching the self-cleaning member from the first state to the second state relative to the wiping member.

5. The cleaning robot according to any one of claims 1 to 4, wherein: The self-cleaning member is further connected to an operating member, which is used to adjust the relative position of the self-cleaning member and the wiping member so that the self-cleaning member switches from the first state to the second state relative to the wiping member.

6. The cleaning robot according to claim 5, wherein: The self-cleaning member is rotatably connected to the mounting seat. The self-cleaning member is driven by the operating member to rotate relative to the mounting seat and switch between the first state and the second state.

7. The cleaning robot according to claim 6, wherein: The operating member is provided on an end of the self-cleaning member opposite to the scraping end and exposed from the mounting seat. When the wiping assembly can move from a lowered position to a raised position relative to the body, the body contacts the operating member and applies force to the operating member, so that the operating member drives the self-cleaning member to rotate and switch from the first state to the second state.

8. The cleaning robot according to claim 6, wherein: The cleaning robot also includes: a driving member and a controller arranged on the mounting base and / or the body, the operating member is connected to the driving member, the driving member is connected to the controller signal, and is used to respond to the control signal of the controller to drive the operating member to drive the self-cleaning member to rotate to adjust the relative position of the self-cleaning member and the wiping member.

9. The cleaning robot according to claim 7 or 8, wherein: The self-cleaning member is further connected with: a connecting shaft, through which the self-cleaning member is rotatably mounted on the mounting seat; and a first restoring member, sleeved on the connecting shaft, one end of the first restoring member being connected to the self-cleaning member, and the other end of the first restoring member being connected to the mounting seat; When the mopping assembly is in the mopping mode, the first restoring member is compressed. During the process of the mopping assembly moving from a lowered position to a raised position relative to the body, the first restoring member is used to restore the self-cleaning member to an initial position, thereby placing the self-cleaning member in the first state.

10. The cleaning robot according to claim 1, wherein: The wiping assembly is configured to be movable relative to the body between a lowered position and a raised position; When the cleaning robot moves on the surface to be cleaned and the wiping assembly is in the raised position, the self-cleaning member is in the second state relative to the wiping member, and the control device controls the wiping member not to rotate; When the cleaning robot is docked with the base station and the wiping assembly is in the raised position, the self-cleaning member is in the second state relative to the wiping member, and the wiping member rotates to scrape off dirt on the wiping member.

11. The cleaning robot according to claim 1, wherein: When the mopping assembly is in the mopping mode, the wiping member rotates in a first direction; when the mopping assembly is in the mopping member cleaning mode, the wiping member rotates in a second direction; the first direction is opposite to the second direction; when the wiping member rotates along the second direction, the scraping end of the self-cleaning member tends to approach the wiping member.

12. The cleaning robot according to claim 11, wherein: When the cleaning robot is moving, the first direction is opposite to the rotation direction of the driving wheel.

13. The cleaning robot according to claim 11, wherein: The self-cleaning member is further connected with: a connecting shaft, through which the self-cleaning member is rotatably mounted on the mounting seat; and The linkage member and the self-cleaning member are both arranged on the connecting shaft, and the linkage member always keeps in contact with the wiping member.

14. The cleaning robot according to claim 13, wherein: The contact depth between the linkage member and the wiping member is smaller than the contact depth between the self-cleaning member and the wiping member when the wiping member is cleaned.

15. The cleaning robot according to claim 13, wherein: When the wiping member rotates along the first direction, the self-cleaning member is in an initial position relative to the wiping member; the self-cleaning member is further connected to: A first reset member is sleeved on the connecting shaft, one end of the first reset member is connected to the linkage member or the self-cleaning member, and the other end of the first reset member is connected to the mounting seat. The first reset member is used to reset the self-cleaning member to the initial position.

16. The cleaning robot according to claim 15, wherein: The first reset member is used to enable the connecting shaft to drive the self-cleaning member to reset to the initial position when the wiping member switches from rotating along the second direction to rotating along the first direction.

17. The cleaning robot according to claim 15, wherein: The first restoring member includes a torsion spring, When the wiping member rotates in the second direction, the torsion spring is compressed, and the self-cleaning member contacts the wiping member to clean the wiping member; When the wiping member rotates along the first direction, the torsion spring is in a natural state.

18. The cleaning robot according to claim 13, wherein: The linkage member includes at least one linkage portion, and at least one linkage portion is sleeved on the connecting shaft. The self-cleaning member includes at least one connecting portion and a self-cleaning portion bent and extended from the connecting portion. The connecting portion is sleeved on the connecting shaft, and one linkage portion is arranged adjacent to at least one connecting portion. The linkage portion and the self-cleaning portion both extend toward the wiping member.

19. The cleaning robot according to claim 18, wherein: The linkage portion is spaced apart from the self-cleaning portion, and in the height direction of the cleaning robot, the self-cleaning portion is closer to the surface to be cleaned than the linkage portion.

20. The cleaning robot according to claim 18, wherein: The self-cleaning portion includes bristles and a scraping strip.

21. The cleaning robot according to any one of claims 1 to 20, wherein: The wiping member is a crawler-type wiping member, and the wiping assembly includes a first roller and a second roller. The wiping member is installed on the first roller and the second roller. When the wiping member rotates along the second direction, the wiping member is located between the self-cleaning member and the first roller, or between the self-cleaning member and the second roller.

22. The cleaning robot according to any one of claims 1 to 20, wherein: The wiping member is a crawler-type wiping member, and the wiping assembly includes a first roller and a second roller. The wiping member is installed on the first roller and the second roller. The first roller includes a first contact side, and the first contact side contacts the wiping member. The second roller includes a second contact side, and the second contact side contacts the wiping member. The self-cleaning member is arranged on the side where the first contact side is located or the side where the second contact side is located.

23. The cleaning robot according to any one of claims 1 to 22, wherein: The wiping assembly is movable along the width direction of the body so that at least a portion of the wiping assembly moves out of the body.

24. The cleaning robot according to any one of claims 1 to 23, wherein: The mopping assembly further comprises: a flexible blocking member, one end of which is connected to the scraping end of the self-cleaning member, and the other end of which is connected to the mounting seat; When the self-cleaning member is in the first state or the second state relative to the wiping member, the blocking member blocks dirt on the wiping member from moving toward the gap between the self-cleaning member and the mounting seat.

25. The cleaning robot according to claim 24, wherein: The self-cleaning member and the blocking member are formed together through a laminating process.

26. The cleaning robot according to claim 24, wherein: When the self-cleaning member is in the first state relative to the wiping member, the blocking member is unfolded and in contact with the wiping member; When the self-cleaning member is in the second state relative to the wiping member, the blocking member is folded and at least partially does not fit in with the wiping member.

27. The cleaning robot according to claim 24, wherein: The cleaning robot also includes: A soft rubber fixing piece, one end of the blocking piece is connected to the mounting seat through the soft rubber fixing piece.

28. The cleaning robot according to claim 27, wherein: The soft rubber fixing member includes: a fixing bar located below the mounting base; and A positioning portion, a first fixing portion, and a second fixing portion are provided on the fixing bar, and the positioning portion, the first fixing portion, and the second fixing portion are arranged at intervals along the length direction of the fixing bar. One end of the blocking member is positioned on the fixing bar through the positioning portion and is clamped and fixed between the fixing bar and the mounting seat. The fixing bar is connected to the mounting seat through the first fixing portion and / or the second fixing portion.

29. The cleaning robot according to any one of claims 1 to 28, wherein: The end surface of the scraping end is in an arc shape protruding toward the wiping member.

30. A cleaning robot, comprising a body, wherein the body is provided with a driving wheel, the driving wheel being used to provide driving power to drive the body forward; wherein: The cleaning robot comprises: A wiping assembly includes a mounting base and a wiping member mounted on the mounting base, wherein the mounting base is movably mounted on the fuselage, and the wiping member is rotatable relative to the mounting base; a self-cleaning member disposed on the mounting seat, the self-cleaning member being movably connected to the mounting seat and configured to be movable relative to the wiping member to switch between a first state and a second state, wherein in the first state, the scraping end of the self-cleaning member is spaced from and does not contact the wiping member or contacts the wiping member with a first interference fit, and in the second state, the scraping end of the self-cleaning member abuts the wiping member with a second interference fit, the first interference fit being smaller than the second interference fit; A flexible blocking member is connected between the scraping end of the self-cleaning member and the mounting seat, and the blocking member is used to prevent foreign matter from entering the connecting end of the self-cleaning member.

31. The cleaning robot according to claim 30, wherein: When the self-cleaning member is in the first state or the second state relative to the wiping member, the blocking member blocks the gap between the wiping member and the self-cleaning member.

32. The cleaning robot according to claim 30, wherein: The self-cleaning member and the blocking member are formed together through a laminating process.

33. The cleaning robot according to claim 30, wherein: When the self-cleaning member is in the first state relative to the wiping member, the blocking member is unfolded and in contact with the wiping member; When the self-cleaning member is in the second state relative to the wiping member, the blocking member is folded and at least partially does not fit in with the wiping member.

34. The cleaning robot according to claim 30, wherein: The cleaning robot also includes: A soft rubber fixing piece, one end of the blocking piece is connected to the mounting seat through the soft rubber fixing piece.

35. The cleaning robot according to claim 34, wherein: The soft rubber fixing member includes: a fixing bar located below the mounting base; and A positioning portion, a first fixing portion, and a second fixing portion are provided on the fixing bar, and the positioning portion, the first fixing portion, and the second fixing portion are arranged at intervals along the length direction of the fixing bar. One end of the blocking member is positioned on the fixing bar through the positioning portion and is clamped and fixed between the fixing bar and the mounting seat. The fixing bar is connected to the mounting seat through the first fixing portion and / or the second fixing portion.

36. A cleaning robot, wherein: include: The body is provided with a driving wheel for driving the body to move forward, the body is provided with a dust collecting chamber, the dust collecting chamber is used to accommodate a dust collecting container, the dust collecting container is used to accommodate dry garbage, or the dust collecting chamber is used to accommodate dry garbage; and A cleaning module includes a wiping assembly and a self-cleaning assembly, wherein the wiping assembly includes a mounting seat and a wiping member mounted on the mounting seat, wherein the wiping member is rotatable relative to the mounting seat, and the self-cleaning member is movably connected to the mounting seat and is configured to be movable relative to the wiping member to switch between a first state and a second state, wherein in the first state, the scraping end of the self-cleaning member does not contact the wiping member or contacts the wiping member with a first interference, and in the second state, the scraping end of the self-cleaning member abuts the wiping member with a second interference, wherein the first interference is smaller than the second interference; The body is provided with a force-applying portion for abutting against the connecting portion of the self-cleaning member, and the wiping assembly can move between a lowered position and a raised position relative to the body. The wiping assembly moves from the lowered position to the raised position relative to the body, so that the connecting portion moves toward the force-applying portion until a force is applied by the force-applying portion, thereby switching the self-cleaning member from the first state to the second state.

37. The cleaning robot according to claim 36, wherein: When the wiping member is in contact with the surface to be cleaned and rotates relative to the body to wipe the surface to be cleaned, the self-cleaning member is in the first state relative to the wiping member; When the wiping member is in a raised position relative to the body, the self-cleaning member is in a second state relative to the wiping member to scrape off dirt on the wiping member.

38. A cleaning robot, wherein: include: The fuselage is provided with a driving wheel, wherein the driving wheel is used to provide driving power to drive the fuselage forward; and A cleaning module includes a wiping assembly and a self-cleaning member, the wiping assembly including a mounting seat and a wiping member mounted on the mounting seat, the wiping member being rotatable relative to the mounting seat, the self-cleaning member being movably connected to the mounting seat and configured to be movable relative to the wiping member to switch between a first state and a second state, wherein in the first state, the scraping end of the self-cleaning member is not in contact with the wiping member or is in contact with the wiping member with a first interference, and in the second state, the scraping end of the self-cleaning member abuts against the wiping member with a second interference, the first interference being smaller than the second interference; Wherein, when the cleaning robot is in the mopping mode, the self-cleaning member is in the first state relative to the mopping member; When the cleaning robot is in a non-mopping mode, the self-cleaning member is in a second state relative to the mopping member, and the mopping member rotates relative to the body and the self-cleaning member so that the self-cleaning member scrapes off dirt on the mopping member.

39. The cleaning robot according to claim 38, wherein: When the wiping member is in contact with the surface to be cleaned and rotates relative to the mounting base and the body to wipe the surface to be cleaned, the self-cleaning member is in the first state relative to the wiping member; When the wiping member is in a raised position relative to the body, the self-cleaning member is in a second state relative to the wiping member, and the wiping member rotates relative to the body and the self-cleaning member so that the self-cleaning member scrapes off dirt on the wiping member.

40. A cleaning system, wherein: include: base stations; and The cleaning robot according to any one of claims 1 to 39.

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