Cleaning robot

Abstract

A cleaning robot, comprising: a body, having a transverse central axis (N) and a longitudinal central axis (M); a driving wheel assembly (4), arranged on the body; a dust suction cleaning device (6), comprising a dust box assembly (61), a dust suction fan assembly (62), and a dust discharge channel assembly (63), wherein the dust discharge channel assembly (63) has a first end connected to the dust box assembly (61) and a second end extending to the rear end of the body; a mopping module (8), wherein the mopping module (8) is arranged on the rear side of the dust box assembly (61), the mopping module (8) is movably connected to the body, and along the transverse central axis (N), a mopping assembly (83) in the mopping module (8) can extend outward from one side of the body relative to the body; and a water system (7), connected to the mopping assembly (83). Along the transverse central axis (N), the dust discharge channel assembly (63) is located on the side opposite to the extension direction of the mopping assembly (83). The mopping assembly (83) is arranged along the transverse direction of the body, and the dust discharge channel assembly (63) is arranged on one side of the mopping assembly (83), so that the requirement of arranging the sufficiently long mopping assembly (83) on the body is satisfied, and the lateral space adjacent to the mopping assembly (83) can also be fully utilized.

Description

Cleaning robot

[0001] Cross-reference to related applications

[0002] This application refers to the following Chinese patent applications, which are incorporated by reference in their entirety. TECHNICAL FIELD

[0003] The present application relates to the technical field of cleaning equipment, in particular to a cleaning robot. BACKGROUND

[0004] In order to realize simultaneous dusting and mopping, a cleaning robot is usually provided with a dusting device and a mop-washing device. After the dusting device has finished dusting the ground, the mop-washing device will mop and wash the ground. In order to meet the requirement of continuous cleaning operation of the cleaning robot, a dust box is also provided on the cleaning robot. The garbage sucked by the dusting device is temporarily stored in the dust box. When the cleaning robot returns to the base station, the base station can be connected to the dust discharging port on the cleaning robot, and the garbage in the dust box can be discharged into the base station through the dust discharging port.

[0005] In the prior art, when the cleaning robot enters the base station, the tail end faces forward, and the cleaning robot enters the base station in a backward manner. When the dust in the dust box is discharged, the dust is discharged through the dust discharging channel on the tail end. However, the cleaning robot has a transversely arranged roller on the rear side. Therefore, it is urgent to solve the problem of how to arrange the dust discharging channel without affecting the length of the roller.

[0006] SUMMARY

[0007] In view of the above problems, the present application is proposed to solve the above problems or at least partially solve the above problems.

[0008] In an embodiment of the present application, a cleaning robot is provided. The cleaning robot comprises:

[0009] a base having a transverse central axis and a vertical central axis;

[0010] a driving assembly arranged on the base corresponding to the transverse central axis, for driving the base to move forward;

[0011] a dusting cleaning system comprising a dust box assembly, a dusting fan assembly and a dust discharging channel assembly, the dust box assembly being arranged at a middle position of the base, the dusting fan assembly being connected to one side of the dust box assembly, the first end of the dust discharging channel assembly being connected to the dust box assembly, and the second end extending to the rear end of the base;

[0012] The mop module is arranged on the rear side of the dust box assembly along the front-rear direction of the vertical middle axis. The mop device is movably connected to the base along the transverse middle axis, and can extend outward from one side of the base relative to the base.

[0013] The water system is connected to the mop module, and is used for providing cleaning liquid for the mop module and collecting sewage delivered by the mop module.

[0014] The dust discharging channel assembly is located on one side of the mop module along the transverse middle axis.

[0015] Optionally, the dust suction fan assembly and the dust discharging channel assembly are respectively located on two sides of the dust box assembly along the length direction of the dust box assembly.

[0016] The dust suction fan assembly and the dust discharging channel assembly are respectively located on two sides of the vertical middle axis.

[0017] Optionally, the rear cover assembly matched with the rear end edge of the base is further arranged on the rear end of the base.

[0018] The rear cover assembly is provided with a dust discharging port, and the second end of the dust discharging channel assembly is connected to the dust discharging port.

[0019] Optionally, the water system comprises a sewage tank, and the sewage tank is arranged on the rear end of the base. The sewage tank is connected to the mop module through a pipeline.

[0020] The sewage tank is symmetrically arranged on the rear end of the base along the vertical middle axis, and the sewage tank is detachably connected to the base.

[0021] Optionally, the outer wall of the sewage tank is an arc-shaped wall matched with the rear end edge of the base. A dismounting port for dismounting the sewage tank is arranged on the rear cover assembly at the position corresponding to the vertical middle line.

[0022] Optionally, the water system further comprises a clean water tank, and the clean water tank is located on one side of the mop module along the transverse middle axis.

[0023] The clean water tank is connected to the mop module through a pipeline to provide cleaning liquid for the mop module.

[0024] Optionally, the mop module is arranged on one side of the base along the transverse middle axis, and the first end of the mop module is located on the edge of the base, and the first end can extend outward relative to the base.

[0025] Optionally, the mop module comprises a mop assembly, a cavity shell and a driving device.

[0026] The base is provided with a roller opening, the cavity shell is arranged on the base, and the cavity opening of the roller accommodating cavity of the cavity shell is arranged corresponding to the roller opening, and the mop washing assembly is connected to the roller accommodating cavity through a driving device;

[0027] The driving device can drive the mop washing assembly to extend, retract, lift and lower relative to the base.

[0028] Optionally, the edge of the roller opening on the outwardly extending side of the mop washing assembly is arc-shaped.

[0029] Optionally, the mop washing assembly comprises a cleaning roller, a dirt removal mechanism and a liquid supply mechanism, a clean water tank is connected to the liquid supply mechanism through a first flexible pipeline to supply cleaning liquid to the cleaning roller, and a sewage tank is connected to the dirt removal mechanism through a second flexible pipeline to collect sewage scraped from the cleaning roller.

[0030] The technical scheme provided by the embodiment of the application is that the mop washing module is arranged along the transverse direction of the chassis, and the dust discharge channel assembly is arranged on one side of the mop washing module, which not only meets the requirement of arranging a mop washing module with sufficient length on the chassis, but also makes full use of the space beside the mop washing module to arrange the dust discharge channel assembly, so that the dust box assembly on the cleaning robot can discharge dust through the dust discharge channel assembly.

[0031] In an embodiment of the application, a cleaning robot is provided. The cleaning robot comprises:

[0032] A body having a transverse central axis and a vertical central axis;

[0033] A driving assembly arranged on the body corresponding to the transverse central axis and used for driving the body to move;

[0034] An outward swing side brush assembly arranged on one side of the front end of the body and capable of swinging outward relative to the body;

[0035] A baffle assembly arranged around the front side of the body, the baffle assembly being provided with a window, and the window comprising a viewing window, the viewing window being asymmetrically distributed along the vertical central axis.

[0036] Optionally, the body of the cleaning robot has a center of symmetry, along the center of symmetry, the viewing window is divided into a first viewing window and a second viewing window, and the first viewing window and the second viewing window are respectively arranged on the left and right sides of the center of symmetry.

[0037] Optionally, along the center line of symmetry, the body of the cleaning robot is divided into a skirting cleaning side and a non-skirting cleaning side, the first window and the outer edge brush assembly are located on the skirting cleaning side, and the second window is located on the non-skirting cleaning side.

[0038] The length of the second window is greater than that of the first window, and the field of view angle of the second window is greater than that of the first window.

[0039] Optionally, the cleaning robot further comprises a mop-washing module and a dust cleaning system, and along the front-rear direction of the vertical central axis, the mop-washing module is arranged at the rear side of the dust cleaning system. The mop-washing module is movably connected to the body, and along the direction of the transverse central axis, the mop-washing module can be extended outward from one side of the body.

[0040] Optionally, the cleaning robot further comprises an obstacle avoidance sensor assembly, comprising a sensor module and a sensor bracket, and the sensor module is arranged on the sensor bracket. The sensor bracket is arranged at the front end of the body. The sensor bracket is provided with a recessed space deviated to one side of the vertical central axis, and the sensor module is located in the recessed space.

[0041] Along the direction of the transverse central axis, the sensor bracket and the outer edge brush assembly are sequentially arranged from left to right.

[0042] Corresponding to the recessed space, the opening position of the recessed space corresponds to the position of the window. Along the direction of the vertical central axis, the window is asymmetrically arranged.

[0043] Optionally, the sensor bracket is located at the front side of the dust cleaning system.

[0044] The sensor bracket is a semicircular shape conforming to the front end of the body.

[0045] Optionally, along the direction of the vertical central axis, the sensor bracket is asymmetrically arranged on the upper side of the body.

[0046] The sensor bracket is divided into a left side portion and a right side portion, and the left side portion and the right side portion are asymmetric.

[0047] Optionally, the sensor module comprises a mapping sensor, and the mapping sensor is arranged in the recessed space corresponding to the window. The mapping sensor can map the ground environment in front of the body through the window.

[0048] Optionally, the window further comprises a sensor window, and the sensor window and the window are in communication.

[0049] Optionally, the sensor window is a symmetrical structure based on a center line of symmetry of the cleaning robot body.

[0050] Optionally, the sensor module includes an obstacle avoidance sensor, and the obstacle avoidance sensor is arranged on the sensor support corresponding to the sensor window.

[0051] The detection range of the obstacle avoidance sensor is the area of the front side of the body.

[0052] Optionally, the collision plate assembly is provided with a connecting column that spans the window.

[0053] Optionally, the bottom of the recessed space is provided with a heat dissipation hole.

[0054] Optionally, the heat dissipation hole is arranged at a position corresponding to the second window of the window.

[0055] Optionally, the cleaning robot further includes a drum obstacle avoidance assembly and / or an edge-following sensor, and the drum obstacle avoidance assembly and / or the edge-following sensor are arranged on the edge-following cleaning side.

[0056] The technical scheme provided by the embodiments of the present application is that the sensor support is arranged to the left of the vertical central axis, the sensor support is provided with a recessed space, the sensor module is arranged in the recessed space, the collision plate assembly is provided with a window corresponding to the recessed space, the window is asymmetrically arranged and is arranged to the left of the vertical central axis, and the outer swing edge brush assembly is arranged to the right of the vertical central axis. This arrangement scheme does not affect the monitoring range of the sensor module, and the obstacle avoidance sensor assembly and the outer swing edge brush assembly can be arranged in the narrow area at the front end of the robot body at the same time.

[0057] In an embodiment of the present application, a cleaning robot is provided. The cleaning robot comprises:

[0058] a chassis;

[0059] a shell arranged above the chassis to form a body of the cleaning robot;

[0060] a driving assembly for driving the chassis to travel;

[0061] a cleaning module arranged on the chassis;

[0062] a mainboard assembly arranged in the body;

[0063] an obstacle avoidance sensor assembly comprising a sensor module and a sensor support, the obstacle avoidance sensor assembly being arranged on the chassis, the sensor module being arranged on the sensor support, and a window being arranged on the shell corresponding to the position of the sensor module;

[0064] The sensor support is provided with a heat dissipation hole, the heat dissipation hole is communicated with the inside and outside of the body through the window, and the mainboard assembly is arranged near the heat dissipation hole to dissipate heat for the mainboard assembly.

[0065] Optionally, the cleaning module is movably connected with the chassis, and the cleaning module can extend outward from one side of the chassis relative to the chassis along the transverse central axis of the chassis.

[0066] Optionally, the sensor support has a recessed space, and the sensor module is arranged in the recessed space.

[0067] Along the vertical central axis of the chassis, the heat dissipation hole is located at the bottom of the recessed space deviated from the vertical central axis; and the bottom of the recessed space is provided with a plurality of rows of heat dissipation holes.

[0068] Optionally, along the transverse central axis of the chassis, the heat dissipation holes are spaced apart on one side of the sensor module.

[0069] Optionally, the mainboard assembly comprises a core board and a heat sink, and the heat sink is connected to the core board.

[0070] The heat sink is located in the inside of the body and is arranged corresponding to the heat dissipation hole.

[0071] Optionally, the core board is provided with a shielding cover matched therewith, and the shielding cover can shield the interference of electronic radiation on the core board.

[0072] The shielding cover and the surface of the core board are filled with a heat conductive material.

[0073] Optionally, the bottom surface of the shielding cover is connected with a heat sink, and the shielding cover and the heat sink are provided with a heat conductive material therebetween.

[0074] Optionally, the heat sink is located behind the heat dissipation hole, and when the cleaning robot moves forward, the airflow outside the body can directly blow on the heat sink through the heat dissipation hole.

[0075] Optionally, corresponding to the position of the heat dissipation hole, the side of the sensor support towards the inside of the body is provided with a dustproof and waterproof assembly, and the periphery of the heat sink is provided with a waterproof material.

[0076] Optionally, the cleaning robot further comprises a dust cleaning device, and the sensor support is located at the front side of the dust cleaning device along the longitudinal central axis of the chassis.

[0077] The sensor support is a semicircle shape conforming to the front end of the chassis.

[0078] Optionally, along the vertical center axis of the chassis, the sensor support is asymmetrically arranged on the upper side of the chassis, and the mop-washing assembly is arranged on the right side of the vertical center axis.

[0079] Optionally, a baffle plate assembly is further arranged on the front side of the sensor support.

[0080] A window is arranged on the baffle plate assembly corresponding to the opening of the recessed space on the sensor support.

[0081] Optionally, the mainboard assembly is arranged above the dust cleaning device.

[0082] Optionally, a gap space is arranged between the dust cleaning device and the sensor support, the gap space is arranged behind the heat dissipation hole, and the heat dissipation fin on the mainboard assembly is arranged corresponding to the gap space.

[0083] Optionally, the core board is arranged on the rear side of the recessed space on the sensor support, and a projection area of the core board on a vertical plane where the transverse center axis of the chassis is located is located in a projection area of the recessed space on the vertical plane.

[0084] In another embodiment of the present application, a cleaning robot is further provided, comprising:

[0085] a chassis;

[0086] a housing arranged above the chassis to form a body of the cleaning robot;

[0087] a driving assembly for driving the chassis to move;

[0088] a cleaning module arranged on the chassis;

[0089] a mainboard assembly arranged in the body;

[0090] wherein a window is arranged on the housing along the moving direction of the cleaning robot, the window is concave to form a wall surface, the wall surface is provided with a heat dissipation hole, the heat dissipation hole is connected to the inside and outside of the body through the window, and the mainboard assembly is arranged near the heat dissipation hole to dissipate heat for the mainboard assembly.

[0091] The technical scheme provided by the embodiment of the present application, the sensor support is provided with a heat dissipation hole, external air flow can enter the body through the heat dissipation hole to actively dissipate heat for the mainboard assembly, when the cleaning robot moves forward, the heat dissipation can be realized by facing the wind, even if the robot is in a stationary state, the heat dissipation fin can also conduct most of the heat of the mainboard assembly to the heat dissipation hole, and finally realize the convection heat exchange with the air, the heat dissipation effect is good, and the mainboard assembly is not easy to overheat.

[0092] In one embodiment of the present application, a cleaning robot is provided. The cleaning robot comprises:

[0093] a body having a transverse central axis and a vertical central axis;

[0094] a driving assembly arranged on the body corresponding to the transverse central axis, for driving the body to move;

[0095] a cleaning module movably connected to the body, and capable of extending outward from one side of the body along the direction of the transverse central axis;

[0096] an obstacle avoidance assembly arranged on the body at the same side as the direction in which the cleaning module extends.

[0097] Optionally, the cleaning robot further comprises an obstacle avoidance sensor assembly arranged on the front side of the body along the length direction of the body.

[0098] When the cleaning robot moves, the data detected by the obstacle avoidance sensor assembly and the obstacle avoidance assembly are fused with each other, and a mainboard assembly on the body controls the cleaning robot to avoid obstacles or to clean around the obstacles or to clean along the wall based on the fused data.

[0099] Optionally, the obstacle avoidance sensor assembly comprises a first line laser sensor, and the obstacle avoidance assembly comprises a second line laser sensor.

[0100] The monitoring range of the first line laser sensor is a horizontal downward area in front of the cleaning robot, and the monitoring range of the second line laser sensor is a vertical area on the side where the cleaning module extends.

[0101] Optionally, the obstacle avoidance assembly is capable of measuring the height information of obstacles, and based on the height information of obstacles, the mainboard assembly on the body controls the cleaning module to extend or retract to avoid the obstacles.

[0102] Optionally, the obstacle avoidance assembly is arranged on the front side or the rear side of the mop-washing device, and the detection range of the obstacle avoidance assembly is inclined towards the front of the cleaning module and / or the rear of the cleaning module.

[0103] Optionally, the field of view angle of the second line laser sensor is smaller than the field of view angle of the first line laser sensor, and the field of view angle of the second line laser sensor is inclined towards the front side of the cleaning robot.

[0104] Optionally, the obstacle avoidance sensor assembly comprises a sensor module and a sensor support, and the sensor module is arranged on the sensor support.

[0105] The sensor support is a circular arc shape along the vertical central axis and is shaped with the front end of the body.

[0106] Optionally, the sensor support is asymmetrically arranged on the upper side of the body along the vertical central axis.

[0107] Optionally, the obstacle avoidance assembly and the sensor module are arranged on the sensor support, the sensor is arranged on the front side of the sensor support, and the obstacle avoidance assembly is arranged on the side of the sensor support.

[0108] Optionally, the sensor support is provided with a recessed space, and the sensor module can monitor the area in front of the cleaning robot outwardly through the recessed space.

[0109] Optionally, the recessed space is asymmetric along the vertical central axis, and the recessed space is deviated to the left side of the vertical central axis; the recessed space includes a first field of view area and a second field of view area, the projection area of the first field of view area on the vertical plane where the transverse central axis is located is greater than the projection area of the second field of view area, and the second field of view area is deviated to the extension side of the cleaning module.

[0110] Optionally, a heat dissipation hole is arranged in the recessed space deviated to the side opposite to the extension side of the cleaning module.

[0111] Optionally, the cleaning robot further comprises a bumper assembly, the bumper assembly is arranged outside the front end edge of the body, and the bumper assembly can float relative to the body.

[0112] Corresponding to the recessed space, an asymmetric window is arranged on the bumper assembly, and the opening position of the recessed space corresponds to the position of the window.

[0113] Optionally, the sensor module includes a first sensor and a second sensor, the first sensor is arranged in the window, and the second sensor is arranged above the window.

[0114] Optionally, an outer swing side brush assembly is further included, and the direction in which the outer swing side brush assembly swings is the same as the direction of the second field of view area.

[0115] The technical scheme provided by the embodiment of the application is that the drum obstacle avoidance assembly is arranged on the body on the extension side of the mop-washing assembly, the obstacle avoidance sensor assembly is arranged on the front side of the body, the drum obstacle avoidance assembly can jointly detect with the obstacle avoidance sensor assembly, not only the obstacles in front of the cleaning robot can be monitored, but also the obstacle avoidance of the cleaning module is considered, and the collision between the cleaning module and the obstacle is effectively avoided.

[0116] In an embodiment of the application, a cleaning robot is provided. The cleaning robot comprises:

[0117] a body having a transverse center axis and a vertical center axis;

[0118] a drive assembly disposed on the body corresponding to the transverse center axis for driving the body to move;

[0119] a cleaning module movably connected to the body, and capable of extending outward from one side of the body along the transverse center axis;

[0120] a waterway system including a clean water tank disposed on the body at a side of the vertical center axis,

[0121] wherein the clean water tank is located at a side opposite to the side where the cleaning module extends.

[0122] Optionally, the drive assembly includes drive wheels symmetrically distributed along the vertical center axis, the clean water tank is located above one of the drive wheels, and the clean water tank is vertically distributed at two sides of the transverse center axis.

[0123] Optionally, the cleaning system further includes a dust suction cleaning system including a dust box assembly and a dust suction fan assembly, the dust suction fan assembly is located at one side of the dust box assembly along the transverse center axis, and the clean water tank is located at another side of the dust box assembly.

[0124] Optionally, the dust suction cleaning system further includes a floating roller brush assembly, the floating roller brush assembly is located at a front side of the dust box assembly along the vertical center axis, and the floating roller brush assembly is located above the transverse center axis.

[0125] Optionally, the clean water tank, the dust box assembly and the dust suction fan assembly are arranged in sequence from left to right along the transverse center axis.

[0126] The dust box assembly and the dust suction fan assembly are located between two drive wheels of the drive assembly, and the clean water tank is located above one of the drive wheels.

[0127] The clean water tank is located at one side of the floating roller brush assembly.

[0128] Optionally, the cleaning system further includes a dust discharge channel assembly, one end of the dust discharge channel assembly is connected to the dust box assembly, and the other end of the dust discharge channel assembly extends to a rear of the body.

[0129] The dust discharge channel assembly is located on the body at a same side of the clean water tank, and the clean water tank is located above the dust discharge channel assembly.

[0130] Optionally, the dust discharging channel assembly is located on the side opposite to the extension side of the cleaning module along the direction of the transverse middle axis.

[0131] Optionally, the cleaning robot further comprises an outer edge brush assembly arranged at the outer edge of the front side of the machine body.

[0132] The outer edge brush assembly and the clean water tank are located on different sides of the machine body based on the vertical middle axis, and the direction of the outer edge brush assembly outward swinging is the same as the direction of the mop and scrubbing assembly outward extending.

[0133] The clean water tank and the outer edge brush assembly are located on two sides of the vertical middle axis respectively.

[0134] Optionally, the outer edge brush assembly is located on the side of the dust suction cleaning system, and the outer edge brush assembly is located on the front side of the driving assembly.

[0135] Optionally, the cleaning robot further comprises an obstacle avoidance sensor assembly, which comprises a sensor module and a sensor support, and the sensor module is arranged on the sensor support.

[0136] The sensor support is arranged on the front end of the machine body in an inclined manner, and the sensor support is asymmetric based on the vertical middle axis, and most of the sensor support is located on the machine body on the same side as the clean water tank; the clean water tank is located behind the sensor support.

[0137] Optionally, along the length direction of the clean water tank, the end of the front end of the clean water tank is located below the sensor support.

[0138] Optionally, corresponding to the vertical middle axis, the sensor support is further provided with a sensor mounting position, and the sensor module is arranged in the sensor mounting position.

[0139] Optionally, the cleaning robot further comprises a water injection port interface, and the waterway system further comprises a sewage tank; one end of the water injection port interface is connected with the clean water tank through a pipeline, and the other end extends to the rear end of the machine body through the sewage tank.

[0140] Optionally, the water injection port interface is arranged corresponding to the vertical middle axis, and the tank body on the outward side of the sewage tank has a water injection hole.

[0141] Optionally, the capacity of the clean water tank is 1.2 to 2 times larger than the capacity of the sewage tank.

[0142] Optionally, the sewage tank is symmetrically arranged on the rear side of the machine body along the vertical middle axis, and the sewage tank is detachably connected to the machine body.

[0143] The dismounting direction of the sewage tank is upward from the machine body or rearward from the machine body.

[0144] Optionally, the clean water tank is non-dismountably connected to the machine body.

[0145] Optionally, along the transverse middle axis, the cleaning module is arranged on one side of the machine body, and the clean water tank is arranged on the opposite side.

[0146] Optionally, the rear cover assembly is arranged at the rear end of the machine body along the vertical middle axis, and the rear cover assembly is arc-shaped.

[0147] A dismounting opening for the sewage tank is arranged on the rear cover assembly corresponding to the position of the vertical middle line.

[0148] The technical scheme provided by the embodiment of the application arranges the clean water tank on one side of the mop-washing assembly, and the clean water tank is arranged on the opposite side of the mop-washing assembly extending outward, so that the space in the machine body can be fully utilized, the cleaning robot can be designed to be thinner, and the cleaning robot has better passability. Not only can the problem that the machine body is too high to affect the passability due to the arrangement of the clean water tank above the mop-washing assembly be avoided, but also the empty space can be effectively utilized, so that the capacity of the clean water tank is improved.

[0149] In an embodiment of the application, a cleaning robot is provided. The cleaning robot comprises:

[0150] a machine body having a transverse middle axis and a vertical middle axis;

[0151] a driving wheel assembly connected to the machine body and used for driving the machine body to move;

[0152] a dust cleaning device arranged on the machine body, the dust cleaning device comprising a dust box assembly, a dust cleaning fan assembly, and a dust discharge passage assembly, the first end of the dust discharge passage assembly being connected to the dust box assembly, and the second end extending to the rear end of the machine body;

[0153] a mop-washing assembly arranged on the rear side of the dust box assembly along the front-rear direction of the vertical middle axis, the mop-washing assembly being movably connected to the machine body, and the mop-washing assembly being capable of extending outward from one side of the machine body relative to the machine body along the transverse middle axis;

[0154] wherein, along the transverse middle axis, the dust discharge passage assembly is arranged on the opposite side of the mop-washing assembly in the extending direction.

[0155] Optionally, along the transverse middle axis, the dust cleaning fan assembly and the dust box assembly are arranged between the two driving wheels.

[0156] Optionally, the dust suction fan assembly and the dust discharging channel assembly are respectively located at two sides of the dust box assembly along a length direction of the dust box assembly.

[0157] Optionally, the mop-washing assembly is located behind the driving wheel assembly along the vertical central axis.

[0158] Optionally, the driving wheel assembly is surrounded by a front cover shell outside the driving wheel assembly, and the mop-washing assembly is surrounded by a rear cover assembly outside the mop-washing assembly, and a distance between the front cover shell and the rear cover assembly is less than 5 cm.

[0159] Optionally, the rear cover assembly matches an edge of a rear end of the machine body, and the rear cover assembly is arranged on the arc-shaped rear end of the machine body.

[0160] The rear cover assembly is provided with a dust discharging port, and a second end of the dust discharging channel assembly is connected to the dust discharging port.

[0161] Optionally, the dust discharging channel assembly is arranged on the machine body in an inclined manner, and the dust discharging channel assembly is located within an angle range between the mop-washing assembly and the corresponding driving wheel.

[0162] A projection of the cleaning roller in a vertical plane in which the transverse central axis is located at least partially overlaps a projection of the dust discharging channel assembly in the vertical plane in which the transverse central axis is located.

[0163] Optionally, the cleaning robot further comprises a water system connected to the mop-washing assembly, for providing cleaning liquid to the mop-washing assembly and collecting sewage generated by the mop-washing assembly.

[0164] The water system comprises a sewage tank, which is detachably arranged on the rear end of the machine body and connected to the mop-washing assembly through a pipeline.

[0165] Optionally, the water system further comprises a clean water tank, which is located on an opposite side of the mop-washing assembly along the transverse central axis.

[0166] The clean water tank is connected to the mop-washing assembly through a pipeline to provide cleaning liquid to the mop-washing assembly.

[0167] Optionally, the mop-washing assembly is arranged on one side of the machine body along the transverse central axis, and a first end of the mop-washing assembly is located within an edge of the machine body and can be extended outward relative to the machine body.

[0168] Optionally, the mop-washing assembly has a first position, a second position and a lifting position relative to the machine body along the transverse central axis.

[0169] When the mopping assembly is in the first position, the mopping assembly is lowered relative to the main body, and a projection of the mopping assembly on the main body is entirely within the area of the main body; when the mopping assembly is in the second position, the mopping assembly extends outward from a side of the main body; and when the mopping assembly is in the raised position, the mopping assembly is raised relative to the main body.

[0170] In another embodiment of the present application, a cleaning robot is also provided, comprising:

[0171] a main body having a vertical central axis;

[0172] a housing connected to the main body to form a main body of the cleaning robot;

[0173] a drive wheel assembly connected to the main body for driving the main body to move;

[0174] a dust cleaning device provided on the main body, the dust cleaning device comprising a dust box assembly, a dust suction fan assembly, and a dust discharge passage assembly, a first end of the dust discharge passage assembly being connected to the dust box assembly, and a second end extending to a rear end of the main body;

[0175] a mopping assembly along a front-rear direction of the vertical central axis, the mopping assembly being provided at a rear side of the dust box assembly, and the mopping assembly being movably connected to the main body; the mopping assembly being capable of extending outward from a side of the main body relative to the main body;

[0176] wherein one side of the housing has an opening, the mopping assembly being capable of extending outward from the opening, and an outer shell of an outwardly extending end of the mopping assembly being matched in shape with the housing on the side of the opening.

[0177] Optionally, the main body is in a shape of a circular disc, an end cap is provided on an outwardly extending end of the mopping assembly, and a rear side region of the end cap is in a shape of a circular arc matched in shape with the housing on a rear side of the opening.

[0178] a front side of the end cap is provided with a circular arc chamfer.

[0179] In another embodiment of the present application, a cleaning robot is also provided, comprising:

[0180] a main body having a horizontal central axis and a vertical central axis;

[0181] a drive assembly provided on the main body for driving the main body to move;

[0182] The dust cleaning device comprises a dust box assembly and a dust fan assembly, the dust box assembly is arranged on the machine body, and the dust fan assembly is connected to one side of the dust box assembly; the bottom of the dust box assembly is provided with a dust outlet, and the machine body is provided with an opening corresponding to the position of the dust outlet;

[0183] The mop-washing assembly is arranged on the rear side of the dust box assembly along the front-rear direction of the vertical central axis, and the mop-washing assembly is movably connected to the machine body, and the mop-washing assembly can be extended outward from one side of the machine body along the transverse central axis.

[0184] In another embodiment of the present application, a cleaning robot is also provided, comprising:

[0185] The machine body has a transverse central axis and a vertical central axis;

[0186] The driving assembly is arranged on the machine body and used for driving the machine body to move;

[0187] The dust cleaning device comprises a dust box assembly, a dust fan assembly and a floating roller brush assembly, the dust box assembly is arranged on the machine body, and the dust fan assembly is connected to one side of the dust box assembly; the machine body is provided with a roller brush opening, and the floating roller brush assembly is arranged corresponding to the roller brush opening;

[0188] The mop-washing assembly is arranged on the rear side of the dust box assembly along the front-rear direction of the vertical central axis, and the mop-washing assembly is movably connected to the machine body, and the mop-washing assembly can be extended outward from one side of the machine body along the transverse central axis.

[0189] When the dust box assembly needs to be emptied, the garbage in the dust box assembly can be discharged through the roller brush opening.

[0190] The mop-washing assembly is arranged along the transverse direction of the machine body, and the dust discharge channel assembly is arranged on one side of the mop-washing assembly, which not only meets the requirement of arranging a mop-washing assembly with sufficient length on the machine body, but also makes full use of the space beside the mop-washing assembly to arrange the dust discharge channel assembly, so that the dust box assembly on the cleaning robot can be discharged through the dust discharge channel assembly. BRIEF DESCRIPTION OF DRAWINGS

[0191] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the drawings needed in the embodiment or prior art description will be briefly introduced below. Obviously, the drawings in the following description are some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0192] Fig. 1a is a structural schematic diagram of a cleaning robot according to an embodiment of the present application;

[0193] Fig. 1b is a front view of the cleaning robot according to an embodiment of the present application;

[0194] Fig. 2 is an exploded view of Fig. 1a;

[0195] Fig. 3 is a perspective view of the internal structure of the cleaning robot according to an embodiment of the present application;

[0196] Fig. 4 is a top view of the internal structure of the cleaning robot according to an embodiment of the present application;

[0197] Fig. 5 is an exploded view of a waterway system according to an embodiment of the present application;

[0198] Fig. 6 is a structural schematic diagram of the waterway system according to an embodiment of the present application;

[0199] Fig. 7a is a schematic diagram of the position of a dust cleaning system on a chassis according to an embodiment of the present application;

[0200] Fig. 7b is an exploded view of the dust cleaning system according to an embodiment of the present application;

[0201] Fig. 8 is an exploded view of a mop washing module according to an embodiment of the present application;

[0202] Fig. 9 is an exploded view of a mop washing assembly according to an embodiment of the present application;

[0203] Fig. 10 is a structural schematic diagram of a squeegee assembly according to an embodiment of the present application;

[0204] Fig. 11 is a sectional view of the mop washing assembly according to an embodiment of the present application;

[0205] Fig. 12 is a schematic diagram of the position of an obstacle avoidance sensor assembly on a chassis according to an embodiment of the present application;

[0206] Fig. 13 is a structural schematic diagram of an outward swinging side brush assembly according to an embodiment of the present application;

[0207] Fig. 14 is a structural schematic diagram of the obstacle avoidance sensor assembly according to an embodiment of the present application;

[0208] Fig. 15 is the exploded view of Fig. 5;

[0209] Fig. 16 is an exploded view of the obstacle avoidance sensor assembly and a collision plate according to an embodiment of the present application;

[0210] Fig. 17 is a top view of the position of the obstacle avoidance sensor assembly on the chassis according to an embodiment of the present application;

[0211] Fig. 18a is a cross-sectional view of a cleaning robot body according to an embodiment of the present application;

[0212] Fig. 18b is an exploded view of Fig. 18a;

[0213] Fig. 19a is a schematic view of a drum obstacle avoidance assembly monitoring according to an embodiment of the present application;

[0214] Fig. 19b is a perspective view of a drum obstacle avoidance assembly monitoring according to an embodiment of the present application;

[0215] Fig. 20a is a bottom view of another cleaning robot according to an embodiment of the present application;

[0216] Fig. 20b is a cross-sectional view of another cleaning robot according to an embodiment of the present application;

[0217] Fig. 21a is a bottom view of still another cleaning robot according to an embodiment of the present application;

[0218] Fig. 21b is a cross-sectional view of still another cleaning robot according to an embodiment of the present application;

[0219] Fig. 22 is a structural schematic view of a cleaning robot chassis according to an embodiment of the present application;

[0220] Fig. 23 is a structural schematic view of a mop-washing assembly according to an embodiment of the present application. DETAILED DESCRIPTION

[0221] The present application will be further described by examples with reference to the accompanying drawings. It is to be understood that the following examples are illustrative of specific embodiments of the present application and are not intended to limit the scope of the present application. In addition, it is to be understood that the phraseology and terminology used herein is for the purpose of description and not of limitation.

[0222] In the description of the application, unless otherwise clearly specified and limited, the terms "connected", "connected", "fixed" should be understood broadly, for example, can be fixedly connected, can also be detachably connected, or integrated; can be mechanically connected, can also be electrically connected; can be directly connected, can also be indirectly connected through an intermediate medium, can be the internal communication of two elements or the interaction relationship between two elements. For those skilled in the art, the specific meaning of the above terms in the application can be understood according to the specific circumstances. In the present application, unless otherwise clearly specified and limited, the first feature is "on" or "below" the second feature, which can include that the first and second features are in direct contact, or that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, the first feature "on", "above" and "above" the second feature includes that the first feature is directly above and obliquely above the second feature, or only indicates that the horizontal height of the first feature is higher than that of the second feature. The first feature "below", "below" and "below" the second feature includes that the first feature is directly below and obliquely below the second feature, or only indicates that the horizontal height of the first feature is less than that of the second feature. In the description of the embodiments, the terms "upper", "lower", "right", etc. orientation or position relationship is based on the orientation or position relationship shown in the drawings, which is only for the convenience of description and simplification of operation, and does not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the application. In addition, the terms "first", "second" are only used to distinguish in the description, and have no special meaning.

[0223] The existing sweeping and mopping integrated cleaning robot mostly adopts the mode of sweeping first and then mopping to clean the ground. For example, a mop tray is arranged at the bottom of the cleaning robot, and the mop tray is rotated to mop the ground. However, the mop tray has the problem of dirtying because the mop tray does not have a self-cleaning function after being dirty. Later, a cleaning robot using a roller to mop the ground appeared. This kind of cleaning robot can improve the problem of dirtying by cleaning and self-cleaning through a scraping strip at the same time. At present, the body of many cleaning robots is circular, and the circular body is more flexible and easy to escape. When the cleaning robot is provided with a dust collection roller brush and a roller for mopping at the same time, the dust collection roller brush is generally located at the front side of the roller, so that the cleaning robot can first sweep and then mop while advancing. In order to avoid obstacles and escape, the driving wheel is generally arranged at the position of the maximum width of the body perpendicular to the advancing direction, and the roller is generally placed at the rear side of the driving wheel and does not protrude from the projection of the circular body on the ground, which makes the roller located at the rear part of the body shorter and the distance between the end of the roller and the outermost edge of the body in the width direction farther. When the cleaning robot cleans along the wall or wardrobe, the cleaning robot cannot mop the corner area of a larger size of the object after maintaining the minimum safety distance from the wall or wardrobe. In order to solve this problem, some cleaning robots design the roller as an extendable structure.

[0224] Compared with the mop tray, the structure of the roller is more complex, and it also needs to be provided with a component for self-cleaning. Due to the limited internal space of the body of the cleaning robot, in addition to the need to arrange cleaning execution components in the body, walking modules, water tank modules, obstacle avoidance modules, control modules and other components also need to be arranged. The complex structure of the roller will occupy more space, thereby affecting the arrangement position and structure of other modules in the body. This will bring more severe challenges to the body design of the cleaning robot, and it is an urgent problem to reasonably arrange each functional module while not affecting the performance of the cleaning robot.

[0225] The structure of the cleaning robot will be briefly introduced.

[0226] [According to Rule 91, correct on 08.05.2025] Referring to FIGS. 1a-3, some embodiments of the present application provide a cleaning robot, which includes but is not limited to: a base 1, an upper cover assembly 02, a baffle assembly 3, a rear cover assembly 01, a dust cleaning system 6, a mop module 8, a waterway system 7, an outer swing edge brush assembly 5, a driving assembly 4, an obstacle avoidance sensor assembly 2, and a mainboard assembly 9.

[0227] Further, the chassis 1 can also be considered as a body of the cleaning robot. Referring to FIG. 4, the chassis 1 has a transverse center axis N in the width direction of the chassis 1, and has a longitudinal center axis M in the length direction of the chassis 1. When the chassis 1 is approximately circular, the transverse center axis N and the longitudinal center axis M can be considered as two diameters of the chassis 1, respectively.

[0228] If the advancing direction of the cleaning robot is defined as the front side, as shown by the arrow X in FIG. 3, the arrow X direction in FIG. 3 can also be considered as the length direction of the cleaning robot body. The base 1 is a carrier for supporting other components of the cleaning robot, and the driving assembly 4 is located at the edge of the bottom end of the base 1 and is in contact with the surface to be cleaned to drive the cleaning robot to advance, or to drive the cleaning robot to a specified position, which can be a cleaning base, a starting position of the cleaning area, or other positions input by a user, and various embodiments of the present application do not make specific limitations on this.

[0229] The obstacle avoidance sensor assembly 2 is located at the front end of the base 1 to identify obstacles. In this embodiment, the obstacle avoidance sensor assembly 2 is arranged at the front end of the base 1 instead of the top of the cleaning robot, which can effectively reduce the overall height of the cleaning robot, so that the cleaning robot can enter some low spaces, thereby improving the cleaning coverage of the cleaning robot. The bumper assembly 3 is located at the front end of the base 1 and can cover at least half of the outer contour of the base 1 at the front end. Specifically, the bumper assembly 3 can be a side stand, and the side stand can be provided with a perspective window or a hollow area at a position corresponding to the obstacle avoidance sensor assembly 2, so that the obstacle avoidance sensor 2 can collect surrounding environment information through the perspective window or the hollow area. The bumper assembly 3 and the obstacle avoidance sensor assembly 2 have a collision distance, so that the bumper assembly 3 can move in the direction of the collision force. When the cleaning robot inevitably collides with an obstacle, the bumper assembly 3 can absorb the collision to protect the cleaning robot and prevent the cleaning robot from being damaged.

[0230] The dust collection and cleaning system 6 is located in the middle of the driving assembly 4 and at the rear side of the obstacle avoidance sensor 211. The dust collection and cleaning system 6 is equivalent to being located at a position in front of the center of the base 1, and this area is approximately the widest part of the cleaning robot, which can clean a larger range of the area passed through. The outer swing side brush assembly 5 is located at the front side of the right side or the front side of the left side of the bottom end of the base 1 and is located within the angle range between the dust collection and cleaning system 6 and the obstacle avoidance sensor assembly 2. The outer swing side brush assembly 5 can extend to the outside of the edge of the base 1 to clean the dead corners, or can be retracted to the range of the base 1 for storage. That is, as shown in FIG. 3, the outer swing side brush assembly 5 is located at the front side of the dust collection and cleaning system 6 and at the left side or the right side of the obstacle avoidance sensor assembly 2. The outer swing side brush assembly 5 can be one or two.

[0231] The drawings show an example of the present application, which has one outer wiper assembly 5. If there are two outer wiper assemblies 5, they can be located on the left and right sides of the obstacle avoidance sensor assembly 2 respectively. The mop module 8 is located at the rear side of the suction cleaning system 6 and can perform the task of mopping, thus realizing the sweeping and mopping integrated function of the cleaning robot.

[0232] At present, the body of many cleaning robots is circular, which is more flexible and easy to escape. When the cleaning robot is provided with a suction roller brush and a mop roller at the same time, the suction roller brush is generally located at the front side of the mop roller, so that the cleaning robot can first suck dust and then mop the floor while moving. The circular shape of the cleaning robot causes the mop roller located at the rear part of the body to be relatively short, and the distance between the end of the mop roller and the outermost edge of the body in the width direction is relatively far. When the cleaning robot needs to clean along the wall or wardrobe, the mop roller on the cleaning robot is difficult to clean along the edge, and the cleaning blind area of the cleaning robot is large.

[0233] In an embodiment provided in the present application, the mop module 8 includes a cleaning roller 832, which can be extended outward from either the left side or the right side of the body in the width direction of the base 1, and the end of the extended end of the cleaning roller 832 exceeds the outermost edge of the cleaning robot. Therefore, when the cleaning robot needs to clean along the edge, the cleaning roller 832 can be extended outward, and then the cleaning along the edge can be performed.

[0234] It should be noted here that the mop module 8 mentioned above can also be regarded as a cleaning module. The cleaning module can be but is not limited to a cleaning roller, a track-type cleaning element, etc. The cleaning roller can be a cylindrical roller, i.e., the surface of the cylindrical roller has cleaning fluff. The track-type cleaning element, also known as a track-type roller, includes two track wheels arranged at intervals, and an annular racetrack-shaped track-type wiping cloth is sleeved on the two track wheels. The track-type wiping cloth has cleaning fluff on the outer side, and one side of the track-type wiping cloth is in contact with the ground. With the rotation of the track wheels, the track-type wiping cloth moves relative to the ground, thereby realizing the mopping of the ground. In addition, the cleaning unit is driven by a cleaning unit motor. If the cleaning unit is a cleaning roller, the corresponding cleaning unit motor can be referred to as a roller motor, and the cleaning roller is driven to rotate by the roller motor to mop the ground. If the cleaning unit is a track-type roller, the corresponding cleaning unit motor can be referred to as a track wheel motor, and the track wheel motor drives the track to rotate to drive the track-type wiping cloth to move, thereby mopping the ground.

[0235] The cleaning robot needs to face various cleaning environments during the cleaning operation. For example, ceramic tile floor, floor ground, and carpet ground, etc. When cleaning the carpet ground, in order to avoid the wet cleaning roller 832 from wetting the carpet, the cleaning roller 832 needs to be lifted to avoid the contact between the cleaning roller and the carpet. The wet cleaning roller 832 can cause secondary pollution. In order to solve the problem that the cleaning robot can not cause secondary pollution when cleaning the carpet ground, in an embodiment provided in the present application, the cleaning roller 832 on the mop washing module 8 can also be lifted and lowered relative to the ground. When the cleaning robot is cleaning the general ground, the cleaning roller 832 is lowered, and the cleaning roller 832 can wet wash the ground. When the cleaning robot needs to clean the carpet ground, before the cleaning robot goes onto the carpet, the cleaning roller 832 is lifted relative to the ground, the cleaning roller 832 is separated from the ground, and then the cleaning robot goes onto the carpet. The cleaning robot cleans the ground through the dust collection cleaning system 6, and the cleaning roller 832 does not contact the carpet, so that the problem of secondary pollution can be effectively avoided. In addition, the scheme provided in the embodiment of the present application can realize the extension and lifting of the cleaning roller 832, so that the cleaning robot can cover various types of working areas, and can realize self-extension and edge cleaning, and achieve high cleaning coverage.

[0236] In the above, in order to avoid the problem of dirtying, the cleaning roller 832 has a self-cleaning function, which can clean the ground and self-clean at the same time. In an embodiment provided in the present application, the mop washing module 8 also has a dirt removal mechanism 833 and a liquid supply structure. The dirt removal mechanism 833 can scrape and collect the dirt (sewage and stains) on the cleaning roller 832, and the liquid supply mechanism can continuously provide cleaning liquid for the cleaning roller 832, which can not only wet the cleaning roller 832 and improve the cleaning ability of the cleaning roller 832, but also dissolve the stains adhered to the cleaning roller 832, so as to facilitate the scraping of the dirt removal mechanism.

[0237] In order to continuously provide cleaning liquid for the liquid supply mechanism and continuously collect the dirt scraped by the dirt removal mechanism 833, referring to FIG. 3, in an embodiment provided in the present application, the waterway system 7 includes a clean water tank 71 and a sewage tank 72. The clean water tank 71 is used to store the cleaning liquid required by the cleaning roller 832, and the sewage tank 72 is used to store the sewage generated and collected by the cleaning roller 832.

[0238] The structure and position of each module on the cleaning robot base 1 will be described in more detail in the following embodiments.

[0239] Before implementing the embodiment of the present application, the inventor has studied some existing cleaning robots and found that in the prior art, the clean water tank and the dirty water tank of some cleaning robots are arranged on the rear side of the equipment body, which results in that the clean water tank and the dirty water tank are relatively small. For example, the dirty water tank and the clean water tank of some equipment are arranged in parallel on the rear part of the equipment body, one clean water tank on the left side of the rear part of the equipment body and one dirty water tank on the right side of the rear part of the equipment body, or one dirty water tank on the left side of the rear part of the equipment body and one clean water tank on the right side of the rear part of the equipment body. Through the repeated measurement of the inventor of the present application, it is found that actually the clean water demand is relatively large when the robot performs a cleaning task. The moisture of the clean water tank is lost during the cleaning process, so the amount of the recovered dirty water is relatively small. In the prior art, the size of the clean water tank and the dirty water tank of many machines is equivalent, and the clean water tank and the dirty water tank are arranged in parallel on the rear side of the machine body in order to simplify the layout. This design results in that the volume of the clean water tank is too small, and the robot may need to supplement clean water after performing a small area, which results in that the robot frequently interrupts the cleaning task and the cleaning efficiency is relatively low.

[0240] In addition, in the prior art, some cleaning robots arrange the clean water tank in the main machine shell, for example, some rollers are designed to be retractable, the roller is extended to clean along the wall or to realize the surrounding cleaning of obstacles. In order to prevent the movement of the roller, the clean water tank is arranged above the roller and is arranged in a non-detachable manner. However, due to the fact that the roller has a certain height relative to the flat mop and the circular mop disc rotating, arranging the water tank above the roller in the main machine shell will result in that the height of the main machine is increased, which affects the passability of the robot in a low area.

[0241] Therefore, the embodiment of the present application adopts the structure as shown in FIG. 2 and FIG. 3, the clean water tank 71 spans the driving assembly 4 in the front-rear direction. It can be considered that the side where the cleaning roller 832 extends outward is the roller extension side, and the side where the clean water tank 71 is located is opposite to the roller extension side. In order to facilitate the extension and retraction of the cleaning roller 832, the upper part of the cleaning robot must be provided with an extension opening for the extension and retraction of the cleaning roller 832. Therefore, more space needs to be reserved on the roller extension side, and the clean water tank 71 is arranged on the side opposite to the roller extension side, which does not block the extension and retraction movement of the cleaning roller 832 outward, and the space on that side can be fully utilized, the capacity of the water tank 71 can be set to be larger, the cleaning robot can carry more cleaning liquid during cleaning, the cleaning endurance is longer, the cleaning robot does not need to frequently return to the base station for cleaning liquid supplement, and the height of the whole machine is not increased.

[0242] Referring to FIG. 4, in an embodiment provided by the present application, the clean water tank 71 is located at the end of the mopping assembly 8s and extends from the rear side to the front side of the base 1, the length of the clean water tank 71 spans the connecting axis of the two driving wheels 41. In comparison with the prior art in which the clean water tank 71 is only arranged at the tail, the clean water tank 71 of the present embodiment is arranged on both sides of the wheel axis of the cleaning robot, i.e. arranged at the front and rear of the cleaning robot. It can be understood that the clean water tank 71 is arranged along the length direction of the cleaning robot, and the length direction of the clean water tank 71 is the same as the length direction of the cleaning robot. Moreover, the shape of the tank structure of the lower half of the clean water tank 71 matches the shape of the edge of the base 1. Furthermore, the dust collection cleaning system 6 comprises the dust box assembly 61 and the floating roller brush assembly 64 arranged in sequence from the rear side to the front side of the base 1; the clean water tank 71 extends from the rear side of the base 1 to the floating roller brush assembly 64 through one side (e.g. the left side in FIG. 4) of the dust box assembly 61. It can be seen that in the present embodiment, the volume of the clean water tank 71 is significantly increased, which can effectively reduce the frequency of water addition in the cleaning task of the robot, and even achieve the effect of no water addition in one cleaning task.

[0243] Further, referring to FIG. 4, the dust collection fan assembly 62 and the clean water tank 71 are respectively arranged on the left and right sides of the dust box assembly 61, and the dust collection fan assembly 62 and the clean water tank 71 having a certain weight are arranged on both sides in the width direction of the cleaning robot, and the clean water tank 71 is arranged on the side opposite to the roller extension side. In other words, the clean water tank 71 and the mopping module 8 are arranged on the left and right sides of the main machine, so as to balance the center of gravity of the cleaning roller 832 in the width direction.

[0244] When the cleaning robot is cleaning, the generated and collected sewage will be stored in the sewage tank 72, and when the cleaning robot returns to the matching base station for maintenance, the sewage in the sewage tank 72 needs to be emptied. Under normal circumstances, since the mopping module 8 is located at the rear side of the cleaning robot, in order to facilitate the base station to clean the mopping module, the cleaning robot enters the base station in a backward manner, and the tail of the cleaning robot is docked with the base station.

[0245] In a technical solution provided in the present application, the sewage tank 72 is arranged at the rear side of the base 1. Specifically, the sewage tank 72 is located on the rear cover assembly 01, the rear cover assembly 01 is located at the rear side of the mop washing module 8 and at the rear side of the base 1. Referring to FIG. 3, the sewage tank 72 can be located at the rear side of the base 1 and in the height direction, the height of the sewage tank 72 is lower than that of the clean water tank 71. The sewage tank 72 is connected to the mop washing module 8 through a pipeline, and the sewage scraped by the cleaning mechanism can be transported to the sewage tank 72 through the pipeline. The clean water tank 71 and the mop washing module 8 are connected through a pipeline, the clean water tank 71 can provide clean water for the mop washing module 8, and the sewage tank 72 can accommodate the sewage after the mop washing module 8 mops the floor. The rear cover assembly 01, the baffle assembly 3 and the base 1 form an installation cabin with an upper opening, and the upper cover assembly 02 is buckled at the opening and can seal the opening.

[0246] Arranging the sewage tank 72 at the rear side of the base 1 not only makes full use of the space at the rear side of the base 1, but also makes the mop washing module 8 and the sewage tank 72 closer, so that the sewage generated by the mop washing module 8 can be more easily transported to the sewage tank 72, and the length of the pipeline can be reduced. In addition, when the cleaning robot enters the base station, the sewage tank 72 located at the rear side of the base 1 is more convenient to dock with the corresponding sewage discharge assembly on the base station, so as to facilitate the sewage tank 72 to discharge sewage, and the discharged sewage is also more convenient for the base station to collect.

[0247] Compared with the clean water tank 71, the sewage tank 72 is used to store sewage, and the sewage tank 72 is more likely to be dirty. Although the sewage tank 72 will be emptied and rinsed after each cleaning, it is difficult to avoid stains on the sewage tank 72 after a long time of use. If not cleaned in time, it is easy to smell, affecting the user's experience.

[0248] Please refer to FIGS. 5-6, in some embodiments of the present application, a receiving groove for accommodating the sewage tank 72 is arranged on the rear side of the rear cover assembly 01, and the sewage tank 72 can be detachably arranged in the receiving groove. When the sewage tank 72 is full of sewage, the user can directly remove the sewage tank from the rear cover assembly 01 for pouring, which is convenient to operate. In addition, when the sewage tank 72 is relatively dirty, the sewage tank 72 can also be removed for careful cleaning.

[0249] As shown in FIGS. 5-6, in some embodiments of the present application, the clean water tank 71 is located above the drive wheel 41 on one side of the base 1 in the left-right direction, and the clean water tank 71 is connected across both sides of the drive wheel 41 axis, so that the volume of the clean water tank 71 is maximized to increase the water capacity, so that the volume of the clean water tank 71 is more than half the capacity of the dirty water tank 72. It should be noted that in order to prevent the clean water tank 71 from interfering with the cleaning roller 832, the clean water tank 71 is located on the other side opposite the cleaning roller 832 in the left-right direction of the cleaning robot body, which not only ensures the volume of the clean water tank 71 but also allows the cleaning roller 832 to be easily removed or installed from the side of the base 1 away from the clean water tank 71, making it easy for the user to operate.

[0250] Further, as shown in FIG. 3, the clean water tank 71 and the dust suction fan assembly 62 in the dust suction cleaning system 6 are respectively located on the left and right sides of the dust box assembly 61. The air outlet of the dust box assembly 61 penetrates the dust box assembly to the dust collection port. The dust collection port is in communication with the suction nozzle on the cleaning robot base 1, and the air outlet of the dust box assembly is in communication with the dust suction fan assembly 62.

[0251] The waterway system 7 further includes a clean water pump 73, an air pump 74, and a water injection port assembly 75. The clean water pump 73 is located in the path of the cleaning liquid flowing from the clean water tank 71 to the mop-washing module 8, and can provide power for the clean water in the clean water tank 71 to flow to the cleaning roller 832. The dirty water tank 72 is provided with a dirty water inlet for dirty water to enter and an air outlet. Corresponding to the dirty water inlet and the air outlet, the rear cover assembly 01 is provided with a dirty water through hole and an air outlet through hole, so that the dirty water pipe that passes the dirty water into the dirty water tank 72 can be in communication with the dirty water inlet through the dirty water through hole. The air pump 74 is in communication with the air outlet, and the air pipe between the air pump 74 and the air outlet passes through the air outlet through hole to communicate the air outlet with the air pump 74. The air pump 74 can extract the gas in the dirty water tank 72, so that a negative pressure is formed in the dirty water tank 72. Under the action of the negative pressure, the dirty water pipe forms a suction force for suctioning dirty water, so that the dirty water scraped off from the cleaning roller 832 can enter the dirty water pipe as much as possible, and then enter the dirty water tank 72, avoiding the dirty water from flowing to the cleaned area during the walking of the cleaning robot, and ensuring good cleaning effect.

[0252] When the cleaning robot needs to be refilled with cleaning liquid, the cleaning robot moves into the base station, and then the refilling device on the base station is connected to the clean water tank 71 to refill the clean water tank 71 with cleaning liquid. The refilling device on the base station is usually connected to the clean water tank 71 to generate a certain force. When the cleaning robot enters the base station in a reverse manner, the direction of the power of the cleaning robot when reversing is on the central axis of the body. If the force generated by the refilling device on the cleaning robot is not aligned with the power of the cleaning robot when reversing, the cleaning robot is likely to rotate and thus deviate from the position, which is not conducive to the connection of various interfaces on the cleaning robot to the base station.

[0253] In order to facilitate the connection of the refilling device on the base station to the clean water tank 71, the water inlet assembly 75 is arranged on the rear cover assembly 01, and the water inlet assembly 75 is located on the central axis of the body of the cleaning robot. The water inlet assembly 75 is in communication with the water inlet on the clean water tank 71, and the refilling device can refill the clean water tank 71 with cleaning liquid through the water inlet assembly. Therefore, when the refilling device on the base station is connected to the water inlet assembly 75 on the clean water tank 71, the force generated is also on the central axis of the body. The force is aligned with the power of the cleaning robot when reversing, and the cleaning robot will not rotate and deviate from the position.

[0254] The water inlet assembly 75 can be directly connected to the clean water tank 71 or connected to the clean water tank 71 through a pipeline. The water inlet assembly 75 can be used not only to refill the clean water tank 71 with cleaning liquid when the cleaning robot is on the base station, but also to connect external tap water to the water inlet assembly 75 to inject cleaning water into the clean water tank 71. Since the rear of the rear cover assembly 01 is provided with the dirty water tank 72, a avoiding groove accommodating the water inlet assembly 75 can be arranged below the front of the dirty water tank 72. The water inlet assembly 75 is located at the avoiding groove, and the clean water refilling port on the side of the water inlet assembly 75 away from the pipeline is located on the front of the dirty water tank 72, so as to facilitate the operation of refilling cleaning water. Of course, the water inlet assembly 75 can also be located at any position on the central axis of the rear cover assembly 01, as long as it does not interfere with other components.

[0255] Referring to FIG. 3, in an embodiment provided in the present application, the clean water tank 71 and the outer swing side brush assembly 5 are arranged on different sides of the base 1. For example, along the width direction of the base 1 (such as the direction of the arrow Y in FIG. 3), the clean water tank 71 is located on the left side of the base 1, and the outer swing side brush assembly 5 is located on the right side of the base 1. The tank body of the clean water tank 71 is in an arc shape. The side of the clean water tank 71 facing outward is an arc-shaped tank wall, which is adapted to the arc-shaped edge of the body of the cleaning robot. The side of the clean water tank 71 facing inward is a straight tank wall, and the dust box assembly 61 and the dust collection fan assembly 62 are located beside the straight tank wall. The lower end of the clean water tank 71 facing inward is an irregular tank wall, and the mop and washing assembly 83 is located beside the irregular tank wall.

[0256] The length direction of the clean water tank 71 is the same as the length direction of the base 1 (the direction of arrow X in FIG. 3), and along the length direction of the clean water tank 71, the end of the front end of the clean water tank 71 is below the sensor support 22, and the end of the rear end of the clean water tank 71 extends to below the mop assembly 83. The dirty water tank 71 is located at the center of the tail of the cleaning robot body. It can be considered that the dirty water tank 72 is located on the central axis of the cleaning robot body, and the dirty water tank 72 can be symmetrically distributed along the central axis.

[0257] Generally, the cleaning liquid in the clean water tank 71 is supplied to the cleaning roller 832, and after the ground cleaning is completed, the dirty water is recovered to the dirty water tank 72 by the dirt removal mechanism 833. In this cleaning process, the cleaning liquid provided by the clean water tank 71 cannot be completely recovered, and part of the cleaning liquid will evaporate or remain on the ground. Therefore, in the technical solutions provided in the present application, the capacity of the clean water tank 71 is greater than the capacity of the dirty water tank 72, and the capacity of the clean water tank 71 is 1.2-2 times the capacity of the dirty water tank 72. In a specific embodiment, the capacity of the dirty water tank 72 is in the range of [110-120 ml], for example, the capacity of the clean water tank 71 is 120 ml, and the capacity of the dirty water tank 72 is in the range of [70-80 ml], for example, the capacity of the dirty water tank 72 is 80 ml. In the technical solutions provided in the present application, the tank body materials of the clean water tank 71 and the dirty water tank 72 include but are not limited to plastic tank body, metal tank body, and soft package tank body. For example, the dirty water tank 72 is a detachable plastic tank body, and the clean water tank 71 is located inside the body and does not need to be detached, so the clean water tank 71 can use a soft package tank body, which is similar to a water storage bag. It can be designed into an irregular shape according to the empty space inside the body, so as to fully fill the empty space inside the body and maximize the capacity of the clean water tank 71.

[0258] As described above, by using the above arrangement, the installation and accommodation of various parts of the cleaning robot can be realized, the cleaning of dead angles can be realized while realizing the sweeping and mopping integration, the function of outward swinging cleaning of the cleaning roller 832 along the edge and the edge cleaning around the target obstacle can be realized without increasing the height of the cleaning robot, the accommodation volume of the clean water tank 71 and the dirty water tank 72 can be as large as possible to increase the loading capacity of the clean water and the dirty water, the frequency of adding cleaning water to the clean water tank 71 or detaching the dirty water tank 72 to pour the dirty water in the dirty water tank 72 can be reduced, the user experience can be improved, and the balance of the center of gravity of the cleaning robot in the width direction is also considered.

[0259] The shape of the cleaning robot as a whole can be circular, rectangular or polygonal, and the embodiments of the present application do not make specific limitations thereon. Regardless of the shape of the cleaning robot, the various components inside the cleaning robot can be arranged according to the arrangement scheme described above.

[0260] Referring to FIG. 2, in some embodiments of the present application, one implementable structure of the driving assembly 4 includes a plurality of driving wheels 41 arranged circumferentially at intervals along the bottom of the base 1, and a plurality of auxiliary wheels arranged at intervals. The driving wheels 41 have driving members thereon, which can be self-driven to walk under the driving force of the driving members, while the auxiliary wheels can move in cooperation with the movement of the driving wheels 41 while supporting the base 1. In some embodiments of the present application, there are two driving wheels 41, which are respectively located on the left and right sides of the center of the bottom end of the base 1, and one auxiliary wheel, which is located on the front side of the bottom end of the base 1. The driving wheels 41 not only cooperate with the auxiliary wheel to form a triangular support shape, so that the base 1 obtains stable support, but also do not hinder the functions of dust collection and mopping of the cleaning robot.

[0261] The bumper assembly 3 serves as the last safeguard for the cleaning robot to avoid serious collisions. When other obstacle avoidance modules fail to successfully avoid obstacles, the bumper assembly 3 will collide with the obstacles. After the bumper assembly 3 detects the collision, it can timely feedback to the cleaning robot, and the cleaning robot can then brake in time, so as to avoid the base 1 of the cleaning robot colliding with the obstacles and causing more serious consequences.

[0262] Referring to FIG. 2, in some embodiments of the present application, one implementable structure of the bumper assembly 3 is that the bumper assembly 3 includes a collision plate 31, which is arranged around the front half of the base 1. Since the cleaning robot can collide not only in the front direction but also on the left and right sides during walking, the collision plate 31 is arranged in a semi-enclosed structure to cover the collision area as much as possible, so as to ensure that the cleaning robot will not be damaged when it is in danger of collision.

[0263] As mentioned above, in order to enable the mop-washing module 8 to achieve edge cleaning, the mop-washing module 8 can be extended outward relative to the body of the cleaning robot, so that the mop-washing module 8 can perform edge cleaning on the wall side or the edge of an object when the body of the cleaning robot is not close to the wall side or the edge of the object.

[0264] In some embodiments of the present application, one possible structure of the mop module 8 is shown in FIG. 8 and FIG. 9. The mop module 8 comprises a mop assembly 83, a cavity shell 82 and a driving device 81. The driving device 81 is located on the cavity shell 82 and is in power connection with the mop assembly 83, so as to provide driving force for the mop assembly 83. The mop assembly 83 is located in the drum accommodating cavity of the cavity shell 82. Under the action of the driving force of the driving device 81, the mop assembly 83 can ascend to be separated from the surface to be cleaned, descend to be in contact with the surface to be cleaned, swing out of the base 1 and recover to the range of the base 1, so as to clean the sanitary dead angle and the edge of the wall root when the cleaning robot is in the process of walking along the edge. When the cleaning robot performs the cleaning task, the mop assembly 83 can be in the extended state and be retracted when it is necessary to avoid obstacles. Alternatively, when the cleaning task is performed, the mop assembly 83 is in the retracted state and is extended when it is necessary to clean along the edge. When the cleaning robot is walking on the carpet, the mop assembly 83 can ascend to be separated from the carpet, so as to avoid wetting the carpet or increasing the walking resistance. When the cleaning robot leaves the carpet area, the mop assembly 83 descends to be in contact with the surface to be cleaned, so as to continue the mopping task on the surface to be cleaned.

[0265] If the cleaning robot is circular, as shown in FIG. 3, the end of the mop assembly 83 is arc-shaped. When the mop module 8 is in the retracted state, the arc shape is adapted to the arc-shaped outer surface of the cleaning robot.

[0266] Further, along the length direction of the cleaning robot, the mop assembly 83 is located behind the dust box assembly 61 and the suction fan assembly 62, the mop assembly 83 is located beside the clean water tank 71, and the sewage tank 72 is located in front of the mop assembly 83. In addition, the mop assembly 83 is located at the rear side of the driving assembly 4. As mentioned above, in one embodiment, the cleaning robot is circular, the mop assembly 83 is linear, is arranged transversely along the width direction of the cleaning robot and is located at the rear of the cleaning robot, so the rear side of the mop assembly 83 is arc-shaped, and the sewage tank 72 is located in the arc-shaped body.

[0267] Referring to FIG. 3 and FIG. 4, in one embodiment of the present application, a cleaning robot with a mop assembly 83 is provided. The length of the mop assembly 83 is substantially equal to the length of the roller brush 641. When the mop assembly 83 is not extended, the cleaning range of the mop assembly 83 is substantially the same as the cleaning range of the roller brush 641. During the cleaning operation of the cleaning robot, the roller brush 641 sweeps the ground clean, and then the mop assembly 83 mops the ground.

[0268] Referring to FIG. 7a and FIG. 7b, in an embodiment provided by the present application, the dust cleaning system 6 further comprises a floating roller brush assembly 64, a dust box assembly 61 and a dust fan assembly 62. The floating roller brush assembly 64 comprises a roller brush 641, a roller brush driving assembly 4 and a roller brush cover plate assembly. The dust box assembly 61 is located at the rear side of the roller brush assembly 64, and the roller brush assembly 64 is provided with at least a dust suction port in communication with the dust box assembly 61.

[0269] Referring to FIG. 7a, in some embodiments of the present application, the cleaning roller 832 is inclined to one side of the base 1 in the transverse direction of the base 1. The dust discharge channel assembly 63 in the dust cleaning system 6 is provided at the other side (the opposite side of the position of the cleaning roller 832) in the transverse direction. The dust discharge channel assembly 63 is located at the circumferential angle formed by the cleaning roller 832 and the driving wheel 41, or in other words, the dust discharge channel assembly 63 is located in the angle range between the mop module 8 and the corresponding side driving wheel 41, and is arranged obliquely. Taking Y axis as the direction of the cleaning robot moving and Z axis as the direction perpendicular to the paper, the projection of the cleaning roller 832 in the YZ plane at least partially overlaps with the projection of the dust suction channel in the YZ plane, and the projection of the cleaning roller 832 in the YZ plane partially overlaps with the projection of the driving wheel 41 in the YZ plane. One end of the dust discharge channel assembly 63 is in communication with the dust box assembly 61, and the other end is capable of being in communication with the outside. Through the dust discharge channel assembly 63, the dust in the dust box assembly 61 can be sucked out from the dust box, avoiding the user to disassemble the dust box.

[0270] For example, when the cleaning robot returns to the base station, after the cleaning robot is docked with the base station, the dust discharge channel assembly 63 can be docked with the dust collection port on the base station, and the base station can suck the garbage in the dust box assembly 61 through the dust discharge channel assembly 63 to the base station, thereby completing the emptying of the dust box assembly 61.

[0271] In the technical solutions provided in the present application, along the width direction of the cleaning robot body, the dust suction fan assembly 62 is located on one side of the dust box assembly 61, and the dust discharge channel assembly 63 is located on the other side of the dust box assembly 61. It can be considered that the dust suction fan assembly 62 and the dust discharge channel assembly 63 are respectively located on the left and right sides of the dust box assembly 61. Thus, the space in the left-right direction on the base 1 can be fully utilized, and the space occupied by the base 1 at the rear side is not too much, which does not affect the volume of the sewage tank 72. Further, the dust suction fan assembly 62 and the dust box assembly 61 have a communication suction port, the suction force generated by the dust suction fan assembly 62 causes a negative pressure in the dust box assembly 61, and the dust is sucked into the dust box assembly 61 from the suction port under the action of the negative pressure, so as to take away the dust on the area to be cleaned and realize the collection of the dust. When the cleaning robot is sucking and collecting dust, the dust suction fan assembly 62 rotates forward to suck the garbage into the dust box assembly 61. When the cleaning robot is docked with the base station to empty the garbage in the dust box assembly 61, the dust suction fan assembly 62 will rotate reversely, so as to blow the garbage in the dust box assembly 61 out to the base station through the dust discharge channel assembly 63. The airflow blown out by the dust suction fan assembly 62 flows along the transverse direction of the dust box assembly 61 and penetrates through the entire dust box, so that the garbage in the dust box assembly 61 can be easily emptied.

[0272] As mentioned above, in order to avoid the problem of smearing caused by the cleaning roller 832 during the cleaning of the ground, the mop-washing assembly 83 can complete self-cleaning while cleaning the ground on one side during the cleaning of the ground.

[0273] Referring to FIGS. 8 and 9, in an embodiment provided in the present application, the mop-washing assembly 83 includes a mop-washing support 831, a cleaning roller 832, and a dirt removal mechanism 833. The mop-washing support 831 is connected below the power source 81, and the mop-washing support 831 is provided with a roller motor for driving the cleaning roller 832 to rotate. The cleaning roller 832 has an operating handle at one end and is detachably sleeved on the roller motor at the other end. The roller motor can drive the cleaning roller 832 to rotate, and the cleaning roller 832 can be detached from the mop-washing support 831 by pulling the operating handle, so as to maintain and clean the cleaning roller 832.

[0274] Compared with the cleaning robot provided with a cloth or a mop disc, the cleaning robot provided with the mop-washing assembly 83 has better cleaning effect and higher cleaning efficiency. The cleaning roller 832 can also be self-cleaned during the cleaning of the ground, the dirt removal mechanism 833 can scrape off the sewage on the cleaning roller 832, the liquid supply mechanism can provide clean cleaning liquid for the cleaning roller 832, and then the cleaning roller 832 can mop and wash the ground again. This cleaning method can not only bring better cleaning effect, but also has longer cleaning endurance of the mop-washing assembly 83. In one cleaning task, the cleaning robot does not need to frequently return to the base station for self-cleaning and maintenance.

[0275] In one embodiment provided in the present application, in order to provide cleaning liquid for wetting the cleaning roller 832, the mop support 831 is provided with a water outlet in communication with the clean water tank 71, the water outlet is in a strip shape to cover the whole length of the cleaning roller 832, and the cleaning water in the clean water tank 71 can wet the rotating cleaning roller 832 to make the water used for mopping always clean water, so as to achieve good cleaning effect on the cleaning area.

[0276] Along the width direction of the mop assembly 83 (which can be considered as the length direction of the cleaning robot body), the dirt removing mechanism 833 can be arranged at the front side of the cleaning roller 832, or at the rear side of the cleaning roller 832. The dirt removing mechanism 833 is provided with a scraping strip assembly 8331 and a dirt collecting box 8332, wherein the scraping strip assembly 8331 is located above the dirt collecting box 8332, and the scraping strip assembly 8331 is in contact with the cleaning roller 832 to scrape the dirty water on the cleaning roller 832 into the dirt collecting box 8332, the dirt collecting box 8332 is in communication with the dirty water tank 72 through a dirty water discharge pipe, and the dirty water in the dirt collecting box 8332 can enter into the dirty water tank 72 through the dirty water discharge pipe, so as to avoid the dirty water on the cleaning roller 832 from adhering to the surface to be cleaned again during the rolling process of the cleaning roller 832, and also to clean the cleaning roller 832.

[0277] It should be noted that along the rotating direction of the cleaning roller 832, the dirt removing mechanism 833 is located upstream of the water outlet, that is, the cleaning roller 832 passes through the dirt removing mechanism 833 first to scrape the water, and then passes through the water outlet. The cleaning liquid is sprayed on the cleaning roller 832, so that the cleaning roller 832 is always kept wet, and there is enough cleaning water to clean the dirt on the surface to be cleaned, so as to obtain better cleaning effect. After cleaning the dirt on the surface to be cleaned, the cleaning water on the cleaning roller 832 becomes dirty water, and when the cleaning roller 832 passes through the dirt removing mechanism 833 again, the dirty water is scraped by the scraping strip assembly 8331 into the dirt collecting box 8332, and the relatively dry cleaning roller 832 is wetted by the cleaning water again, and the above operation is repeated to mop the floor.

[0278] Specifically, as shown in FIGS. 10-11, one of the implementable structures of the squeegee assembly 8331 includes a water guide plate 83311 and a squeegee plate 83312, wherein the water guide plate 83311 is in the shape of an arc plate extending along the left-right direction of the base, the lower surface of the water guide plate 83311 is an arc surface, and a plurality of water guide grooves are arranged on the arc surface. The squeegee plate 83312 is detachably connected above the water guide plate 83311, the end of the squeegee plate 83312 is in contact with the surface of the cleaning roller 832, and the squeegee plate 83312 is perpendicular to the surface of the cleaning roller 832 to ensure good water squeegeeing effect. The rear side of the water guide plate 83311 is above the opening of the dirt collection box 8332, and the water guide plate 83311 with an arc bottom surface not only can block the splashing of the squeegeed dirty water out of the mop assembly 83, but also can guide the squeegeed dirty water to flow along the arc squeegee assembly 8331 to the dirt collection box 8332. The side of the squeegee plate 83312 away from the water guide plate 83311 has an inclined downward angle, so that the two sides of the squeegee assembly 8331 in the front-rear direction are both downward arc surfaces, thereby when the side of the squeegee plate 83312 away from the water guide plate 83311 is in contact with the cleaning roller 832, the squeegee plate 83312 can better squeegee the dirty water on the cleaning roller 832. The squeegee plate 83312 includes but is not limited to a metal squeegee plate, a rubber squeegee plate, a plastic squeegee plate, etc. Taking the squeegee plate 83312 as a metal squeegee plate as an example, the metal squeegee plate is detachably connected with the water guide plate 83311. When the squeegee plate 83312 is worn or has poor squeegeeing ability during long-term use, the squeegee plate 83312 can be detached from the water guide plate 83311, and a new squeegee plate 83312 can be replaced.

[0279] In some embodiments of the present application, the rotation direction of the cleaning roller 832 can be clockwise rotation, the water outlet is located above the cleaning roller 832, the dirt removal mechanism 833 is located at the rear side of the cleaning roller 832, and the dirty water tank is located at the rear side of the mop assembly, so that the distance between the dirt collection box 8332 and the dirty water tank is the shortest, thereby the length of the drain pipe can be shortened, the space occupied by the drain pipe on the base is reduced, and the dirty water travels a short distance in the drain pipe and is easily drained from the dirt collection box 8332 into the dirty water tank.

[0280] In some embodiments of the present application, the closest distance between the cleaning roller 832 and the drive wheel 41 is between 5mm and 15mm. Since the cleaning roller 832 is in contact with the surface to be cleaned and rolls along the surface to be cleaned, the friction between the cleaning roller 832 and the surface to be cleaned can hinder the movement of the cleaning robot. Therefore, reducing the distance between the cleaning roller 832 and the drive wheel 41 as much as possible can reduce the friction torque on the rotation shaft of the drive wheel 41, so that the cleaning robot moves more easily and the power consumption is reduced. The cleaning roller 832 is located at the edge of the base 1 corresponding to the side of the operation handle, so as to facilitate the user to operate the operation handle. Further, the shape of the operation handle is matched with the shape of the base 1. For example, if the base 1 is circular, the operation handle is arc-shaped; if the base 1 is rectangular, the operation handle is planar rectangular, which not only facilitates operation but also ensures the overall aesthetics.

[0281] Although the cleaning roller 832 can provide assistance when rotating clockwise (in the same direction as the drive wheel 41), in this case, the cleaning force of the cleaning roller 832 is not high, and it is difficult for the cleaning roller 832 to scrub stubborn stains on the ground. In order to improve the cleaning force of the cleaning roller 832, referring to FIGS. 20a-21b, in an embodiment provided by the present application, the decontamination mechanism 833 is arranged on the front side of the cleaning roller 832 along the length direction of the base 1. When the cleaning robot moves forward, the rotation direction of the cleaning roller 832 is opposite to that of the drive wheel 41, so that the scrubbing force of the cleaning roller 832 on the ground is greater, and the cleaning force of the cleaning roller 832 is higher.

[0282] Referring to FIGS. 2 and 12, the base 1 is provided with a first space for installing the drive wheel at a position corresponding to the drive wheel 41, which can be referred to as a drive wheel shell. The base 1 is provided with a second space for installing the mop module 8 at a position behind the drive wheel 41. Based on the circular body, since the first space for installing the drive wheel occupies the largest width position of the body, in order to prevent the drive wheel from interfering with the roller and to meet the need of the roller to swing outward, the mop module 8 is generally arranged behind the drive wheel. In order to realize a longer roller, the position of the mop module 8 is as close to the drive wheel shell as possible. That is, the limit position at which the mop module 8 can be installed is two shell distances away from the first space for installing the drive wheel. The two shells refer to the shell of the first space for installing the drive wheel and the shell of the space for installing the mop module 8. For example, the two shells are greater than a set distance of 5mm and less than 7mm.

[0283] Please refer to FIG. 7a. In the Y-axis direction, the cleaning robot moves forward, and in the Z-axis direction, the paper is perpendicular. As mentioned above, in order to obtain a longer and outwardly extending roller, the mop module 8 is arranged as close as possible to the drive wheel shell in the Y-axis direction. In the same horizontal plane, in the X-axis direction perpendicular to the Y-axis, that is, in the direction of the width of the body, the main factor limiting the length of the roller is the docking position with the dust collection base station. In some embodiments of the present application, the cleaning roller 832 is biased to one side of the base 1 in the transverse direction of the base 1. The dust exhaust channel assembly 63 in the dust cleaning system 6 is arranged on the other side (the opposite side of the position of the cleaning roller 832) in the transverse direction. That is, the dust exhaust channel assembly 63 and the water tank 71 are both arranged on the opposite side of the outward extension of the roller, and do not hinder the extension movement of the roller. In the Z-axis direction, the water tank 71 and the dust exhaust channel assembly 63 are arranged above and below, for example, the water tank 71 is arranged above the dust exhaust channel assembly 63.

[0284] The dust exhaust channel assembly 63 is located at the circumferential angle formed by the cleaning roller 832 and the drive wheel 41, or in other words, the dust exhaust channel assembly 63 is located within the angle range between the mop module 8 and the corresponding side drive wheel 41. The cleaning roller 832 is arranged obliquely, and the projection of the cleaning roller 832 in the YZ plane at least partially overlaps the projection of the dust exhaust channel in the YZ plane. The projection of the cleaning roller 832 in the YZ plane partially overlaps the projection of the drive wheel 41 in the YZ plane. One end of the dust exhaust channel assembly 63 communicates with the dust box assembly 61, and the other end can communicate with the outside. Through the dust exhaust channel assembly 63, dust in the dust box assembly 61 can be sucked out of the dust box, avoiding the user from disassembling the dust box.

[0285] It should be noted here that the roller brush 641 in the floating roller brush assembly 64 is used to clean dry dirt. The roller brush 641 can include a roller brush shaft and brush hairs arranged on the roller brush shaft. The dry dirt (such as dust, hair, small particles, etc.) is lifted up by the roller brush 641, and then sucked into the dust box assembly by the suction nozzle in the dust cleaning system of the cleaning robot. The roller in the cleaning roller 832 is used to wet mop the floor. The roller can include a roller shaft and a mop soft brush arranged on the roller shaft. The mop soft brush absorbs water to wet mop the floor to clean the floor.

[0286] In conclusion, in the technical scheme provided in the present application, when the cleaning robot needs to clean the edges of walls, household objects and the like, the mop-washing assembly 83 on the cleaning robot can be extended outward relative to the body of the cleaning robot, thereby facilitating the mop-washing assembly 83 to achieve the task of edge cleaning. When the cleaning robot needs to clean a carpet, the mop-washing assembly 83 can be lifted by the driving device 81, thereby avoiding the contact of the wet cleaning roller 832 with the carpet. In addition, whether the mop-washing assembly 83 is in the state of being extended or not, the dirt-removing mechanism 833 on the mop-washing assembly 83 can scrape the dirty water on the cleaning roller 832 clean when the cleaning roller 832 rotates. The liquid supply structure on the mop-washing assembly 83 can continuously supply cleaning liquid to the cleaning roller 832, thereby meeting the requirement that the mop-washing assembly 83 cleans the ground while being self-cleaned, and the mop-washing assembly 83 always has good cleaning effect.

[0287] It is mentioned above that the dust-cleaning cleaning system 6 is arranged on the base 1, and when the dust is cleaned, at most, the ground covered by the base 1 can be cleaned, and it is difficult to clean other areas outside the base 1. Usually, when the cleaning robot cleans the ground in the home environment, in order to avoid the collision of the body with the edges of walls, household objects and the like, the body of the cleaning robot is often kept at a safe distance from the edges of walls, household objects and the like, but this will cause the cleaning blind area of the cleaning robot to be too large, and the cleaning robot cannot achieve edge cleaning.

[0288] To solve this problem, as shown in FIG. 1a, FIG. 2, FIG. 3 and FIG. 13, when the cleaning robot drives to the wall root, the corner or the like along the edge or the area of the cleaning dead angle, in order to fully clean the cleaning area. In some embodiments of the present application, the outer swing edge brush assembly 5 includes an outer swing edge brush 51, a mechanical arm 52 and a rotary drive 53, wherein the rotary drive 53 is arranged on the base 1, the outer swing edge brush 51 is rotatably arranged at the free end of the mechanical arm 52, the end of the mechanical arm 52 away from the outer swing edge brush 51 is connected with the output end of the rotary drive 53, the rotary drive 53 can provide the mechanical arm 52 with rotary power, so that the free end of the mechanical arm 52 drives the outer swing edge brush 51 to rotate around the output end of the rotary drive 53, so as to swing the outer swing edge brush 51 out of the base 1 or swing back into the base 1. When the outer swing edge brush 51 swings out of the base 1, the mechanical arm 52 can transmit the rotary power of the rotary drive 53 to the outer swing edge brush 51, so that the outer swing edge brush 51 performs a rotary motion to stir up the dust on the cleaning surface at the wall root edge or the cleaning dead angle, so that the dust can be sucked into the dust box assembly 61, so as to realize the cleaning of the wall root edge and the cleaning dead angle. In addition, in order to realize that when the mop washing assembly 83 is in the extended state, the cleaning robot still performs the process of sweeping first and then mopping when cleaning the ground. The outer swing edge brush assembly 5 is arranged at the same side as the outer swing direction of the mop washing assembly 83, for example, the extension directions of the outer swing edge brush assembly 5 and the mop washing assembly 83 are both on the right side of the cleaning robot, when the mop washing assembly 83 extends outward, the outer swing edge brush assembly 5 also swings outward on the same side, so that the sweeping range of the outer swing edge brush assembly 5 can coincide with the mopping range of the mop washing assembly 83.

[0289] During the cleaning task of the cleaning robot, it is necessary to move autonomously, so in the process of moving the cleaning robot, corresponding sensors are needed to detect the environment and obstacles, so as to avoid the cleaning robot being blocked during movement.

[0290] As shown in FIG. 1b, FIG. 2 to FIG. 4 and FIG. 14 to FIG. 17, in some embodiments of the present application, the obstacle avoidance sensor assembly 2 includes a sensor module 21 and a sensor bracket 22. The sensor bracket 22 is a semicircle shaped with the bumper assembly 3, the sensor bracket 22 is installed on the front side of the base 1, and the sensor module is located at the front end of the sensor bracket 22. It can be considered that the sensor module 21 is arranged on the front side of the cleaning robot body, which can detect the environment in front of the space in the direction of the cleaning robot, so as to realize the recognition of the cleaning area and the recognition of the front obstacles, thereby assisting the cleaning robot to safely move forward.

[0291] The sensor module 21 can identify obstacles and boundary information of the cleaning environment to prevent the cleaning robot from colliding and establish a three-dimensional map of the cleaning robot's walking area to guide the cleaning robot's walking path. Specifically, in some embodiments of the present application, the sensor module 21 includes at least one of the following: an obstacle avoidance sensor 211, a mapping sensor 213, a vision sensor 212, and the like. The obstacle avoidance sensor 211 can emit and receive infrared light or laser to measure the distance of objects in close proximity and identify obstacles in front to perform obstacle avoidance operation according to the measured distance. The mapping sensor 213 can emit and receive infrared laser in the horizontal direction to identify obstacle and boundary position information to establish a map of the area to be cleaned to guide the cleaning robot's walking path. The vision sensor 212 identifies obstacles through visual judgment to assist in obstacle avoidance and reduce the risk of collision between the cleaning robot and obstacles during walking.

[0292] When the cleaning robot performs a cleaning task on the surface to be cleaned, it not only needs to clean the middle area of the surface to be cleaned, but also needs to clean the edge area of the surface to be cleaned. When cleaning the middle area of the surface to be cleaned, only the sensor module 21 located on the front side of the body needs to detect in real time whether there is an obstacle in front. When cleaning the edge of the surface to be cleaned, that is, so-called edge cleaning, the cleaning robot needs to detect not only whether there is an obstacle in front, but also whether the cleaning robot is walking along the edge. Since the detection range and accuracy of the sensor module 21 on the front side of the body are limited, it cannot assist in detecting whether the cleaning robot is walking along the edge of the object.

[0293] Please refer to FIGS. 14-16, in some embodiments of the present application, the obstacle avoidance sensor assembly 2 further includes an edge-following sensor 24 and a bumper trigger structure 23. The edge-following sensor 24 is located on the sensor bracket 22 on the left and right sides of the sensor bracket 22, or is provided on the left and right sides of the base 1. The edge-following sensor 24 can sense whether the cleaning robot is in an edge-following state. If the cleaning robot is in an edge-following state, the edge-following sensor 24 will transmit the walking information of the cleaning robot to the mainboard assembly 9, and the mainboard assembly 9 controls the outer swing brush assembly 5 and the mop module 8 to extend to clean the edge of the area to be cleaned. The bumper trigger structure 23 is fixed on the sensor bracket 22, and there is a bumper trigger structure 23 on both sides of the sensor module 21. The bumper trigger structure 23 is connected to the bumper assembly 3 in a resilient manner, so that when the bumper assembly 3 collides, the elastic member is compressed, and after the collision is eliminated, it can return to its original position.

[0294] The edge sensor 24 is arranged at a lateral position of the cleaning robot body. When the cleaning robot walks along the edge, the edge sensor 24 is closer to the object beside the cleaning robot, the monitoring range of the edge sensor 24 is opposite to the side of the cleaning robot (the left side or the right side of the cleaning robot body), and the detection accuracy of the edge sensor 24 is higher than that of the sensor module 21.

[0295] The mapping sensor 213 in the sensor module 21 generates a line laser including line lasers in multiple directions, such as line lasers in the horizontal direction and line lasers in the vertical direction, and the field of view angle of the sensor is 120 degrees * 60 degrees. The edge sensor 24 includes but is not limited to a line laser sensor, an infrared sensor, an ultrasonic sensor, and the like. Taking the edge sensor 24 as an ultrasonic sensor as an example, the edge sensor 24 can measure the distance between the edge sensor 24 and the edge of the object through ultrasonic waves, thereby assisting in path planning with the cleaning robot, and the cleaning robot can plan a path for walking along the edge.

[0296] An existing cleaning robot has the mapping sensor 213 arranged at the top of the cleaning robot body and the obstacle avoidance sensor 211 arranged at the front of the cleaning robot body. However, the mapping sensor 213 protruding from the top of the cleaning robot body increases the overall height of the cleaning robot, and in some scenarios, such as the bottom of a low sofa, the bottom of a bed, and the like, the cleaning robot cannot enter the cleaning area, thereby reducing the overall cleaning coverage of the house, affecting the user experience, and reducing the expectation of the consumer for the product.

[0297] Referring to FIGS. 1a, 1b, 2-4, and 14-17, in the technical solution provided in the present application, the obstacle avoidance sensor assembly 2 is arranged in the cleaning robot body, thereby avoiding the problem of the obstacle avoidance sensor assembly 2 protruding from the top of the cleaning robot and increasing the overall height of the cleaning robot.

[0298] In the technical solution of the present application, the obstacle avoidance sensor assembly 2 is arranged inside the cleaning robot body, and the obstacle avoidance sensor assembly 2 needs to monitor the environment outside the cleaning robot body, so a corresponding window needs to be arranged on the cleaning robot body or a corresponding structure needs to be arranged, so that the obstacle avoidance sensor assembly 2 can monitor the environment outside the cleaning robot body.

[0299] Referring to Figures 1b, 3, 4, 16, and 17, in one embodiment provided in this application, a recessed space 100 is provided at the front end of the cleaning robot corresponding to the position of the sensor module 21. Specifically, a sensor bracket 22 is located on the front side of the base 1, and a sensor mounting position 210 is provided on the sensor bracket 22. The sensor module 21 is located on the sensor mounting position 210, and the edge sensor 24 is also located on the sensor bracket 22. The obstacle avoidance sensor 211 and the vision sensor 212 in the sensor module 21 can be located within the recessed space 100. The mapping sensor 213 in the sensor module 21 can be located above the recessed space 100 and is approximately flush with the outer surface of the front end of the cleaning robot body. Referring to the example shown in Figure 1, the recessed space 100 is a recessed groove formed from the front end of the cleaning robot body backward. The inner wall of the recessed groove can be perpendicular to the direction of travel of the cleaning robot, or the side wall can be an inclined surface extending backward from the sensor module 21 to increase the field of view of the sensor module 21. A collision plate 31 is also provided in front of the sensor bracket 22. To ensure good signal reception function of the sensor module 21, a window 32 is provided on the collision plate 31, and the sensor module 21 is located at the window 32.

[0300] Furthermore, window 32 includes viewing windows, which are asymmetrically distributed along the vertical central axis of the base or the symmetrical center line of the cleaning robot body. The viewing windows include a first viewing window and a second viewing window, located on the left and right sides of the symmetrical center line of the body, respectively.

[0301] Along the symmetrical centerline, the cleaning robot's body is divided into an edge-cleaning side and a non-edge-cleaning side. The first viewing window and the outward-swinging side brush assembly 5 are located on the edge-cleaning side, while the second viewing window is located on the non-edge-cleaning side. The length of the second viewing window is greater than the length of the first viewing window, and the field of view of the second viewing window is greater than the viewing angle of the first viewing window. In the technical solution of this application, the edge-cleaning side has an outward-swinging side brush assembly 5, which partially obstructs the viewing angle of the edge-cleaning side. Designing the first viewing window on the edge-cleaning side to be shorter and having a smaller viewing angle avoids the sensor's detection viewing angle being obstructed by the side brush assembly 5, thus preventing a waste of sensor functionality. By tilting the sensor's detection viewing angle towards the second viewing window, the sensor's detection viewing angle will be fully utilized. When setting up the sensor, it can be tilted so that its detection viewing angle faces the second viewing window, or the sensor can be set on the sensor bracket 22 corresponding to the second viewing window. It should be noted that the sensor mentioned here can be considered as the mapping sensor 213 in the sensor module 21 mentioned above.

[0302] [Corrected according to Rule 91 on 08.05.2025] The position of the opening of the recessed space 100 corresponds to the position of the window 32. Referring to FIG. 1b, the dashed line is the center line A of symmetry of the cleaning robot, and the sensor module 21 is located on the center line A of symmetry. The space on the left and right sides of the recessed space 100 is not symmetrical with respect to the sensor module 21. From the perspective shown in FIG. 1b, the space on the left side of the center line A of symmetry is smaller than the space on the right side of the center line A of symmetry. The left side of the center line A of symmetry can be considered as the side where the outer swing brush 51 is located in FIG. 1a. Correspondingly, referring to FIG. 7a, based on the center line A of symmetry, the left and right sides of the window 32 on the collision plate 31 are also asymmetrical, and the window 32 on the left side of the center line A of symmetry is smaller than the window 32 on the right side of the center line A of symmetry.

[0303] Further, referring to FIG. 1b and FIG. 16, the window 32 includes an upper window 321 and a lower window 322, and the length of the upper window 321 is smaller than the length of the lower window 322. The upper window 321 is symmetrically distributed along the center line A of symmetry, and the lower window 322 is asymmetrically distributed along the center line A of symmetry, and the length of the window on the left side is smaller than the length of the window on the right side. The heat dissipation hole 101 is located on the bottom wall of the recessed space 100 corresponding to the lower window. In addition, in order to improve the structural strength of the collision plate 31, a connecting column 33 is also provided on the window 32.

[0304] The upper window 321 and the lower window 322 can be provided with a dustproof transparent plate or a dustproof cover, or can not be provided with a dustproof transparent plate or a dustproof cover, so that the user can directly observe the internal heat dissipation hole through the upper window 321 and the lower window 322.

[0305] It should be noted that the upper window 321 mentioned above can be considered as the window mentioned above, and the window includes a first window and a second window, and the lower window 322 can be considered as a sensor window. The sensor window is in communication with the window, and based on the center line of symmetry of the cleaning robot, the sensor window is a symmetrical structure, and the obstacle avoidance sensor 211 and the visual sensor 212 in the sensor module 21 are arranged on the sensor bracket 22 corresponding to the sensor window.

[0306] As mentioned above, in order to enable the cleaning robot to achieve edge cleaning, the outer edge brush assembly 5 is arranged on the cleaning robot, which can be outwardly swung relative to the body of the cleaning robot, and then clean the area near the wall or the edge of an object. Referring to FIGS. 3 and 4, the outer edge brush assembly 5 is arranged on the front side of the base 1 along the central axis of the base 1, and is located on the front end side of the base 1. Similarly, the sensor bracket 22 mentioned above is also located on the front end of the base 1, in order to avoid interference between the sensor bracket 22 and the outer edge brush assembly 5. In the technical solution of the present application, the sensor bracket 22 is an asymmetric structure, and the sensor bracket 22 and the outer edge brush assembly 5 are arranged side by side on the front side of the base 1.

[0307] Specifically, referring to FIG. 17, the dashed line in FIG. 17 is the symmetry center line M of the base 1, which is parallel to the symmetry center line A. Based on the symmetry center line M, the sensor bracket 22 is also an asymmetric structure, and the structure of the sensor bracket 22 on the left side of the symmetry center line B is larger than that on the right side of the symmetry center line B.

[0308] In the technical solution of the present application, the sensor bracket 22 is an asymmetric structure, and is arranged asymmetrically on the base 1 along the symmetry center line M of the base 1. The asymmetric recessed space 100 on the sensor bracket 22 can effectively avoid the monitoring blind area of the sensor. In addition, the asymmetrically arranged sensor bracket 22 can be arranged on the front side of the base 1 at the same time as the outer edge brush assembly 5, which not only avoids interference between the two in structure, but also fully utilizes the space on the front side of the cleaning robot body, improves the utilization rate of the internal space of the cleaning robot, and makes the structure of the cleaning robot more compact.

[0309] With the expansion of the functions of the cleaning robot, the motion algorithm of the cleaning robot is becoming more and more complex, and the obstacle avoidance sensor assembly 2 is becoming more and more powerful, and the computing power required by the cleaning robot is also increasing, so the core controller of the mainboard assembly 9 needs higher power to meet the demand of computing power, and the heat generation of the core controller increases sharply. However, the existing sweeping robots pay little attention to the demand for mainboard heat dissipation, lack of heat dissipation design, and the heat dissipation structure has low heat dissipation efficiency and long heat dissipation path, and can only be passively dissipated, which cannot fully and effectively meet the product demand. Some sweeping robots connect the mainboard assembly with a counterweight made of metal material, but the counterweight has no heat dissipation outlet, and can only conduct part of the heat through the counterweight, so the heat dissipation effect is still not good.

[0310] The embodiment provides a kind of active sweeping robot heat dissipation scheme, see Figure 1b, Figure 18a and Figure 18b, the bottom of inner space 100 is equipped with multiple heat dissipation holes 101, heat dissipation hole 101 is located on the bottom wall of the right window of lower window.It can also be considered that heat dissipation hole 101 is located on sensor support 22, heat dissipation hole 101 can be connected with the inside and outside of the body of cleaning robot, to facilitate the heat dissipation of core controller on mainboard assembly 9.Specifically, mainboard assembly 9 includes core board 110, the downward side of core board 110 is equipped with the shielding cover 111 of fitting, shielding cover 111 can shield the interference of electronic radiation to core board 110.Heat-conducting silica gel 112 is equipped on the bottom surface of shielding cover 111, and heat sink 113 is equipped below heat-conducting silica gel 112.When core board 110 operates and generates heat, heat can be conducted to heat-conducting silica gel 112 through shielding cover 111, then heat-conducting silica gel 112 is conducted to heat sink 113, heat sink 113 is arranged behind heat dissipation hole 101, and heat sink 113 is connected to base 1 by fastener 116.Whether cleaning robot is in travel state or stationary state, air outside can enter the inside of the body of cleaning robot through heat dissipation hole 101, and heat on heat sink 113 is taken away, so that core board 110 is cooled, to ensure that the temperature of core board 110 is always controlled within reasonable range, and the computing power of core board 110 is stable.

[0311] In order to avoid dust into the body of cleaning robot, dust-proof foam 115 is arranged on the inward side of heat dissipation hole 101, dust-proof foam 115 can simply filter the airflow entering the inside of the body from heat dissipation hole 101, so as to block dust from entering the inside of the body.In addition, in order to improve the waterproof performance of cleaning robot, waterproof material is arranged around heat sink 113, which can avoid water vapor or water flow entering core board 110 through heat sink 113.

[0312] Arranging heat dissipation hole 101 at the bottom of inner space 100 is also beneficial to improve the air intake, see Figure 1a and Figure 1b, inner space 100 is similar to the shape of horn, when cleaning robot advances forward, inner space 100 has larger windward surface, so that larger wind pressure is generated at heat dissipation hole located at the bottom of inner space 100, which will make more airflow with faster flow rate enter the body of cleaning robot through heat dissipation hole 101, and the heat dissipation effect of airflow on heat sink 113 is better.

[0313] In summary, the embodiment provides an active heat dissipation scheme for the cleaning robot. The air outside can pass through the front plate window of the cleaning robot and enter the body of the cleaning robot through the heat dissipation hole 101, so as to take away the heat on the heat dissipation fin 113, thereby dissipating heat for the core board 110, so as to ensure that the temperature of the core board 110 is always controlled within a reasonable range. When the cleaning robot moves forward, the wind dissipation can be realized. Even if the robot is in a stationary state, the heat dissipation hole can conduct most of the heat of the core board 110 to the heat dissipation port, and finally realize the convective heat exchange with the air.

[0314] The above-mentioned sensor module 21 is provided on the front side of the cleaning robot, and the sensor module 21 includes a plurality of different sensors, so as to realize the navigation and obstacle avoidance of the cleaning robot. Generally, the sensor module 21 algorithm is based on the body profile of the cleaning robot to realize obstacle avoidance, but when the mop and washing assembly 83 is stretched out from the body, the outermost edge of the mop and washing assembly 83 will exceed the outermost edge of the body of the cleaning robot. It can be understood that the mop and washing assembly 83 is protruded outward from the body of the cleaning robot. The sensor module 21 located on the front side of the body cannot take into account the obstacle avoidance of the mop and washing assembly 83. The stretched mop and washing assembly 83 can collide with obstacles or the edges of objects during edge cleaning. The collision causes the cleaning robot to shift, and the cleaning robot needs to be repositioned.

[0315] Referring to FIGS. 19a and 19b, in an embodiment provided in the present application, the cleaning robot is also provided with a roller obstacle avoidance assembly 26. One side of the mop and washing assembly 83 stretched out can be defined as the stretched side of the body of the cleaning robot. The stretched side can be the left side of the body of the cleaning robot, or the right side of the body of the cleaning robot. The roller obstacle avoidance assembly 26 is provided on the sensor support 22 of the stretched side, or is directly provided on the base 1 of the stretched side, or is provided on the rear cover assembly 01.

[0316] Taking the right side of the body of the cleaning robot as the stretched side as an example. The roller obstacle avoidance assembly 26 can monitor whether there is an obstacle in the space environment of the stretched side, and can also measure the distance between the obstacle or the edge of the object and the roller obstacle avoidance assembly 26. Then the mainboard assembly 9 can calculate whether the mop and washing assembly 83 has a risk of collision.

[0317] As shown in FIG. 19a, the two dotted lines represent the horizontal monitoring range of the roller obstacle avoidance assembly 26, and the included angle a of the monitoring range is in the range of [60 degrees-180 degrees], for example, 120 degrees. Along the length direction of the cleaning robot, the roller obstacle avoidance assembly 26 is located in front of the mop-washing assembly 83, and the roller obstacle avoidance assembly 26 can detect the existence of the obstacle before the mop-washing assembly 83 collides with the obstacle. The roller obstacle avoidance assembly 26 can not only detect whether the edge of the obstacle or object is in the travel path of the mop-washing assembly 83, but also measure the distance between the object and the cleaning robot.

[0318] Although the sensor module 21 located in the front side of the robot body can also detect the obstacle on the extended side in some cases, the accuracy and precision are incomparable to the roller obstacle avoidance assembly 26.

[0319] The above-mentioned upper side of the sensor support 22 is also provided with the edge sensor 24, which can sense whether the cleaning robot is in the edge-following travel state. When the roller obstacle avoidance assembly 26 is provided on the extended side of the robot body, the edge sensor 24 can be selectively provided on the extended side because the roller obstacle avoidance assembly 26 can replace the edge sensor 24.

[0320] Generally, the edge sensor 24 cannot replace the roller obstacle avoidance assembly 26 because the edge sensor 24 can only simply detect whether the cleaning robot is located at the wall or the edge of the home. The obstacle avoidance of the mop-washing assembly 83 also needs to consider whether the collision with the obstacle occurs in the height direction.

[0321] Referring to FIG. 19b, when the cleaning robot performs the edge-following cleaning, the edges of the obstacles such as walls and homes cannot be flat, for example, the obstacle in FIG. 19b has a convex part in the height direction, and the convex part has a certain height from the ground. At this time, during the travel of the mop-washing assembly 83, the mop-washing assembly 83 can not collide with the lower half of the obstacle, but it can collide with the convex part, so the monitoring of the obstacle in the height direction is also important.

[0322] In an embodiment provided in the present application, the roller obstacle avoidance assembly 26 can detect the height of the obstacle in the vertical direction. As shown in FIG. 19b, in the vertical direction, the roller obstacle avoidance assembly 26 has a vertical monitoring range, and the included angle b of the monitoring range is in the range of [90 degrees-180 degrees], for example, 120 degrees. Generally, as long as the detection range of the roller obstacle avoidance assembly 26 is greater than the height of the mop-washing assembly 83, the use requirement can be met. Referring to FIG. 17, the field of view angle of the right side of the sensor module 21 is small, and the projection direction of the roller obstacle avoidance assembly 26 emitting the linear laser light vertically to the ground can be biased to the front emission.

[0323] The drum obstacle avoidance assembly 26 includes, but is not limited to, a line laser sensor, an ultrasonic sensor, an infrared sensor, a visual sensor, etc.

[0324] The following describes a scenario in which the drum obstacle avoidance assembly 26 is a line laser sensor.

[0325] Referring to FIG. 19a, the obstacle is a cabinet with a portion protruding outward. When the cleaning robot needs to clean the cabinet edge, the mop-washing assembly 83 is controlled to protrude outward, and as the cleaning robot travels, the mop-washing assembly 83 gradually approaches the edge of the cabinet. In the process of approaching, the drum obstacle avoidance assembly 26 emits a line laser to monitor the distance between the mop-washing assembly 83 and the cabinet in real time. When the mop-washing assembly 83 is too close to the cabinet, the cleaning robot adjusts the travel path or adjusts the distance of the mop-washing assembly 83 to protrude outward, thereby avoiding collision with the cabinet. In addition, referring to FIG. 19b, when the mop-washing assembly 83 approaches the cabinet, the drum obstacle avoidance assembly 26 emits a line laser to also detect the height of the portion protruding outward on the cabinet in real time. When the height is detected to be too low, the cleaning robot is controlled to change the travel path to terminate the edge cleaning of the cabinet, or the mop-washing assembly 83 is controlled to retract, thereby effectively avoiding collision between the mop-washing assembly 83 and the portion protruding outward on the cabinet.

[0326] The larger the field of view angle of a single line laser sensor, the higher the required computing power. When multiple such line laser sensors are provided on the cleaning robot, it is difficult for the computing unit of the cleaning robot to provide sufficient computing power. This not only affects the performance of the multiple line laser sensors, but also requires the cleaning robot to be configured with a more powerful computing unit, which will bring severe challenges in terms of energy consumption and cost. In addition, if the cleaning robot is configured with multiple powerful line laser sensors, it is also easy to cause performance redundancy, increased power consumption, and shorter battery life of the cleaning robot.

[0327] Referring to FIG. 19b, in another embodiment provided in the present application, the sensor module 21 located on the front side of the body and the drum obstacle avoidance assembly 26 can cooperate with each other to realize obstacle recognition. Specifically, the monitoring range of the sensor module 21 is horizontally downward, similar to looking down obliquely in the horizontal direction, and the sensor module 21 can monitor whether there is an obstacle protruding from the ground in front of the cleaning robot. The sensor module 21 does not detect objects above the horizontal direction, thereby effectively reducing the demand for computing power. The monitoring range of the drum obstacle avoidance assembly 26 is vertical, and the drum obstacle avoidance assembly 26 can monitor obstacles in the vertical direction, such as the height of the obstacle, the distance between the obstacle and the cleaning robot, etc. By using the sensor module 21 and the drum obstacle avoidance assembly 26 located at different positions in cooperation, the range that can be monitored by the cleaning robot can be covered, and the space horizontally downward and vertically around the body.

[0328] In the technical solution of the present application, the monitoring range of the drum obstacle avoidance assembly 26 is only in the vertical direction, and the required computing power is less than that required by the sensor module 21. Compared with the line laser sensor with a comprehensive monitoring range, the drum obstacle avoidance assembly 26 and the sensor module 21 can be considered as low-end line laser sensors, and the required computing power is less. Therefore, the total computing power required by multiple similar line laser sensors provided on the cleaning robot is also less. In addition, the drum obstacle avoidance assembly 26 can also consider the obstacle avoidance of the cleaning drum 832 in the extended state.

[0329] Although the rotating roller brush 641 can sweep the ground, the main dust collection work is still to suck the garbage into the dust box assembly 61 by the negative pressure generated by the suction fan assembly 62. Therefore, the position of the suction port provided on the base 1 will affect the dust collection efficiency. When the position of the suction port is not reasonable, the dust collection efficiency of the suction cleaning system 6 is very low, and the garbage on the ground cannot be effectively collected.

[0330] As shown in FIGS. 20a and 20b, in one embodiment provided in the present application, a first suction port 65 is provided on the base 1, and the first suction port 65 corresponds to the roller brush 641. The roller brush 641 can be in contact with the ground through the first suction port 65. When the roller brush 641 rotates, the garbage swept by the roller brush 641 and the dust beaten up can be sucked into the dust box assembly 61 through the first suction port 65. The direction indicated by the dashed arrow in FIG. 20b is the direction of the suction air flow. In addition, along the length direction of the cleaning robot body, the first suction port 65 is located in front of the dust box assembly 61, and the first suction port 65 communicates with the dust box assembly 61 through an inclined channel. This technical solution has the least effect on the suction force at the first suction port 65.

[0331] Further, in order to better achieve the dust collection work, the dust on the to-be-cleaned area is as much as possible collected in the dust box assembly 61, the roller brush 641 is in contact with the to-be-cleaned surface, and one end of the roller brush assembly 64 is detachably sleeved on the roller brush driving assembly 4, and the roller brush cover plate assembly is detachably buckled on the lower end of the roller brush assembly 64, so as to clamp the roller brush assembly between the roller brush driving assembly 4 and the roller brush cover plate assembly. When the roller brush assembly needs to be cleaned, the roller brush cover plate assembly is opened, and the roller brush assembly can be detached from the roller brush driving assembly 4, so as to facilitate the cleaning of the roller brush assembly 64. The roller brush cover plate assembly has a roller brush hole in the left-right direction, which can be considered as the first dust suction port 65 described above. The bristles of the roller brush assembly 64 for lifting the dust on the to-be-cleaned surface are in contact with the to-be-cleaned surface through the roller brush hole. The roller brush driving assembly 4 provides power for the rotation of the roller brush 641. When the cleaning robot is cleaning the to-be-cleaned area, the roller brush 641 can lift the dust in the to-be-cleaned area, and the lifted dust is closer to the dust suction port, so that the dust is more easily sucked into the dust box assembly 61 under the suction force of the dust suction fan assembly 62.

[0332] In summary, in the technical scheme provided in the present application, by arranging the first dust suction port 65 at the position corresponding to the roller brush 641, the suction force generated at the first dust suction port 65 can suck all the garbage into the dust box assembly 61 after the garbage is swept by the roller brush 641. The dust suction port is reasonably arranged, the dust suction efficiency of the dust suction and cleaning system 6 is high, and the ground can also be sucked more cleanly.

[0333] The length of the cleaning roller 832 determines the cleaning range that can be covered by the cleaning roller 832. The longer the length of the cleaning roller 832, the higher the cleaning efficiency of the cleaning robot. If the length of the cleaning roller 832 is too short, it is possible that when the mop and washing assembly 83 is stretched out, the cleaning roller 832 can only cover a small part of the ground below the robot body, and the area that can be cleaned by the dust suction and cleaning system 6 and the area that can be cleaned by the cleaning roller 832 cannot effectively overlap, which will cause part of the ground area to be cleaned only by the dust suction and cleaning system 6 and cannot be mopped and washed by the cleaning roller 832.

[0334] Referring to FIGS. 20a-22, in another embodiment of the present application, a cleaning robot is provided with a relatively long mopping assembly 83, which is longer than the length of the roller brush 641 and extends from one side of the base 1 to the other side of the base 1, i.e., the mopping assembly 83 is considered to span the entire base 1, thereby maximizing the length of the mopping assembly 83. Along the width direction of the cleaning robot, the length of the mopping assembly 83 on the left side of the roller brush 641 is L1, and the length of the mopping assembly 83 on the right side of the roller brush 641 is L2. The cleaning range of the mopping assembly 83 is obviously larger than that of the roller brush 641. The relatively long mopping assembly 83 can achieve better cleaning effect, and when the mopping assembly 83 is extended to perform edge cleaning, the cleaning range of the mopping assembly 83 can still substantially cover the cleaning range of the roller brush 641. In addition, the length of the mopping assembly 83 is approximately equal to the distance between the two drive wheels 41, so that when the drive wheels 41 leave marks on the ground, the mopping assembly 83 can clean the marks well.

[0335] As mentioned above, the dust box assembly 61 is provided with a dust discharging passage assembly 63. When the cleaning robot finishes the cleaning task or the dust box assembly 61 is full, the cleaning robot can return to the base station, and then the dust discharging passage assembly 63 is docked with the garbage collection port on the base station, and the dust suction fan assembly 62 is reversed, so that all the garbage in the dust box assembly 61 is blown into the garbage collection port on the base station, and the garbage is collected by the larger dust collection box on the base station.

[0336] Referring to FIG. 7a, when the mopping assembly 83 does not span the entire body of the cleaning robot, the space on one side of the dust box assembly 61 can be fully utilized, i.e., the dust discharging passage assembly 63 is arranged beside the mopping assembly 83. Referring to FIGS. 21a and 21b, the mopping assembly 83 spans the entire body, and the mopping assembly 83 extends from the left edge of the base 1 to the right edge of the base 1. The mopping assembly 83 can be considered as the longest mopping assembly 83 that can be arranged on the second half of the base 1 of the cleaning robot. Then, this will cause that the dust discharging passage assembly 63 that spans the mopping assembly 83 cannot be arranged on the base 1. This will cause that after the cleaning robot is docked with the base station, the cleaning robot cannot perform the operation of emptying the dust box assembly 61.

[0337] Referring to FIG. 21a and FIG. 21b, in an embodiment provided by the present application, the base 1 is provided with a first dust suction port 65 and a dust discharge port 66. The first dust suction port 65 is arranged corresponding to the roller brush 641, and the roller brush 641 can be in contact with the ground through the first dust suction port 65. The dust discharge port 66 is arranged corresponding to the dust box assembly 61, and is located at the bottom of the dust box assembly 61. In addition, the dust discharge port 66 is located between the first dust suction port 65 and the mop washing module 8, and the length and width of the first dust suction port 65 are both greater than the length and width of the dust discharge port 66. The dust box assembly 61 is further provided with a filter assembly 67, which is arranged at the top of the dust box assembly 61. The filter assembly 67 is used to filter the airflow sucked into the dust box assembly 61, and then the airflow is discharged from the air outlet of the dust suction fan assembly 62. The dust discharge port 66 is arranged opposite to the filter assembly 67, that is, the filter assembly 67 is arranged at the top of the dust box assembly 61, and the dust discharge port 66 is arranged at the bottom of the dust box assembly 61. When the dust suction fan assembly 62 reverses rotation, the airflow blown into the dust box assembly 61 by the dust suction fan assembly 62 can flow from top to bottom and be discharged from the dust discharge port 66, which helps the dust box assembly 61 to quickly discharge the garbage.

[0338] Generally, the dust discharge port 66 is in a closed state, and only when the cleaning robot is docked with the base station and the dust box assembly 61 needs to be emptied, the dust discharge port 66 is opened. In a specific embodiment, the dust discharge port 66 is provided with a one-way door structure, which closes the dust discharge port 66 when the dust box assembly 61 is in a normal pressure and negative pressure state. When the dust box assembly 61 is in a positive pressure state, the one-way door structure is opened by the air pressure, and the garbage in the dust box assembly 61 can be discharged through the dust discharge port 66.

[0339] In summary, in the technical solution of the present application, the length of the mop washing assembly 83 is greater than the length of the cleaning drum 832. Whether the mop washing assembly 83 is in a retracted state or an extended state, the cleaning range covered by the cleaning drum 832 will highly coincide with the cleaning range covered by the roller brush 641, and the situation that part of the ground area is only swept but not mopped will not occur. In addition, the dust discharge port 66 is arranged at the bottom of the dust box assembly 61, and the garbage in the dust box assembly 61 can be discharged through the dust discharge port 66, and the dust discharge process is simple and convenient.

[0340] In combination with the above embodiments, referring to FIG. 3, FIG. 6, FIG. 7a and FIG. 23, in an embodiment provided by the present application, a cleaning robot is further provided. The cleaning robot comprises a chassis 1, a housing, a drive wheel assembly 4, a suction cleaning device 6 and a mop module 8. The chassis 1 has a vertical central axis. The housing is connected to the chassis 1 to form a body of the cleaning robot, and the housing can be the shell composed of the upper cover assembly 02, the bumper assembly 3 and the rear cover assembly 01 mentioned above. When the housing is connected to the chassis 1, a body of the cleaning robot in the shape of a round cake can be formed. The drive wheel assembly 4 is connected to the chassis 1 for driving the chassis 1 to move. The suction cleaning device 6 is arranged on the chassis 1, and the suction cleaning device 6 comprises a dust box assembly 61, a suction fan assembly 62 and a dust discharge passage assembly 63. The first end of the dust discharge passage assembly 63 is connected to the dust box assembly 61, and the second end extends to the rear end of the chassis 1. The mop module 8 is arranged on the rear side of the dust box assembly 61 along the front-rear direction of the vertical central axis, and the mop module 8 is movably connected to the chassis 1. The mop assembly 83 in the mop module 8 can be extended outward from one side of the chassis 1 relative to the chassis 1. The housing has an opening on one side, and the mop assembly 83 can be extended outward from the opening. The outer shell of the extended end of the mop assembly 83 matches the shape of the housing on the side of the opening.

[0341] Further, the body of the cleaning robot is in the shape of a round cake, and an end cover 8321 is arranged on the extended end of the mop assembly 83. The shape of the rear side area (such as area A in FIG. 3) of the end cover 8321 matches the shape of the rear side of the housing (such as area C in FIG. 3) of the opening. The front side (such as area B in FIG. 23) of the end cover 8321 is provided with a circular arc chamfer. It should be noted that area A in FIG. 3 and area A in FIG. 23 represent the same area of the end cover 8321.

[0342] Generally, the end cover 8321 and the cleaning roller 832 are connected together. When the cleaning roller 832 is installed on the mop assembly 83, one end of the cleaning roller 832 is connected to the roller motor on the mop assembly 83, and the other end is connected to the mop assembly 83 through the end cover 8321. When the user needs to install or disassemble the cleaning roller 832, the user can disconnect the end cover 8321 from the mop assembly 83 by grabbing the end cover 8321, and then the entire cleaning roller 832 can be disassembled. Therefore, when the mop assembly 83 is extended outward, the end cover 8321 is located at the outermost side. In some extreme working conditions, for example, after the extended end of the mop assembly 83 collides with a wall or an obstacle, the end cover 8321 is likely to be disconnected from the mop assembly 83. In this case, the cleaning roller 832 is likely to fall off from the mop assembly 83.

[0343] In the technical scheme provided in the present application, the front side of the end cover 8321 is provided with a circular arc chamfer, so that when the end cover 8321 collides with an obstacle or a wall surface, the force acting on the end cover 8321 will not cause the end cover 8321 to separate from the mop and washing assembly 83, and the connection between the end cover 8321 and the mop and washing assembly 83 is more stable. In addition, the shape of the rear side area of the end cover 8321 is a circular arc shape that matches the shape of the opening rear side of the shell. In this way, when the cleaning robot retreats, the extended mop and washing assembly 83 collides with the obstacle, and the force acting on the end cover 8321 is not easily separated from the mop and washing assembly 83.

[0344] Application scenario two:

[0345] When the cleaning robot is walking along the cleaning path, the rolling brush continuously rolls to lift dust on the cleanable area that can be passed, and the lifted dust is sucked into the suction port by the suction of the suction fan assembly 62 and enters the dust box assembly 61 from the suction port. At the same time, the cleaning roller 832 in the mop and washing module 8 is lowered to contact the cleanable surface under the action of the driving device, the water pump 73 works to pump the cleaning water in the water tank through the pipeline to be sprayed onto the cleaning roller 832 to wet the cleaning roller 832, and the cleaning roller 832 rotates to be able to take stubborn stains on the cleanable area away from the cleanable surface, and in the process of rotation, the sewage on the cleaning roller 832 is scraped into the sewage collection box 8332 under the action of the scraping strip assembly 8331, and the sewage in the sewage collection box 8332 is sucked into the sewage tank under the action of the air pump 74. When the cleaning robot is about to travel onto the carpet, the main board assembly 9 sends a rising instruction to the mop and washing module 8, so that the cleaning roller 832 is raised to be separated from the carpet under the drive of the mop and telescopic driving element, and when leaving the carpet area, the main board assembly 9 sends a descending instruction to the mop and washing module 8, so that the cleaning roller 832 is lowered to contact the cleanable surface under the drive of the mop and telescopic driving element to continue to perform the mop task.

[0346] When the cleaning robot walks to the edge area such as the wall root, the main board assembly 9 sends an instruction to drive the outer swing edge brush assembly 5 to swing out to the bottom plate, and sends an instruction to the mop and washing module 8 to extend the cleaning roller 832 out of the bottom plate, the outer swing edge brush assembly 5 lifts the dust on the edge area and the cleaning dead angle, so that the dust is sucked into the suction port and finally contained in the dust box assembly 61. At the same time, the mop and washing module 8 mops the edge area and the cleaning dead angle to ensure that the cleanable area can be completely cleaned.

[0347] Finally, it should be noted that the above examples are only used to illustrate the technical solutions of the present application, and are not intended to limit the same; although the present application has been described in detail with reference to the foregoing examples, those of ordinary skill in the art should understand that they can still modify the technical solutions recorded in the foregoing examples, or make equivalent replacements for some of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A cleaning robot, characterized in that, Comprising: a body having a transverse central axis and a vertical central axis; a drive wheel assembly connected to the body for driving the body to move; a dust cleaning device arranged on the body, the dust cleaning device comprising a dust box assembly, a dust suction fan assembly, and a dust discharge passage assembly, the first end of the dust discharge passage assembly being connected to the dust box assembly, and the second end extending to the rear end of the body; a mop assembly arranged on the rear side of the dust box assembly along the front-rear direction of the vertical central axis, the mop assembly being movably connected to the body, and the mop assembly being capable of extending outward from one side of the body along the transverse central axis; wherein the dust discharge passage assembly is located on the opposite side of the mop assembly along the transverse central axis.

2. The cleaning robot according to claim 1, wherein, The mop assembly is arranged behind the drive wheel assembly along the vertical central axis.

3. The cleaning robot according to claim 1, wherein, The dust discharge passage assembly is arranged on the body in an inclined manner, and the dust discharge passage assembly is located within the angle range between the mop assembly and the corresponding drive wheel. The projection of the cleaning roller in the vertical plane where the transverse central axis is located at least partially overlaps the projection of the dust discharge passage assembly in the vertical plane where the transverse central axis is located.

4. The cleaning robot according to claim 1, wherein, Further comprising a clean water tank, the clean water tank being located on the opposite side of the mop assembly along the transverse central axis; The clean water tank is connected to the mop assembly through a pipeline to provide cleaning liquid to the mop assembly.

5. The cleaning robot according to claim 1, wherein, The mop assembly is arranged on one side of the body along the transverse central axis, and the first end of the mop assembly is located within the edge of the body and can extend outward relative to the body.

6. The cleaning robot according to claim 5, wherein, The mop assembly has a first position, a second position, and a raised position relative to the body along the transverse central axis; When the mop assembly is in the first position, the mop assembly is in a lowered state relative to the body, and the projection of the mop assembly on the body is entirely located within the area of the body; when the mop assembly is in the second position, the mop assembly extends outward from one side of the body; and when the mop assembly is in the raised position, the mop assembly is raised relative to the body.

7. A cleaning robot, characterized in that, Comprising: a body having a vertical central axis; a housing connected to the body to form the body of the cleaning robot; a drive wheel assembly connected to the body for driving the body to move; a dust cleaning device arranged on the body, the dust cleaning device comprising a dust box assembly, a dust suction fan assembly, and a dust discharge passage assembly, the first end of the dust discharge passage assembly being connected to the dust box assembly, and the second end extending to the rear end of the body; a mop assembly arranged on the rear side of the dust box assembly along the front-rear direction of the vertical central axis, the mop assembly being movably connected to the body, and the mop assembly being capable of extending outward from one side of the body along the transverse central axis; The side of the shell has an opening, the mop washing assembly can be extended outward from the opening, and the outer shell of the extended end of the mop washing assembly matches the shape of the shell on the side of the opening.

8. The cleaning robot according to claim 7, wherein, An end cover is arranged on the outwardly extended end of the mop washing assembly, and the shape of the rear side region of the end cover is a circular arc shape matching the shape of the shell on the rear side of the opening. The front side of the end cover is provided with a circular arc chamfer.

9. A cleaning robot, characterized in that, Comprise: The machine body has a transverse center axis and a vertical center axis; The drive assembly is arranged on the machine body corresponding to the transverse center axis and is used to drive the machine body to move; The cleaning module is movably connected with the machine body and can be extended outward from one side of the machine body along the transverse center axis; The waterway system comprises a clean water tank, The clean water tank is located on the opposite side of the extension side of the cleaning module. 10.The cleaning robot according to claim 9, wherein, The drive assembly comprises drive wheels symmetrically distributed along the vertical center axis, the clean water tank is arranged above one of the drive wheels, and the clean water tank is vertically distributed on the front and rear sides of the transverse center axis. 11.The cleaning robot according to claim 9, wherein It also comprises a dust cleaning system, which comprises a dust box assembly and a dust fan assembly; along the transverse center axis, the dust fan assembly is located on one side of the dust box assembly, and the clean water tank is located on the other side of the dust box assembly.

12. The cleaning robot of claim 11, wherein, Along the transverse center axis, the clean water tank, the dust box assembly and the dust fan assembly are arranged in sequence from left to right.

13. A cleaning robot, characterized in that, Comprise: The machine body has a transverse center axis and a vertical center axis; The drive assembly is arranged on the machine body corresponding to the transverse center axis and is used to drive the machine body to move; The outer swing side brush assembly is located on one side of the front end of the machine body and can swing outward relative to the machine body; The baffle assembly is arranged on the front side of the machine body, the baffle assembly is provided with a window, and the window comprises a viewing window, and the viewing window is asymmetrically distributed along the vertical center axis.

14. The cleaning robot according to claim 13, wherein, The machine body of the cleaning robot has a center line of symmetry, along the center line of symmetry, the viewing window is divided into a first viewing window and a second viewing window, and the first viewing window and the second viewing window are respectively located on the left and right sides of the center line of symmetry; Along the center line of symmetry, the machine body of the cleaning robot is divided into a side cleaning side and a non-side cleaning side, the first viewing window and the outer swing side brush assembly are located on the side cleaning side, and the second viewing window is located on the non-side cleaning side; The length of the second viewing window is greater than that of the first viewing window, and the field of view angle of the second viewing window is greater than that of the first viewing window.

15. The cleaning robot according to claim 14, wherein, The cleaning robot further comprises an obstacle avoidance sensor assembly, which comprises a sensor module and a sensor support, the sensor module is arranged on the sensor support, the sensor support is arranged on the front end of the machine body, the sensor support is provided with a recessed space deviated to one side of the vertical center axis, and the sensor module is located in the recessed space; Along the transverse center axis, the sensor support and the outer swing side brush assembly are arranged from left to right; Corresponding to the inward space, the opening position of the inward space corresponds to the position of the window; the window is asymmetrically arranged along the vertical central axis direction.

16. A cleaning robot, characterized in that, It comprises: a chassis; a shell arranged above the chassis to form a body of the cleaning robot; a driving assembly for driving the chassis to travel; a cleaning module arranged on the chassis; a mainboard assembly arranged in the body; an obstacle avoidance sensor assembly comprising a sensor module and a sensor support, the obstacle avoidance sensor assembly being arranged on the chassis, and the sensor module being arranged on the sensor support; a window is arranged on the shell corresponding to the position where the sensor module is located; wherein the sensor support is provided with a heat dissipation hole, the heat dissipation hole being in communication with the inside and outside of the body through the window, and the mainboard assembly is arranged near the heat dissipation hole to dissipate heat for the mainboard assembly.

17. A cleaning robot, characterized in that, It comprises: a chassis; a shell arranged above the chassis to form a body of the cleaning robot; a driving assembly for driving the chassis to travel; a cleaning module arranged on the chassis; a mainboard assembly arranged in the body; wherein a window is arranged on the shell along the forward direction of the cleaning robot, the window is concave to form a wall surface, the wall surface is provided with a heat dissipation hole, the heat dissipation hole is in communication with the inside and outside of the body through the window, and the mainboard assembly is arranged near the heat dissipation hole to dissipate heat for the mainboard assembly.

18. A cleaning robot, characterized in that, It comprises: a base having a transverse central axis and a vertical central axis; a driving assembly arranged on the base corresponding to the transverse central axis for driving the base to travel; a dust cleaning system comprising a dust box assembly, a dust suction fan assembly and a dust discharge channel assembly, the dust box assembly being arranged at the middle position of the base, the dust suction fan assembly being connected to one side of the dust box assembly, the first end of the dust discharge channel assembly being connected with the dust box assembly, and the second end extending to the rear end of the base; a mop-washing module arranged on the rear side of the dust box assembly along the front-rear direction of the vertical central axis, the mop-washing module being movably connected with the base, and the mop-washing module being capable of extending outward from one side of the base relative to the base along the transverse central axis direction; a waterway system connected with the mop-washing module for providing cleaning liquid for the mop-washing module and collecting sewage transported by the mop-washing module; wherein the dust discharge channel assembly is located on one side of the mop-washing module along the transverse central axis direction.

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