CN116490106A

CN116490106A - Cleaning robot

Info

Publication number: CN116490106A
Application number: CN202180078902.5A
Authority: CN
Inventors: 钱富; 张士松; 钟红风
Original assignee: Positec Power Tools Suzhou Co Ltd
Current assignee: Positec Power Tools Suzhou Co Ltd
Priority date: 2020-12-04
Filing date: 2021-12-06
Publication date: 2023-07-25
Also published as: WO2022117105A1; CN217137954U

Abstract

The application relates to a cleaning robot, which comprises a machine body, a moving unit, a mopping unit provided with a mopping working head and a control unit, wherein the moving unit is arranged on the machine body and is used for supporting the machine body and driving the robot to move on the surface of a working area; the floor mopping unit is arranged on the machine body and is used for executing preset floor mopping actions; the control unit is used for controlling the moving unit to automatically drive the machine body to move on the surface of the working area and controlling the mopping unit to automatically execute mopping action; the mopping head is movable in a width direction of the body as compared to the body. The method and the device can furthest improve the coverage rate of the moving area of the robot and simultaneously avoid the situation that the wall or furniture is scratched due to collision between the rear side of the robot and the wall or furniture.

Description

Cleaning robot

The present application claims priority from chinese patent application publication No. 2020/12/04, application publication No. 202011403286X, entitled "cleaning robot" and application publication No. 2020/12/04, application publication No. 2020228763688, entitled "cleaning robot", the entire contents of which are incorporated herein by reference.

Technical Field

The invention relates to the technical field of robots, in particular to a cleaning robot.

Background

With the rapid development of artificial intelligence technology, various robots are appearing in people's daily lives. For example, the cleaning robot can intelligently and automatically help people clean the floor, and is one of the most common and favorite household robot products.

However, it is difficult for conventional household cleaning machines to ensure high "floor coverage" during cleaning, resulting in the presence of uncleaned dead-corner areas; since the robot itself is difficult to make a standard round shape, the rear side of the robot is liable to collide with a wall or furniture when the robot turns, and there is a risk of scratching the wall or furniture.

Disclosure of Invention

Based on this, it is necessary to provide a cleaning robot that improves the area coverage and can avoid scratching walls or furniture.

To achieve the above and other objects, one aspect of the present application provides a cleaning robot, including a body, a moving unit, a mopping unit with a mopping head, and a control unit, where the moving unit is disposed on the body, and is configured to support the body and drive the robot to move on a surface of a working area; the floor mopping unit is arranged on the machine body and is used for executing preset floor mopping actions; the control unit is used for controlling the moving unit to automatically drive the machine body to move on the surface of the working area and controlling the mopping unit to automatically execute mopping action; the floor mopping head is movable in a width direction of the body as compared to the body.

In the cleaning robot in the above embodiment, by providing the floor mopping head movable in the width direction of the body as compared with the body, the floor mopping head has a component of movement in the width direction, and the detection unit cleaning robot can prevent the occurrence of the condition of scraping the wall or furniture due to collision of the rear side of the robot with the wall or furniture while maximally improving the coverage of the moving area of the robot.

In one embodiment, the body includes a floor mopping unit mounting area above the floor mopping head, the floor mopping head being movable between a first position and a second position, the floor mopping head including a floor mopping main area and a floor mopping compensation area located to one side of the floor mopping main area, the floor mopping main area overlapping a projection of the floor mopping unit mounting area in a vertical direction when the floor mopping head is in the first position, the projection of the floor mopping compensation area in the vertical direction overlapping a projection of the floor mopping unit mounting area in a vertical direction, at least not overlapping in the width direction.

In one embodiment, the distance between the edge of the floor mopping compensation zone on the side remote from the fuselage and the extreme edge of the corresponding side of the fuselage is less than a threshold value.

In one embodiment, the threshold is 10mm.

In one embodiment, when the mopping head is in the second position, the projection of the mopping compensation zone in the vertical direction at least partially overlaps with the projection of the mopping unit mounting zone in the vertical direction.

In one embodiment, when the mopping head is in the second position, the projection of the mopping compensation zone in the vertical direction is entirely within the projection of the mopping unit mounting zone in the vertical direction.

In one embodiment, a straight line extending along the advancing direction of the machine body and passing through the most edge of the machine body in the width direction is defined as an edge line, a side of the edge line, which is close to the machine body, is defined as an inner side of the edge line, and at least one side edge of the floor mopping unit installation area is located at the inner side of the edge line of the corresponding side of the machine body.

In one embodiment, the body includes a body center region located in a center of the body, the floor unit mounting region is located forward and/or rearward of the body center region in a forward direction of the body, and an outermost edge of the body in the width direction is located in the body center region.

In one embodiment, the cleaning robot further comprises a restoring member for providing a restoring force to the floor cleaning head so that the cleaning head is restored to the first position from the second position when the external force is removed.

In one embodiment, the cleaning robot further comprises a detection unit for detecting whether an obstacle exists at the side edge of the floor mopping unit installation area and a driving unit for driving the floor mopping head to move between the first position and the second position.

In one embodiment, when the detection unit does not detect that an obstacle exists on the side edge of the installation area of the floor mopping unit, the floor mopping working head is maintained at the first position; when the detection unit detects that an obstacle exists on the side edge of the installation area of the floor mopping unit, the driving unit drives the floor mopping working head to move from the first position to the second position.

In one embodiment, when the detection unit detects that the obstacle at the side edge of the installation area of the floor mopping unit disappears, the driving unit drives the floor mopping head to move from the second position to the first position.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the description of the embodiments will be briefly introduced below, it being obvious that the drawings in the following description are only some embodiments of the present application, and that other embodiments of the drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

Fig. 1 is a schematic structural view of a cleaning robot provided in a first embodiment of the present application;

fig. 2 is a schematic structural view of a cleaning robot provided in a second embodiment of the present application;

fig. 3a is a schematic structural view of a cleaning robot according to a third embodiment of the present application;

FIG. 3b is a schematic view of the cleaning robot of FIG. 3a in another state;

fig. 4 is a schematic structural view of a cleaning robot provided in a fourth embodiment of the present application;

fig. 5a is a schematic structural view of a cleaning robot provided in a fifth embodiment of the present application;

FIG. 5b is a schematic view of the cleaning robot of FIG. 5a in another state;

FIG. 5c is a schematic view of a cleaning robot shown in FIG. 5a in a further state;

Fig. 5d is a schematic view illustrating a structure of a cleaning robot in the same state as that illustrated in fig. 5a according to a sixth embodiment of the present application;

figure 5e is a schematic view of the structure of a mop provided in a seventh embodiment of the present application;

fig. 6 is a schematic structural view of a cleaning robot provided in an eighth embodiment of the present application;

fig. 7 is a schematic structural view of a cleaning robot provided in a ninth embodiment of the present application;

fig. 8 is a schematic structural view of a cleaning robot provided in a tenth embodiment of the present application;

fig. 9 is a schematic structural view of a cleaning robot provided in an eleventh embodiment of the present application;

fig. 10a is a schematic view of a left side view of a cleaning robot according to a twelfth embodiment of the present application;

FIG. 10b is a left side view of the cleaning robot of FIG. 10a in another state;

FIG. 10c is a left side view of the cleaning robot of FIG. 10a in yet another state;

FIG. 10d is a left side view of the cleaning robot of FIG. 10a in a further state;

fig. 11a is a left-side view schematically illustrating a cleaning robot according to a thirteenth embodiment of the present application;

FIG. 11b is a left side view of the cleaning robot of FIG. 11a in another state;

fig. 12a is a schematic left view of a cleaning robot according to a fourteenth embodiment of the present application;

FIG. 12b is a left side view of the cleaning robot of FIG. 12a in another state;

fig. 13a is a left-side view schematically illustrating a cleaning robot according to a fifteenth embodiment of the present application;

FIG. 13b is a left side view of the cleaning robot of FIG. 13a in another state;

fig. 14a is a left-side view schematically illustrating a cleaning robot according to a sixteenth embodiment of the present application;

FIG. 14b is a left side view of the cleaning robot of FIG. 14a in another state;

FIG. 14c is a schematic view of a partial cross-sectional structure of a cleaning robot illustrated in FIG. 14 a;

FIG. 14d is a schematic view of a partial cross-sectional structure of a cleaning robot illustrated in FIG. 14 c;

fig. 14e is a schematic view of a partial sectional structure of one cleaning robot illustrated in fig. 14d in another state;

fig. 15a is a schematic bottom view of a cleaning robot according to a seventeenth embodiment of the present application;

FIG. 15b is a left side view schematic of a cleaning robot of the type illustrated in FIG. 15 a;

FIGS. 16 a-16 d are schematic bottom views of a cleaning robot cleaning an obstacle in one embodiment of the present application;

FIG. 17 is a schematic bottom view of a long straight edge of a cleaning boundary of a cleaning robot in one embodiment of the present application;

18 a-18 d are schematic bottom views of external corners of a cleaning boundary of a cleaning robot in one embodiment of the present application;

FIGS. 19 a-19 b are schematic bottom views of a cleaning robot in one embodiment of the present application before cleaning a reentrant corner of a boundary;

FIGS. 19 c-19 e are schematic bottom views of a cleaning robot cleaning a inside corner of a boundary in one embodiment of the present application;

FIGS. 19 f-19 g are schematic bottom views of a cleaning robot after cleaning the inside corners of the boundary in one embodiment of the present application;

fig. 20 a-20 c are schematic bottom views of a cleaning robot returning to a base station for maintenance in one embodiment of the present application.

Detailed Description

In order to facilitate an understanding of the present application, a more complete description of the present application will now be provided with reference to the relevant figures. Preferred embodiments of the present application are shown in the drawings. This application may, however, be embodied in many different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein in the description of the application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. The term "and/or" as used herein includes any and all combinations of one or more of the associated listed items.

Where the terms "comprising," "having," and "including" are used herein, unless otherwise specifically defined, such as "consisting of only," "… …," and the like, another component may also be added. Unless mentioned to the contrary, singular terms may include plural and are not to be construed as being one in number.

It will be understood that, although the terms "first," "second," etc. may be used herein to describe various elements, these elements should not be limited by these terms. These terms are only used to distinguish one element from another element. For example, a first element could be termed a second element, and, similarly, a second element could be termed a first element, without departing from the scope of the present application; the first element and the second element may be the same element or may be different elements.

In the present application, unless explicitly specified and limited otherwise, the terms "connected," "coupled," and the like are to be construed broadly, and may be, for example, directly connected or indirectly connected through intermediaries, or may be in communication with each other within two elements or in an interaction relationship between the two elements. The specific meaning of the terms in this application will be understood by those of ordinary skill in the art as the case may be.

Referring to fig. 1, in one embodiment of the present application, a cleaning robot 100 is provided, including a body 10, a moving unit 20, a mopping unit 40 with a mopping head 41, and a control unit 50, where the moving unit 20 is disposed on the body 10, and is used for supporting the body 10 and driving the robot 100 to move on a surface of a working area; the mopping unit 40 is disposed on the body 10 and is used for executing a preset mopping action; the control unit 50 is used for controlling the moving unit 20 to automatically drive the machine body 10 to move on the surface of the working area, and controlling the mopping unit 40 to automatically perform mopping action; the floor mopping head 41 is movable in the width direction of the body 10 as compared with the body 10.

In one embodiment of the application, the floor mopping head is movably mounted to the body to be switched from a first position to a second position in response to an obstacle, wherein the floor mopping head extends beyond the body in a width direction when in the first position and retracts from the first position in the width direction when in the second position.

In one embodiment of the present application, a direction perpendicular to the fuselage is defined as a vertical direction; when the mopping working head is at the first position, the projection of the mopping working head in the vertical direction exceeds the projection of the machine body in the vertical direction in the width direction, and the mopping working head can be maintained at the first position to perform a cleaning task so as to be close to an obstacle and clean a working area near the obstacle; when the mopping head is retracted from the first position to the second position in response to the obstacle, the mopping head is farther away from the obstacle in the width direction than in the first position, and the mopping head can be maintained in the second position to avoid collision with the obstacle. It should be noted that the obstacle may be furniture present in the working area, such as a table, a chair, a bed, etc., or may be a boundary of the working area, such as a wall. The manner of responding to the obstacle may be that the cleaning robot 100 contacts, collides with, or reacts after the cleaning robot 100 detects the presence of the obstacle. The floor mopping working head is movable in the width direction of the machine body compared with the machine body, so that the floor mopping working head has a component moving in the width direction, coverage rate of a moving area of the cleaning robot of the floor mopping working head is improved to the greatest extent, and the floor mopping working head is prevented from being collided with a wall or furniture to scrape the wall or furniture.

Preferably, the floor mopping head contacts the surface of the work area when the floor mopping head is in the first position and the second position to continuously perform the cleaning task.

In one embodiment of the present application, the body includes a mopping unit mounting area located above the mopping head, the mopping head includes a mopping main area and a mopping compensation area located on at least one side of the mopping main area, the mopping main area overlapping with a projection of the mopping unit mounting area in a vertical direction when the mopping head is retracted from the first position to the second position in response to an obstacle, the projection of the mopping compensation area in the vertical direction overlapping with the projection of the mopping unit mounting area in the vertical direction, at least in a width direction.

Preferably, when the floor mopping head is in the second position, the projection of the floor mopping compensation zone in the vertical direction at least partially overlaps with the projection of the floor mopping unit mounting zone in the vertical direction. Further, when the mopping head is in the second position, the projection of the mopping compensation area in the vertical direction is completely located in the projection of the mopping unit installation area in the vertical direction.

As an example, referring to fig. 1, by providing the mopping head 41 movable in the width direction of the body 10 as compared to the body 10 such that the mopping head has a component of movement in the width direction (W direction shown in fig. 1), the advancing direction of the cleaning robot 100 can be defined as Oy, the width direction being perpendicular to Oy. When the edge of the floor mopping head 41 contacts an obstacle, such as a wall or furniture, beyond the edge of the body 10, the floor mopping head 41 can be moved away from the obstacle. Therefore, the cleaning robot 100 provided in this embodiment can prevent the occurrence of a wall or furniture scratch caused by collision of the rear side of the robot with the wall or furniture while maximizing the coverage of the robot moving area.

Further, referring to fig. 2, in the cleaning robot 100 provided in one embodiment of the present application, the detection unit includes an edge sensor 301 and a distance limiting module 302, where the edge sensor 301 is disposed on the machine body 10 and is distributed on a right front side of the machine body along a first direction, and the first direction is an advancing direction of the cleaning robot 100, for detecting a minimum distance value between the cleaning robot 100 and an obstacle; the distance limiting modules 302 are disposed on the machine body 10 and distributed on the right rear side of the machine body 10 along the first direction, and are spaced from the edge sensors 301, for limiting the minimum distance between the cleaning robot 100 and the obstacle; wherein the mobile unit is configured to:

and when the real-time minimum distance value is smaller than or equal to a first preset distance threshold, continuing to move towards a direction approaching the obstacle, and when the real-time minimum distance value is within the first preset distance range, the distance limiting module 302 acts to limit that the minimum distance value between the cleaning robot 100 and the obstacle is within a second preset distance range, wherein the maximum value of the second preset distance range is smaller than or equal to the minimum value of the first preset distance range, and the first preset distance threshold is larger than or equal to the maximum value of the first preset distance range.

In the cleaning robot in the above-described embodiment, provision may be made for the action of the distance limiting module by providing a preliminary detection of the minimum distance value of the robot to the obstacle edge by the edge sensor; the minimum distance value from the robot to the edge of the obstacle is accurately detected and limited by arranging the distance limiting module and matching with the edge sensor, so that the coverage rate of the moving area of the robot is improved to the maximum extent, and the condition that the wall or furniture is scratched due to collision between the rear side of the robot and the wall or furniture is avoided.

Further, referring to fig. 3a and 3b, in the cleaning robot 100 provided in an embodiment of the present application, the distance limiting module includes a contact roller 3021, a link 3022, and a signal detector 3023, where the contact roller 3021 is connected to the body 10 via the link 3022; wherein when the real-time minimum distance value between the cleaning robot 100 and the obstacle is within the first preset distance range, the contact roller 3021 rotates in a direction approaching the body 10 with the link 3022 as a rotation axis, and when the contact roller 3021 contacts the signal detector 3023, the signal detector 3023 is triggered to generate a first distance limiting signal to control the moving unit 20 to stop and/or move in a direction away from the obstacle, defining that the minimum distance value between the cleaning robot 100 and the obstacle is within the second preset distance range.

Further, referring to fig. 4, in the cleaning robot 100 provided in one embodiment of the present application, the distance limiting module includes a contact sensor 3024, and the contact sensor 3024 is configured to generate a second distance limiting signal based on the contact of the obstacle 400, so as to control the moving unit 20 to stop and/or move in a direction away from the obstacle 400, so as to limit a minimum distance value between the cleaning robot 100 and the obstacle 400 to be within the second preset distance range.

Further, in a cleaning robot provided in an embodiment of the present application, the distance limiting module comprises a non-contact distance measuring element and/or a mop movement motor; the non-contact distance measuring element is used for generating emergent light, receiving reflected light of the emergent light after encountering the obstacle, and calculating a real-time distance value of the obstacle according to the generation time of the emergent light and the receiving time of the reflected light; wherein the mobile unit is configured to: stopping and/or moving in a direction away from the obstacle when the real-time distance value is within the first preset distance range, and limiting that a minimum distance value between the cleaning robot and the obstacle is within the second preset distance range; the mop movement motor is configured to: and if the real-time distance value is within the first preset distance range, the mop of the cleaning robot is moved and driven to move in a direction away from the obstacle. In one embodiment of the present application, the outgoing light comprises at least one of structured light, laser light or infrared light. The mop moving motor can be a direct current servo motor.

Further, in a cleaning robot provided in an embodiment of the present application, the cleaning robot further comprises a cleaning unit for performing a preset cleaning action when the robot moves over the surface and the cleaning unit at least partially contacts the surface.

Further, referring to fig. 5a, 5b, 5c, 5d and 5e, in one embodiment of the present application, the body 10 includes a floor scrubbing unit mounting area 11 above the floor scrubbing head, the floor scrubbing head being movable between a first position and a second position. The mopping head has a first position for normal mopping and a second position for obstacle avoidance. For example, fig. 5a illustrates the mopping head in a first position, fig. 5b illustrates the mopping head moving in the width direction indicated by the arrow, and fig. 5c illustrates the mopping head moving to a second position; the floor mopping head comprises a floor mopping main area 101 and a floor mopping compensation area 12 positioned on at least one side of the floor mopping main area 101, when the floor mopping head is positioned at the first position (as shown in fig. 5 a), the projections of the floor mopping main area 101 and the floor mopping unit installation area 11 in the direction of the surface of the vertical working area are overlapped, and the projections of the floor mopping compensation area 12 in the direction of the surface of the vertical working area and the projections of the floor mopping unit installation area 11 in the vertical direction are not overlapped at least in the width direction, so that the condition of scraping walls or furniture caused by collision of the rear side of the machine with the walls or furniture is avoided while the coverage rate of the moving area of the robot is improved to the maximum extent.

Further, the floor mopping compensation zone 12 is disposed on a side of the main floor mopping zone 101 close to the obstacle.

Alternatively, the floor mopping compensation zone 12 is provided on both sides of the floor mopping main zone 101 in the width direction of the fuselage 10. When the mopping head 41 is in the first position, the cleaning robot 100 is viewed from the bottom view, and the side of the mopping compensation zone 12 of the mopping head 41 close to the obstacle protrudes completely or partially in the width direction from the side of the mopping unit installation zone 11 close to the obstacle. When the mopping head 41 is in the second position, the cleaning robot 100 is viewed from the bottom view, and the side of the mopping compensation section 12 of the mopping head 41 near the obstacle is fully or partially retracted in the width direction to the side of the mopping unit installation section 11 near the obstacle.

Preferably, referring to fig. 16a, the floor mopping unit mounting area 11 is disposed on the bottom surface of the machine body 10, and the maximum width D1 of the floor mopping unit mounting area 11 is smaller than or equal to the maximum width D2 of the machine body.

Further, referring to fig. 5d, in an embodiment of the present application, a distance d between an edge of the side of the floor mopping compensation zone 12 away from the body 10 and an edge of the corresponding side of the body 10 is within a movable range. The movable range is more than 0 and less than or equal to 20mm. Preferably, the movable range is more than or equal to 5mm and less than or equal to 20mm. .

Further, referring to fig. 5c, in one embodiment of the present application, when the floor mopping head is located at the second position, the projection of the floor mopping compensation zone 12 in the direction perpendicular to the surface of the working area at least partially overlaps the projection of the floor mopping unit mounting zone 11 in the vertical direction. For example, it may be provided that the projection of the floor mopping compensation zone in the vertical direction is entirely within the projection of the floor mopping unit mounting zone 11 in the vertical direction when the floor mopping head is in the second position, so that the floor mopping head is entirely covered by the fuselage in the second position.

Further, referring to fig. 6, in an embodiment of the present application, a straight line L1 extending along the advancing direction of the machine body and passing through the most edge of the machine body in the width direction is defined as an edge line, a side of the edge line, which is close to the machine body, is defined as an inner side of the edge line, and at least one side edge of the floor mopping unit installation area 11 is located at the inner side of the edge line on the corresponding side of the machine body, so as to avoid damage to a touched object caused by a sharp corner at a corner of the machine body.

Further, in one embodiment of the present application, the airframe includes a airframe center section located at a center of the airframe, the floor unit mounting section is located forward and/or rearward of the airframe center section in a forward direction of the airframe, and an outermost edge of the airframe in the width direction is located at the airframe center section or forward of the airframe center section. The outermost edge of the body 10 in the width direction is the widest region of the body, and the widest region of the body may be disposed in the middle of the body or may be disposed in front of the middle of the body.

In one embodiment of the application, the cleaning robot moves along a motion track, and when the cleaning robot encounters or detects an obstacle on the motion track, the floor mopping head moves from a first position to a second position in response to the obstacle motion and is maintained at the second position to execute a cleaning task to avoid collision with the obstacle.

Further, when no obstacle exists on the motion track, the mopping working head is positioned at the first position and is maintained at the first position to execute the cleaning task to clean the working area near the obstacle.

In one embodiment of the present application, the cleaning robot 100 includes a connection part movably connecting the floor mopping head 41 to the body 10, and the floor mopping head 41 is movable from a first position to the second position by an external force applied from an obstacle. Further, the cleaning robot 100 further includes a reset element connected to at least one of the floor mopping head 41 and the main body 10, and the reset element provides a restoring force to the head when the external force is removed, so that the floor mopping head 41 moves from the second position to the first position. The mopping head 41 is connected to the machine body 10 through a connecting component and can move in the width direction relative to the machine body 10, and the movement of the mopping head 41 can be that an obstacle applies an external force to the mopping head 41, for example, the mopping head 41 collides with furniture or a wall, the mopping head 41 is pushed from a first position to a second position, the obstacle is prevented from interfering with the movement of the cleaning robot 100, and the mopping head 41 can be cleaned to a working area close to the obstacle as much as possible. When the pushing of the obstacle is lost, the mop head 41 is moved from the second position back to the first position to continue cleaning, and the restoring element acts on the mop head 41 to move the mop head 41 back to the first position when the external force applied by the obstacle is lost, and it should be noted that the restoring element may be an elastic element such as a compression spring, a tension spring, or a torsion spring, which has a restoring capability when the external force is applied or lost.

Further, the cleaning robot further comprises a limiting structure, and the limiting structure is at least arranged on one of the machine body and the mopping working head so as to prevent the mopping working head from continuing to move towards the direction close to the obstacle when being positioned at the first position. The limiting structure can be a stop piece arranged on the machine body, and the stop piece can prevent the floor mopping head from moving in a direction close to the obstacle when moving in the first position, so that the connection part is disconnected and the machine body is disconnected.

In one embodiment of the application, the mopping head is movable from the first position to the second position under the action of an external force, and the cleaning robot further comprises a restoring member for providing a restoring force to the mopping head so that it is restored from the second position to the first position when the external force is removed.

In one embodiment of the application, the cleaning robot further comprises a detection unit for detecting whether an obstacle is present at a side edge of the body and a driving unit for driving the mopping head to move between the first position and the second position. The driving unit may be one of a motor and a solenoid.

Further, the control unit controls the driving unit to drive the mopping working head to move between the first position and the second position based on the detection signal of the detection unit.

In one embodiment of the present application, when the detection unit does not detect that an obstacle exists on the side edge of the floor mopping unit installation area, the floor mopping working head is maintained at the first position; when the detection unit detects that an obstacle exists on the side edge of the installation area of the floor mopping unit, the driving unit drives the floor mopping working head to move from the first position to the second position.

In one embodiment of the present application, the detection unit detects that an obstacle exists on the side of the body 10, and the cleaning robot 100 recognizes a cleaning scene where the obstacle is located, and drives the mopping head 41 to move between the first position and the second position according to the cleaning scene where the obstacle is located. The cleaning robot 100 may set the position of the mopping head 41 according to the scene to be cleaned as described by the obstacle. The detection unit may be a laser radar responsible for real-time mapping and navigation on the host, may be a vision sensor, such as a monocular or binocular RGB camera, may be a ranging sensor, such as an infrared ranging sensor, a TOF ranging sensor, or a structured light ranging sensor, may be a striker plate disposed on the machine body 10 and in direct collision contact with an obstacle, or may be any combination of the above detection elements. Preferably, the cleaning robot 100 includes a connection part connecting the body 10 and the mopping head 41, the connection part including an eccentric structure provided on the mopping head 41 or the body 10, the eccentric structure being moved by the driving unit to move the mopping head 41 between the first position and the second position.

In one embodiment, the driving unit drives the mopping head 41 to the first position when the cleaning robot 100 cleans a work area near an obstacle. Referring to fig. 16a-16d, when the cleaning robot 100 cleans a working area near an obstacle, the floor mopping head 41 is driven by the driving unit to be in a first position, the floor mopping head 41 extends beyond the machine body 10 in the width direction, and one side of the floor mopping head 41 near the obstacle extends or at least partially extends beyond one side of the machine body 10 near the obstacle in the width direction, so that the floor mopping head 41 is closer to the obstacle to be as close to the obstacle as possible and clean a working surface near the obstacle, thereby maximally improving the coverage of the moving area of the robot, and avoiding the floor mopping head 41 of the cleaning robot 100 from colliding with the scraping obstacle, and a scene to be cleaned where the obstacle is located, such as the periphery of a table and a chair leg of the cleaning robot 100.

In one embodiment, the working area includes a boundary, which is an obstacle preventing the cleaning robot from continuing to travel, and the driving unit drives the mopping head 41 to move to the first position while the cleaning robot 100 cleans a long straight edge of the boundary or an external corner of the boundary. Referring to fig. 17, when the cleaning robot 100 cleans a working area, the boundary of the working area may be encountered, for example, a wall having a long straight edge and a corner, where a scene to be cleaned where an obstacle is located is the long straight edge of the wall, the cleaning robot 100 needs to clean the long straight edge of the wall as much as possible, the driving unit drives the mopping head 41 to move to the first position, and a side of the mopping head 41 close to the obstacle protrudes or at least partially protrudes in the width direction from a side of the body 10 close to the obstacle, so that the mopping head 41 is closer to the wall, and the long straight edge of the wall is cleaned. Referring to fig. 18 a-18 d, when the obstacle is a wall at the boundary of the working area, the two wall brackets form an included angle, the external corner is an obtuse angle formed between the two walls, the scene to be cleaned where the obstacle is located is an external corner of the wall, and when the cleaning robot 100 needs to turn and clean the obtuse area as much as possible, the driving unit drives the mopping head 41 to move to the first position, and one side of the mopping head 41 close to the obstacle extends or at least partially extends out of the machine body 10 in the width direction to be close to one side of the obstacle, so that the mopping compensation area 12 of the mopping head 41 is closer to the wall, and the external corner of the wall is cleaned.

Preferably, the detecting unit detects the distance between the body 10 and the obstacle, and the control unit moving unit 20 drives the body 10 to move, so as to control the distance between one side of the body 10 close to the obstacle and the obstacle to be greater than the distance between the edge of the side of the floor mopping compensation zone 12 far from the body and the most edge of the corresponding side of the body when the floor mopping head 41 is in the first position. Referring to fig. 17, when the floor mopping head 41 is in the first position, the lateral distance d1 of the floor mopping compensation zone 12 extending out of the floor mopping unit mounting zone 11 on the side of the machine body 10 cannot exceed the distance d2 between the side of the machine body 10 close to the obstacle and the obstacle, and cannot interfere with the walking of the cleaning robot 100.

In one embodiment, the work area includes a boundary, which is the obstacle preventing the cleaning robot from continuing to travel, and the driving unit drives the mopping head 41 to move to the second position when the cleaning robot 100 cleans an inside corner of the boundary. Referring to fig. 19 c-19 e, when the obstacle is a wall at the boundary of the working area, an included angle is formed between two walls, the internal angle is an acute angle or a right angle formed between two walls, the scene to be cleaned where the obstacle is located is the internal angle of the wall, the cleaning robot 100 needs to turn through the internal angle, the driving unit drives the mopping head 41 to move to the second position, and one side of the mopping head 41 close to the obstacle is retracted or at least partially retracted in the width direction to one side of the body 10 close to the obstacle, so that the mopping head 41 is far away from the wall, and interference caused by collision between the mopping head 41 and the wall when the cleaning robot 100 passes through the internal angle is avoided. Further, when the detection unit detects that the cleaning robot 100 passes through the inside corner, the driving unit drives the mopping head 41 to move to the first position. When the detection unit detects that the cleaning robot 100 passes through the inside corner, the driving unit drives the mopping head 41 to move to the first position. Referring to fig. 19a-19b, 19f-19g, the cleaning robot 100 is cleaning the long straight edge of the boundary before and after passing through the inside corner, and as described above, the driving unit drives the mopping head 41 to move to the first position while the cleaning robot 100 cleans the long straight edge of the boundary.

Further, the cleaning robot further comprises an in-place detection unit which is arranged on the machine body and used for detecting whether the mopping working head is at the first position or the second position, and the control unit controls the driving unit to drive the mopping working head to stop at the first position or the second position according to the signal detected by the in-place detection unit. The in-place detection unit can be a micro switch or an in-place detection sensor, such as a Hall sensor, a photoelectric sensor and the like, so that the effect that the mopping working head is separated from the machine body due to the fact that the mopping working head is driven to move continuously by the driving unit after moving to the first position or the second position is avoided.

In one embodiment, the driving unit drives the mopping head 41 to move to the second position when the cleaning robot 100 returns to the base station 200 for maintenance. Referring to fig. 20a to 20c, the cleaning robot 100 may need to enter the inside of the base station 200 when returning to the base station 200 for maintenance. Considering that the area occupied by the base station 200 in the working area is too large, the use experience of the user can be affected, the structure of the base station 200 needs to be as compact as possible, so that the volume of the base station 200 is not too large, and the space where the base station 200 accommodates and stops the cleaning robot 100 needs to be strictly controlled, so that in order to avoid interference between the cleaning robot 100 entering the base station 200 and the floor mopping head 41 and the housing of the base station 200, when the driving unit drives the floor mopping head 41 to move to the second position, the side of the floor mopping head 41 close to the obstacle is retracted in the width direction or at least partially retracted to the side of the machine body 10 close to the obstacle, so that the cleaning robot 100 smoothly enters the base station 200. The timing at which the driving unit drives the mopping head 41 to move to the second position may be any timing before the cleaning robot 100 moves to the inside of the base station 200. The floor mopping head 41 can be accurately detached or stopped to a corresponding maintenance module in the base station 200 for maintenance.

Alternatively, the body 10 has a body center line L1 in the longitudinal direction, the mopping head 41 has a mopping head center line L2 in the longitudinal direction, and when the cleaning robot 100 returns to the base station 200 for maintenance, the driving unit drives the mopping head 41 to move to a position where the body center line L1 coincides with the mopping head center line L2 or is within a predetermined distance.

In one embodiment, the working area includes a middle area, and the floor mopping head 41 moves to and remains in the first position while the cleaning robot 100 cleans the middle area.

In one embodiment, the working area includes a middle area, and the floor mopping head 41 moves to and remains in the second position while the cleaning robot 100 cleans the middle area. Further, in one embodiment of the present application, when the detection unit detects that an obstacle at a side edge of the installation area of the floor mopping unit disappears, the driving unit drives the floor mopping head to move from the second position to the first position.

Further, referring to fig. 5a, 5b and 5c, in one embodiment of the present application, a cleaning robot 100 is provided, wherein the floor mopping unit includes a mop 42, and an edge of the mop 42 is aligned with an edge of the contour of the body 10 or partially extends beyond the edge of the contour of the body 10.

Further, please continue to refer to fig. 5a, 5b and 5c, in a cleaning robot 100 provided in an embodiment of the present application, the floor cleaning unit further includes a mop plate (not shown) and a sliding assembly (not shown), the mop plate is connected to the machine body via the sliding assembly for defining a direction and a distance of sliding of the mop plate, and a stroke of sliding of the mop plate relative to the machine body is defined within 30mm, preferably 10-30 mm, further preferably 5-20 mm, for example, the stroke may be set to 5mm, 10mm, 15mm, 20mm, 25mm or 30 mm. The dimension of the mop plate in the width direction of the machine body is approximately equal to the machine body width minus the sliding travel of the mop plate. The outer contour of the mop plate 42 or the contour of the tail of the machine body 10 at least partially protrudes from a circle with the center of rotation of the machine body 10 in situ as the center of circle and the width of the machine body as the diameter. The mop plate has a planar shape of substantially at least two rectangular shapes with distinct chamfer features at right angles. When the mop plate contacts with an obstacle, the mop plate slides in a direction away from the obstacle, so that the condition that the wall or furniture is scratched due to collision between the rear side of the machine and the wall or furniture is avoided while the mop coverage rate is improved to the maximum extent.

In one embodiment of the present application, the shape of the fuselage is one of circular, D-shaped, rectangular or chamfered D-shape.

As an example, referring to fig. 6, in one embodiment of the present application, the shape of the body 10 is a chamfer D shape to enhance the ability of the rear side of the robot 100 to avoid obstacles.

Further, referring to fig. 7, in a cleaning robot 100 provided in an embodiment of the present application, the cleaning unit further includes a sweeping unit 30 and a control unit 50, where the sweeping unit 30 is disposed on the body 10, and is configured to perform a preset sweeping action when the robot 100 moves on a surface of an area to be cleaned and the sweeping unit 30 contacts the surface; the control unit 50 is connected to the moving unit 20, the sweeping unit 30 and the mopping unit 40, and the control unit 50 is configured to: the sweeping unit and/or the mopping unit are/is controlled to be in contact with the surface according to the acquired function selection control signal, the moving unit is controlled to drive the robot to move, the single machine is controlled to perform the functions of sweeping independently, mopping independently or sweeping and mopping integrally based on the control of a user, and the cleaning performance is improved while the user is prevented from interfering with the machine. Since the detection unit 300 can detect a real-time minimum distance value between the cleaning robot 100 and an obstacle and define a minimum distance value between the cleaning robot 100 and the obstacle according to the real-time minimum distance value, the robot floor mopping area coverage rate is improved to the maximum extent, and the condition that the wall or furniture is scratched due to collision between the rear side of the machine and the wall or furniture is avoided.

Further, in the cleaning robot provided in one embodiment of the present application, the function selection control signal includes a single-sweep control signal, a single-tow control signal, and a single-sweep control signal; the control unit is configured to:

according to the obtained single sweeping control signal, controlling the sweeping unit to be in contact with the surface, and controlling the moving unit to drive the robot to move so as to execute a preset sweeping action;

according to the obtained single-mopping control signal, controlling the mopping unit to be in contact with the surface, and controlling the moving unit to drive the robot to move so as to execute a preset mopping action;

according to the obtained sweeping and mopping integrated control signal, the sweeping unit and the mopping unit are controlled to be in contact with the surface, and the moving unit is controlled to drive the robot to move so as to simultaneously execute a preset sweeping action and a preset mopping action.

Further, in an embodiment of the present application, a cleaning robot is provided, and further includes a communication unit and/or an operation unit, where the communication unit is connected to the control unit, and the control unit is connected to a mobile terminal via the communication unit, so as to obtain a function selection control signal from the mobile terminal, so as to implement remote intelligent control on the cleaning robot; the operation unit is connected with the control unit, and the control unit locally receives a function selection control signal from a user through the operation unit to realize local control of the cleaning robot.

As an example, please refer to fig. 8, in an embodiment of the present application, a cleaning robot 100 is provided, further including a communication unit 60, where the communication unit 60 is connected with the control unit 50, and the control unit 50 is connected with the mobile terminal 200 via the communication unit 60 to obtain a function selection control signal from the mobile terminal 200, so as to implement a function of "sweeping alone", or "sweeping and mopping together" by a single machine based on control of the function selection control signal input by a user, and to improve cleaning performance, while avoiding a need of a user to manually replace a working module of the robot in a process of switching a working mode of the cleaning robot. In this embodiment, the mobile terminal 200 may be at least one of a remote controller, a mobile phone, a tablet computer, a computer, or an intelligent wearable device.

As an example, please refer to fig. 9, in an embodiment of the present application, a cleaning robot 100 is provided, and further includes an operation unit 70, where the operation unit 70 is connected to the control unit 50, and the control unit 50 locally receives a function selection control signal from a user via the operation unit 70, so as to implement a function of "sweeping alone", "mopping alone", or "sweeping and mopping together" by a single machine based on control of the function selection control signal input by the user, and to improve cleaning performance, while avoiding a need of manually replacing a working module of the robot by the user in a process of switching a working mode of the cleaning robot. In this embodiment, the operation unit 70 may be an equivalent device such as a physical key, a touch screen, or a voice control unit, which can input signals.

Further, in a cleaning robot provided in an embodiment of the present application, the mopping unit includes a mop plate, a mop, and a second elevating member, a first surface of the mop plate being connected to the body; the mop cloth is arranged on a second surface of the mop plate opposite to the first surface, and the mop cloth is used for being contacted with the surface to execute a preset mopping action; the second lifting component is connected with the control unit and is used for executing a second preset action based on the control of the control unit so as to drive the mop on the mop plate to contact or leave the surface of the working area of the cleaning robot.

Further, in a cleaning robot provided in an embodiment of the present application, the cleaning robot further includes an edge brush and a roll brush. The side brush and the rolling brush jointly form a sweeping cleaning width. The sum of the widths of the mopping main area and the mopping compensation area of the mopping working head of the cleaning robot is larger than or equal to the sweeping cleaning width. The moving unit of the cleaning robot has a track. The sum of the widths of the mopping main area and the mopping compensation area of the mopping working head of the cleaning robot is larger than the wheel track. When the mopping head of the cleaning robot is in the second position, the projection of the moving unit is within the width range of the mopping head.

Further, referring to fig. 10a, 10b, 10c and 10d, in one embodiment of the present application, a cleaning robot 100 is provided, the floor sweeping unit includes an edge brush assembly (not shown in fig. 10a to 10 d), a rolling brush assembly 32 and a first lifting member (not shown in fig. 10a to 10 d), one end of the edge brush assembly is disposed on the machine body 10, and the other end of the edge brush assembly is disposed with a first cleaning portion, such as bristles; one end of the rolling brush assembly 32 is arranged on the machine body 10, and the other end of the rolling brush assembly 32 is provided with a second cleaning part, such as a cleaning head; wherein the first cleaning part and the second cleaning part are used for contacting with the surface of the working area of the cleaning robot 100 to execute a preset cleaning action; the first lifting component is connected with the control unit and is used for executing a first preset action based on the control of the control unit so as to drive the first cleaning part and/or the second cleaning part to contact or leave the surface. In one embodiment of the present application, at least two side brush assemblies may be disposed symmetrically on both sides of the body 10, and the rolling brush assemblies 32 are disposed in the middle of the body 10 and on the side brush assemblies on both sides of the body, so that the volume of the body can be reduced while optimizing the structural layout of the cleaning robot.

Further, referring to fig. 10a, 10b, 10c and 10d, in the cleaning robot 100 provided in an embodiment of the present application, the first lifting component includes a first motor 35 and a first cam 36, and the first motor 35 is connected to the control unit; the first cam 36 is configured to rotate with the first motor, and a free end of the first cam 36 is connected to an end of the roller brush assembly 32 away from the second cleaning portion (not shown); according to the received single-drag control signal, the control unit controls the first motor to rotate along a preset first direction to drive the first cam 36 to rotate so as to lift the rolling brush assembly 32 and enable the second cleaning part to leave the surface of the working area of the cleaning robot 100; according to the received single-sweep control signal and/or the sweep-drag integrated control signal, the control unit controls the first motor 35 to rotate along a preset second direction and drives the first cam 36 to move down so as to drive the rolling brush assembly 32 to move down, so that the second cleaning part (not shown) contacts the surface of the working area of the cleaning robot 100, and the second direction is opposite to the first direction.

Further, in the cleaning robot provided in one embodiment of the present application, the first lifting part further includes a cam sleeve, and the cam sleeve at least covers a portion of the first cam and is connected with the first cam, so as to rotate along with the first cam and drive the rolling brush assembly to ascend or descend.

As an example, please continue to refer to fig. 10a, 10b, 10c and 10d, in the cleaning robot 100 provided in an embodiment of the present application, the first lifting component further includes a cam sleeve 37, and the cam sleeve 37 covers the first cam 36 and is connected to the first cam 36, so as to rotate along with the first cam 36 and drive the rolling brush assembly 32 to rise or fall.

Fig. 10a illustrates that the cleaning robot 100 operates in a "sweeping and mopping integrated" state, that is, the sweeping unit and the mopping unit 40 of the cleaning robot 100 are both in contact with the surface of the working area of the cleaning robot 100, and the moving unit 20 drives the cleaning robot 100 to move so as to simultaneously perform a preset sweeping action and a preset mopping action.

Fig. 10b illustrates that the cleaning robot 100 operates in a "single-mop" state, i.e., the floor mopping units 40 of the cleaning robot 100 are all in contact with the surface of the working area of the cleaning robot 100, and the moving unit 20 drives the cleaning robot 100 to move to perform a preset floor mopping action. In this embodiment, the control unit may be configured to control the first motor to rotate along a preset first direction according to the received single-mop control signal, to drive the first cam 36 to rotate, so as to lift the rolling brush assembly 32 and make the second cleaning portion separate from the surface of the working area of the cleaning robot 100, and control the floor-mopping unit 40 to contact with the surface of the working area of the cleaning robot 100, and simultaneously control the moving unit 20 to drive the cleaning robot 100 to move, so as to perform a preset floor-mopping action.

Fig. 10c illustrates the cleaning robot 100 operating in a "single sweep" state, i.e., the sweeping unit of the cleaning robot 100 is in contact with the surface of the working area of the cleaning robot 100, and the mopping unit 40 is spaced from the surface. The control unit controls the first motor 35 to rotate along a preset second direction according to the received single-scan control signal and drives the first cam 36 to move downwards so as to drive the rolling brush assembly 32 to move downwards, so that the second cleaning part (not shown) contacts the surface of the working area of the cleaning robot 100, and the control unit controls the floor mopping unit 40 to leave the surface and simultaneously controls the moving unit 20 to drive the cleaning robot 100 to move so as to execute a preset cleaning action.

Fig. 10d illustrates that the cleaning robot 100 is operated in a "round trip" state, and the control unit controls the moving unit 20 to move the cleaning robot 100, and simultaneously controls the sweeping unit and the mopping unit 40 to be separated from the surface of the working area of the cleaning robot 100. That is, the cleaning robot 100 moves only but does not perform a preset cleaning action or a preset mopping action.

Further, referring to fig. 11a and 11b, in the cleaning robot 100 provided in an embodiment of the present application, the first lifting part further includes a second cam 310 and a shaft sleeve 311, and the second cam 310 is configured to rotate following the first motor (not shown in fig. 11a and 11 b); the shaft sleeve 311 may be provided in a column shape, one end of the shaft sleeve 311 is connected with one end of the side brush assembly 31 away from the first cleaning part, and the other end of the shaft sleeve 311 is connected with the free end of the second cam 310; when the first motor rotates in the first direction, the second cam 310 follows the first motor to rotate and drives the shaft sleeve 311 to rotate so as to drive the side brush assembly 31 to rotate, so that the first cleaning part at the free end of the side brush assembly 31 leaves the surface of the working area of the cleaning robot 100; when the first motor rotates in the second direction, the second cam 310 follows the first motor to rotate and drives the shaft sleeve 311 to rotate, so as to drive the edge brush assembly 31 to rotate, and the first cleaning part at the free end of the edge brush assembly 31 contacts the surface of the working area of the cleaning robot 100.

Further, please continue to refer to fig. 11a and 11b, in the cleaning robot 100 provided in an embodiment of the present application, further comprising a shifting block 312, one end of the shifting block 312 is connected to an end of the shaft sleeve 311 away from the side brush assembly 31, and the other end of the shifting block 312 is connected to a free end of the second cam 310; when the second motor rotates along the first direction and drives the second cam 310 to rotate, the shifting block 312 rotates along with the second cam 310 and drives the shaft sleeve 311 to rotate, so that the edge brush assembly 31 rotates along with the first cleaning part and drives the first cleaning part to leave the surface of the working area of the cleaning robot 100; when the second motor rotates along the second direction and drives the second cam 310 to rotate, the shifting block 312 rotates along with the second cam 310 and drives the shaft sleeve 311 to rotate, so that the edge brush assembly 31 rotates along with the first cleaning part to contact the surface of the working area of the cleaning robot 100.

Further, referring to fig. 12a and 12b, in the cleaning robot 100 provided in one embodiment of the present application, the first lifting part further includes a second motor (not shown in fig. 12a and 12 b) and a motor shaft housing 313, and the second motor is connected to the control unit; the motor shaft sleeve 313 is cylindrical, and is used for following the second motor and rotating around a preset axis 314, the axis 314 forms a first preset angle with the surface of the working area of the cleaning robot 100, and one end of the side brush assembly 31, which is far away from the first cleaning part, is connected with the motor shaft sleeve 313; wherein the control unit is configured to:

According to the received single-drag control signal, the second motor is controlled to rotate by a second preset angle along a preset third direction and drive the motor shaft sleeve 313 to rotate so as to drive the side brush assembly 31 to rotate by a third preset angle, so that the first cleaning part leaves the surface of the working area of the cleaning robot 100; a kind of electronic device with high-pressure air-conditioning system

According to the received single-sweep control signal and/or the sweep-drag integrated control signal, the second motor is controlled to rotate by the second preset angle along a preset fourth direction opposite to the third direction and drive the motor shaft sleeve 313 to rotate so as to drive the side brush assembly 31 to rotate by the third preset angle, so that the first cleaning part contacts the surface of the working area of the cleaning robot 100.

Further, referring to fig. 13a and 13b, in the cleaning robot 100 provided in one embodiment of the present application, the first lifting part includes an electromagnetic assembly 315, and the electromagnetic assembly 315 is connected to the control unit; wherein, the end of the rolling brush assembly 32 near the electromagnetic assembly 315 is at least partially made of magnetic metal material, and the metal comprises at least one of iron, nickel or cobalt; the control unit is configured to:

Controlling the electromagnetic assembly 315 to energize and attract the rolling brush assembly 32 away from the surface of the working area of the cleaning robot 100 according to the received single-drag control signal;

according to the received single sweep control signal and/or the sweep and trailing integrated control signal, the electromagnetic assembly 315 is controlled to de-energize and release the roller brush assembly 32 such that the second cleaning portion contacts the surface of the working area of the cleaning robot 100.

Further, in the cleaning robot provided in one embodiment of the present application, referring to fig. 14a, 14b, 14c, 14d and 14e, the second lifting component further includes a third motor (not shown), a fixed shaft 44, a mop plate bracket 45, a fixed shaft sleeve 46 and a third cam 47, and the middle part of the fixed shaft 44 is connected with the chassis of the machine body 10; the fixed shaft 44 is connected with the mop plate bracket 45 through a fixed shaft sleeve 46; the fixing sleeve 46 serves to limit the movement direction and/or the movement distance of the mop plate holder 45.

In one embodiment of the present application, with continued reference to fig. 14a, 14b, 14c, 14d and 14e, the securing sleeve 46 is used to define the distance the mop plate holder 45 moves in an up and down direction and up or down. The free end of the third cam 47 is connected to the surface of the mop plate holder 45 remote from the mop 42, the third cam 47 being adapted to follow said third motor rotation; wherein the control unit is configured to:

According to the received single-sweep control signal, the third motor is controlled to rotate along a preset fifth direction to drive the third cam 47 to rotate so as to lift the mop plate bracket 45 to move upwards and enable the mop 42 to leave the surface of the working area of the cleaning robot 100;

according to the received single-mop control signal and/or the sweeping and mopping integrated control signal, the third motor is controlled to rotate along a preset sixth direction and drive the third cam 47 to move downwards so as to drive the mop plate bracket 45 to move downwards and enable the mop 42 to contact the surface of the working area of the cleaning robot 100, wherein the sixth direction is opposite to the fifth direction.

Further, in one embodiment of the present application, the floor sweeping unit is partially overlapped with the mopping unit; the control unit is configured to:

according to the obtained single-mop control signal and/or the sweeping and mopping integrated control signal, controlling the moving unit to move and drive the cleaning robot to a preset mop loading area, wherein the preset mop loading area is provided with self-adhesive mops with preset shapes and sizes;

when the self-adhesive mop is positioned in the range of a mop positioning area preset below the bottom of the machine body, the first cleaning part of the side brush assembly is controlled to move downwards and connected with the self-adhesive mop, so that the side brush assembly is in contact with the surface through the self-adhesive mop;

And controlling the moving unit to drive the cleaning robot to move.

Further, in an embodiment of the present application, the control unit is further configured to control the roller brush assembly to leave the surface according to the acquired single-mop control signal, so as to avoid that the second cleaning part of the roller brush assembly, which is stuck with dust, contaminates the surface to be scrubbed when the roller brush assembly is used for mopping alone.

Further, referring to fig. 15a and 15b, in the cleaning robot 100 provided in an embodiment of the present application, the moving unit includes a driving wheel set 21 and a sensor set (not shown), and the driving wheel set 21 is connected to the control unit; the sensor group is connected with the control unit and used for collecting position information and/or barrier information; wherein the control unit is further configured to:

and generating real-time control information according to the received position information and/or the obstacle information so as to control the driving wheel set to drive the cleaning robot to act, wherein the act comprises at least one of positioning, path planning, recharging or obstacle avoidance.

Further, please continue to refer to fig. 15a and 15b, in a cleaning robot 100 provided in an embodiment of the present application, further including a dust-holding device 34 and a blower system 60, the blower system 60 is connected with the control unit; wherein the control unit is further configured to:

The fan system is controlled to operate and generate suction force according to the acquired function selection control signal so as to suck sundries on the surface into the dust containing device 34.

Further, in the cleaning robot provided in one embodiment of the present application, the floor mopping unit further includes a water tank and a floor mopping assembly, the floor mopping assembly being in communication with the water tank; the mopping assembly is used for being contacted with the surface to execute preset mopping actions.

Further, in the cleaning robot provided in one embodiment of the present application, a filter is further included, and the filter is disposed in the blower system, and is used for filtering impurities entering the blower system.

Further, in one embodiment of the present application, a cleaning robot system is provided, including any of the cleaning robots described in the embodiments of the present application and a base station for providing communication and/or maintenance services for the cleaning robots, the maintenance services including at least one of charging, providing mops, adding water, or removing dust. The base station is arranged to provide communication and/or maintenance services for the cleaning robot, wherein the maintenance services comprise at least one of charging, mop providing, water adding or dust removing, so that the cleaning robot can conveniently move to the base station to install/replace the mop according to the working requirement, or the maintenance operations such as charging, water adding or dust removing can be implemented.

The technical features of the above-described embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above-described embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description. The technical features of the above-described embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above-described embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.

The above examples only represent a few embodiments of the present application, which are described in more detail and are not to be construed as limiting the scope of the claims. It should be noted that it would be apparent to those skilled in the art that various modifications and improvements could be made without departing from the spirit of the present application, which would be within the scope of the present application. Accordingly, the scope of protection of the present application is to be determined by the claims appended hereto.

Claims

A cleaning robot, comprising:

A body having a width direction;

the moving unit is arranged on the machine body and used for supporting the machine body and driving the robot to move on the surface of the working area;

the mopping unit is provided with a mopping working head and is arranged on the machine body and used for executing preset mopping actions;

the control unit is used for controlling the moving unit to automatically drive the machine body to move on the surface of the working area and controlling the mopping unit to automatically execute mopping action;

the mopping head is movably mounted on the machine body and is switched from a first position to a second position in response to an obstacle, wherein the mopping head is beyond the machine body in the width direction when in the first position, and is retracted from the first position in the width direction when in the second position.
The cleaning robot according to claim 1, wherein a direction perpendicular to the body is defined as a vertical direction; when the mopping working head is at the first position, the projection of the mopping working head in the vertical direction exceeds the projection of the machine body in the vertical direction in the width direction, and the mopping working head can be maintained at the first position to perform a cleaning task so as to be close to the obstacle and clean a working area near the obstacle; the mopping head is responsive to the obstacle retracting from the first position to the second position, in which it is spaced apart from the obstacle in the width direction compared to the first position, and is maintainable in the second position to avoid collision with the obstacle.
The cleaning robot of claim 2, wherein the body includes a floor mopping unit mounting area above the floor mopping head, the floor mopping head including a floor mopping main area and a floor mopping compensation area on at least one side of the floor mopping main area, the floor mopping main area overlapping a projection of the floor mopping unit mounting area in the vertical direction when the floor mopping head is retracted from the first position to the second position in response to the obstacle, the projection of the floor mopping compensation area in the vertical direction overlapping a projection of the floor mopping unit mounting area in the vertical direction, at least in the width direction.
A cleaning robot according to claim 3, wherein the projection of the floor mopping compensation zone in the vertical direction at least partially overlaps with the projection of the floor mopping unit mounting zone in the vertical direction when the floor mopping head is in the second position.
The cleaning robot of claim 4, wherein the projection of the floor mopping compensation zone in the vertical direction is entirely within the projection of the floor mopping unit mounting zone in the vertical direction when the floor mopping head is in the second position.
The cleaning robot of claim 1, wherein the cleaning robot moves along a motion path, and the floor mopping head moves from the first position to the second position in response to the obstacle movement when the cleaning robot encounters or detects the obstacle on the motion path, and remains in the second position to perform a cleaning task to avoid collision with the obstacle.
The cleaning robot of claim 6, wherein the floor mopping head is in the first position when there is no obstacle on the motion profile and is maintained in the first position to perform a cleaning task to clean a work area near the obstacle.
The cleaning robot of claim 1, comprising a connecting member movably connecting the floor mopping head to the body, the floor mopping head being movable from the first position to the second position under an external force applied by the obstacle.
The cleaning robot of claim 8, further comprising a reset element coupled to at least one of the floor mopping head and the body, the reset element providing a restoring force to the head when the external force is removed to move the floor mopping head from the second position to the first position.
The cleaning robot of claim 8 or 9, further comprising a limit structure disposed on at least one of the body and the mop head to prevent continued movement of the mop head in a direction toward the obstacle when in the first position.
The cleaning robot according to claim 1, further comprising a detection unit for detecting whether the obstacle is present on a side of the body and a driving unit for driving the mopping head to move between the first position and the second position, wherein the control unit controls the driving unit to drive the mopping head to move between the first position and the second position based on a detection signal of the detection unit.
The cleaning robot according to claim 11, wherein the detection unit detects the presence of the obstacle on a side of the body, the cleaning robot recognizes a scene to be cleaned in which the obstacle is located, and the driving unit drives the mopping head to move between the first position and the second position according to the scene to be cleaned in which the obstacle is located.
The cleaning robot of claim 12, wherein the driving unit drives the mopping head to the first position when the detection unit detects that the cleaning robot cleans a work area near the obstacle.
The cleaning robot of claim 12, wherein the work area includes a boundary, the boundary being the obstacle that prevents the cleaning robot from continuing to travel, the driving unit driving the mopping head to the first position when the detecting unit detects that the cleaning robot cleans a long straight edge of the boundary or an external corner of the boundary.
The cleaning robot of claim 12, wherein the work area includes a boundary, the boundary being the obstacle that prevents the cleaning robot from continuing to travel, the driving unit driving the mopping head to the second position when the detecting unit detects that the cleaning robot cleans an inside corner of the boundary.
The cleaning robot of claim 15, wherein the driving unit drives the mopping head to move from the second position to the first position after the detection unit detects that the cleaning robot passes through the internal corner.
The cleaning robot of claim 15, wherein the driving unit drives the mopping head to move to the first position before the detection unit detects that the cleaning robot passes through the inside corner.
The cleaning robot according to any one of claims 11 to 17, further comprising an in-place detection unit provided to the main body and detecting whether the mopping head is in the first position or the second position, wherein the control unit controls the driving unit to drive the mopping head to stop at the first position or the second position according to a signal detected by the in-place detection unit.
The cleaning robot of claim 11, wherein the drive unit drives the mopping head to the second position when the cleaning robot returns to a base station for maintenance; or the machine body is provided with a machine body center line in the length direction, the mopping working head is provided with a mopping working head center line in the length direction, and when the cleaning robot returns to the base station for maintenance, the driving unit drives the mopping working head to move to a position where the machine body center line coincides with the mopping working head center line or is within a preset distance.
The cleaning robot of claim 1, wherein the work area comprises a middle area, the floor mopping head moving to the first position and being maintained in the first position to perform a cleaning task to clean the middle area as the cleaning robot cleans the middle area.
The cleaning robot of claim 1, wherein the work area comprises a middle area, the floor mopping head moving to the second position and being maintained in the second position to perform a cleaning task to clean the middle area as the cleaning robot cleans the middle area.
A cleaning robot according to claim 3, wherein a distance between an edge of a side of the floor mopping compensation zone remote from the main body and an outermost edge of a corresponding side of the main body is within a movable range in a width direction of the main body.
The cleaning robot of claim 22, wherein the range of motion is greater than 0 and less than or equal to 20mm.
The cleaning robot according to any one of claims 3 to 5, wherein a straight line extending in the advancing direction of the body and passing through the outermost edge of the body in the width direction is defined as an edge line, a side of the edge line near the body is defined as an inner side of the edge line, and at least one side of the floor cleaning unit mounting area is located inside the edge line on the corresponding side of the body.
The cleaning robot of claim 24, wherein the body includes a body center section located in a center of the body, the floor unit mounting section is located forward and/or rearward of the body center section in a forward direction of the body, and an extreme edge of the body in the width direction is located in the body center section or forward of the body center section.
The cleaning robot of claim 2, wherein the floor mopping head contacts the work area surface to continue performing cleaning tasks when the floor mopping head is in both the first position and the second position.