CN117881328A

CN117881328A - Cleaning robot

Info

Publication number: CN117881328A
Application number: CN202280058151.5A
Authority: CN
Inventors: 钱富; 张士松; 杨帆
Original assignee: Positec Power Tools Suzhou Co Ltd
Current assignee: Positec Power Tools Suzhou Co Ltd
Priority date: 2021-12-07
Filing date: 2022-12-07
Publication date: 2024-04-12
Also published as: WO2023104068A1; CN116236090A

Abstract

The cleaning robot comprises a machine body (100), wherein a walking module (200) is used for supporting the machine body (100) and driving the cleaning robot to move on the ground (600); the floor sweeping module (300) is arranged on the machine body (100) and is used for executing floor sweeping work on the ground (600); the mopping module (400) is arranged on the machine body (100) and can be in a lifting state or a dropping state relative to the machine body (100), and the mopping module (400) is used for executing mopping work on the ground (600); the control module is electrically connected with the walking module (200), the sweeping module (300) and the mopping module (400), and can selectively send a lifting control signal to the mopping module (400) to control the mopping module (400) to be switched from a lowering state to a lifting state; after the control module sends a lifting control signal to the mopping module (400), the control module controls the walking module (200) to enable the sweeping module (300) to cover a preset area, and the control module controls the sweeping module (300) to sweep the preset area, wherein the preset area is an area through which the mopping module (400) passes in the switching process from a lowering state to a lifting state, so as to sweep sundries (500) falling from the mopping module (400).

Description

Cleaning robot

The present disclosure claims priority to chinese patent application No. 202111488773.5 entitled "cleaning robot", whose entire contents are incorporated herein by reference, on application day 2021, 12, 07.

Technical Field

The invention relates to the technical field of intelligent household equipment, in particular to a cleaning robot.

Background

The cleaning robot, also called an automatic cleaner, an intelligent dust collector, a robot dust collector and the like, is one of intelligent household appliances, and can automatically clean the ground in a room by means of certain artificial intelligence.

The conventional cleaning robot has a floor sweeping module and a floor mopping module. Wherein: the sweeping module is used for executing sweeping work on the ground so as to sweep garbage on the ground; the mopping module is used for executing mopping work on the ground so as to further clean the ground; the sweeping module and the mopping module are combined, so that the cleaning robot has the functions of simulating manual sweeping and mopping.

However, in the working process of the cleaning robot, after the mopping module (a single-mopping working mode or a sweeping and mopping working mode) works for a period of time, the mopping module is easy to be stained with dust, dirt and other impurities, if the mopping module performs lifting operation, the dust, dirt and other impurities on the mopping module are easy to drop to the ground due to shaking generated in the lifting process, secondary pollution is caused on the ground after mopping treatment, and cleaning effect is affected.

Disclosure of Invention

Based on this, it is necessary to provide a cleaning robot; the cleaning robot can solve the problem that sundries falling off in the lifting process of the mopping module cause secondary pollution to the ground, so that the cleaning effect of the cleaning robot is guaranteed.

The technical scheme is as follows:

one embodiment provides a cleaning robot including:

a body;

the walking module is used for supporting the machine body and driving the cleaning robot to move on the ground;

the sweeping module is arranged on the machine body and used for executing sweeping work on the ground;

the mopping module is arranged on the machine body and can be in a lifting state or a dropping state relative to the machine body, and the mopping module is used for executing mopping work on the ground;

the control module is electrically connected with the walking module, the sweeping module and the mopping module, and can selectively send a lifting control signal to the mopping module to control the mopping module to be switched from a lowering state to a lifting state;

after the control module sends the lifting control signal to the mopping module, the control module controls the walking module so that the sweeping module can cover a preset area, the control module controls the sweeping module to sweep the preset area, and the preset area is an area through which the mopping module passes in the lifting process from the lowering state to the lifting state.

Above-mentioned cleaning robot, control module can control to drag the module and switch between lifting state and drop the state, and control module is after sending lifting control signal to dragging the module, drags the module and switches to lifting state from drop the state, and control module control walking module and makes the module of sweeping cover the preset region that drags the module to pass through in the module lifting process of sweeping to make control module control sweep the module and carry out the work of sweeping the floor to preset region. So set up, make control module control walking module and sweep the module and clean debris (such as dust, spot etc.) that the module dropped at the lifting in-process to cleaning robot's cleaning performance is ensured.

The technical scheme is further described as follows:

in one embodiment, the travel direction of the machine body is taken as the front, the mopping module is located at the rear of the sweeping module, the control module sends a rollback control signal to the traveling module to control the traveling module to stop traveling and rollback so that the sweeping module covers the preset area, and the rollback direction is the reverse direction of the travel direction.

In one embodiment, the control module controls the walking module to fall back by a preset distance or stop falling back after falling back for a preset time.

In one embodiment, the retraction preset distance is 0.5 times the length of the fuselage to 2 times the length of the fuselage.

In one embodiment, the floor sweeping module is selectively in a lifting state or a lowering state relative to the machine body, and after receiving a lifting control signal sent by the control module, the floor sweeping module is switched from the lowering state to the lifting state; before the walking module retreats, the control module sends the lifting control signal to the sweeping module.

In one embodiment, before the control module sends the lifting control signal to the sweeping module, judging whether the sweeping module is in a put-down state, when the judgment result is yes, the control module sends the lifting control signal to the sweeping module, and when the judgment result is no, the control module does not send the lifting control signal to the sweeping module.

In one embodiment, the control module sends the retraction control signal after the towing module switches to the lifted state.

In one embodiment, the travel direction of the machine body is taken as the front, the mopping module is located in front of the sweeping module, and the control module controls the traveling module to continue traveling so that the sweeping module covers the preset area.

In one embodiment, the control module controls the walking module to perform turning and traveling so that the sweeping module covers the preset area with the traveling direction of the machine body as the front.

In one embodiment, in the running process of the machine body, the control module sends a lifting control signal to the mopping module under the condition that the cleaning robot finishes cleaning work/switches sweeping work/climbs over obstacles.

Drawings

The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention.

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

Moreover, the drawings are not to scale 1:1, and the relative sizes of various elements are merely exemplary in the drawings and are not necessarily drawn to true scale.

FIG. 1 is a schematic view of an overall structure of a cleaning robot in one embodiment;

FIG. 2 is a schematic view of the cleaning robot of the embodiment of FIG. 1 with dust on the mop module;

FIG. 3 is a schematic view showing a state in which a mop module of the cleaning robot is lifted in the embodiment of FIG. 2;

FIG. 4 is a schematic view of dust falling off after the mop module of the cleaning robot in the embodiment of FIG. 3 is lifted;

FIG. 5 is a schematic view of the embodiment of FIG. 4 with the cleaning robot retracted and the cleaning module cleaning dust;

FIG. 6 is a schematic view of the cleaning robot of FIG. 5 with dust cleaned by the sweeper module;

FIG. 7 is a flowchart illustrating operation of the cleaning robot in the embodiment of FIG. 1 with the mop module positioned behind the sweeper module;

fig. 8 is a flowchart showing the operation of the cleaning robot in the embodiment of fig. 1, in which the mop module is located in front of the floor sweeping module.

The drawings are marked with the following description:

100. a body; 200. a walking module; 300. a sweeping module; 400. a mopping module; 410. a lifting assembly; 420. a mop assembly; 500. sundries; 600. ground surface.

Detailed Description

Embodiments of the present invention will be described in detail below with reference to the attached drawings:

in order that the above objects, features and advantages of the invention will be readily understood, a more particular description of the invention will be rendered by reference to the appended drawings. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. The present invention may be embodied in many other forms than described herein and similarly modified by those skilled in the art without departing from the spirit of the invention, whereby the invention is not limited to the specific embodiments disclosed below.

Referring to fig. 1, one embodiment provides a cleaning robot including a body 100, a walking module 200, a sweeping module 300, a mopping module 400, and a control module. Wherein:

as shown in fig. 1, the traveling module 200 is used to support the body 100 and to drive the cleaning robot to move on the floor 600.

In the embodiment shown in fig. 1, the walking module 200 is disposed at the lower side of the machine body 100, and under the control of the control module, the walking module 200 can drive the machine body 100 to perform actions such as forward, backward, turning, etc.

As shown in fig. 1, a floor sweeping module 300 is provided on the main body 100 and is used to perform a floor sweeping operation on the floor 600.

When in the sweeping mode or the sweeping and mopping mode, the control module controls the sweeping module 300 to start working, and performs sweeping work on the ground 600 to clean up the sundries 500 such as garbage, dirt and the like on the ground 600.

As shown in fig. 1, a floor mopping module 400 is provided on the body 100 and can be in a raised state or a lowered state with respect to the body 100, and the floor mopping module 400 is used to perform a floor mopping operation on the floor 600.

While in the mopping mode or the sweeping and mopping mode, the control module controls the mopping module 400 to start working and performs mopping work on the floor 600 to perform mopping treatment on the floor 600.

It should be noted that:

cleaning robot is to the clearance of debris 500 that drops in the lifting of mopping module 400, and the lifting of mopping module 400 can be the lifting in the advancing process of cleaning robot, also can be the cleaning robot stops the motion back and drags module 400 and carry out the lifting in place.

In one embodiment, referring to fig. 1, the mop module 400 includes a lifting assembly 410 and a mop assembly 420, the lifting assembly 410 is connected to the main body 100 and can be lifted, and the mop assembly 420 is disposed on the lifting assembly 410 to be in a lifted state or a lowered state by the lifting assembly 410.

The control module is electrically connected with the walking module 200, the sweeping module 300 and the mopping module 400, and selectively sends a lifting control signal to the mopping module 400 to control the mopping module 400 to switch from a lowering state to a lifting state, and the mopping module 400 switches from the lowering state to the lifting state for a preset time.

The control module can control the walking module 200, the sweeping module 300 and the mopping module 400 to perform corresponding actions according to the set program, so as to complete the cleaning work of the floor 600.

Alternatively, the control module may send corresponding instructions through a built-in program, or may receive signals from a remote terminal (mobile APP, remote controller, etc.) and send corresponding instructions to the walking module 200, the sweeping module 300, and the mopping module 400 according to the settings.

The mop module 400 is switched to a drop state when mopping is required, the mop module 400 is switched to a lift state when mopping is not required, the process of switching the mop module 400 from the drop state to the lift state is not completed instantaneously, a certain time is required to elapse, and in the process of lifting, sundries 500 such as garbage, dirt and the like can fall due to shaking of the mop module 400.

When the floor sweeping device works, after the control module sends the lifting control signal to the floor sweeping module 400, the control module controls the walking module 200 so that the floor sweeping module 300 can cover a preset area, and the control module controls the floor sweeping module 300 to perform floor sweeping on the preset area, wherein the preset area is an area passing through in the lifting process of the floor sweeping module 400 from a lowering state to a lifting state, namely, an area passing through in the preset time.

The cleaning robot, the control module can control the floor mopping module 400 to switch between a lifting state and a lowering state, after the control module sends a lifting control signal to the floor mopping module 400, the floor mopping module 400 switches from the lowering state to the lifting state and experiences preset time, the control module controls the walking module 200 to walk and enables the floor sweeping module 300 to cover a preset area where the floor mopping module 400 passes in the lifting process of the floor mopping module 400, so that the control module controls the floor sweeping module 300 to perform floor sweeping work on the preset area. So set up, make control module control walking module 200 and sweep module 300 clean debris 500 (such as dust, spot etc.) that mop module 400 dropped in the lifting in-process to ensure cleaning robot's cleaning performance, avoid causing secondary pollution to ground 600.

In an embodiment, referring to fig. 2 to 5, with the traveling direction of the machine body 100 being the front, the floor mopping module 400 is located at the rear of the floor sweeping module 300, and the control module sends a back control signal to the traveling module 200 to control the traveling module 200 to stop traveling and back so that the floor sweeping module 300 covers the preset area, and the back direction is the reverse direction of the traveling direction.

As shown in fig. 2 to 5, in view of the frame 100, the right side is the traveling direction of the frame 100, the right side is the front, the mop module 400 is located on the left side of the frame 100, and the mop module 400 is located behind the sweeper module 300.

As shown in fig. 2, the mop module 400 is contaminated with dust, garbage, or other debris 500; as shown in fig. 3, when the vehicle needs to climb over an obstacle or go over a ground 600 with different gradients or finish mopping, the mopping module 400 needs to be lifted and retracted; as shown in fig. 4, the floor mopping module 400 drops dust, garbage, and other debris 500 onto the floor 600 during the lifting process; as shown in fig. 5, the control module sends a retraction control signal to the walking module 200, so that the walking module 200 stops travelling and drives the machine body 100 to retract, and the retraction direction is the reverse direction of the travelling direction, so that the floor sweeping module 300 can cover a preset area where the lifting module passes in the lifting process; as shown in fig. 6, the cleaning robot continues to travel forward after the cleaning module 300 completes cleaning the foreign objects 500 dropped in the lifting process of the floor mopping module 400.

It will be appreciated that:

because the floor mopping module 400 is located at the rear of the floor mopping module 300, the machine body 100 advances forward, and in the lifting process of the floor mopping module 400, the fallen dust, garbage and other sundries 500 cannot be cleaned by the floor mopping module 300, so that the walking module 200 must be enabled to drive the machine body 100 to retract, and the floor mopping module 300 can cover a preset area where the floor mopping module 400 passes in the lifting process, the retraction direction must be the reverse direction of the advancing direction, so that the secondary pollution floor 600 is cleaned, and the cleaning effect is ensured.

In a specific embodiment, after the control module sends the lift control signal to the floor mopping module 400, the control module sends the rollback control signal to the walking module 200. In one possible application scenario, the mop module 400 executes the lifting control signal sent by the control module, and before the lifting action is not completed, receives the retraction control signal sent by the control module, at this time, the airframe 100 starts to execute the retraction control signal, and retracts along the direction opposite to the travelling direction. For this, the control module is provided to control the walk module 200 to retract to cover at least an area where the mop module 400 walks during the lifting process before the retraction control signal is performed, so that the floor sweeping module 300 can clean up debris dropped during the retraction process at an initial stage where the mop module 400 starts the lifting action. In practice, the debris 500 is mostly dropped during the initial phase of the initiation of the lifting action by the towing module 400. Thus, even if the retraction is performed before the lifting action of the mop assembly 400 is completed, most of the debris falling off the mop assembly can be cleaned. Further, in order to obtain a better cleaning effect, the control module may be further configured to control the traveling module 200 to advance after the traveling module 200 completes the retraction motion, so as to integrally cover a preset area passed by the mop module 400 in the lifting process. Thus, in the application scenario, the coverage of the preset area is realized through the path passing through in the retraction process and the path passing through in the advancing process of the walking assembly 200. In another possible application scenario, the coverage of the preset area may be achieved only through the path that is traversed during the rollback of the walking assembly 200. Specifically, the walking module 200 receives the rollback control signal sent by the control module after the mop module 400 completes the lifting action, and performs rollback to cover a preset area passed by the mop module 400 in the lifting process. Accordingly, the control module is configured to send a rollback control signal to the walk module after the towing module 400 switches to the elevated state.

In one embodiment, the control module controls the walking module 200 to stop the rollback after a preset distance or a preset time.

When the preset area needs to be backed off for secondary cleaning, the purpose of the backing off should enable the floor sweeping module 300 to cover the preset area. Thus, there are two ways to choose from:

first kind: the sweeping module 300 is ensured to cover the preset area by retreating by the preset distance. The preset distance can determine a preset area passed by the floor mopping module 400 in the lifting process according to factors such as forward travelling speed of the cleaning robot, time consumed by the floor mopping module 400 in lifting, and the like, so that the cleaning robot can retract a preset distance relative to the preset area.

Second kind: the scan module 300 is ensured to cover a preset area by backing off the preset time. The preset time may be determined according to the backward speed of the cleaning robot, the time taken for the cleaning robot to lift up the mop module 400, the speed of the cleaning robot to travel forward, and the like, the preset area is determined according to the time taken for the cleaning robot to lift up the mop module 400 and the speed of the cleaning robot to travel forward, and then the backward preset time is determined based on the backward speed of the cleaning robot and the preset area.

In one embodiment, the retraction preset distance is 0.5 times the length of the body 100 to 2 times the length of the body 100.

In this embodiment, the preset distance is set based on the preset area passed by the lifting process of the floor mopping module 400 and the length parameter of the machine body 100, so as to reduce the control calculation amount during the retraction and reduce the control difficulty.

In one embodiment, the sweeping module 300 is selectively in a lifting state or a lowering state relative to the main body 100, and after receiving the lifting control signal sent by the control module, the sweeping module 300 is switched from the lowering state to the lifting state; before the walking module 200 retreats, the control module sends the lifting control signal to the floor sweeping module 300.

In this embodiment, the mop module 400 is located at the rear of the sweeper module 300, and not only the mop module 400 can be in a raised state or a lowered state with respect to the main body 100, but also the sweeper module 300 can be in a raised state or a lowered state with respect to the main body 100.

Before the walk module 200 is retracted, the control module transmits a lift control signal toward the floor sweeping module 300 to switch the floor sweeping module 300 to a lifted state so that the floor sweeping module 300 resumes the cleaning process on the secondary-polluted floor 600 after stopping the retraction.

In one embodiment, referring to fig. 7, before the control module sends a lifting control signal to the sweeping module 300, it is determined whether the sweeping module 300 is in a put-down state, when the determination result is yes, the control module sends the lifting control signal to the sweeping module 300, and when the determination result is no, the control module does not send the lifting control signal to the sweeping module 300.

It will be appreciated that:

when the cleaning robot is in the single-sweep mode, there is no work of the mop module 400, and thus, there is no problem that the mop module 400 lifts the falling debris 500 to cause secondary pollution of the floor 600.

When the cleaning robot is in the cleaning mode, before retreating, not only the cleaning module 400 is lifted, but also the cleaning module 300 is lifted, so that the cleaning module 300 can clean the sundries 500 falling on the ground 600 from the cleaning module 400 after retreating.

When the cleaning robot is in the single-mopping mode, before backing, the mopping module 400 is lifted, and after backing in place, the cleaning module 300 is enabled to clean the sundries 500 falling on the ground 600 from the mopping module 400 for the second time.

As can be seen from the three working modes of the cleaning robot, before the cleaning robot backs up, the cleaning module 300 needs to be in a lifting state, and the cleaning module 300 may be in a lifting state before backing up, in this case, the control module is not required to send a lifting control signal, so that it is required to judge whether the cleaning module 300 is in a lowering state or not, if so, the control module sends the lifting control signal to the cleaning module 300, otherwise, the cleaning module is not required to send the lifting control signal.

In another embodiment, referring to fig. 8, with the traveling direction of the machine body 100 as the front, the floor mopping module 400 is located in front of the floor sweeping module 300, and the control module controls the traveling module 200 to continue traveling so that the floor sweeping module 300 covers the preset area.

Unlike the foregoing embodiment, in this embodiment, the mop module 400 is located in front of the mop module 300, and in this case, the control module only needs to control the traveling module 200 to continue traveling, so that the cleaning effect can be ensured by cleaning the debris 500 dropped from the mop module 400 in front by the mop module 300 in the rear.

It should be noted that:

in this embodiment, the cleaning robot also has three modes of operation;

when the cleaning robot is in the single-sweep mode, there is no problem in that the mop module 400 lifts the falling debris 500.

When the cleaning robot is in the sweeping and mopping mode, the mopping module 400 lifts the falling sundries 500, and because the sweeping module 300 is behind the mopping module 400 and in a sweeping executing working state, the cleaning module only needs to control the traveling module 200 to continue traveling so as to cover a preset area where the mopping module 400 passes in the lifting process, and the cleaning of the falling sundries 500 can be completed.

When the cleaning robot is in the single-drag mode, the drag module 400 lifts the falling sundries 500, and since the sweeping module 300 is not in the sweeping work state, on one hand, the walking module 200 needs to drive the machine body 100 to continue to travel so as to cover the preset area through which the drag module 400 passes in the lifting process, and on the other hand, the sweeping module 300 needs to be switched to the drop state so as to clean the sundries 500 falling in the preset area.

In still another embodiment, the control module controls the traveling module 200 to travel in a turning manner such that the sweeping module 300 covers the preset area with the traveling direction of the body 100 as the front.

In this embodiment, the preset area passed by the mopping module 400 in the lifting process is not simply covered by advancing or retreating, so the control module needs to control the walking module 200 to turn, so that the sweeping module 300 covers the preset area, and the preset area passed by the mopping module 400 is cleaned for the second time.

In one embodiment, the control module sends a lift control signal to the mop module 400 in the case where the cleaning robot completes the cleaning/switches the sweeping/crossing the obstacle during the travel of the main body 100.

When the cleaning robot completes the cleaning work or the switching of the sweeping work or the crossing of the obstacle, the control module needs to make the mop module 400 in a retracted state, and thus, a lifting control signal needs to be sent to the mop module 400 to make the mop module 400 in a lifted state.

In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the device or element being referred to must have a specific orientation, be configured and operated in a specific orientation, and therefore should not be construed as limiting the present invention.

Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In the description of the present invention, the meaning of "plurality" means at least two, for example, two, three, etc., unless specifically defined otherwise.

In the present invention, unless explicitly specified and limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; either directly or indirectly, through intermediaries, or both, may be in communication with each other or in interaction with each other, unless expressly defined otherwise. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to the specific circumstances.

In the present invention, unless expressly stated or limited otherwise, a first feature "up" or "down" a second feature may be the first and second features in direct contact, or the first and second features in indirect contact via an intervening medium. Moreover, a first feature being "above," "over" and "on" a second feature may be a first feature being directly above or obliquely above the second feature, or simply indicating that the first feature is level higher than the second feature. The first feature being "under", "below" and "beneath" the second feature may be the first feature being directly under or obliquely below the second feature, or simply indicating that the first feature is less level than the second feature.

It will be understood that when an element is referred to as being "fixed" or "disposed" on another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and the like are used herein for illustrative purposes only and are not meant to be the only embodiment.

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 illustrate only a few embodiments of the invention, which are described in detail and are not to be construed as limiting the scope of the invention. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the invention, which are all within the scope of the invention. Accordingly, the scope of protection of the present invention is to be determined by the appended claims.

Claims

A cleaning robot, comprising:

a body;

the walking module is used for supporting the machine body and driving the cleaning robot to move on the ground;

the sweeping module is arranged on the machine body and used for executing sweeping work on the ground;

the mopping module is arranged on the machine body and can be in a lifting state or a dropping state relative to the machine body, and the mopping module is used for executing mopping work on the ground;

the control module is electrically connected with the walking module, the sweeping module and the mopping module, and can selectively send a lifting control signal to the mopping module to control the mopping module to be switched from a lowering state to a lifting state;

after the control module sends the lifting control signal to the mopping module, the control module controls the walking module so that the sweeping module can cover a preset area, the control module controls the sweeping module to sweep the preset area, and the preset area is an area through which the mopping module passes in the lifting process from the lowering state to the lifting state.
The cleaning robot according to claim 1, wherein the mopping module is located behind the sweeping module with a traveling direction of the main body as a front, and the control module transmits a rollback control signal to the traveling module to control the traveling module to stop traveling and rollback so that the sweeping module covers the preset area, the rollback direction being an opposite direction of the traveling direction.
The cleaning robot according to claim 2, wherein the control module controls the traveling module to stop the rollback after a predetermined distance or a predetermined time.
A cleaning robot according to claim 3, characterized in that the retraction preset distance is 0.5 times the length of the body to 2 times the length of the body.
The cleaning robot of claim 2, wherein the floor sweeping module is selectively in a raised state or a lowered state relative to the machine body, and the floor sweeping module is switched from the lowered state to the raised state after receiving a raising control signal sent by the control module; before the walking module retreats, the control module sends the lifting control signal to the sweeping module.
The cleaning robot of claim 5, wherein the control module determines whether the sweeping module is in a put-down state before sending a lifting control signal to the sweeping module, and when the determination is yes, the control module sends the lifting control signal to the sweeping module, and when the determination is no, the control module does not send the lifting control signal to the sweeping module.
The cleaning robot of claim 2, wherein: and the control module sends the rollback control signal after the mopping module is switched to the lifting state.
The cleaning robot of claim 1, wherein the mopping module is located in front of the sweeping module with a traveling direction of the body as a front, and the control module controls the traveling module to continue traveling such that the sweeping module covers the preset area.
The cleaning robot according to claim 1, wherein the control module controls the traveling module to turn traveling so that the sweeping module covers the preset area with a traveling direction of the body as a front.
The cleaning robot of any one of claims 1-9, wherein the control module sends a lift control signal to the mopping module in case the cleaning robot completes cleaning/switches sweeping/crossing an obstacle during travel of the fuselage.