CN217137954U - Cleaning robot - Google Patents

Abstract

The application relates to a cleaning robot, which comprises a robot body, a mobile unit, a floor mopping unit with a floor mopping working head and a control unit, wherein the mobile unit is arranged on the robot body and used for supporting the robot body and driving the robot to move on the surface of a working area; the mopping unit is arranged on the machine body and used for executing a preset mopping action; the control unit is used for controlling the moving unit to automatically drive the machine body to move on the surface of a working area and controlling the floor mopping unit to automatically execute floor mopping action; the mopping working head is movable in the width direction of the machine body compared with the machine body. This application is when furthest improves the robot and removes regional coverage, avoids producing because of the machine rear side collides with wall or furniture and scrapes the wall or furniture condition.

Description

Cleaning robot

The present application claims priority from chinese patent application having application date 2020/12/04, application number 202011403286X, entitled "cleaning robot" and application date 2020/12/04, application number 2020228763688, entitled "cleaning robot", the entire contents of which are incorporated herein by reference.

Technical Field

The utility model relates to the technical field of robot, especially, relate to a cleaning robot.

Background

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

However, in the cleaning process of the traditional household cleaning mobile machine, high ground coverage rate is difficult to ensure, and an uncleaned dead angle area exists; since the robot itself is difficult to make into a standard round shape, when the robot turns, the rear side of the robot easily collides with a wall or furniture, and there is a risk of scratching the wall or furniture.

SUMMERY OF THE UTILITY MODEL

Based on this, it is necessary to provide a cleaning robot which can improve the area coverage and can avoid scratching the wall or furniture.

In order to achieve the above and other objects, an aspect of the present invention provides a cleaning robot, including a body, a moving unit, a mopping unit having a mopping head, and a control unit, wherein the moving unit is disposed on the body, and is used for supporting the body and driving the robot to move on a surface of a working area; the mopping unit is arranged on the machine body and used for executing a preset mopping action; the control unit is used for controlling the moving unit to automatically drive the machine body to move on the surface of a working area and controlling the floor mopping unit to automatically execute floor mopping action; the mopping working head is movable in the width direction of the machine body compared with the machine body.

In the cleaning robot in the above embodiment, the mopping working head is arranged to be movable in the width direction of the body compared to the body, so that the mopping working head has a component moving in the width direction, and the detection unit cleaning robot avoids the situation that the wall or furniture is scratched due to collision between the rear side of the robot and the wall or furniture while the coverage rate of the moving area of the robot is improved to the maximum extent.

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

In one embodiment, the distance between the edge of the side of the mopping compensation area far away from the fuselage and the most edge of the corresponding side of the fuselage is less than a threshold value.

In one embodiment, the threshold is 10 mm.

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

In one embodiment, when the mopping head is located at the second position, the projection of the mopping compensation area in the vertical direction is completely located within the projection of the mopping unit mounting area in the vertical direction.

In one embodiment, a straight line extending along 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 close to the body is defined as the inner side of the edge line, and at least one side of the mopping unit installation area is located at the inner side of the edge line of the corresponding side of the body.

In one embodiment, the body comprises a body middle area located in the middle of the body, the mopping unit installation area is located in front of and/or behind the body middle area in the advancing direction of the body, and the edge of the body in the width direction is located in the body middle area.

In one embodiment, 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 restoring force to the mopping head so that the mopping head is restored from the second position to the first 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 mopping unit mounting area, and a driving unit for driving the mopping working 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 at the side edge of the mopping unit installation area, the mopping working head is maintained at the first position; when the detection unit detects that an obstacle exists on the side edge of the mopping unit installation area, the driving unit drives the mopping working head to move from the first position to the second position.

In one embodiment, when the detection unit detects that the obstacle on the side of the mopping unit installation area disappears, the driving unit drives the mopping working 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 needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain drawings of other embodiments based on these drawings without any creative effort.

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 diagram of a cleaning robot provided in a third embodiment of the present application;

FIG. 3b is a schematic view of the cleaning robot shown in 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 diagram of a cleaning robot provided in a fifth embodiment of the present application;

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

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

FIG. 5d is a schematic view of a cleaning robot in a sixth embodiment of the present application, in the same state as the cleaning robot shown in FIG. 5 a;

fig. 5e is a schematic view of the structure of a mop provided in a seventh embodiment of the 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 left side view schematically illustrating a cleaning robot according to a twelfth embodiment of the present disclosure;

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 a still further state;

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

fig. 11a is a schematic left side view of a cleaning robot in 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 side view of a cleaning robot in a fourteenth embodiment of the present application;

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

fig. 13a is a schematic left side view of a cleaning robot in 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 schematic left side view of 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 the cleaning robot illustrated in FIG. 14 a;

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

FIG. 14e is a partial cross-sectional view of the cleaning robot of FIG. 14d in another state;

fig. 15a is a schematic structural view of a cleaning robot provided in a seventeenth embodiment of the present application from bottom view;

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

FIGS. 16a-16d are schematic bottom views of a cleaning robot for cleaning the periphery of an obstacle according to an 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 accordance with an embodiment of the present application;

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

FIGS. 19a-19b are schematic bottom views of a cleaning robot in front of an internal corner of a cleaning boundary in an embodiment of the present application;

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

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

fig. 20 a-20 c are schematic bottom views of a cleaning robot returning to a base station for maintenance according to an embodiment of the present invention.

Detailed Description

To facilitate an understanding of the present application, the present application will now be described more fully with reference to the accompanying drawings. Preferred embodiments of the present application are illustrated in the accompanying drawings. This application may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth 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 present application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.

Where the terms "comprising," "having," and "including" are used herein, another element may be added unless an explicit limitation is used, such as "only," "consisting of … …," etc. Unless mentioned to the contrary, terms in the singular may include the 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. 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 different elements.

In this application, unless otherwise expressly stated or limited, the terms "connected" and "connecting" are used broadly and encompass, for example, direct connection, indirect connection via an intermediary, communication between two elements, or interaction between two elements. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art as appropriate.

Referring to fig. 1, in an embodiment of the present application, a cleaning robot 100 is provided, which includes a body 10, a moving unit 20, a mopping unit 40 having a mopping working head 41, and a control unit 50, wherein 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 performing 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 floor mopping unit 40 to automatically perform the floor mopping action; the mopping head 41 is movable in the width direction of the body 10 compared to the body 10.

In one embodiment of the present application, the floor working head is movably mounted to the body to switch from a first position to a second position in response to an obstacle, wherein the floor working head is beyond the body in the width direction in the first position and is retracted from the first position in the width direction of the body 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 execute a cleaning task so as to be close to an obstacle and clean a working area near the obstacle; when the mopping working head responds to the obstacle and retreats from the first position to the second position, the mopping working head is far away from the obstacle in the width direction compared with the mopping working head at the first position, and the mopping working head can be maintained at the second position so as to avoid collision with the obstacle. It should be noted that the obstacle may be furniture present in the work area, such as a table, a chair, a bed, etc., or may be a boundary of the work area, such as a wall. The manner of responding to the obstacle may be that the cleaning robot 100 contacts, collides with the obstacle, or a reaction is made after the cleaning robot 100 detects the presence of the obstacle. The mopping working head can move in the width direction of the machine body compared with the machine body, so that the mopping working head has a component moving in the width direction, the coverage rate of the mopping working head in a moving area of the cleaning robot is improved to the maximum extent, and the situation that the mopping working head collides with a wall or furniture to scratch the wall or the furniture is avoided.

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

In one embodiment of the present application, the body includes a floor mopping unit mounting area above the floor mopping head, the floor mopping head includes a floor mopping main area and a floor mopping compensation area on at least one side of the floor mopping main area, when the floor mopping head is retracted from a first position to a second position in response to an obstacle, a projection of the floor mopping main area and a projection of the floor mopping unit mounting area in a vertical direction overlap, and at least in a width direction do not overlap.

Preferably, when the mopping head is in the second position, the projection of the mopping compensation area in the vertical direction at least partially overlaps the projection of the mopping unit mounting area 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 positioned within the projection of the mopping unit mounting area in the vertical direction.

As an example, with continuing reference to fig. 1, by providing the mopping head 41 to be 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 mopping head 41 contacts an obstacle such as a wall or furniture beyond the edge of the body 10, the mopping head 41 may move away from the obstacle. Therefore, the cleaning robot 100 according to the present embodiment can maximally increase the coverage of the moving area of the robot, and prevent the rear side of the robot from colliding with a wall or furniture to scratch the wall or furniture.

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

when the real-time minimum distance value is less than or equal to a first preset distance threshold value, the cleaning robot continues to move in a direction close to the obstacle, when the real-time minimum distance value is within a 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, the maximum value of the second preset distance range is less than or equal to the minimum value of the first preset distance range, and the first preset distance threshold value is greater than or equal to the maximum value of the first preset distance range.

In the cleaning robot in the above embodiment, provision may be made for the action of the distance limiting module by providing the preliminary detection of the minimum distance value from the robot to the edge of the obstacle by the edge sensor; through setting up the distance and limiting the module cooperation and carrying out accurate detection and injecing to the minimum distance value of robot to barrier edge along the limit sensor, when furthest improves the robot and removes regional coverage, avoid producing to scrape colored wall or furniture condition because of machine rear side and wall or furniture bump.

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, the contact roller 3021 is connected to the main 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 around the link 3022 in a direction approaching the main body 10, and when the contact roller 3021 contacts the signal detector 3023, the trigger signal detector 3023 generates a first distance limiting signal to control the moving unit 20 to stop and/or move in a direction away from the obstacle, thereby limiting the minimum distance value between the cleaning robot 100 and the obstacle to be within the second preset distance range.

Further, referring to fig. 4, in the cleaning robot 100 provided in an embodiment of the present application, the distance limiting module includes a contact sensor 3024, the contact sensor 3024 is configured to generate a second distance limiting signal based on the contact of the obstacle 400 to control the moving unit 20 to stop and/or move away from the obstacle 400, and a minimum distance value between the cleaning robot 100 and the obstacle 400 is limited 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 includes a non-contact ranging element and/or a mop moving motor; the non-contact distance measuring element is used for generating emergent light, receiving reflected light of the emergent light after the emergent light meets 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: when the real-time distance value is within the first preset distance range, stopping and/or moving in a direction far away from the obstacle, and limiting the minimum distance value between the cleaning robot and the obstacle to be 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 towards the direction far 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 includes a cleaning unit for performing a preset cleaning action when the robot moves on 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 mopping unit mounting area 11 located above the mopping head, which is movable between a first position and a second position. The mopping working head is provided with a first position for normally mopping the floor and a second position for avoiding obstacles. For example, FIG. 5a illustrates the mopping head in a first position, FIG. 5b illustrates the mopping head moving in a width direction indicated by an arrow, and FIG. 5c illustrates the mopping head moving to a second position; the mopping working head comprises a mopping main area 101 and a mopping compensation area 12 positioned on at least one side of the mopping main area 101, when the mopping working head is positioned at the first position (as shown in fig. 5 a), the projection of the mopping main area 101 and the projection of the mopping unit installation area 11 in the direction vertical to the surface of the working area are overlapped, the projection of the mopping compensation area 12 in the direction vertical to the surface of the working area and the projection of the mopping unit installation area 11 in the direction vertical to the surface of the working area are at least not overlapped in the width direction, so that the condition that the rear side of the robot collides with a wall or furniture to scratch the wall or the furniture is avoided while the coverage rate of the moving area of the robot is improved to the maximum extent.

Further, the mopping compensation area 12 is disposed at a side of the mopping main area 101 close to the obstacle.

Alternatively, the mopping compensation area 12 is provided at both sides of the mopping main area 101 in the width direction of the body 10. When the mopping working head 41 is at the first position, the cleaning robot 100 is viewed from a bottom view, and the side of the mopping compensation area 12 of the mopping working head 41 close to the obstacle protrudes completely or partially in the width direction from the side of the mopping unit installation area 11 close to the obstacle. When the mopping working head 41 is at the second position, the side of the mopping compensation area 12 of the mopping working head 41 close to the obstacle is completely or partially retracted in the width direction to the side of the mopping unit mounting area 11 close to the obstacle, as viewed from the bottom of the cleaning robot 100.

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

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

Further, referring to fig. 5c, in an embodiment of the present application, when the mopping head is located at the second position, a projection of the mopping compensation area 12 in a direction perpendicular to the surface of the working area at least partially overlaps a projection of the mopping unit mounting area 11 in the perpendicular direction. For example, it may be arranged that when the mopping head is in the second position, the projection of the mopping compensation area in the vertical direction is entirely within the projection of the mopping unit mounting area 11 in the vertical direction, such that the mopping head is entirely covered by the body when 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 fuselage and passing through the edge of the fuselage in the width direction is defined as an edge line, a side of the edge line close to the fuselage is defined as the inner side of the edge line, and at least one side of the mopping unit installation area 11 is located at the inner side of the edge line at the corresponding side of the fuselage, so as to avoid damage to a touched object caused by a sharp corner of the fuselage.

Further, in an embodiment of this application, the fuselage includes the fuselage middle zone that is located the fuselage middle part, in the direction of advance of fuselage, drag ground unit installation zone to be located the place ahead and/or the rear in the fuselage middle zone, the fuselage is in the most marginal position in the width direction is located the fuselage middle zone or is located the place ahead in the fuselage middle zone. The widest region of the fuselage is the most peripheral edge of the fuselage 10 in the width direction, and may be disposed in the middle region of the fuselage or in front of the middle region of the fuselage.

In one embodiment of the application, the cleaning robot moves along a motion track, and when the cleaning robot meets or detects an obstacle on the motion track, the mopping working head moves from a first position to a second position in response to the movement of the obstacle and maintains the second position to perform a cleaning task so as to avoid collision with the obstacle.

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

In one embodiment of the present application, the cleaning robot 100 includes a connection part movably connecting the floor working head 41 to the body 10, and the floor working head 41 is movable from the first position to the second position by an external force applied from an obstacle. Further, the cleaning robot 100 further comprises a reset component, the reset component is connected to at least one of the mopping working head 41 and the machine body 10, and the reset component provides restoring force for the working head when the external force is removed, so that the mopping working head 41 moves from the second position to the first position. The mopping head 41 is connected to the body 10 through a connecting component and can move in the width direction relative to the body 10, the movement of the mopping head 41 can be that an obstacle exerts an external force on the mopping head 41, for example, the mopping head 41 collides with furniture or a wall, the mopping head 41 is pushed from the first position to the 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 force of the obstacle is lost, the mopping working head 41 moves from the second position back to the first position to continue cleaning, and the return element acts on the mopping working head 41 to move the mopping working head 41 back to the first position when the external force applied by the obstacle disappears.

Furthermore, the cleaning robot also 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 continuously moving towards the direction close to the barrier when the mopping working head is at the first position. The limiting structure can be a stop piece arranged on the machine body, and the stop piece prevents the mopping working head from continuously moving in the direction close to the barrier when moving to the first position, so that the stop piece is separated from the connecting part and is not connected with the machine body.

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

In one embodiment of the present application, the cleaning robot further includes a detection unit for detecting whether an obstacle exists at a side of the body, and a driving unit for driving the mopping working 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 application, when the detection unit does not detect that an obstacle exists at the side edge of the mopping unit installation area, the mopping working head is maintained at the first position; when the detection unit detects that an obstacle exists on the side edge of the mopping unit installation area, the driving unit drives the 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 at the side of the main body 10, the cleaning robot 100 identifies a scene to be cleaned in which the obstacle is located, and the driving unit drives the mopping working head 41 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 100 can set the position of the mopping working head 41 according to the scene to be cleaned of the obstacle. The detection unit may be a laser radar on the host computer responsible for real-time image creation and navigation, may be a vision sensor, such as a monocular or binocular RGB camera, may be a distance measurement sensor, such as an infrared distance measurement sensor, a TOF distance measurement sensor, a structured light distance measurement sensor, may be a collision plate disposed on the body 10 and in direct collision contact with an obstacle, and may also be any combination of the above detection elements. Preferably, the cleaning robot 100 includes a connecting part connecting the body 10 and the mopping head 41, and the connecting part includes an eccentric structure disposed on the mopping head 41 or the body 10, and the eccentric structure is driven by the driving unit to move to drive the mopping head 41 to move between the first position and the second position.

In one embodiment, when the cleaning robot 100 cleans a work area near an obstacle, the driving unit drives the mopping head 41 to move to the first position. Referring to fig. 16a to 16d, when the cleaning robot 100 cleans a work area near an obstacle, the mopping head 41 is driven by the driving unit to be at a first position, the mopping head 41 exceeds the body 10 in the width direction, one side of the mopping head 41 near the obstacle extends out in the width direction or at least partially extends out of one side of the body 10 near the obstacle, so that the mopping head 41 is closer to the obstacle to be as close as possible to the obstacle and clean the work surface near the obstacle, the coverage of the robot moving area is improved to the maximum extent, and the mopping head 41 of the cleaning robot 100 is prevented from colliding and scratching the obstacle, and a scene to be cleaned where the obstacle is located, for example, the cleaning robot 100 cleans the periphery of the table and chair legs.

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

Preferably, the detection unit detects a distance between the body 10 and the obstacle, and the control unit moving unit 20 moves the body 10 to control a distance between a side of the body 10 close to the obstacle and the obstacle to be greater than a distance between an edge of a side of the mopping compensation area 12 far from the body and a most edge of a corresponding side of the body when the mopping working head 41 is in the first position. Referring to fig. 17, when the mopping head 41 is in the first position, the transverse distance d1 of the mopping compensation area 12 extending out of the mopping unit mounting area 11 on the side of the body 10 cannot exceed the distance d2 between the obstacle and the side of the body 10 close to the obstacle, which may interfere with the walking of the cleaning robot 100.

In one embodiment, the working area includes a boundary, which is the obstacle that prevents 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 the internal 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 corner is an acute angle or a right angle formed between the two walls, the scene to be cleaned where the obstacle is located is the internal corner of the wall, the cleaning robot 100 needs to turn around through the internal corner, the driving unit drives the mopping head 41 to move to the second position, one side of the mopping head 41 close to the obstacle retracts in the width direction or at least partially retracts to one side of the machine body 10 close to the obstacle, so that the mopping head 41 is further away from the wall, and the cleaning robot 100 is prevented from interfering with the wall when the mopping head 41 collides with the wall when passing through the internal corner. Further, before the detection unit detects that the cleaning robot 100 passes through the reentry 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 reentry 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 before and after passing the reentrant corner at the long straight side of the cleaning boundary, 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 side of the boundary.

Furthermore, the cleaning robot also 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 a signal detected by the in-place detection unit. The in-place detection unit can be a microswitch or an in-place detection sensor, such as a Hall sensor, a photoelectric sensor and the like, and the problem that the mopping working head is separated from the machine body due to the fact that the mopping working head is continuously driven to move by the driving unit after moving to the first position or the second position is avoided.

In one embodiment, when the cleaning robot 100 returns to the base station 200 for maintenance, the driving unit drives the mopping head 41 to move to the second position. Referring to fig. 20a to 20c, when returning to the base station 200 for maintenance, the cleaning robot 100 may need to enter the base station 200. Considering that the base station 200 occupies an excessively large area in the working area and affects the user experience, the structure of the base station 200 needs to be as compact as possible so that the volume of the base station 200 does not need to be too large, and the space for accommodating the cleaning robot 100 to enter and stop in the base station 200 also needs to be strictly controlled, so that in order to avoid interference between the floor-mopping working head 41 of the cleaning robot 100 entering the base station 200 and the housing of the base station 200, when the driving unit drives the floor-mopping working head 41 to move to the second position, the side of the floor-mopping working head 41 close to the obstacle retracts in the width direction or at least partially retracts to the side of the 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. Furthermore, the mopping working head 41 can be accurately detached or docked to a corresponding maintenance module in the base station 200 for maintenance.

Or, the body 10 has a body centerline L1 in the length direction, the mopping head 41 has a mopping head centerline L2 in the length 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 centerline L1 coincides with the mopping head centerline L2 or is within a preset distance.

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

In one embodiment, the working area includes a middle area, and the mopping working head 41 moves to and is maintained at the second position while the cleaning robot 100 cleans the middle area. Further, in an embodiment of the present application, when the detection unit detects that the obstacle on the side of the floor mopping unit installation area 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 a cleaning robot 100 provided in an embodiment of the present application, the mopping unit includes a mop cloth 42, and an edge of the mop cloth 42 is aligned with or partially exceeds an edge of a contour of the body 10.

Further, with continuing reference to fig. 5a, 5b and 5c, in a cleaning robot 100 provided in an embodiment of the present application, the mopping unit further includes a mop plate (not shown) and a glide assembly (not shown), the mop plate is connected to the body via the glide assembly for defining a direction and a distance of glide of the mop plate, a stroke of the mop plate for glide relative to the body is limited to 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 30mm, etc. The mop plate has a dimension in the width direction of the body that is substantially equal to the width of the body minus the mop plate glide stroke. The outer contour of the mop plate 42 or the tail contour of the body 10 at least partially protrudes from a circle which takes the rotation center of the body 10 in situ rotation as the center of circle and takes the width of the body as the diameter. The mop plate has a planar shape that is substantially rectangular with at least two right angles having distinct chamfered features. When the mop plate contacts with an obstacle, the mop plate slides towards the direction far away from the obstacle, so that the mop coverage rate is improved to the maximum extent, and the situation that the wall or furniture is scratched due to collision between the rear side of the machine and the wall or furniture is avoided.

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

As an example, referring to fig. 6, in an embodiment of the present application, the body 10 is shaped as a chamfered D to improve the obstacle avoidance capability of the rear side of the robot 100.

Further, referring to fig. 7, in the 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, the sweeping unit 30 is disposed on the body 10, and is configured to execute 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 floor sweeping unit and/or the floor mopping unit are controlled to be in contact with the surface according to the acquired function selection control signal, the mobile unit is controlled to drive the robot to move, the functions of ' sweeping alone ', mopping alone ' or ' sweeping and mopping in one ' are executed by the single machine based on the control of a user, the cleaning performance is improved, and meanwhile, the user is prevented from interfering the machine. Since the detection unit 300 can detect the real-time minimum distance value between the cleaning robot 100 and the obstacle and limit the minimum distance value between the cleaning robot 100 and the obstacle according to the real-time minimum distance value, the situation that the rear side of the robot collides with a wall or furniture to scratch the wall or furniture is avoided while the coverage rate of the robot mopping area is improved to the maximum extent.

Further, in a cleaning robot provided in an embodiment of the present application, the function selection control signal includes a single-sweep control signal, a single-mop control signal, and a sweeping-and-mopping integrated control signal; the control unit is configured to:

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

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

according to the acquired 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 execute a preset sweeping action and a preset mopping action at the same time.

Further, in an embodiment of the present application, a cleaning robot is provided, which further includes a communication unit and/or an operation unit, the communication unit is connected to the control unit, and the control unit is connected to a mobile terminal via the communication unit to obtain a function selection control signal from the mobile terminal, so as to implement remote intelligent control of 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, referring to fig. 8, in an embodiment of the present application, a cleaning robot 100 is provided, which further includes a communication unit 60, the communication unit 60 is connected to the control unit 50, and the control unit 50 is connected to 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, mopping alone" or "sweeping and mopping together" in a single machine based on the control of the function selection control signal input by the user, thereby improving cleaning performance and avoiding the need for manually replacing a working module of the robot during switching the working mode of the cleaning robot by the user. 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 a smart wearable device.

As an example, please refer to fig. 9, in an embodiment of the present application, a cleaning robot 100 is provided, which further includes an operation unit 70, 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 the control of the function selection control signal input by the user, thereby improving the cleaning performance and avoiding the need for manually replacing the working module of the robot during the process of switching the working mode of the cleaning robot by the user. In this embodiment, the operation unit 70 may be an equivalent device capable of inputting signals, such as a physical key, a touch screen, or a voice control unit.

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 lifting member, a first surface of the mop plate being connected with the body; the mop cloth is arranged on a second surface of the mop plate opposite to the first surface and is used for contacting with the surface to perform preset mopping action; the second lifting member is connected with the control unit and used for executing a second preset action based on the control of the control unit so as to drive the mop cloth 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 and 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 more than or equal to the sweeping and 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 working head of the cleaning robot is at the second position, the projection of the moving unit is within the width range of the mopping working head.

Further, referring to fig. 10a, 10b, 10c and 10d, in an embodiment of the present application, a cleaning robot 100 is provided, in which the sweeping unit includes a side 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 side brush assembly is disposed on the body 10, and the other end of the side brush assembly is disposed with a first cleaning portion, such as bristles; one end of the rolling brush assembly 32 is disposed at the body 10, and the other end of the rolling brush assembly 32 is disposed with a second cleaning part, such as a cleaning head; wherein the first cleaning part and the second cleaning part are used to contact with a surface of a working area of the cleaning robot 100 to perform a preset sweeping motion; the first lifting component is connected with the control unit and 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 with or leave the surface. In one embodiment of the present application, at least two side brush assemblies may be symmetrically disposed at both sides of the body 10, and the rolling brush assembly 32 is disposed at the middle of the body 10 and at the side brush assemblies at both sides of the body, so that the size of the body can be reduced while the structural layout of the cleaning robot is optimized.

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 member includes a first motor 35 and a first cam 36, and the first motor 35 is connected to the control unit; a first cam 36 for following the rotation of the first motor, a free end of the first cam 36 being connected to an end of the roller brush assembly 32 remote from the second cleaning part (not shown); according to the received single-mop control signal, the control unit controls the first motor to rotate along a preset first direction, so as 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-sweeping control signal and/or the sweeping and mopping integrated control signal, the control unit controls the first motor 35 to rotate in a preset second direction 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 second direction is opposite to the first direction.

Further, in a cleaning robot provided in an embodiment of the present application, the first lifting member further includes a cam sleeve, the cam sleeve covers at least a portion of the first cam, and is connected to the first cam, and is configured to rotate along with the first cam and drive the roller brush assembly to move up or down.

As an example, with continuing reference to fig. 10a, 10b, 10c and 10d, in the cleaning robot 100 provided in an embodiment of the present application, the first lifting member further includes a cam sleeve 37, and the cam sleeve 37 covers the first cam 36 and is connected to the first cam 36 for following the first cam 36 to rotate and driving the roller brush assembly 32 to move up or down.

Fig. 10a illustrates that the cleaning robot 100 is working 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 perform the predetermined sweeping action and the predetermined mopping action at the same time.

Fig. 10b illustrates that the cleaning robot 100 is operated in a "single-mopping" state, that is, the 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 moves the cleaning robot 100 to perform a predetermined mopping action. In this embodiment, the control unit may be configured to control the first motor to rotate in a first direction according to the received single mopping control signal, so as to drive the first cam 36 to rotate, so as to lift the rolling brush assembly 32 and enable the second cleaning portion to leave the surface of the working area of the cleaning robot 100, and control the moving unit 20 to drive the cleaning robot 100 to move while controlling the mopping unit 40 to contact the surface of the working area of the cleaning robot 100, so as to perform a predetermined 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 away from the surface. The control unit controls the first motor 35 to rotate in a preset second direction and drive the first cam 36 to move downwards according to the received single-sweeping control signal, 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 perform a preset sweeping action.

Fig. 10d shows that the cleaning robot 100 is in a "shuttle" state, and the control unit controls the moving unit 20 to move the cleaning robot 100 and controls the sweeping unit and the mopping unit 40 to leave 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 sweeping motion or a preset mopping motion.

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

Further, with continuing reference to fig. 11a and 11b, in the cleaning robot 100 provided in an embodiment of the present application, a dial 312 is further included, one end of the dial 312 is connected to one end of the shaft sleeve 311 away from the edge brush assembly 31, and the other end of the dial 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 second cam 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 and drives 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 an embodiment of the present application, the first lifting member further includes a second motor (not shown in fig. 12a and 12 b) and a motor shaft sleeve 313, and the second motor is connected to the control unit; the motor shaft sleeve 313 is columnar and is used for following the second motor and rotating around a preset axis 314, the axis 314 and the surface of the working area of the cleaning robot 100 form a first preset angle, 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-mop control signal, the second motor is controlled to rotate for 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 for a third preset angle, so that the first cleaning part leaves the surface of the working area of the cleaning robot 100; and

according to the received single-sweeping control signal and/or the sweeping and mopping integrated control signal, the second motor is controlled to rotate by the second preset angle along a preset fourth 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 with the surface of the working area of the cleaning robot 100, and the fourth direction is opposite to the third direction.

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

controlling the electromagnetic assembly 315 to be energized and attract the roll 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-scan control signal and/or the scan-and-drag integrated control signal, the electromagnetic assembly 315 is controlled to be de-energized and the roll brush assembly 32 is released, so that the second cleaning part contacts the surface of the working area of the cleaning robot 100.

Further, in a cleaning robot provided in an embodiment of the present application, referring to fig. 14a, 14b, 14c, 14d and 14e, the second lifting member further includes a third motor (not shown), a fixing shaft 44, a mop plate bracket 45, a fixing bushing 46 and a third cam 47, and a middle portion of the fixing shaft 44 is connected to a chassis of the main body 10; the fixed shaft 44 is connected with the mop plate holder 45 via a fixed boss 46; the fixing boss 46 serves to define the moving direction and/or moving 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 fixed boss 46 serves to limit the distance the mop plate holder 45 moves in the up and down direction and its raising or lowering direction. The free end of the third cam 47 is connected to the surface of the mop plate holder 45 remote from the mop cloth 42, the third cam 47 being adapted to rotate with the third motor; wherein the control unit is configured to:

controlling the third motor to rotate in a preset fifth direction according to the received single-sweep control signal, so as to drive the third cam 47 to rotate, so as to lift the mop plate bracket 45 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, which is opposite to the fifth direction, and drives the third cam 47 to move downwards so as to drive the mop plate bracket 45 to move downwards and enable the mop cloth 42 to contact the surface of the working area of the cleaning robot 100.

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

controlling the moving unit to move and drive the cleaning robot to a preset mop installing area according to the acquired single mop control signal and/or the sweeping and mopping integrated control signal, wherein the preset mop installing area is provided with a self-adhesive mop in a preset shape and size;

when the self-adhesive mop is positioned in the range of a preset mop positioning area below the bottom of the machine body, controlling the first cleaning part of the side brush assembly to move downwards and be 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 rolling brush assembly to leave the surface according to the acquired single-mopping control signal, so as to prevent the second cleaning part of the rolling brush assembly stuck with dust from polluting the surface to be scrubbed when mopping alone.

Further, referring to fig. 15a and 15b, in the cleaning robot 100 provided in one embodiment of the present application, the moving unit includes a driving wheel set 21 and a sensor set (not shown), the driving wheel set 21 is connected to the control unit; the sensor group is connected with the control unit and is used for acquiring 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 received 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 refer to fig. 15a and fig. 15b, in an embodiment of the present application, the cleaning robot 100 further includes a dust container 34 and a fan system 60, wherein the fan system 60 is connected to the control unit; wherein the control unit is further configured to:

and controlling the fan system to work and generate suction according to the acquired function selection control signal so as to suck the impurities on the surface into the dust holding device 34.

Further, in a cleaning robot provided in an 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; wherein the mopping assembly is used for contacting with the surface to execute a preset mopping action.

Further, in a cleaning robot provided in an embodiment of the present application, the cleaning robot further includes a filter disposed in the fan system for filtering foreign materials entering the fan system.

Further, in an embodiment of the present application, there is provided a cleaning robot system comprising any one of the cleaning robots described in the embodiments of the present application and a base station for providing communication and/or maintenance services to the cleaning robot, 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 service for the cleaning robot, the maintenance service comprises at least one of charging, mop providing, water adding and dust removing, and the cleaning robot can move to the base station to install/replace the mop according to the working requirement, or perform maintenance operations such as charging, water adding and dust removing.

The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features. The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.

The above-mentioned embodiments only express several implementation modes of the present application, and the description thereof is specific and detailed, but not construed as limiting the scope of the claims. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.

Claims (15)

1. 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 a working area;

the mopping unit is provided with a mopping working head, is arranged on the machine body and is 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 a working area and controlling the floor mopping unit to automatically execute floor mopping action;

the mopping working head is movably arranged on the machine body so as to respond to an obstacle and switch from a first position to a second position, wherein the mopping working head exceeds the machine body in the width direction when in the first position, and retracts from the first position in the width direction of the machine body when in the second position.

2. 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 execute a cleaning task so as to be close to the obstacle and clean a working area near the obstacle; when the mopping working head responds to the obstacle retreating from the first position to the second position, the mopping working head is far away from the obstacle in the width direction compared with the mopping working head at the first position, and the mopping working head can be maintained at the second position so as to avoid collision with the obstacle.

3. 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 and the projection of the floor mopping unit mounting area in the vertical direction at least not overlapping in the width direction.

4. The cleaning robot of claim 3, wherein a projection of the mopping compensation area in the vertical direction partially or completely overlaps a projection of the mopping unit mounting area in the vertical direction when the mopping head is in the second position.

5. The cleaning robot as claimed in claim 1, wherein the cleaning robot includes a connecting member movably connecting the mopping head to the body, the mopping head being movable from the first position to the second position by an external force applied from the obstacle; the cleaning robot also comprises a reset element, the reset element is at least connected with one of the mopping working head and the machine body, and the reset element provides restoring force for the working head when the external force action is eliminated, so that the mopping working head moves from the second position to the first position.

6. The cleaning robot as recited in claim 5, further comprising a limiting structure disposed on at least one of the body and the mopping head to prevent the mopping head from continuing to move in a direction approaching the obstacle when the mopping head is in the first position.

7. The cleaning robot as claimed in claim 1, further comprising a detection unit for detecting whether the obstacle exists at the side of the body and a driving unit for driving the floor working head to move between the first position and the second position, wherein the control unit controls the driving unit to drive the floor working head to move between the first position and the second position based on a detection signal of the detection unit; the detection unit detects that the obstacle exists on the side edge of the machine body, the cleaning robot identifies a scene to be cleaned where the obstacle is located, and the driving unit drives the mopping working head to move between the first position and the second position according to the scene to be cleaned where the obstacle is located.

8. The cleaning robot as claimed in claim 7, wherein the driving unit drives the mopping head to move to the first position when the detecting unit detects that the cleaning robot cleans a working area near the obstacle.

9. The cleaning robot as claimed in claim 7, wherein the working area includes a boundary, the boundary being the obstacle that prevents the cleaning robot from continuing to travel, and the driving unit drives the mopping head to move to the first position when the detecting unit detects that the cleaning robot cleans a long straight side of the boundary or an external corner of the boundary.

10. The cleaning robot as claimed in claim 7, wherein the working area includes a boundary which is the obstacle preventing the cleaning robot from continuing to travel, and the driving unit drives the mopping head to move to the second position when the detecting unit detects that the cleaning robot cleans the internal corner of the boundary.

11. The cleaning robot as claimed in any one of claims 7 to 10, further comprising an in-place detection unit disposed at the body and detecting whether the mopping head is at 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.

12. The cleaning robot of claim 1, wherein the working area comprises a middle area, and when the cleaning robot cleans the middle area, the mopping head moves to the first position and maintains at the first position to perform a cleaning task to clean the middle area; or the mopping working head moves to the second position and maintains the second position to perform a cleaning task to clean the middle area.

13. The cleaning robot according to claim 3, wherein a distance between an edge of a side of the mopping compensation area, which is away from the body, and an outermost edge of a corresponding side of the body is within a movable range in a width direction of the body; the movable range is more than 0 and less than or equal to 20 mm.

14. The cleaning robot as claimed in claim 3 or 4, wherein a straight line extending in the forward direction of the body and passing through the width-wise outermost edge of the body is defined as an edge line, a side of the edge line adjacent to the body is defined as an inner side of the edge line, and at least one side of the mopping unit mounting area is located at an inner side of the edge line of the corresponding side of the body.

15. The cleaning robot as claimed in claim 14, wherein the body includes a body middle region located at a middle portion of the body, the mopping unit installation region is located at a front and/or a rear of the body middle region in an advancing direction of the body, and an outermost edge of the body in the width direction is located at the body middle region or at a front of the body middle region.

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