CLEANING ROBOT

CROSS-REFERENCE TO RELATED APPLICATIONS

[0001]The present disclosure is the U.S. national phase application of International Application No. PCT/CN2023/081734 filed on Mar. 15, 2023, which claims priority to Chinese Patent Application No. 202210369184.3, filed on Apr. 8, 2022 and entitled “CLEANING ROBOT”, the contents of which are incorporated herein by reference in their entireties for all purposes.

TECHNICAL FIELD

[0002]The present disclosure relates to the field of smart home technology, in particular, to a cleaning robot.

BACKGROUND ART

[0003]In the related art, most of cleaning robots are sweeping robots. When the cleaning robots perform cleaning tasks, the effective cleaning of floor can be achieved using the cleaning head of the cleaning robot.

SUMMARY

[0004]The present disclosure provides a cleaning robot. The cleaning robot includes: a robot body; a driving system arranged on the robot body, wherein the driving system is configured to drive the cleaning robot to operate on a working surface; a cleaning system arranged on the robot body and including a cleaning head and a liquid supply part, wherein the liquid supply part feeds a washing liquid into the cleaning head; a recovery system arranged on the robot body and including a collecting part and a scraper bar, wherein the scraper bar is in contact with the cleaning head, and is configured to remove residues from the cleaning head by interfering with the cleaning head, to allow the residues to be collected by the collecting part; a detection system arranged on the robot body in a retractable manner; and a control system connected to the cleaning system, the driving system, and the detection system, wherein the control system is configured to control at least one of the cleaning system and the driving system according to information fed back by the detection system.

BRIEF DESCRIPTION OF THE DRAWINGS

[0005]The objects, features and advantages of the present disclosure will become more apparent through the following detailed descriptions of embodiments of the present disclosure in combination with the drawings. The drawings are only exemplary illustrations of the present disclosure and are not necessarily drawn to scale. In the drawings, the same reference signs denote the same or similar parts, in which:

[0006]FIG. 1 is a structural schematic diagram of a cleaning robot from a first viewing angle according to one or more embodiments of the present disclosure;

[0007]FIG. 2 is a structural schematic diagram of a cleaning robot from a second viewing angle according to one or more embodiments of the present disclosure;

[0008]FIG. 3 is a structural schematic diagram of a cleaning robot from a third viewing angle according to one or more embodiments of the present disclosure;

[0009]FIG. 4 is a structural schematic diagram of a liquid supply part of a cleaning robot according to one or more embodiments of the present disclosure;

[0010]FIG. 5 is a structural schematic diagram of a collecting part of a cleaning robot according to one or more embodiments of the present disclosure;

[0011]FIG. 6 is a structural schematic diagram of a plugging assembly of a cleaning robot according to one or more embodiments of the present disclosure;

[0012]FIG. 7 is a structural schematic diagram of an inlet and an outlet of a collecting part of a cleaning robot according to one or more embodiments of the present disclosure;

[0013]FIG. 8 is a structural schematic diagram of a fixed bracket of a cleaning robot from one viewing angle according to one or more embodiments of the present disclosure;

[0014]FIG. 9 is a structural schematic diagram of a fixed bracket of a cleaning robot from another viewing angle according to one or more embodiments of the present disclosure;

[0015]FIG. 10 is a structural schematic diagram of a scraper bar of a cleaning robot from one viewing angle according to one or more embodiments of the present disclosure;

[0016]FIG. 11 is a structural schematic diagram of a scraper bar of a cleaning robot from another viewing angle according to one or more embodiments of the present disclosure;

[0017]FIG. 12 is a structural schematic diagram of a collecting part of a cleaning robot according to one or more embodiments of the present disclosure;

[0018]FIG. 13 is a structural schematic diagram of a plugging assembly of a cleaning robot according to one or more embodiments of the present disclosure;

[0019]FIG. 14 is a structural schematic diagram of a plugging assembly of a cleaning robot according to one or more embodiments of the present disclosure;

[0020]FIG. 15 is a schematic diagram of a partial structure of a cleaning robot from one viewing angle according to one or more embodiments of the present disclosure;

[0021]FIG. 16 is a schematic diagram of a partial structure of a cleaning robot from another viewing angle according to one or more embodiments of the present disclosure; and

[0022]FIG. 17 is a structural schematic diagram of a liquid supply part and a collecting part of a cleaning robot according to one or more embodiments of the present disclosure.

DETAILED DESCRIPTION

[0025]Embodiments embodying features and advantages of the present disclosure will be described in detail in the following. It should be understood that embodiments of the present disclosure may have various changes, without departing from the scope of the present disclosure. The descriptions and the drawings are essentially intended for illustration instead of limiting the present disclosure.

[0026]The following descriptions of different exemplary embodiments of the present disclosure are given with reference to the drawings, the drawings form a part of the present disclosure, and different exemplary structures, systems and steps that can implement multiple aspects of the present disclosure are shown through embodiments. It should be understood that other specific solutions of components, structures, exemplary apparatuses, systems and steps can be used, and structural and functional modifications can be made without departing from the scope of the present disclosure. Moreover, although the terms “above”, “between”, “within”and the like can be used in the description to describe different exemplary features and elements of the present disclosure, these terms are used herein only for convenience, for example, according to exemplary directions in the drawings. No content in the description should be understood as requiring specific three-dimensional directions of structures to fall within the scope of the present disclosure.

[0027]As shown in FIGS. 1 to 17, a cleaning robot includes a robot body 10, a cleaning system 20, a driving system 30, a recovery system 40, a plugging assembly 50, a detection system 60, a perception system 70, a control system 80, an energy system 90, and a human-machine interaction system 100.

[0028]As shown in FIG. 1, the robot body 10 includes a forward portion 12 and a backward portion 13, and has an approximately circular shape (both the forward portion and the backward portion are circular). The robot body 10 can also have other shapes, including but not limited to an approximate D-shape with a square forward portion and a circular backward portion, a rectangular shape with a square forward portion and a square backward portion, or a square shape.

[0029]As shown in FIG. 1, the perception system 70 includes a position determining apparatus 71 arranged on the robot body 10, and sensing devices such as a collision sensor arranged on a buffer 72 located on the forward portion 12 of the robot body 10, a proximity sensor arranged on the robot body 10, a cliff sensor arranged at a lower part of the robot body, and a magnetometer, an accelerometer, a gyroscope, as well as an odometer arranged in the robot body 10. The sensing devices are configured to provide various position information and motion state information of the cleaning robot to the control system 80. The position determining apparatus 71 includes but is not limited to a camera and a laser distance sensor (LDS).

[0030]As shown in FIG. 1, the forward portion 12 of the robot body 10 can bear the buffer 72. During cleaning, when the driving system 30 propels the cleaning robot to walk on the floor, the buffer 72 detects one or more events in a travelling path of the cleaning robot via the collision sensor arranged on the buffer 72. The cleaning robot can control the driving system 30 according to the events, such as an obstacle and a wall, detected by the buffer 122, so that the cleaning robot responds to the events, for example, moving away from the obstacle.

[0031]The control system 80 is arranged on a main circuit board in the robot body 10, and includes a computing processor, such as a central processing unit or an application processor, which communicates with non-temporary memories, such as a hard disk, a flash memory, and a random access memory. The application processor draws a simultaneous map of an environment where the cleaning robot is located, according to obstacle information fed back by the laser distance sensor, by using a positioning algorithm (for example, simultaneous localization and mapping (SLAM)). The control system 80 comprehensively determines, according to distance information and speed information fed back by the sensing devices such as the sensor arranged on the buffer 72, the cliff sensor, the magnetometer, the accelerometer, the gyroscope, and the odometer, a current working state, a current position, and a current posture of the cleaning robot. The current working state of the cleaning robot, for example, include crossing a doorsill, moving onto a carpet, standing at an edge of a cliff, being stuck at the top or bottom, having a full dust box or being picked up, etc. The control system 80 will also give specific next action strategies for different situations, so that the cleaning robot has better sweeping performance and provides better user experience.

[0032]The cleaning robot according to embodiments of the present disclosure includes a robot body, a driving system, a cleaning system, a recovery system, a detection system and a control system. The cleaning system includes a cleaning head and a liquid supply part. The liquid supply part feeds a washing liquid into the cleaning head. The control system can control at least one of the cleaning system and the driving system according to information fed back by the detection system, and thus control a cleaning mode and a travelling route of the cleaning robot, thereby improving the cleaning efficiency and the use performance of the cleaning robot.

[0033]As shown in FIGS. 2 and 3, the driving system 30 can control the robot body 10 to travel across the floor based on a driving command including distance and angle information, such as x, y and θcomponents. The driving system 30 can include a first driving wheel module 31 and a second driving wheel module 32. The first driving wheel module 31 and the second driving wheel module 32 are arranged along a transverse axis defined by the robot body 10. In order to enable the cleaning robot to move on the floor more stably or to enable the cleaning robot to possess higher movement capability, the cleaning robot can include one or more driven wheels 33, and the driven wheels include but are not limited to universal wheels. The driving wheel module includes walking wheels, a driving motor, and a control circuit for controlling the driving motor. The driving wheel module can also be connected to a circuit for measuring a driving current and an odometer. The driving wheel module can be detachably connected onto the robot body 10, so as to be dismounted, mounted and maintained conveniently. The driving wheels can be provided with a biased drop suspension system, which is movably fastened, for example, rotatably attached, to the robot body 10 to receive spring bias that is biased downwards and away from the robot body 10. The spring bias allows the driving wheels to maintain contact and traction with the floor with certain floor attachment force, and meanwhile a cleaning element of the cleaning robot is also in contact with the floor with a certain pressure.

[0034]The robot body 10 defines the transverse axis and a longitudinal axis. The transverse axis and the longitudinal axis are perpendicular to each other, and can be respectively understood as a transverse centerline and a longitudinal centerline of the robot body 10.

[0035]The energy system 90 includes a rechargeable battery, such as a nickel-hydrogen battery and a lithium battery. The rechargeable battery can be connected to a charging control circuit, a battery pack charging temperature detecting circuit, and a battery undervoltage monitoring circuit which are connected to a single-chip microcomputer control circuit. The cleaning robot can be connected to a charging pile for charging via a charging electrode arranged on the robot body, such as arranged on the side, the bottom or the top of the robot body.

[0036]The human-machine interaction system 100 can include buttons on a host panel for a user to select a function, and can further include a display screen and/or an indicator light and/or a speaker which show the current state of the cleaning robot or function options to the user. The human-machine interaction system 100 can also include a mobile phone client program. For a route navigation type cleaning device, the mobile phone client can show the user a map of the environment where the cleaning robot is located, and also the location of the cleaning robot, thereby providing the user with richer and more user-friendly function items.

[0037]In the cleaning robot according to embodiments of the present disclosure, the cleaning system 20 is arranged on the robot body 10, and includes a cleaning head 21. The transverse axis of the robot body 10 forms a preset included angle with the cleaning head 21, so that it is possible to reduce the probability that the cleaning head 21 gets stuck by floor joints when the cleaning robot passes through floor environments such as tile joints during forward travelling, thereby improving the cleaning efficiency and the use performance of the cleaning robot. The preset included angle between the transverse axis and the cleaning head 21 can be an acute angle, and can range from 5 degrees to 70 degrees.

[0038]In some embodiments of the present disclosure, the cleaning system 20 can be a dry cleaning system. The dry cleaning system can include a cleaning head 21, a dust box, a fan, an air outlet, etc. In some embodiments of the present disclosure, the cleaning head 21 can be a roller brush rotatable about a shaft parallel to the floor. The roller brush with certain interference with the floor sweeps up the garbage on the floor, and rolls up it to the front of a dust suction port between the roller brush and the dust box. Then the garbage is suctioned into the dust box by air with a suction force, which is generated by the fan and passes through the dust box. The dust removal capacity of the cleaning robot can be characterized by the dust pickup efficiency (DPU) of the garbage. The DUP is affected by the structure and the material of the roller brush, affected by the utilization rate of air in an air passage formed by the dust suction port, the dust box, the fan, the air outlet, and connecting parts among them, and affected by the type and the power of the fan, which is thus a complex problem of system design.

[0039]In some embodiments of the present disclosure, the cleaning system 20 can be a wet cleaning system. The cleaning head 21 includes a wet cleaning head. As shown in FIG. 4, the cleaning system 20 further includes a liquid supply part 22. The liquid supply part 22 feeds a washing liquid into the wet cleaning head. The cleaning head 21 can be arranged below the liquid supply part 22. The cleaning liquid in the liquid supply part 22 is delivered to the cleaning head 21 through a water delivery mechanism, so that the cleaning head 21 performs wet cleaning on a surface to be cleaned. In some embodiments of the present disclosure, the cleaning liquid in the liquid supply part 22 can also be directly sprayed onto the surface to be cleaned, and the cleaning head 21 achieves cleaning of the surface by evenly applying the cleaning liquid.

[0040]In some embodiments of the present disclosure, the cleaning head 21 can be arranged at the bottom of the robot body 10. For example, the cleaning head 21 can be a cleaning pad arranged parallel to the surface to be cleaned. In some embodiments, the cleaning head 21 is configured to clean the surface to be cleaned. The driving system 30 is configured to drive the cleaning head 21 to basically reciprocate along a target surface. The target surface is part of the surface to be cleaned. The cleaning head 21 reciprocates along the surface to be cleaned. A cleaning cloth or a cleaning plate is arranged on a surface of the cleaning head 21 in contact with the surface to be cleaned, and generates high-frequency friction with the surface to be cleaned through reciprocating motion to remove stains on the surface to be cleaned.

[0041]The higher the friction frequency is, the larger the number of frictions per unit time is. The high-frequency reciprocating motion, also known as reciprocating vibration, has a cleaning capability much higher than that of ordinary reciprocating motion, such as rotational friction cleaning. In some embodiments, the friction frequency can be approximate to the frequency of sound waves, and the cleaning effect can be much higher than that of the rotational friction cleaning with dozens of revolutions per minute. In some embodiments, tufts on the surface of the cleaning head 21 spread more neatly in the same direction under the shaking of high-frequency vibration, such that the overall cleaning effect is more uniform, rather than that under the condition of low-frequency rotation, where only a downward pressure is applied to increase the friction force to improve the cleaning effect. The downward pressure alone may not make the tufts spread in approximately the same direction. Therefore, in terms of effect, after the surface to be cleaned which is cleaned through high-frequency vibration, water marks on the surface are more uniform without chaotic water stains being left. In some embodiments of the present disclosure, the cleaning head 21 can also be of a strip-shaped structure, etc. In some embodiments of the present disclosure, the cleaning head 21 can be a roller brush rotatable about an axis parallel to the surface to be cleaned, as shown in FIG. 16. The robot body 10 includes a fixed bracket 11. The cleaning head 21 is arranged in the fixed bracket 11. The fixed bracket 11 is provided with a liquid supply channel. The liquid supply part 22 feeds the washing liquid into the wet cleaning head via the liquid supply channel.

[0042]The liquid supply channel can be constituted by a cavity formed inside the fixed bracket 11, for example, a portion of the fixed bracket 11 is hollow, to form the liquid supply channel for delivering the washing liquid. The liquid supply channel can be formed by a pipe body, so as to feed the washing liquid from the liquid supply part 22 to the wet cleaning head, thereby ensuring that the cleaning head 21 can effectively clean the surface to be cleaned.

[0043]In some embodiments of the present disclosure, as shown in FIGS. 8 and 9, the liquid supply channel includes a liquid inlet 111 and a liquid outlet 112. The liquid inlet 111 is communicated with the liquid supply part 22. The liquid outlet 112 is configured to feed the washing liquid into the cleaning head 21.

[0044]In some embodiments of the present disclosure, as shown in FIGS. 8 and 9, the fixed bracket 11 is provided with the liquid inlet 111 and the liquid outlet 112. One end of the liquid inlet 111 is arranged on an outer surface of the fixed bracket 11. The liquid outlet 112 is arranged on an inner surface of the fixed bracket 11. The main body portion of the liquid supply channel can be arranged between the liquid inlet 111 and the liquid outlet 112, and the main body portion can be communicated with a plurality of liquid outlets 112, so that the liquid outlets 112 feed the washing liquid into the cleaning head 21.

[0045]In some embodiments of the present disclosure, an accommodating chamber 113 is formed in the fixed bracket 11. The liquid outlet 112 is arranged on a chamber wall of the accommodating chamber 113. The liquid outlet 112 can be arranged at the top or on a side of the accommodating chamber 113, so as to facilitate reliably feeding the washing liquid that is discharged from the liquid outlet 112 into the cleaning head 21.

[0046]In some embodiments of the present disclosure, the liquid outlet 112 can be a plurality of liquid outlets 112, and the plurality of liquid outlets 112 are arranged at intervals in a direction parallel to the cleaning head 21, so as to ensure that the washing liquid can be uniformly fed to everywhere of the wet cleaning head, thereby ensuring that the wet cleaning head can reliably clean the surface to be cleaned.

[0047]The liquid supply channel can have one liquid inlet 111, and the one liquid inlet 111 corresponds to all of the liquid outlets 112.

[0048]In some embodiments of the present disclosure, the liquid supply channel can have at least two liquid inlets 111, and each of the liquid inlets 111 can respectively correspond to a plurality of liquid outlets 112, so as to reliably feed the washing liquid to the wet cleaning head. The liquid inlet 111 can be formed by a columnar structure, so as to be connected to a pipe-shaped structure which feeds the washing liquid. The liquid outlet 112 can be a rectangular port, a circular port or other polygonal structures, which are not limited herein. The plurality of liquid outlets 112 are arranged sequentially in the direction parallel to the cleaning head 21.

[0049]In some embodiments of the present disclosure, as shown in FIGS. 5 and 6, the recovery system 40 is arranged on the robot body 10, and includes a collecting part 41. The collecting part 41 collects residues on the cleaning head 21 and/or the surface to be cleaned, so that the surface to be cleaned can be effectively cleaned, thereby ensuring the cleanliness of the surface to be cleaned.

[0050]During movement, the cleaning robot cleans the surface to be cleaned by rotating the cleaning head 21. In this process, the residues on the surface to be cleaned can be adsorbed onto the cleaning head 21, and the collecting part 41 can collect these residues to ensure the cleanliness of the cleaning head 21. In some embodiments, the collecting part 41 can also collect the residues on the surface to be cleaned, and thus cooperates with the cleaning head 21 to achieve reliable cleaning of the surface to be cleaned. The residues may be water, debris, etc., which are not limited herein.

[0051]In some embodiments of the present disclosure, as shown in FIG. 3, the recovery system 40 further includes a scraper bar 42. The scraper bar 42 is in contact with the cleaning head 21, and removes the residues from the cleaning head 21 by interfering with the cleaning head 21, so that the residues are collected by the collecting part 41. As a result, the cleanliness of the cleaning head 21 can be ensured, thereby ensuring that the surface to be cleaned can be effectively cleaned.

[0052]In some embodiments, the scraper bar 42 can be of a plate-like structure, and the plate-like structure interferes with the cleaning head 21. The plate-like structure can remove the residues from the cleaning head 21 during rotation of the cleaning head 21, so that the residues are collected by the collecting part 41, thereby ensuring that the residues adsorbed from the surface to be cleaned can be collected by the collecting part 41 punctually. The scraper bar 42 can be arranged on the robot body 10. The scraper bar 42 is detachably arranged on the robot body 10.

[0053]In some embodiments of the present disclosure, the scraper bar 42 is parallel to the cleaning head 21, so that the scraper bar 42 can remove the residues from the cleaning head 21 reliably, and also, such structure can be mounted conveniently.

[0054]In some embodiments, the length of the scraper bar 42 can be equal to the length of the cleaning head 21, which ensures that the scraper bar 42 can completely interfere with the cleaning head 21, while avoiding the scraper bar 42 from occupying the space in the length direction, thereby ensuring the compactness of the structure.

[0055]In some embodiments of the present disclosure, the transverse axis of the robot body 10 is parallel to both the cleaning head 21 and the scraper bar 42.

[0056]In some embodiments of the present disclosure, as shown in FIGS. 10 and 11, the scraper bar 42 is provided with a water suction port 421, and the water suction port 421 is communicated with the collecting part 41, so that the sewage can be reliably collected into the collecting part 41 through the water suction port 421 by the recovery system 40.

[0057]In some embodiments, the water suction port 421 can face towards the cleaning head 21. After the sewage on the cleaning head 21 is scraped off by the scraper bar 42, the sewage can flow along the scraper bar 42 and flow towards the water suction port 421, so that the sewage can be pumped into the collecting part 41 via the water suction port 421 by the recovery system 40.

[0058]In some embodiments of the present disclosure, the water suction port 421 can be arranged on a side of the scraper bar 42 away from the cleaning head 21. A portion of the scraper bar 42 can gather the sewage together, and the water suction port 421 suctions the gathered sewage into the collecting part 41.

[0059]In some embodiments of the present disclosure, as shown in FIG. 7, the recovery system 40 further includes a power part 43 in pneumatic communication with the collecting part 41 to collect the residues into the collecting part 41. A negative pressure can be generated between the power part 43 and the collecting part 41, so that the residues on the surface to be cleaned and the residues on the cleaning head 21 can be suctioned into the collecting part 41. In some embodiments, the negative pressure generated between the power part 43 and the collecting part 41 can suction the sewage into the collecting part 41 via the water suction port 421. The power part 43 can be a fan.

[0060]In some embodiments of the present disclosure, as shown in FIG. 9, the accommodating chamber 113 is formed in the fixed bracket 11. The cleaning head 21 is arranged in the accommodating chamber 113. The collecting part 41 is communicated with the accommodating chamber 113, so that the residues enter the collecting part 41 after passing through the accommodating chamber 113.

[0061]In some embodiments, the fixed bracket 11 is provided with a through hole 114, and the through hole 114 is communicated with the collecting part 41 and the accommodating chamber 113. The residues scraped off from the cleaning head 21 by the scraper bar 42 are located in the accommodating chamber 113 of the fixed bracket 11, and the negative pressure generated between the power part 43 and the collecting part 41 can suction the residues in the accommodating chamber 113 into the collecting part 41 via the through hole 114. In some embodiments of the present disclosure, a relatively sealed space can be formed between the accommodating chamber 113 of the fixed bracket 11 and the surface to be cleaned, and thus, the negative pressure generated between the power part 43 and the collecting part 41 can suction the residues on the surface to be cleaned into the collecting part 41 via the through hole 114.

[0062]In some embodiments of the present disclosure, as shown in FIG. 7, the collecting part 41 includes an inlet 411 and an outlet 412. The inlet 411 can be communicated with the accommodating chamber 113. In some embodiments, the inlet 411 can be communicated with the through hole 114, and the outlet 412 can be communicated with the power part 43, so that the power part 43 can provide power at the outlet 412 of the collecting part 41, to suction the residues into the inlet 411 of the collecting part 41 via the through hole 114 of the accommodating chamber 113, and thus, the residues enter the collecting part 41. When an airflow flows in the collecting part 41, the sewage, debris, etc. carried in the airflow remain in the collecting part 41 under the action of gravity. Therefore, when the airflow has a relatively long flow path in the collecting part 41, the sewage, debris, etc. can be effectively separated from the airflow.

[0063]In some embodiments of the present disclosure, as shown in FIG. 12, the inlet 411 and the outlet 412 of the collecting part 41 can be arranged on the same side of the collecting part 41. For example, the inlet 411 and the outlet 412 of the collecting part 41 are both arranged on a front side of the collecting part 41. Such an arrangement can effectively extend the flow path of the airflow in the collecting part 41, so that the sewage, debris, etc. can be separated from the airflow more effectively.

[0064]In some embodiments of the present disclosure, as shown in FIGS. 5 and 6, the plugging assembly 50 of the cleaning robot is arranged on the robot body 10. A position of at least a portion of the plugging assembly 50 is adjustable, so as to close or open the inlet 411 and the outlet 412 of the collecting part 41, thereby avoiding the debris in the collecting part 41 from being poured out from the inlet 411 or entering the power part 43 from the outlet 412.

[0065]In some embodiments, the plugging assembly 50 can close the inlet 411 and the outlet 412 of the collecting part 41 when the cleaning robot is not in operation, thereby avoiding the residues from being poured out incidentally due to manual movement of the cleaning robot. When the cleaning robot starts to operate, the plugging assembly 50 can open the inlet 411 and the outlet 412 of the collecting part 41, so that the residues can be suctioned into the collecting part 41 from the inlet 411.

[0066]In some embodiments of the present disclosure, the plugging assembly 50 can be controlled by an independent motor, and can control the inlet 411 and the outlet 412 of the collecting part 41 to be closed at any time, for example, closed when the cleaning robot is not in operation. In some embodiments, the motor of the plugging assembly 50 can be electrically connected to the control system 80 of the cleaning robot, to control the plugging assembly 50 according to the motion state of the cleaning robot fed back by the control system 80. In some embodiments, when the control system 80 controls the cleaning robot to stop operating, the plugging assembly 50 can be controlled to close the inlet 411 and the outlet 412 of the collecting part 41. In some embodiments, when the control system 80 detects that the cleaning robot is in a tilted state, the plugging assembly 50 can be controlled to close the inlet 411 and the outlet 412 of the collecting part 41. In some embodiments, when the control system 80 detects that the cleaning robot is in an idle state for a long period of time, for example, the cleaning robot is stuck in a fixed position during cleaning and thus cannot keep travelling, the control system 80 can then control the plugging assembly 50 to close the inlet 411 and the outlet 412 of the collecting part 41. In some embodiments, when the control system 80 detects that the garbage in the collecting part 41 reaches a certain height, the control system 80 can then control the plugging assembly 50 to close the inlet 411 and the outlet 412 of the collecting part 41.

[0067]In some embodiments, the user can also control the plugging assembly 50 using an app to satisfy use requirements, and can flexibly control the closing of the inlet 411 and the outlet 412 of the collecting part 41.

[0068]In some embodiments of the present disclosure, as shown in FIGS. 6 and 13, the plugging assembly 50 includes a connecting rod 51, a first plugging member 52 arranged on the connecting rod 51, and a second plugging member 53 arranged on the connecting rod 51. The connecting rod 51 is arranged in a movable manner relative to the robot body 10, so that the first plugging member 52 and the second plugging member 53 close or open the inlet 411 and the outlet 412, respectively. In some embodiments, the first plugging member 52 and the second plugging member 53 can close or open the inlet 411 and the outlet 412 synchronously, so as to improve the operating performance of the cleaning robot and ensure that the residues can be suctioned into the collecting part 41 punctually.

[0069]In some embodiments of the present disclosure, as shown in FIGS. 6 and 13, the plugging assembly 50 can include a driving part 54. The driving part 54 can be a motor. The driving part 54 is connected to the connecting rod 51 in a drivable manner, so as to drive the connecting rod 51 to rotate, and thus driving the first plugging member 52 and the second plugging member 53 to rotate to close or open the inlet 411 and the outlet 412.

[0070]As shown in FIG. 13, the first plugging member 52 and the second plugging member 53 are arranged on the connecting rod 51 at intervals, and are arranged in the middle of the connecting rod 51. One end of the connecting rod 51 is connected to the driving part 54, the other end of the connecting rod 51 extends beyond the second plugging member 53, and the first plugging member 52 is arranged between the driving part 54 and the second plugging member 53. The first plugging member 52 and the second plugging member 53 are arranged at positions of the connecting rod 51 close to two opposite ends of the connecting rod 51, respectively. The first plugging member 52 and the second plugging member 53 are detachably arranged on the connecting rod 51, or both the first plugging member 52 and the second plugging member 53 are integrally formed on the connecting rod 51.

[0071]In some embodiments of the present disclosure, the driving part 54 can be a cylinder, an oil cylinder or a telescopic motor, and can be connected to the connecting rod 51. The driving part 54 performs telescopic motions through a telescopic rod thereof, that is, the connecting rod 51 can perform telescopic motions. The connecting rod 51 can move forward and backward, so that the first plugging member 52 and the second plugging member 53 can move forward and backward. The first plugging member 52 and the second plugging member 53 can move along a direction parallel to a plane where the inlet 411 and the outlet 412 of the collecting part 41 are located, so as to close or open the inlet and 411 and the outlet 412 of the collecting part 41.

[0072]In some embodiments of the present disclosure, the driving part 54 can be a cylinder, an oil cylinder or a telescopic motor, and can be connected to the connecting rod 51. The driving part 54 performs telescopic motions through a telescopic rod thereof, that is, the connecting rod 51 can perform telescopic motions. The connecting rod 51 can move upward and downward, so that the first plugging member 52 and the second plugging member 53 can move upward and downward. The first plugging member 52 and the second plugging member 53 can move along a direction perpendicular to a plane where the inlet 411 and the outlet 412 of the collecting part 41 are located, so as to close or open the inlet and 411 and the outlet 412 of the collecting part 41.

[0073]In some embodiments of the present disclosure, the first plugging member 52 and the second plugging member 53 of the plugging assembly 50 can be independently arranged on a first driving part and a second driving part. The first driving part and the second driving part respectively drive the first plugging member 52 and the second plugging member 53 to move, so as to close or open the inlet 411 and the outlet 412. The first driving part and the second driving part can operate synchronously, so that the first plugging member 52 and the second plugging member 53 operate synchronously, so as to synchronously close or open the inlet 411 and the outlet 412. Each of the first driving part and the second driving part can be a motor, a cylinder, an oil cylinder or other power mechanisms.

[0074]In some embodiments of the present disclosure, as shown in FIG. 14, the plugging assembly 50 can include a connecting rod 51, a first plugging member 52, a second plugging member 53, a driving part 54, and an ejector rod 55. The first plugging member 52 and the second plugging member 53 are connected onto the connecting rod 51. The ejector rod 55 can be connected to the first plugging member 52. The driving part 54 is connected to the ejector rod 55 in a drivable manner, so that the driving part 54 can drive the ejector rod 55 to move upward and downward, and thus allowing the first plugging member 52 and the second plugging member 53 to move upward and downward. In some embodiments, the connecting rod 51 can drive the first plugging member 52 and the second plugging member 53 to rotate to synchronously close or open the inlet 411 and the outlet 412.

[0075]In some embodiments, the plugging assembly 50 can further include an elastic member 56. After the driving part 54 releases its power, the elastic member 56 can drive the ejector rod 55 to return to its original position, so that the first plugging member 52 and the second plugging member 53 are moved from a position where the inlet 411 and the outlet 412 are opened to a position where the inlet 411 and the outlet 412 are closed. The elastic member 56 can be a spring. In some embodiments, the spring can be sleeved on the connecting rod 51. One end of the spring is abutted against the first plugging member 52, and the other end of the spring can be supported on other components of the cleaning robot. In some embodiments, the other end of the spring can be abutted against the robot body 10, so that the spring can be pressed tightly when the ejector rod 55 moves upward, and after the power applied to the ejector rod 55 is removed, the spring returns to its original position. In this way, the first plugging member 52 and the second plugging member 53 are driven to move from the position where the inlet 411 and the outlet 412 are opened to the position where the inlet 411 and the outlet 412 are closed. The spring can be one spring, the spring can be sleeved on one end of the connecting rod 51, and the other end of the connecting rod 51 can be passively rotated. In some embodiments, the spring can be abutted against the first plugging member 52 or the second plugging member 53. The spring can be at least two springs. The two springs are arranged at two ends of the connecting rod 51, respectively, and can be abutted against the first plugging member 52 and the second plugging member 53, respectively.

[0076]When the driving part 54 drives the ejector rod 55 to move upward, the connecting rod 51 can rotate in a first direction, so that the first plugging member 52 and the second plugging member 53 open the inlet 411 and the outlet 412. At this time, the elastic member 56 is pressed tightly. After the driving part 54 releases its power or the driving part 54 operates reversely, for example, the ejector rod 55 moves upward when the motor rotates forward, and when the motor rotates reversely, the driving part 54 may not be fixedly connected to the ejector rod 55, to drive the connecting rod 51 to rotate in a second direction by a driving force generated when the elastic member 56 restores to its original state, so that the ejector rod 55 is pressed to move downward. In this way, the first plugging member 52 and the second plugging member 53 can close the inlet 411 and the outlet 412. The driving part 54 can include a cam mechanism, through which the ejector rod 55 is driven to move upward. In such case, the ejector rod 55 can be in contact with the cam mechanism, but not fixed. In some embodiments, the driving part 54 can include an electric push rod, and the electric push rod can be connected to the ejector rod 55 only in an insertable manner, but not fixed along an axial direction. In some embodiments, the driving part 54 can also be fixedly connected to the connecting rod 51, and at this time, the elastic member 56 can be cancelled. The driving part 54 drives the ejector rod 55 to move upward. The driving part 54 can include a cam mechanism, a gear mechanism, etc. as long as the driving part 54 can achieve the linear motion, so as to push the ejector rod 55 to perform the linear motion.

[0077]In some embodiments of the present disclosure, as shown in FIG. 14, the plugging assembly 50 can further include a sealing member 57, and the sealing member 57 can be arranged on the collecting part 41. In some embodiments, the collecting part 41 can be provided with a through hole, and the ejector rod 55 can pass through the through hole and then is connected to the driving part 54. The sealing member 57 is configured to plug a gap between a hole wall of the through hole and the ejector rod 55, so as to avoid the sewage flowing out of the collecting part 41. The ejector rod 55 can move upward and downward in the sealing member 57. The sealing member 57 can be a sealing ring.

[0078]The collecting part 41 can include at least two sub-chambers, namely a first sub-chamber for storing sewage and a second sub-chamber which is an empty chamber in a normal state. Only after the water level in the first sub-chamber reaches a certain value, the sewage will flow into the second sub-chamber. The ejector rod 55 penetrates through the second sub-chamber. Therefore, in the normal state, the liquid leakage will not occur in the second sub-chamber, and the second sub-chamber can be effectively prevented from liquid leakage through the arrangement of the sealing member 57 in the case where there is liquid in the second sub-chamber.

[0079]In some embodiments of the present disclosure, when the collecting part 41 is mounted in the cleaning robot, the ejector rod 55 can support the first plugging member 52 and the second plugging member 53, while when the collecting part 41 is taken out, the first plugging member 52 and the second plugging member 53 lose the support from the ejector rod 55, and are closed under the action of a spring force.

[0080]When it is detected, through the sensor, that the user turns over the cleaning robot or the cleaning robot leans, etc., a program controls the ejector rod 55 to move, so that the ejector rod 55 cannot support the first plugging member 52 and the second plugging member 53, and the first plugging member 52 and the second plugging member 53 are closed under the action of the spring force.

[0081]In some embodiments of the present disclosure, as shown in FIGS. 1 and 2, the cleaning system 20 can be arranged on the forward portion 12 of the robot body 10, and at least a portion of the driving system 30 can be arranged on the backward portion 13 of the robot body 10. In some embodiments, the driven wheel 33 of the driving system 30 can be arranged at an edge position of the backward portion 13. The forward portion 12 can be substantially of a rectangle shape, and the backward portion 13 can be substantially of a semi-circle shape.

[0082]In some embodiments of the present disclosure, as shown in FIGS. 2 and 3, the cleaning system 20 further includes an auxiliary cleaning head 23, and the auxiliary cleaning head 23 is arranged on the robot body 10. With the auxiliary cleaning head 23, the cleaning robot can better clean wall edges, wall corners and other areas, thereby improving the cleaning effect of the cleaning system 20.

[0083]In some embodiments of the present disclosure, as shown in FIGS. 1 and 2, the auxiliary cleaning head 23 is arranged at a corner position of the robot body 10, and a portion of the auxiliary cleaning head 23 extends beyond the robot body 10. The portion of the auxiliary cleaning head 23 extending beyond the robot body 10 is less than the portion of the auxiliary cleaning head 23 located below the robot body 10, so that a cleaning range of the auxiliary cleaning head 23 can be ensured, while the auxiliary cleaning head 23 can be prevented from excessively increasing the occupied area of the cleaning robot.

[0084]The robot body 10 includes the forward portion 12 and the backward portion 13. The forward portion 12 is substantially a rectangular body. That is, in the case of ignoring fabrication errors, installation errors, etc., a circumferential outer surface of the rectangular body can include corner areas with rounded transitions. The rectangular body here only emphasizes a general structure of the forward portion 12. The auxiliary cleaning head 23 is arranged at a corner position of the forward portion 12.

[0085]In some embodiments of the present disclosure, as shown in FIGS. 1 and 2, the auxiliary cleaning head 23 is arranged at a position of the robot body 10 close to the forward portion 12, and a portion of the auxiliary cleaning head 23 extends beyond the buffer 72. In this way, even if the cleaning robot is blocked by an obstacle in front, the auxiliary cleaning head 23 can still clean the gap and other parts in the front, thereby improving the cleaning capability of the cleaning robot.

[0086]In some embodiments of the present disclosure, a preset included angle is formed between the transverse axis of the robot body 10 and the cleaning head 21. In some embodiments, the cleaning head 21 is arranged obliquely, and the auxiliary cleaning head 23 is arranged on a side of the cleaning head 21 which is tilted backward, so that the area of the auxiliary cleaning head 23 can be increased. In this way, it is possible to make the area of the auxiliary cleaning head 23 relatively large without excessively increasing the portion of the auxiliary cleaning head 23 extending beyond the robot body 10, thereby ensuring that the cleaning system 20 has an enough cleaning area. The outer edge of the auxiliary cleaning head 23 is substantially circular. The auxiliary cleaning head 23 is arranged on the side of the cleaning head 21 which is tilted backward, which allows the auxiliary cleaning head 23 to have a relatively large cleaning area, and allows a portion of the auxiliary cleaning head 23 to overlap with the cleaning head 21.

[0087]In some embodiments of the present disclosure, a portion of the auxiliary cleaning head 23 overlaps with the cleaning head 21. In this way, it can ensure that a cleaning area can be increased after a combination of the auxiliary cleaning head 23 and the cleaning head 21, while the problem of missing cleaning between the auxiliary cleaning head 23 and the cleaning head 21 can be avoided, thereby improving the cleaning effect of the cleaning system 20.

[0088]In some embodiments of the present disclosure, the outer edge of the auxiliary cleaning head 23 extends beyond the outer edge of the robot body 10, which can allow the auxiliary cleaning head 23 to clean positions outside the robot body 10, such as wall edges, wall corners, and other areas, thereby increasing the cleaning area of the cleaning system 20 and improving the cleaning performance of the cleaning robot.

[0089]In some embodiments of the present disclosure, the auxiliary cleaning head 23 includes a wet auxiliary cleaning head 231. The liquid supply part 22 feeds the washing liquid into the wet auxiliary cleaning head 231. The auxiliary cleaning head 23 can be arranged below the liquid supply part 22. The cleaning liquid in the liquid supply part 22 is delivered to the auxiliary cleaning head 23 through a water delivery mechanism, so that the auxiliary cleaning head 23 can perform wet cleaning on the surface to be cleaned.

[0090]In some embodiments, the cleaning system 20 can further include an auxiliary liquid supply channel, through which the liquid supply part 22 feeds the washing liquid into the wet auxiliary cleaning head 231. The auxiliary liquid supply channel can be a space formed inside the auxiliary cleaning head 23. The washing liquid is fed into the wet auxiliary cleaning head 231 through the liquid outlet. The auxiliary liquid supply channel can be a liquid feed pipe, so as to feed the washing liquid to the wet auxiliary cleaning head 231.

[0091]In some embodiments of the present disclosure, as shown in FIGS. 15 and 16, the cleaning system 20 further includes a water pump 24. The water pump 24 is communicated with the liquid supply part 22, so as to feed the washing liquid inside the liquid supply part 22 to one of the cleaning head 21 and the auxiliary cleaning head 23. The water pump 24 can feed the washing liquid inside the liquid supply part 22 to the cleaning head 21 via the liquid supply channel, and/or feed the washing liquid inside the liquid supply part 22 to the auxiliary cleaning head 23 via the auxiliary liquid supply channel.

[0092]In some embodiments, the water pump 24 can be one water pump 24, and the one water pump 24 is communicated with both the liquid supply channel and the auxiliary liquid supply channel. The water pump 24 can be two water pumps 24, and the two water pumps 24 are communicated with both the liquid supply channel and the auxiliary liquid supply channel, respectively. The water pump 24 can be a gear pump, a vane pump, a piston pump, a peristaltic pump or the like. The power/flow of the water pump 24 is adjustable. The water pump 24 can cooperate with a valve and other devices to control the supply of the washing liquid inside the liquid supply part 22 to the cleaning head 21 and the auxiliary cleaning head 23.

[0093]In some embodiments of the present disclosure, the cleaning head 21 is arranged around a first axis in a rotatable manner, and the auxiliary cleaning head 23 is arranged around a second axis in a rotatable manner. A certain included angle is formed between the first axis and the second axis. The cleaning head 21 can be a roller brush for mopping. The auxiliary cleaning head 23 can include cloth or wool. The washing liquid inside the liquid supply part 22 is evenly distributed on the auxiliary cleaning head 23 through the penetration and centrifugal force of the cloth or wool. The auxiliary cleaning head 23 can float in the upward and downward direction to a certain extent.

[0094]In some embodiments of the present disclosure, the first axis is perpendicular to the second axis. That is, the first axis can be parallel to the surface to be cleaned, and the second axis can be perpendicular to the surface to be cleaned.

[0095]In some embodiments of the present disclosure, the auxiliary cleaning head 23 can be a side brush. The rotation axis of the side brush is at a certain angle to the floor, so as to move the residues on the surface to be cleaned into the cleaning area of the cleaning head 21.

[0096]In some embodiments of the present disclosure, the auxiliary cleaning head 23 can be in the form of a disc brush, a roller brush or the like.

[0097]As shown in FIG. 4, the auxiliary cleaning head 23 can further include a main body part 232. The wet auxiliary cleaning head 231 is connected onto the main body part 232. The main body part 232 is arranged on the robot body 10. The main body part 232 can include a driving motor. The driving motor can drive the wet auxiliary cleaning head 231 to rotate. The wet auxiliary cleaning head 231 can include cloth or wool. The main body part 232 can include a support structure. The support structure can be a tapered soft rubber support, so as to transfer a relatively large torque, and allow the wet auxiliary cleaning head 231 to float in the upward and downward direction to a certain extent, thereby improving the cleaning capability.

[0098]In some embodiments of the present disclosure, the liquid supply part 22 and the collecting part 41 are arranged in a stacked manner, so that the space utilization ratio of the cleaning robot can be increased, and too large the cleaning robot can be avoided.

[0099]In some embodiments of the present disclosure, as shown in FIGS. 15 and 16, the liquid supply part 22 is arranged above the collecting part 41. The liquid supply part 22 can be a clean water tank. The collecting part 41 can be a sewage tank. The clean water tank being arranged above can facilitate the supply of the liquid to the cleaning head 21 and the auxiliary cleaning head 23. The sewage tank being arranged below can facilitate the recovery of the residues.

[0100]The clean water tank and the sewage tank can be stacked in the upward and downward direction. As shown in FIGS. 15 and 16, the liquid supply part 22 and the collecting part 41 are stacked in the upward and downward direction. The clean water tank can be arranged above the sewage tank. The clean water tank being arranged above can facilitate the supply of the liquid to the cleaning head 21 and the auxiliary cleaning head 23. The sewage tank being arranged below can facilitate the recovery of the residues. Moreover, the clean water tank and the sewage tank being stacked in the upward and downward direction can also enable the gravity center of the cleaning robot not to change much in the horizontal direction, thereby ensuring the stability of the cleaning robot and avoiding significant shaking during cleaning.

[0101]The collecting part 41 can be arranged in the middle position of the robot body 10. In some embodiments, the collecting part 41 can be arranged on a side of the cleaning system 20 away from where the buffer 72 is beared. In this way, the gravity center of the cleaning robot will not change much when the amount of water in the collecting part 41 changes. Thus, it is ensured that the cleaning robot can stably clean the surface to be cleaned, and the gravity center keeps stable during use.

[0102]In some embodiments of the present disclosure, as shown in FIG. 17, the liquid supply part 22 and the collecting part 41 are stacked in the upward and downward direction. The liquid supply part 22 is provided with a water inlet 221. The collecting part 41 is provided with a drainage port 413. The water inlet 221 of the liquid supply part 22 is configured to inject clean water into the liquid supply part 22. The drainage port 413 of the collecting part 41 is configured to discharge sewage in the collecting part 41 from the collecting part 41. The water inlet 221 can be arranged on a side of the liquid supply part 22. The drainage port 413 can be arranged on a side of the collecting part 41. In some embodiments, two connectors can be arranged on the bottom or the side of the robot body 10, and the two connectors can be configured to be connected to a clean water injection structure and a sewage discharge structure. When the cleaning robot is in normal use, the two connectors need to be in a plugged state, so as to avoid water leakage. In some embodiments, the water inlet 221 and the drainage port 413 can be plugged with seals. During water injection or drainage, the liquid supply part 22 and the collecting part 41 can be simultaneously removed from the robot body 10. The liquid supply part 22 is connected to the collecting part 41, so that the liquid supply part 22 and the collecting part 41 can be removed from the robot body 10 synchronously.

[0103]The liquid supply part 22 and the collecting part 41 can be removed from the robot body 10, so as to achieve liquid injection of the liquid supply part 22 and sewage discharge of the collecting part 41. As shown in FIG. 17, the collecting part 41 can be a special-shaped structure, and can include a main body 414 and an extension part 415 connected to the main body 414. The main body 414 and the extension part 415 together form a chamber for collecting the sewage. The main body 414 can be substantially a rectangular body. The extension part 415 is an irregular special-shaped structure. In some embodiments, the extension part 415 can be substantially divided into a triangle and a rectangle, or a semicircle and a rectangle, etc., which is not limited here. The space of the extension part 415 for accommodating the sewage is smaller than the space of the main body 414 for accommodating the sewage. By forming the drainage port 413 in the extension part 415, when the sewage is discharged, the sewage may be gathered in the extension part 415 by tilting the collecting part 41, so as to ensure that the sewage is discharged to the greatest extent, thereby avoiding too much sewage from accumulating in the collecting part 41.

[0104]In some embodiments of the present disclosure, a plurality of cliff sensors can be arranged on the robot body 10, and around circumferential edges of the robot body 10. The auxiliary cleaning head 23 is arranged at the corner position of the robot body 10. The cliff sensor can be arranged at a position of the robot body 10 close to the auxiliary cleaning head 23. At least two cliff sensors can be arranged at the position of the robot body 10 close to the auxiliary cleaning head 23. The cliff sensors can identify the surface to be cleaned to determine the physical characteristics of the surface to be cleaned, including the material, the cleanliness degree of the surface, and the like. The control system 80 can control the operating state of the auxiliary cleaning head 23 according to the identification result of the cliff sensor to ensure the cleaning function of the auxiliary cleaning head 23. For example, when the surface to be cleaned identified by the cliff sensor is a floor, the auxiliary cleaning head 23 can be controlled to increase humidity, so as to ensure the cleaning effect. Alternatively, when the surface to be cleaned identified by the cliff sensor is a carpet, the auxiliary cleaning head 23 can be controlled to reduce humidity, so as to avoid from wetting the carpet.

[0105]In some embodiments of the present disclosure, as shown in FIG. 1, the detection system 60 of the cleaning robot is arranged on the robot body 10. At least a portion of the detection system 60 extends from the outer edge of the robot body 10, so as to increase the detection range of the detection system 60 and thereby increase the flexible adjustment capability of the cleaning robot. The detection system 60 can be an ultrasonic sensor, an infrared sensor or other sensors, and is configured to detect changes in the material of the surface to be cleaned and the level of the surface to be cleaned, or detect dirt.

[0106]In some embodiments of the present disclosure, at least a portion of the detection system 60 is arranged in a movable manner relative to the robot body 10, so that the position of the detection system 60 can be reliably adjusted to adapt to different application environments. The detection system 60 can achieve the position adjustment under the driving of the driving mechanism. In some embodiments, the detection system 60 can include a flexible mechanism, and achieve the position adjustment through deforming of the flexible mechanism.

[0107]In some embodiments, the detection system 60 is arranged on the robot body 10 in a retractable manner, and has an extended state and a retracted state. When extending to the front of the cleaning robot, the detection system can detect the floor condition in front of the cleaning robot. In some embodiments, when the cleaning robot is D-shaped, the detection system 60 can be arranged near the corner of the cleaning robot, so that it is convenient for the detection system 60 to detect the floor condition in front or on the side in a retractable manner. When the cleaning robot is a circular robot, the detection system 60 can be arranged at the front of the cleaning robot.

[0108]In some embodiments of the present disclosure, at least a portion of the detection system 60 can extend from the outer edge of the robot body 10, so that the detection system 60 has a retracted state in which the detection system 60 is retracted in the robot body 10 and an extended state in which the detection system 60 extends from the robot body 10. The control system 80 can control the motion of the detection system 60 between the retracted state and the extended state. In this way, the detection system 60 can be adjusted in real time according to the operating state or the operating path of the cleaning robot, thereby ensuring that the detection system 60 can accurately determine the state of the surface to be cleaned. In some embodiments of the present disclosure, a portion of the detection system 60 can be made of an elastic material. In some embodiments, the detection system 60 can include an elastic arm and a detection part. By changing the state of the elastic arm, the position of the detection system 60 relative to the robot body 10 can be changed, that is, achieving the extending and retraction of the detection system 60. In some embodiments of the present disclosure, the detection system 60 can also rotate around a rotation shaft arranged on the robot body 10, so as to achieve the extending and retraction of the detection system 60.

[0109]In some embodiments, the driving system 30 can drive the cleaning robot to operate on a working surface. At this time, the control system 80 can drive the detection system 60 to move from the retracted state to the extended state, so that the detection system 60 can monitor the state of the working surface in real time. In some embodiments, the detection system 60 has a detection viewing angle towards the working surface, and thus may precisely detect the state of the working surface, such as changes in the material of the working surface and the level of the working surface, or detect dirt.

[0110]In some embodiments of the present disclosure, as shown in FIGS. 1 to 3, the detection system 60 can be connected to the corner position of the robot body 10. The auxiliary cleaning head 23 can be arranged at a position of the robot body 10 close to the detection system 60. The detection system 60 can identify the surface to be cleaned in advance, so as to determine the physical characteristics of the surface to be cleaned, including the material, the cleanliness degree of the surface, and the like. The control system 80 can control the operating state of the auxiliary cleaning head 23 according to the identification result of the detection system 60, so as to ensure the cleaning function of the auxiliary cleaning head 23. For example, when the surface to be cleaned identified by the cliff sensor is a floor, the auxiliary cleaning head 23 can be controlled to increase humidity, so as to ensure the cleaning effect. Alternatively, when the surface to be cleaned identified by the cliff sensor is a carpet, the auxiliary cleaning head 23 can be controlled to reduce humidity, so as to avoid from wetting the carpet.

[0111]In some embodiments of the present disclosure, the detection system 60 is arranged on the forward portion 12 of the robot body 10 in a retractable manner, so that the detection system 60 can determine the state of the surface to be cleaned earlier, and feed it back to the control system 80. In this way, the control system 80 can adjust the walking route and the cleaning mode of the cleaning robot according to the information fed back by the detection system 60. The detection system 60 is arranged at the corner position of the forward portion 12, so that the detection system 60 can be arranged reasonably, does not occupy a relatively large area, and can reliably monitor the state of the working surface at the corner of the robot body 10, thereby ensuring that the cleaning robot can clean the working surface more efficiently.

[0112]In some embodiments of the present disclosure, as shown in FIGS. 1 and 4, at least one detection system 60 is arranged adjacent to the auxiliary cleaning head 23, and at least a portion of the detection system 60 is arranged directly above the auxiliary cleaning head 23. In this way, the detection system 60 can be prevented from interfering with the auxiliary cleaning head 23, and the corner position of the robot body 10 can be utilized to a greater extent. As a result, the mounting positions of the detection system 60 and the auxiliary cleaning head 23 can be reasonably arranged.

[0113]In some embodiments of the present disclosure, the control system 80 can be connected to the detection system 60. The control system 80 can control the extended state and the retracted state of the detection system 60. In some embodiments, when the cleaning robot operates, the control system 80 can control the detection system 60 to move from the retracted state to the extended state. In some embodiments, when the cleaning robot stops operating, the control system 80 can control the detection system 60 to move from the extended state to the retracted state. In some embodiments, when the detection system 60 detects that the working surface has a recess or the material of the working surface changes, the control system 80 controls the working state of the cleaning system 20 or the driving system 30 to change. The working surface is the surface to be cleaned. In some embodiments, when the detection system 60 detects that the working surface has a recess, the control system 80 can control the driving system 30 to decelerate, and the control system 80 can also control the cleaning system 20 to rotate at a decreasing speed. In some embodiments, when the detection system 60 detects that the material of the working surface changes, for example, changing from carpet to tile, the control system 810 can control the driving system 30 to accelerate, and the control system 80 can also control the cleaning system 20 to rotate at an increasing speed.

[0114]The detection system 60 can be configured to detect changes in the material of the surface to be cleaned and the level of the surface to be cleaned, or detect dirt, and then feed it back to the control system 80 to control the operating sate of the cleaning robot. In some embodiments, when the detection system 60 detects that the surface to be cleaned is relatively dirty, the control system 80 can control the cleaning robot to slow down, so as to ensure that the cleaning system 20 can better clean the surface to be cleaned. In some embodiments, when the detection system 60 detects that the surface to be cleaned is a floor, the control system 80 can control the water pump 24 to increase the flow of the washing liquid fed from the liquid supply part 22 to the cleaning head 21 and the auxiliary cleaning head 23, so as to ensure reliable cleaning of the floor. In some embodiments, the control system 80 can adjust the walking route and the cleaning mode of the cleaning robot according to the information fed back by the detection system 60. In some embodiments, when the detection system 60 is in an extended state, the detection system 60 can be located in front of the robot body 10. In this way, the detection system 60 can determine the state of the surface to be cleaned earlier, and feed it back to the control system 80, so that the control system 80 can adjust the walking route and the cleaning mode of the cleaning robot according to the information fed back by the detection system 60. The detection system 60 can detect the change in the material of the floor earlier. In some embodiments, when the material of the floor changes from a board to a carpet, the detection system 60 can provide relevant information to the control system 81 punctually, so that the control system 80 can control the walking direction or the cleaning mode of the cleaning robot punctually. In some embodiments, the cleaning robot is controlled to slow down when the material of the floor changes from the board to the carpet, or the cleaning robot is controlled to reduce the amount of the liquid supplied to the cleaning head 21 and the auxiliary cleaning head 23 when the material of the floor changes from the board to the carpet.

[0115]In some embodiments of the present disclosure, the detection systems 60 can be a plurality of detection systems 60, so that the detection range of the detection system 60 can be enlarged. As a result, the working state of the cleaning system 20 or the driving system 30 can be assisted precisely. The detection systems 60 can be two detection systems 60, as shown in FIG. 1, and the two detection systems 60 are arranged at two corner positions of the forward portion 12, respectively.

[0116]Other embodiments of the present disclosure will be apparent to those skilled in the art from consideration of the description and practice of the present disclosure. The present disclosure is intended to cover any variations, uses, or adaptations of the present disclosure which follow general principles of the present disclosure, and to include the common general knowledge or customary technical means in the art which are not disclosed in the present disclosure. The description and exemplary embodiments are to be considered as being exemplary only, and the true scope and spirit of the present disclosure are indicated by the appended claims.

[0117]It should be understood that the present disclosure is not limited to the exact structures that have been described in the above and shown in the drawings, and that various modifications and changes can be made without departing from the scope thereof. The scope of the present disclosure is only defined by the appended claims.