CLEANING DEVICE, BASE STATION AND CLEANING SYSTEM

Abstract

The present disclosure disclosed a cleaning device, comprises a body, a main cleaning module and an auxiliary cleaning module, the main cleaning module is disposed on the body, the first lift structure is configured to drive the main cleaning assembly to ascend and descend, the auxiliary cleaning assembly is non-swingable relative to the body, at least part of the auxiliary cleaning assembly is always disposed outside the edge of the body, to clean along the edge, under the driving of the first lift structure, the auxiliary cleaning module ascends or descends synchronously with the main cleaning assembly, enabling the main cleaning assembly and the auxiliary cleaning assembly to ascend and descend to stay in the lifting position and the mopping position synchronously. Cleaning along the edge while prevent the cleaning-missed area from existing between the main cleaning assembly and the auxiliary cleaning assembly, enhancing the overall cleaning effect.

Claims

1. A cleaning device, wherein the device comprises: a body; a main cleaning module, the main cleaning module is disposed on the body; the main cleaning module comprises a first lift structure, at least one main cleaning assembly; the first lift structure is configured to drive the main cleaning assembly to ascend or descend; an auxiliary cleaning module, the auxiliary cleaning module comprises at least one auxiliary cleaning assembly, the auxiliary cleaning assembly is non-swingable relative to the body, at least a part of the auxiliary cleaning assembly is always disposed outside the edge of the body, to clean along the edge; the auxiliary cleaning module is disposed on the main cleaning assembly, and the auxiliary cleaning module, under the driving of the first lift structure, ascends or descends synchronously with the main cleaning assembly, such that the main cleaning assembly and the auxiliary cleaning assembly are in a lifting position and a mopping position synchronously.

2. The cleaning device according to claim 1, wherein the main cleaning assembly comprises a mounting base, and a main mop disposed on the bottom of the mounting base; the auxiliary cleaning module is disposed on the mounting base, the first lift structure drives the main cleaning assembly and the auxiliary cleaning assembly to ascend or descend synchronously by driving the mounting base to ascend or descend.

3. The cleaning device according to claim 2, wherein the mounting base is disposed beneath the base tray of the body; the mounting base is a flat mop, the flat mop comprises a top plate, a bottom plate disposed on the bottom of the top plate, the bottom plate is provided with a mounting hole or an avoidance opening, and a vibrating plate embedded into the mounting hole or the avoidance opening; the main mop is disposed on the bottom of the vibrating plate and the bottom plate; the auxiliary cleaning module is disposed on the top plate; the vibrating plate reciprocally vibrates or twists to drive the main mop to move, to clean the surface to be cleaned.

4. The cleaning device according to claim 2 wherein the auxiliary cleaning assembly comprises an auxiliary mop, no area is cleaning-missed between the cleaning area of the main mop and the cleaning area of the auxiliary mop along the width direction of the body, the width direction of the body is perpendicular to the forward direction of the body.

5. The cleaning device according to claim 4, wherein the main cleaning assembly at least comprises a first part and the auxiliary cleaning assembly at least comprises a second part, and the cleaning area of the first part and the cleaning area of the second part have an overlapping region along the forward direction of the body.

6. The cleaning device according to claim 5, wherein along the forward direction of the body, the first part is disposed behind the second part, such that the second part cleans firstly, and the first part cleans afterwards, the cleaning area cleaned by the second part firstly and the cleaning area cleaned by the first part afterwards have the overlapping region.

7. The cleaning device according to claim 6, wherein the area of the main mop is greater than the area of the auxiliary mop, the main mop and the auxiliary mop are both configured for wet cleaning; and/or the auxiliary cleaning assembly further comprises an auxiliary cleaning disk, the auxiliary mop is disposed on the bottom of the auxiliary cleaning disk, the mounting base is provided with the first part, the auxiliary cleaning disk is provided with the second part, such that the auxiliary mop disposed on the second part cleans firstly, the main mop disposed on the first part cleans afterwards, the area of the auxiliary cleaning disk is smaller than the area of the mounting base.

8. The cleaning device according to claim 6, further comprising an edge brush and a locomotion system, the edge brush is disposed on the bottom of the front portion of the body; along the width direction of the body, the auxiliary mop and the edge brush are both disposed at the right side of the body, to form a right edge; the locomotion system at least comprises two driving wheels, the two driving wheels are disposed on the bottom of the body symmetrically; along the forward direction of the body, the main cleaning assembly is disposed behind the driving wheel, the auxiliary mop is disposed in front of the main mop, such that the auxiliary cleans firstly, the main mop cleans afterwards; along the width direction of the body, at least a part of the auxiliary mop is disposed within the region on the outside of the right side driving wheel.

9. The cleaning device according to claim 8, wherein the auxiliary cleaning module further comprises a first driving structure, the first driving structure is disposed on the top of the mounting base, the first driving structure is configured to drive the auxiliary mop to rotate to mop the floor.

10. The cleaning device according to claim 9, wherein the first driving structure comprises a second motor, and a second transmission mechanism configured to transfer the driving force of the second motor to the auxiliary mop; the second motor is disposed on the mounting base, one end of the output shaft of the second transmission mechanism facing away from the second motor extends in the direction towards the right side driving wheel, and avoids the driving wheel, such that the auxiliary mop is within the region on the outside of the right side driving wheel.

11. The cleaning device according to claim 10, wherein the auxiliary cleaning assembly further comprises an auxiliary cleaning disk, the auxiliary mop is disposed on the bottom of the auxiliary cleaning disk; the auxiliary cleaning disk is disposed in front of the mounting base, such that the auxiliary mop cleans firstly, the main mop cleans afterwards; the second transmission mechanism drives the auxiliary cleaning disk to rotate so as to drive the auxiliary mop to rotate, the auxiliary cleaning disk is disposed within the region on the outside of the right side driving wheel, such that the auxiliary mop is disposed within the region on the outside of the right side driving wheel.

12. The cleaning device according to claim 9, wherein the mounting base is disposed beneath the base tray of the body, the base tray is provided with a first avoidance region, such that the first driving structure is mounted on the top of the mounting base.

13. The cleaning device according to claim 8, further comprising a water replenishing mechanism, the water replenishing mechanism is configured to replenish water to the main mop and the auxiliary mop, such that the main mop and the auxiliary mop perform wet cleaning; along the forward direction of the body, the edge brush disposed in front is configured for dry cleaning, the auxiliary mop disposed at back is configured for wet cleaning.

14. The cleaning device according to claim 8, further comprising a rolling brush rotatably disposed on the base tray of the body, the rolling brush is configured for dry cleaning; along the forward direction of the body, the edge brush is disposed in front of the rolling brush, the main cleaning assembly and the auxiliary cleaning assembly are both disposed behind the rolling brush, and the main cleaning assembly and the auxiliary cleaning assembly are configured for wet cleaning.

15. The cleaning device according to claim 14, wherein the number of the rolling brush is two, the rotational directions of the two rolling brushes are opposite.

16. The cleaning device according to claim 8, further comprising at least one downward-looking sensor, one of the downward-looking sensor is disposed on the bottom of the base tray of the body, the downward-looking sensor is disposed between the right-side driving wheel and the mounting base along the forward direction of the body.

17. The cleaning device according to claim 1, wherein in the mopping position, the main cleaning assembly and the auxiliary cleaning assembly both clean the surface to be cleaned.

18. A base station, wherein comprises a main body, the main body is provided with a cleaning chamber, the cleaning chamber is provided with at least one main cleaning area and auxiliary cleaning area; when the cleaning device of claim 1 returns to the base station, the main cleaning area and the auxiliary cleaning area are respectively configured for cleaning a main cleaning component of the main cleaning assembly and an auxiliary cleaning component of the auxiliary cleaning assembly on the cleaning device.

19. The base station according to claim 18, wherein at least one main protruding rib protruded upwardly is disposed within the main cleaning area, the main cleaning component is cleaned through the friction between the main protruding rib and the main cleaning component; and/or at least one auxiliary protruding rib protruded upwardly is disposed within the auxiliary cleaning area, the auxiliary cleaning component is cleaned through the friction between the auxiliary protruding rib and the auxiliary cleaning component.

20. The base station according to claim 19, wherein during the process of cleaning, the main protruding rib moves reciprocally, such that sliding friction is formed between the main protruding rib and the main cleaning component, so as to scrape off dirt or grime from the main cleaning component; and/or during the process of cleaning, the auxiliary cleaning component rotates, such that rotating friction is formed between the auxiliary protruding rib and the auxiliary cleaning component.

21. A cleaning system, wherein the system comprises the cleaning device according to claim 1, and the base station according to claim 18.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

[0103] In order to more clearly illustrate the embodiments of the present disclosure or the technical solutions in the existing art, the accompanying drawings required in the description of the embodiments or the existing art are briefly described beneath, obviously, the accompanying drawings in the following description are some embodiments of the present disclosure, for those of ordinary skill in the art, other accompanying drawings can be obtained according to these accompanying drawings without exerting creative efforts.

[0104] FIG. 1 is a schematic diagram (top view) of a cleaning device (the auxiliary cleaning module is not shown) provided by the embodiment of the present disclosure;

[0105] FIG. 2 is a schematic diagram (top view with upper shell removed) of a cleaning device (the auxiliary cleaning module is not shown) provided by the embodiment of the present disclosure;

[0106] FIG. 3 is a partial enlarged diagram of the cleaning device in FIG. 2;

[0107] FIG. 4 is a schematic diagram (top view) of a cleaning device provided by the embodiment of the present disclosure;

[0108] FIG. 5 is a three-dimensional schematic diagram of a cleaning device provided by the embodiment of the present disclosure;

[0109] FIG. 6 is a schematic diagram (top view with upper shell removed) of another cleaning device provided by the embodiment of the present disclosure;

[0110] FIG. 7 is a partial enlarged diagram of the cleaning device in FIG. 6;

[0111] FIG. 8 is a schematic diagram of another cleaning device provided by the embodiment of the present disclosure;

[0112] FIG. 9 is a perspective view schematic diagram of the cleaning device in FIG. 8;

[0113] FIG. 10 is a schematic diagram of the internal structure layout of the cleaning device in FIG. 8;

[0114] FIG. 11 is a schematic diagram of the first driving structure provided by the embodiment of the present disclosure;

[0115] FIG. 12 is a cross-sectional schematic diagram of the second sleeve of the first driving structure in FIG. 11;

[0116] FIG. 13 is an explosion schematic diagram of the first sleeve and the second sleeve of the first driving structure in FIG. 11;

[0117] FIG. 14 is a schematic diagram of another first driving structure provided by the embodiment of the present disclosure;

[0118] FIG. 15 is a partial explosion schematic diagram of the first driving structure in FIG. 14;

[0119] FIG. 16 is an explosion schematic diagram of the first driving structure in FIG. 14;

[0120] FIG. 17 is a schematic diagram of another implementation method of the first driving structure in FIG. 14;

[0121] FIG. 18 is a schematic diagram of another first driving structure provided by the embodiment of the present disclosure;

[0122] FIG. 19 is a schematic diagram (top view) of one way of the rotation of two main mop and auxiliary mop in the embodiment of the present disclosure;

[0123] FIG. 20 is a schematic diagram (top view) of another way of the rotation of two main mops and auxiliary mop in the embodiment of the present disclosure;

[0124] FIG. 21 is a schematic diagram (top view) of another way of the rotation of two main mops and auxiliary mop in the embodiment of the present disclosure;

[0125] FIG. 22 is a schematic diagram (top view) of another way of the rotation of two main mops and auxiliary mop in the embodiment of the present disclosure;

[0126] FIG. 23 is a schematic diagram of another implementation method of the cleaning device provided by the embodiment of the present disclosure;

[0127] FIG. 24 is a schematic diagram of the cleaning device removed the main mop in FIG. 23;

[0128] FIG. 25 is an explosion schematic diagram of the main cleaning assembly of the cleaning device in FIG. 23;

[0129] FIG. 26 is a layout schematic diagram (perspective view) of two main mop and auxiliary mop provided by the embodiment of the present disclosure;

[0130] FIG. 27 is a cross-sectional schematic diagram of the first driving structure in FIG. 11;

[0131] FIG. 28 is a schematic diagram of another cleaning device provided by the embodiment of the present disclosure;

[0132] FIG. 29 is a schematic diagram of the internal layout of another cleaning device provided by the embodiment of the present disclosure;

[0133] FIG. 30 is a schematic diagram of one structure of the first driving structure of the cleaning device in FIG. 29;

[0134] FIG. 31 is a test data diagram of the auxiliary mop of the cleaning device with downward pressure, service life, and area cleaning rate.

IMPLEMENTATIONS OF THIS APPLICATION

[0135] The inventive concept of this application is:

[0136] As shown in FIG. 1 to FIG. 4, along the forward direction of the body 10 of the cleaning device, the main cleaning module 20 and the auxiliary cleaning module 30 configured for wet cleaning on the cleaning device are both disposed behind the dry cleaning module 40, so that the rolling brush 403 of the dry cleaning module 30 sweeps in the front, the main cleaning assembly 202 of the main cleaning module 20 and the auxiliary cleaning assembly 302 of the auxiliary cleaning module 30 for wet cleaning are disposed behind the rolling brush 403 to implement wet mopping, forms a cleaning mode of dry sweeping firstly and wet mopping afterwards, the cleaning mode prevents dry garbage on the floor from attaching to the main cleaning assembly 202 and auxiliary cleaning assembly 302, thus avoiding soiling the main cleaning assembly 202 and auxiliary cleaning assembly 302, reducing the frequency of cleaning of the main cleaning assembly 202 and auxiliary cleaning assembly 302, and there is no need to set up a scraping bar of the recycling system in the body to scrape off the dirt or grime from the main cleaning assembly 202 and auxiliary cleaning assembly 302, resulting in a simpler structure for the robot. Furthermore, at least a part of the auxiliary cleaning assembly 302 always extends beyond the edge of the body 10 to achieve the cleaning along the edge to the edge of the obstacles or walls, in the width direction of the body 10, since there is no cleaning-missed area between the cleaning area of the main cleaning assembly 202 and the cleaning area of the auxiliary cleaning assembly 302, thereby achieving the cleaning along the edge while prevent cleaning-missed area from existing between the main cleaning assembly 202 and the auxiliary cleaning assembly 302, enhancing the overall cleaning effectiveness.

[0137] In particular, the main cleaning module 20 comprises at least one main cleaning assembly 202 (i.e. a cleaning disk, flat mop, track) or two main cleaning assemblies 202 (i.e. two cleaning disks, both are round tray). The auxiliary module 30 comprises at least one auxiliary cleaning assembly 302, at least a part of the auxiliary cleaning assembly 302 always extends beyond the edge of the body 10 to achieve the cleaning along the edge to the edge of the obstacles or walls. The width direction of the body 10 is perpendicular to the forward direction of the body 10. Along the forward direction of the body 10 (such as along the arrow direction as shown in FIG. 9), as shown in FIG. 4, the dry cleaning module 40 is disposed in front of the main cleaning module 20; the dry cleaning module 40 comprises at least one rolling brush 403 configured for cleaning the surface to be cleaned. Wherein, the surface to be cleaned can include, but are not limited to, the surfaces or scenes of objects such as floors, tabletops, glass, walls, etc. In order to facilitate the explanation, the surface to be cleaned of the following description takes the floor as an example.

[0138] Wherein, the area of the auxiliary cleaning assembly 302 is smaller than the area of the main cleaning assembly 202. For example, the area of the auxiliary cleaning assembly 302 is smaller than three-fourths of the area of the main cleaning component 202, or less than a half of the area of the main cleaning assembly 202; or smaller than one-third, one-fourth, one-fifth of the area of the main cleaning assembly 202, etc. The size relationship of the area between the auxiliary cleaning assembly 302 and the main cleaning assembly 202 can be chosen based on the requirement.

[0139] For example, the auxiliary cleaning assembly 302 comprises an auxiliary cleaning disk 3021 and an auxiliary cleaning component, the main cleaning assembly 202 comprises a mounting base 2023 and a main cleaning component, the relationship of the sizes of the aforementioned areas. In one implementation method, the area of the auxiliary cleaning disk 3021 can be compared to the area of the mounting base 2023, such as the area of the auxiliary cleaning disk 3021 is smaller than the area of the mounting base 2023; in another embodiment, the area of the auxiliary cleaning component can be compared to the area of the main cleaning component, such as the area of the auxiliary cleaning component is smaller than the area of the main cleaning component. In case where the main cleaning assembly 202 at least comprises a track, correspondently, the area of the auxiliary cleaning component is smaller than the track. That is, when both of the main cleaning component and the auxiliary cleaning component are rags, the main cleaning component forms big rag cleaning, the auxiliary cleaning component forms small rag cleaning, in non-edge mode, the main cleaning is big rag cleaning; when cleaning along the edge, small rag cleaning is used, under the cooperation of the main cleaning component and the auxiliary cleaning component, to achieve the cleaning along the edge while the cleaning-missed area does not exist between the big rag and the small rag.

[0140] It should be noted that the area here can be understood as the area of the vertical projection of the cleaning disk or cleaning component on the surface to be cleaned; it can also be understood as the area that the cleaning component can clean when the body 10 of the robot remains stationary in its original position without moving.

[0141] The cleaning device can be a self-moving cleaning robot, or a handheld cleaner, or a window cleaning robot, etc., taking a cleaning robot as an example to explore the structure of the cleaning device.

[0142] The body 10 is typically formed in shapes such as circular, D-shaped, rectangular, or square, the contour of the body 10 refers to a circular contour, D-shaped contour, rectangular contour, or square contour, for example, as shown in FIG. 1 and FIG. 2, the contour of the body 10 is round in shape; exemplarily, the range of the contour of the body 10 can be determined based on the projection of the body 10 on the horizontal plane. The contour of the body 10 is square, exemplarily, the range of the contour of the body 10 can be determined based on the projection of the body 10 on the horizontal plane (or vertical projection on the surface to be cleaned).

[0143] As shown in FIG. 1 and FIG. 5, to the body 10, the body 10 usually at least comprises a base tray 101, and an upper shell 102 connected to the base tray 101, the interior cavity of the body 10 is enclosed between the base tray 101 and the upper shell 102, to form a containment chamber, both the main cleaning assembly 202 and the auxiliary cleaning assembly 302 are disposed beneath the base tray 101.

[0144] As shown in FIG. 1, FIG. 2 and FIG. 3, the dry cleaning module 40 at least comprises a rolling brush 403, a dust box 401 and a main fan 402, the rolling brush 403 is disposed rotatably in the rolling brush cavity 109 on the bottom of the base tray 101, such that the cleaning robot cleans the garbage on the floor along the forward direction. The number of the rolling brush 403 can be one, or two rolling brushes 403, in case where the number of the rolling brush 403 is two, two rolling brushes 403 both can be disposed rotatably in the rolling brush cavity 109, the rotational direction of the two rolling brushes 403 is opposite, so that when the two rolling brushes 403 rotate, the garbage on the floor can be sweeped in the direction towards the dust sunction opening of the dust box 401.

[0145] The dust box 401 and the main fan 402 are disposed in the inner cavity of the body 10 respectively, the main fan 402 is configured to provide negative pressure airflow into the dust box 401, dust sunction opening connected with the dust box 401 is disposed on the body 10, for example, the dust sunction opening is disposed at the bottom of the body 10, the dust sunction opening is connected with the rolling brush cavity 109, therefore, the rolling brush 403 is configured to gather the garbage on the floor to the dust suction opening, the negative pressure suction can collect the garbage, dust particles, and other materials into the dust box 401 through the dust suction opening, thus achieving the purpose of cleaning the floor. The main fan 402 includes, but is not limited to a negative pressure fan, and can be replaced by other negative pressure generating devices, such as a vacuum pump.

[0146] As shown in FIG. 2, the dry cleaning module 40 further comprises a dust exhaust channel 404 disposed inside the body 10, the dust exhaust channel 404 is connected to the dust collection fan of the base station, the garbage in the dust box 401 is collected into the base station through the dust exhaust channel 404 under the action of the dust collection fan of the base station, achieving the automatic discharge of garbage from the dust box 401.

[0147] As shown in FIG. 4, the robot further comprises a locomotion system 80, the locomotion system 80 is configured to drive the body 10 to move, achieving the walking function of self-movement on the surface to be cleaned, the locomotion system 80 at least comprises a driver and a driving wheel 801, the driver drives the driving wheel 801 to move. The number of the driving wheel 801 is usually two, the two driving wheels 801 are disposed on the bottom of the body 10 symmetrically. Moreover, the locomotion system 80 is disposed swingable on the body 10, such that the cleaning device possesses obstacle-surpassing function during in the process of locomotion.

[0148] As shown in FIG. 4 and FIG. 6, along the forward direction of the body 10, bounded by the dust box 401 or the rolling brush 403 or the driving wheel 801, the body 10 is provided with a front portion and a rear portion, and a connecting portion or a middle portion that connects the front portion and the rear portion. The dust box 401 or the rolling brush 403 or the driving wheel 801 is disposed at the connecting portion or the middle portion. Or, bounded by the connecting ling of the rotation centers of the two driving wheels 801, the body 10 is provided with a front portion and a rear portion, the front portion of the body 10 and the rear portion of the body 10 both comprises part of the base tray 101 and part of the upper shell 102. The main cleaning assembly 202 and the auxiliary cleaning assembly 302 are both disposed at the rear portion of the body 10, both disposed behind the rolling brush 403.

[0149] Such as, take the rolling brush 403 or the dust box 401 as an example, the portion disposed in front of the brush roll 403 or dustbin 401 on the body 10 is referred to as the front portion of the body 10, the portion disposed behind the brush roll 403 or dustbin 401 is referred to as the rear portion of the body 10.

[0150] Please refer to FIG. 1, FIG. 3, FIG. 4, FIG. 5, FIG. 6, the cleaning robot further comprising an edge brush 100, along the forward direction of the body 10, the edge brush is disposed in front of the rolling brush 403 of the dry cleaning module 40, or at least part of the edge brush is disposed in front of the rolling brush 403 of the dry cleaning module 40, the rotation center of the edge brush is disposed in front of the rolling brush 403 of the dry cleaning module 40. When the robot is cleaning, the edge brush rotates, to be configured to gather the garbage on the floor into the inner side of the cleaning robot, so that the dry cleaning module 40 can collect the garbage that has been gathered to the inner side of the cleaning robot into the dust box 401 of the body 10 through the way of sunction.

[0151] Exemplarily, at least part of the edge brush can be disposed in front of the dry cleaning module 40 and adjacent to the edge of the body 10, for example, the edge brush can be disposed at the edges including but not limited to the left front and the right front of the dry cleaning module 40, enabling that when the edge brush is rotating, at least part of the brush is disposed or extends beyond the contour of the body 10, so that the edge brush can gather the garbage outside the contour of the body 10 to the inner side of the cleaning robot, increasing the cleaning range. The edge brush can be made of rubber or bristles, or any other materials as long as the edge brush can sweep the floor, there are no restrictions here.

[0152] In one implementation method, the main cleaning module 20 and the auxiliary cleaning module 30 mentioned above are both disposed at the rear portion of the body 10, the edge brush is disposed at the front portion of the body 10, and on the forwad direction of the body 10, the edge brush and the auxiliary cleaning module 30 are both distributed at the same side of the body 10.

[0153] As shown in FIG. 5 and FIG. 6, for example, the edge brush and the auxiliary cleaning assembly 302 are both distributed on the right side of the body 10, to form a cleaning along the right edge.

[0154] Due to the edge brush and the auxiliary cleaning assembly 302 are both configured for the cleaning along the edge, the edge brush is disposed at the front portion of the body 10, the auxiliary cleaning assembly 302 is disposed at the rear portion of the body 10, during the process of the cleaning along the edge, the edge brush implements dry cleaning at front, the auxiliary cleaning assembly 302 implements wet cleaning at back, so that when cleaning the edges of the obstacles, wall edges, corner areas (such as inner right angle), etc, forming a cleaning mode of the dry sweeping followed by the wet mopping cleaning, further enhancing the effectiveness of the cleaning along the edge.

[0155] Taking the example of the side brush and the auxiliary cleaning assembly 302 both being disposed on the right side of the body 10 as mentioned above, similarly, both of the side brush and the auxiliary cleaning assembly 302 can also be disposed on the left side of the body 10 to form a cleaning mode along the left edge.

[0156] The perception system comprises the following sensing devices: a LDS disposed above the body 10, a buffer 70 (as shown in FIG. 2) and a visual sensor disposed at the front portion of the body 10, an edge sensor disposed on the sidewall of the front portion of the body 10, an ultrasonic sensor and a downward-looking sensor disposed at the bottom of the body 10. Wherein, the LDS, the buffer 70, the edge sensor can all measure the distance to obtain the distance between the edge of the body 10 and obstacle, the control system controls the cleaning device to perform corresponding actions according to the distance.

[0157] For example, control the cleaning device to perform obstacle avoidance, edge cleaning, and other actions. The ultrasonic sensor is configured to recognize carpet signals, the control system controls the main cleaning assembly 202 of the cleaning device to implement lifting action, the auxiliary cleaning assembly 302 of the cleaning device to implement lifting action, or controls the cleaning device to return to the base station, for robot charging, dust collection, cleaning of the main cleaning component, disassembling and installing the main cleaning assembly 202. The visual sensor is configured to recognize image of the environment where the cleaning device stays to obtain information of the obstacles, the control system controls the cleaning device to perform obstacle avoidance, obstacles overcoming and edge cleaning according to the information.

[0158] The cleaning device at least further comprises a water replenishing mechanism, the water replenishing mechanism is configured to implement water replenishing to the main cleaning component of the main cleaning assembly 202, to moisten the main cleaning component to ensure that the main cleaning component is in a moist or wet state to mop the floor, forming wet cleaning to enhance cleaning effectiveness. The water replenishing mechanism at least comprises a water tank 501, a conveying mechanism conveys the water in the water tank 501 to the main cleaning component. For example, the conveying mechanism comprises a pump body 502 and a pipe, one end of the pump body is connected with the water tank 501 through the pipe, the other end conveys to a distributor through the pipe, and conveys to the main cleaning component through the liquid outlet of the distributor, by setting the distributor, the liquid can be evenly conveyed to the main cleaning component, the main cleaning component can be moistened more evenly. Certainly the distributor cannot be set, the other end of the pump body 502 conveys the water to the main cleaning component directly through the pipe.

[0159] The water replenishing mechanism can also implement water replenishing to the auxiliary cleaning component of the auxiliary cleaning assembly 302, to moisten the auxiliary cleaning component to ensure that the auxiliary cleaning component can implement wet cleaning to the floor.

[0160] The auxiliary cleaning module 30 is mainly configured to cooperate with the main cleaning module 20, implement auxiliary cleaning to the cleaning-missed area that not easily being cleaned by the main cleaning assembly 202.

[0161] Corresponding to the auxiliary cleaning assembly 302, as shown in FIG. 9 and FIG. 14, the auxiliary cleaning assembly 302 comprises an auxiliary cleaning disk 3021, an auxiliary cleaning component disposed at the bottom of the auxiliary cleaning disk 3021. The auxiliary cleaning component can be rag, wiping attachment, cleaning cloth, etc., the auxiliary cleaning disk is round in shape, the auxiliary component is an auxiliary mop 3022 in round shape matched with the auxiliary cleaning disk 3021, and fixed on the bottom of the auxiliary cleaning disk 3021 through the way of sticking.

[0162] The auxiliary module 30 further comprises a first driving structure 302, the first driving structure is configured to drive the auxiliary cleaning disk to rotate, so as to drive the auxiliary mop 3022 to rotate, to increase the friction between the auxiliary mop 302 and the floor, enhancing the cleaning effectiveness along the edge.

[0163] The auxiliary cleaning module 30 further comprises a second lift mechanism, the second lift mechanism is at least configured to drive the auxiliary cleaning assembly 302 to ascend or descend, such that the auxiliary cleaning assembly 302 stays in a lifting position to get off the floor; or stays in a mopping position to implement cleaning along the edge.

[0164] Under the cooperation of the first driving structure 302 and the second lift mechanism, such that the auxiliary cleaning disk 3021 ascends or descends to switch position, and to rotate to mop the floor. Due to the space of the body 10 in the robot is limited, the first driving structure 302 and the second lift mechanism use one motor to drive, that is the first driving structure 302 and the second lift mechanism are the same structure, in order to facilitate the explanation, take the first driving structure 302 to expand, the fist driving structure 302 can drive the auxiliary cleaning disk 3021 to ascend, descend and rotate, such that the first driving structure 302 is compact and occupies less space inside the body 10.

[0165] Certainly, under the condition of the inner space of the body 10 is big, the first driving structure 302 and the second lift mechanism can be two driving structures, the second lift mechanism can drive the auxiliary cleaning disk 3021 and the first driving structure 302 to ascend or descend together, in the mopping position, the second lift mechanism stops, the first driving structure 302 drives the auxiliary cleaning disk 3021 to rotate.

[0166] The cleaning device further comprises a second driving structure 201, the second driving structure 201 is disposed in the inner cavity of the body 10, the second driving structure 201 is configured to drive the main cleaning assembly 202 to move to mop the floor; and further comprises a first lift structure, the first lift structure is configured to drive the cleaning assembly to implement ascending or descending motion, such that the main cleaning assembly 202 stays in a mopping position or lifting position.

[0167] Since the main cleaning assembly 202 is required to implement ascending in some scene, such when the body 10 is on the carpet, in order not to wet the carpet, the main cleaning assembly 202 is required to stay in the lifting position; or, some scene such as obstacle avoidance and returning to the base station are required, the main cleaning assembly 202 is required to stay in the lifting position to avoid the main cleaning assembly 202 being blocked by the obstacles and detaching from the body 10. Therefore, the cleaning device further comprises the first lift mechanism disposed inside the body 10, the first lift structure is configured to drive the main cleaning assembly 202 to implement ascending or descending, to switch between the mopping positon and the lift positon.

[0168] To the main cleaning assembly 202, the main cleaning assembly 202 has many ways, the structure of the main cleaning assembly 202 is different, correspondingly, the motions of the second driving structure 201 drives the main cleaning assembly 202 to mop the floor is different, for example, the mopping motion can be the rotating of the circular main cleaning disk 2021, the oscillating or twisting of a flat mop, or the moving of a track. When the shape of the body 10 is different, correspondingly, the layout of the aforementioned auxiliary cleaning module 30, the dry cleaning module 40, the driving wheel 801, the water replenishing mechanism, the main cleaning module 20, the auxiliary cleaning module 30 on the body 10 of the robot is different. That is, the robot all have the aforementioned the body 10, the edge brush, the locomotion system 80, the water replenishing mechanism, the main cleaning module 20, the auxiliary cleaning module 30, the buffer 70, and other structures, in order to clearly record the layout of the aforementioned contents in different machine models, expanding one by one through specific embodiment as follows.

Embodiment 1

[0169] The implementation method provides a cleaning device, such as cleaning robot, as shown in FIG. 8, FIG. 9, FIG. 19, FIG. 28, the robot comprises aforementioned the body 10, the edge brush, the locomotion system 80, the dry cleaning module 40, the water replenishing mechanism, the main cleaning module 20, the auxiliary cleaning module 30, the perception system.

[0170] Wherein, as shown in FIG. 8, the outer contour of the body 10 is rectangular, that is the vertical projection of the body 10 on the surface to be cleaned pensents rectangular shape, the longer side of the rectangular is disposed in the forwad direction of the body 10, the shorter side of the rectangular is disposed in the width direction of the body 10.

[0171] As shown in FIG. 27, the main cleaning assembly 202 comprises a circular main cleaning disk 2021, and a main mop 2022 disposed on the bottom of the main cleaning disk 2021, the main mop 2022 presents in round shape, the main mop 2022 attaches to the bottom of the main cleaning disk 2021 by using a Velcro, the second driving structure 201 is configured to drive the main cleaning disk 2021 to rotate on the body 10, such that the main mop 2022 rotates to clean the floor. The first lift mechanism is configured to drive the main cleaning disk 2021 to implement ascending or descending motion, to drive the main cleaning component to ascend or descend, achieving to switch between the lifting position and the mopping position.

[0172] In this implementation method, the number of the main cleaning assembly 202 is two, the two circular main cleaning disks 2021 disposed on the bottom of the body 10 symmetrically, the two circular main cleaning disks 2021 rotate, and rotates in opposite directions, for example, one main cleaning disk 2021 rotates along clockwise, the other main cleaning disk 2021 rotates along counterclockwise, to clean the floor. In order to avoid existing the cleaning-missed area between the two circular main cleaning disks 2021, there is a gap between adjacent edges of the two main cleaning disks 2021, enabling the rotation of the two main cleaning disks 2021 not to interfere with each other, the adjacent edges of the main mops 2022 disposed on the bottom of the two main cleaning disks 2021 are either tangent or pressed against each other; or, due to the main mop 2022 is usually flexible and has a certain deformation amount, the adjacent edges of the two main mops 2022 pressed against to form a first interference region 905, eliminating the gap between the adjacent edges of the two main mops 2022, avoiding the cleaning-missed area.

[0173] There is a gap between the two main cleaning disks 2021, without affecting the rotating motion of each other, as shown in FIG. 26, a certain first interference region 905 exists between the two main mops 2022, so as to prevent the problem of missing cleaning from happening. Wherein, the maximum width of the interference region between the two main mops 2022 can be approximately 1 mm, 2 mm, 3 mm, 4 mm, 5 mm, or 6 mm, a specific numerical is not limited here.

[0174] The rags have a certain deformation amount, during the rotations of the two rags, the adjacent parts of the two rags pressed against each other to eliminate the gap, to form the interference region, and the normal rotation of the rag is not affected.

[0175] As to the maximum width of the first interference region 905: the second connecting line of the rotation center of the two main cleaning disks 2021, the maximum width of the interference region is the length L1 of the cross line of the second connecting line and the interference region, as shown in FIG. 26.

[0176] The auxiliary tray 3021 of the auxiliary cleaning assembly 302 is a circular tray, correspondingly, the auxiliary cleaning component is an auxiliary mop 3022, the auxiliary mop 3022 attaches to the auxiliary cleaning disk 3021 by using a Velcro. Certainly, the auxiliary mop 3022 can be disposed detachably on the auxiliary cleaning disk 3021 in other ways.

[0177] The main cleaning module 20 and the auxiliary cleaning module 30 are both disposed at the rear portion of the body, the edge brush is disposed at the front portion of the body 10, and on the forward direction of the body 10, the edge brush and the auxiliary cleaning module 30 are both distributed on the right side of the body 10, to form a cleaning along the right edge.

[0178] Due to the edge brush is disposed at the front portion of the body 10, the auxiliary cleaning assembly 302 is disposed at the rear portion of the body 10, the edge brush and the auxiliary cleaning assembly 302 are both disposed on the right side of the body 10, during the process of the cleaning along the edge, the edge brush implements dry cleaning at front, the auxiliary cleaning assembly 302 implements wet cleaning at back, so that when cleaning the edges of the obstacles, wall edges, corner areas (such as inner right perspectives), etc., forming a cleaning mode of the dry sweeping followed by the wet mopping cleaning, further enhancing the effectiveness of the cleaning along the edge.

[0179] As shown in FIG. 10, the two driving wheels 801 of the locomotion system 80 are disposed on the bottom of the body 10 symmetrically, the dry cleaning module 40 comprises the aforementioned rolling brush 403, the dust box 401 and the main fan 402. Due to the body 10 is a square-shaped machine, corresponding to a circular-shaped machine whose body 10 is circular, the width of the body 10 of the square-shaped machine is smaller than the maximum width (the diameter of the circular) of a circular-shaped machine. On the width direction of the body 10, the length of the rolling brush 403 is greater than the distance between the two driving wheels 801, therefore in the square-shaped machine, along the forward direction of the body 10, the rolling brush 403 is disposed in front of the driving wheel 801, the dust box 401 is distributed between the two driving wheels 801.

[0180] The two main cleaning assemblies 202 are both disposed behind the dust box 401 (or the dust box chamber 108 on the body 10), and distributed beneath the bottom of the rear portion of the body symmetrically, along the forward direction of the body 10, the two main cleaning assemblies 202 are both disposed behind the two driving wheels, to form that the driving wheel 801 move at front, the main cleaning assembly 202 mops the floor behind the driving wheel 801, so that within the area already cleaned by the main mop 2022, no wheel mark of the driving wheel 801 will be remained, so as to enhancing the cleaning effectiveness of the main mop 2022.

[0181] It should be noted that there are two ways that the main cleaning assembly 202 disposed behind the driving wheel 801, the first way: as shown in FIG. 10, along the forward direction of the body 10, the main cleaning assembly 202 is totally disposed behind the two driving wheels 801; the second way: on the forward direction of the body 10 and the width direction of the body 10, the driving wheel 801 and the main cleaning disk 2021 are staggered, the main cleaning disk 2021 is disposed behind the connecting line of the rotation center of the two driving wheels 801, but a part of the arc of the main cleaning disk 2021 is disposed within the region between the two driving wheels 801, the rotation of the main cleaning disk 2021 and the movement of the driving wheel 801 does not affect each other, therefore along the forward direction of the body 10, the length of the body 10 can be shortened, achieving that the driving wheel 801 moves at front, the main mop 2022 cleans at back, enhancing the cleaning effectiveness.

[0182] In order to avoid the cleaning-missed area between the auxiliary mop 3022 and the main mop 2022, in this implementation method, along the width direction of the body 10, there is no cleaning-missed area between the cleaning area of the main mop 2022 and the cleaning area of the auxiliary mop 3022, ensuring the cleaning effectiveness along the edge and high cleaning efficiency.

[0183] As to the way of no area left cleaned between the main mop 2022 and the auxiliary mop 3022, there are several implementation methods, specifically:

[0184] The first implementation method, there is a gap between the auxiliary cleaning disk 3021 and the main cleaning disk 2021, such that the auxiliary cleaning disk 3021 and the main cleaning disk 2021 rotates, without affecting each other; there is no gap between the main mop 2022 and the auxiliary mop 3022, enabling that the cleaning-missed area does not exist while the main mop 2022 and the auxiliary mop 3022 are rotating to clean.

[0185] For example, the adjacent edges of the main mop 2022 and the auxiliary mop 3022 are tangent, enabling that the cleaning-missed area does not exist between the main mop 2022 and the auxiliary mop 3022. Due to the main mop 2022 and the auxiliary mop 3022 are usually flexible and have a certain deformation amount, when the main mop 2022 and the auxiliary mop 3022 deform after a certain period of using, to prevent the situation that the gap can exist between the tangent adjacent edges between the main mop 2022 and the auxiliary mop 3022 from occurring, to further ensure that there is no gap between the main mop 2022 and the auxiliary mop 3022, in another embodiment, as shown in FIG. 26, the adjacent ends of the main mop 2022 and the auxiliary mop 3022 squeeze, to form a small mount of the second interference region 906, ensuring that there is no gap between the main mop 2022 and the auxiliary mop 3022, while the main mop 2022 and the auxiliary mop 3022 are rotating with respective cleaning disk without being affected, thus achieving that there is no cleaning-missed area between the auxiliary cleaning disk 3021 and the main cleaning disk 2021 on the right side. However, in this implementation method, due to the continuous tangency or mutual compression between the main mop 2022 and the auxiliary mop 3022, a tangential line or compression line (the second interference region 906) is formed between the adjacent edges of the the main mop 2022 and the auxiliary mop 3022, after the robot mops the floor, one or more trace lines is easily remained on the floor, resulting in the floor cannot be cleaned thoroughly and affecting the cleaning effectiveness.

[0186] The second interference region 906 is similar to the aforementioned first interference region 905, the maximum width of the second interference region 906 between the main mop 2022 and the auxiliary mop 3022 can be approximately 1 mm, 2 mm, 3 mm, 4 mm, 5 mm, or 6 mm, a specific numerical is not limited here.

[0187] As shown in FIG. 26, as to the maximum width of the second interference region 906: the first connecting line between the rotation center of the main cleaning disk 2021 on the right side and the auxiliary cleaning disk 3021, the maximum width of the second interference region 906 is the length L2 of the cross line of the first connecting line and the second interference region 906.

[0188] Due to the radius of the main cleaning disk 2021 is much bigger than the radius of the auxiliary cleaning disk 3021, in case where the maximum width of the second interference region 906 exceeds 5 mm, the rotation of the main cleaning disk 2021 is not affected, but the rotation of the auxiliary cleaning disk 3021 is affected, therefore, the maximum width of the second interference region 906 is smaller than or equal to 5 mm, the rotations of the main cleaning disk 2021 and the auxiliary cleaning disk 3021 are not affected, while preventing cleaning-missed cases.

[0189] In the second implementation method, there is a gap between the main cleaning disk 2021 and the auxiliary cleaning disk 3021, without affecting the rotating motion of each other; there is a gap between the adjacent or closed edges of the main mop 2022 and the auxiliary mop 3022, the rotations of the main mop 2022 and the auxiliary mop 3022 do not interfere with each other, while the main mop 2022 and the auxiliary mop 3022 are rotating with respective cleaning disk. The main cleaning disk 2021 is provided with a first part 901; the auxiliary cleaning disk 3021 is provided with a second part 902, on the forward direction of the body 10, the first part 901 and the second part 902 have an overlapping region 903, thus on the forward direction of the body 10, the main mop 2022 on the first part 901 and the auxiliary mop 3022 on the second part 902 also have the overlapping region 903.

[0190] Due to part of the main cleaning disk 2021 extends beyond the edge of the rear portion of the body 10, therefore in this implementation method, on the forward direction of the body 10, the second part 902 of the auxiliary cleaning disk 3021 is disposed in front of the first part 901 of the main cleaning disk 2021 (or the first part 901 is disposed behind the second part 902), when the robot is in the cleaning process, the auxiliary mop 3022 on the second part 902 of the auxiliary cleaning disk 3021 cleans firstly, and the main mop 2022 on the first part 901 of the main cleaning disk 2021 cleans afterwards, on the forward direction of the body 10, the cleaning area cleaned by the auxiliary mop 3022 firstly and the cleaning area cleaned by the main mop 2022 afterwards have the overlapping region 903, thus avoiding the existence of the cleaning-missed area, corresponding to no gap exist between the adjacent edges of the aforementioned main mop 2022 and the auxiliary mop 3022, in this implementation method, because there is a gap between the main mop 2022 and the auxiliary mop 3022, without interfering with each other, after the robot mops the floor, the trace line cannot remain on the floor, the cleaning effect is better.

[0191] The third implementation method has the first implementation method and the second implementation method mentioned above at the same time, specifically, there is a gap between the main cleaning disk 2021 and the auxiliary cleaning disk 3021, without interfering with each other when the main cleaning disk 2021 and the auxiliary cleaning disk 3021 rotates; the adjacent edges of the auxiliary mop 3022 and the main mop 2022 are either tangent or pressed against each other (the second interference region 906 mentioned above exists); meanwhile, the auxiliary cleaning disk 3021 is provided with a second part 902, the main cleaning disk 2021 is provided with a first part 901, the second part 902 is disposed in front of the first part 901, the cleaning area of the auxiliary mop 3022 of the second part 902 and the cleaning area of the main mop 2022 on the first part 901 have the overlapping region 903, double the effect of avoiding cleaning-missed cases; the first part 901 of the main cleaning disk 2021 is disposed behind the position of the tangential line or compression line of the adjacent edges between the main mop 2022 and the auxiliary mop 3022, during the process of cleaning, the trace line formed by the tangential line or compression line on the floor can be cleaned and covered by the main mop 2022 on the first part 901 of the main cleaning disk 2021, which is disposed at back, so that no trace line remained on the floor while possessing the double function of no cleaning-missed cases, enhancing the cleaning effectiveness to the floor, as shown in FIG. 9.

[0192] Meanwhile, because there is not gap between the main mop 2022 and the auxiliary mop 3022, such that the auxiliary cleaning disk 3021 is disposed in the limited first region 103 on the body 10 (mentioned later in the text), the rotation center of the auxiliary cleaning disk 3021 can vertically project on the bottom of the body 10, the diameter of the auxiliary cleaning disk 3021 is larger, a larger portion of the auxiliary cleaning disk 3021 extends beyond the edge of the body 10, the area of cleaning along the edge is wider.

[0193] Under the layout of the main cleaning disk 2021, the driving wheel 801, the dust box chamber 108 mentioned above, the rolling brush 403 and the edge brush, without increasing the length and width of the body 10, to increase the cleaning area of the main cleaning disk 2021, as shown in FIG. X, part of the main cleaning disk 2021 extends beyond the edge of the rear portion of the body 10 (i.e. the rear sidewall of the body 10).

[0194] Without changing the layout of the edge brush, the rolling brush 403, the dust box 401, the driving wheel 801 and the two main cleaning disk 2021 on the bottom of the body 10. Due to part of the main cleaning disk 2021 extends beyond the edge of the rear portion of the body 10, thus the auxiliary cleaning disk 3021 cannot distribute behind the main cleaning disk 2021, in order to achieve the cleaning along the edge of the auxiliary mop 3022 on the auxiliary cleaning disk 3021, the auxiliary cleaning disk 3021 is disposed within the first region 103, which is surrounded by the rear of the right side driving wheel 801 and the cleaning disk on the right side, the bottom of the right side of the body 10, during the manufacturing process of the base tray 101, only one fist avoidance hole is needed to be added within the first region 103 of the base tray 101, for part of the first driving structure 302 to pass through the first avoidance hole to connect to the auxiliary cleaning disk 3021, allowing the auxiliary cleaning disk 3021 to be disposed beneath the base tray 101. That is, when the auxiliary cleaning disk 3021 is disposed on the base tray 101 or not, when the layout of the edge brush, the rolling brush 403, the driving wheel 801, the dust box chamber 108 and the main cleaning assembly 202 on the bottom of the body 10 remains unchanged, the cost of manufacturing and processing of the base tray 101 can be reduced, there is no need for a separate mold for the base tray 101, the base tray 101 can be manufactured at first, and then the first avoidance hole 60171 can be manufactured on the base tray 101; meanwhile, there is space for installing the auxiliary cleaning assembly 302, such that the auxiliary cleaning rag achieves the function of cleaning along the edge.

[0195] In case where the edge brush and the auxiliary cleaning disk 3021 are both disposed on the left side of the body 10, to form a left edge, correspondingly, the auxiliary cleaning disk 3021 is disposed within the first region 103, which is surrounded by the driving wheel 801 disposed on the left side and the main cleaning disk 2021 on the left side, the bottom of the left side of the body 10 (or the left side edge along the width direction of the body 10). That is, the auxiliary cleaning disk 3021 is disposed within the first region 103, which is surrounded by the rear of driving wheel 801 and the main cleaning disk 2021, the side edge of the body 10 that are adjacent to or in close to the auxiliary cleaning disk 2021.

[0196] Meanwhile, in order to set up the auxiliary cleaning disk 3021 in the limited first region, the diameter of the auxiliary cleaning disk 3021 must be smaller than the diameter of the main cleaning disk 2021, the radius R2 of the auxiliary cleaning disk 3021 is at least smaller than half of the radius R1 of the main cleaning disk 2021, such that the main mop 2022 presents a big rag, the auxiliary mop 3022 presents a small rag, when non-edge cleaning, the cleaning mainly depends on the big rag, when cleaning along the edge, the cleaning mainly depends on the small rag to implement the cleaning along the edge.

[0197] For example, the ratio of R1 to R2 is 2, or the ratio of R1 to R2 is 2.5, the ratio of R1 to R2 is 4, or the ratio of R1 to R2 is 3.6. In case where the diameter of the auxiliary cleaning disk 3021 is too small, although the auxiliary cleaning disk 3021 can clean along the edge, from the perspective of practical testing, the intensity of the cleaning along the edge is insufficient, the auxiliary cleaning disk 3021 is needed to implement cleaning along the edge at least two or more times.

[0198] Therefore, considering the effect of the intensity of the cleaning and no cleaning-missed case exists between the auxiliary mop 3022 and the main mop 2022 within the limited space of the first region 103, for example, the ratio of R1 to R2 is 2 to 4 times, in case where the arrangement of R1 and R2 exceeds the range, one circumstance is the diameter of the auxiliary cleaning disk 3021 is too small, the intensity of cleaning is insufficient, more times of cleaning along the edge is needed; another circumstance is the diameter of the auxiliary cleaning disk 3021 is too big, the intensity of cleaning is sufficient, the rotation center of the auxiliary cleaning disk 3021 is difficult to project vertically within the first region 103, because the two main cleaning disks 2021 are disposed on the bottom of the body 10 in an axial symmetry way, the rotation center of the auxiliary cleaning disk 3021 needs to project vertically on the bottom of the body 10, without extending beyond the edge of the body 10, so as to mount the auxiliary cleaning disk 3021 on the bottom of the body 10, on the one hand, ensuring that the inner cavity of the body 10 will not connect with the outside because the auxiliary cleaning disk 301 is disposed, ensuring that the stable operation of the first driving structure 302 and the second driving structure 201, providing a waterproof and dustproof function.

[0199] In case where the rotation center of the auxiliary cleaning disk 3021 exceeds the edge of the body 10, the first driving structure 302 used for driving the auxiliary cleaning disk 3021 cannot be disposed in the inner cavity of the body 10, an avoidance opening is needed to be disposed on the sidewall of the body 10, one part of the first driving structure 302 is disposed in the inner cavity of the body 10, the other part of the first driving structure 302 extends out of the body 10 through the avoidance opening, resulting in the inner cavity of the body 10 is connected with the outside, the external water vapor, dust, garbage and other particles can enter the inner cavity of the body 10, affecting the electrical components inside the body 10, and affecting the stability of the movement of the first driving structure 302, resulting in a low lifespan of the produce and complex structure.

[0200] In order to choose a relative big radius of the auxiliary cleaning disk 3021, increase of the area along the edge of the auxiliary mop 3022, simultaneously, under the cooperation of the auxiliary mop 3022 and the main mop 2022, there is no cleaning-missed area between the cleaning area of the auxiliary mop 3022 and the cleaning area of the main mop 2022, and without changing the setting position of the main cleaning disk 2021, optimally, along the forward direction of the body 10, the rotation center of the auxiliary cleaning disk 3021 is disposed in front of the rotation center of the main cleaning disk 2021, such that the auxiliary cleaning disk 3021 distributes within the first region 103, which is disposed on the upper right of the main cleaning disk 2021 adjacent with the auxiliary cleaning disk 3021, and the adjacent edges of the auxiliary mop 3022 and the main mop 2022 are tangent or pressed against each other or exist small amount of second interference region 906.

[0201] In other words, in two solutions of without setting the auxiliary cleaning disk 3021 and setting the auxiliary cleaning disk 3021, the layout of the main cleaning disk 2021, the driving wheel 801, the dust box chamber 108 and the rolling brush 403 on the bottom of the body 10 is same, without changing the layout of the main cleaning disk 2021, the driving wheel 801, the dust box chamber 108 and the rolling brush 403 on the bottom of the body 10, and without changing the size of the body 10, setting the auxiliary cleaning disk 3021 within the first region 103, which is disposed on the upper right (or the top right corner) and the rear of the right side driving wheel 801, due to the rotation center of the auxiliary cleaning disk 3021 is disposed in front of the rotation center of the main cleaning disk 2021, the first connecting line between the rotation center of the auxiliary cleaning disk 3021 and the rotation center of the main cleaning disk 2021 crosses with the second connecting line between the rotation centers of the two main cleaning disk 2021, as shown in FIG. 9, the second connecting line between the rotation centers of the two main cleaning disk 2021 is perpendicular to the middle line of the body 10 along the forward direction of the body 10, and the auxiliary cleaning disk 3021 is disposed behind the right driving wheel 801, thus when the the adjacent edges of the auxiliary mop 3022 and the main mop 2022 are tangent or pressed against each other or exist interference region, the main cleaning disk 2021 is inevitably provided with the first part 901 mentioned above, the auxiliary cleaning disk 3021 is provided with the second part 902 mentioned above, and the first part 901 is disposed behind the tangential line or compression line or interference strip region of the adjacent edges of the auxiliary mop 3022 and the main mop 2022, during the process of cleaning, the trace lines formed by the tangential line or compression line or interference strip region on the floor can all be cleaned and covered by the main mop 2022 on the first part 901 of the main cleaning disk 2021, which is disposed at back, enhancing the cleaning effectiveness to the floor.

[0202] Therefore, within the limited first region 103 of the top right corner (or the upper right) of the main cleaning disk 2021, selecting the maximum radius for the auxiliary cleaning disk 3021, the cleaning area along the edge in one time is big, the auxiliary cleaning disk 3021 can possess the double function of no cleaning-missed cases while achieving the cleaning function along the edge, no trace line remained on the floor, enhancing the cleaning effectiveness to the floor, and in the premise of without increasing the size of the base tray 101, the layout and the achieved function of the main cleaning disk 2021, the driving wheel 801, the edge brush, the rolling brush 403 and the dust box chamber 108 disposed on the base tray 101 is not affected, such that the arrangement of the structure on the bottom of the body 10 is compact.

[0203] In another implementation method, along the width direction of the body 10, the aforementioned first connecting line and the second connecting line can overlap, that is the auxiliary cleaning disk 3021 is not disposed on the aforementioned upper right, the rotation centers of the auxiliary cleaning disk 3021 and the two main cleaning disks 2021 fall on the same straight line (i.e. the aforementioned first connecting line and the second connecting line overlaps), in this implementation method, the maximum width of the right side main cleaning disk 2021 and the space area of the right side edge of the body 10 is smaller than the area of the aforementioned first region 103 on the upper right of the main cleaning disk 2021, the diameter of the auxiliary cleaning disk 3021 is small, although the auxiliary cleaning disk 3021 can clean along the edge, the cleaning area along the edge is small, the auxiliary mop 3022 and the main mop 2022 are tangent or pressed against each other or exist interference region between thereof, possessing the function of no cleaning-missed cases; due to the rotation centers of the auxiliary cleaning disk 3021 and the two main cleaning disks 2021 fall on the same straight line, the auxiliary cleaning disk 3021 is not provided with the second part 902, the main cleaning disk 2021 is not provided with the first part 901, therefore, after the robot cleans, the trace line will exist on the floor, with respect to the aforementioned solution of the auxiliary cleaning disk 3021 disposed on the top right corner of the main cleaning disk 2021, the cleaning effectiveness is poor.

[0204] As shown in FIG. 9, both of the right corner edge and the left corner edge of the body 10 of the square-shaped machine are chamfer in an arc shape, the distance between the right side edge with the maximum width of the main cleaning disk 2021 and the right side edge of the body 10 is smaller, in case where setting the auxiliary cleaning disk 3021 when the aforementioned first connecting line and the second connecting line overlaps (i.e. the rotation centers of the auxiliary cleaning disk 3021 and the two main cleaning disks 2021 fall on the same straight line), the diameter of the auxiliary cleaning disk 3021 is selected to be smaller, the cleaning efficiency and the cleaning effectiveness is relative weaker.

[0205] In this implementation method, when the auxiliary cleaning component is cleaning the surface to be cleaned, the pressure applied to the auxiliary cleaning disk is preferably 900 to 1500 Pa, such as 900 Pa, 950 Pa, 1000 Pa, 1100 Pa, 1150 Pa, 1200 Pa, 1300 Pa, 1400 Pa, 1450 Pa, 1500 Pa.

[0206] When the rotational speed of the auxiliary cleaning disk and the main cleaning disk is same, due to the radius of the auxiliary cleaning disk is smaller than the radius of the main cleaning disk, the linear velocity of each fiber on the small rag on the auxiliary cleaning disk is smaller than the linear velocity of the fiber on the big rag on the main cleaning disk, by increasing the downward pressure to the small rag and the auxiliary cleaning disk, enabling that under the same linear velocity, on one hand, the frictional force of the small rag against the sweeping off of the stains, such that the stains can be removed more easily, so that the cleaning effectiveness of the small rag is increased; on the other hand, further increasing the deformation amount of the fibers on the small rag after compressed, such that the fibers on the small rag fully wrap around the stains, increasing the contact area between the fibers and the stains, and the cleaning solution can also soak the stains more fully, so that further enhancing the cleaning effectiveness of the small rag.

[0207] The stains in the blind area that cannot be cleaned by the main mop, due to the frequency of being cleaned is low, such that the stains in the area easily to change from easily cleaned stains into stubborn stains, the solid-type stubborn stains or the solid-type stubborn stains formed from the stains used to be liquid after being dried and solidified, which contact and adhere to the surface of the object mainly relies on the intermolecular forces, the adhesive force mainly coming from van der Waals forces. Usually, the intensity of adhesion enhances with the time increases, and strengthens with the temperature of the air or the surface of the object increases. Based on this, the stains in the blind area of the obstacles are cleaned in a low frequency in daily, over time, such that the stains in the area are more easily to change from easily cleaned stains into stubborn stains. In the embodiment of the present application, blind area refers to the gap or region formed between the main mop and the bostacle, which cannot be cleaned by the main mop when the cleaning robot moving along the predefined cleaning direction. For the consideration of collision avoidance, jamming prevention strategies, or fall prevention strategies, the cleaning robot needs to maintain predefined distance from the obstacles, when the cleaning robot performs cleaning tasks along the edges of obstacles, the cleaning frequency of the cleaning blind area formed is lower, the stubborn stains formed in the cleaning area will become more difficult to clean over time. In the embodiment of the present application, the obstacles can be solid objects that cannot be surpassed such as walls, furniture, appliances, etc., the obstacles can also be areas that are suspension and easy to fall such as suspension area, steps area, steep slopes area, pits area, etc.

[0208] Stubborn stains are usually removed by increasing the rotational speed of the cleaning disk in the existing art, to enhance the cleaning friction force to the stubborn stains, such that the stubborn stains is removed, but there is always a limit to the rotational speed of the auxiliary cleaning disk, the rotational speed cannot be infinitely increased. Moreover, the increasing of the rotational speed will bring the effects of higher cost, shorter endurance and a shorter lifespan of the rag tray, additionally, due to the small radius of the auxiliary cleaning disk, increasing the rotational speed does not significantly increase the linear velocity of the auxiliary cleaning disk, or even if the rotational speed of the auxiliary cleaning disk is increased, the final linear velocity is still insufficient to clean such solid-type stubborn stains.

[0209] By increasing the downward pressure to the auxiliary cleaning disk, the cleaning friction force of the small rag (i.e. auxiliary mop) on the auxiliary cleaning disk to the stains is enhanced at first under the same linear velocity, such that the stains can be cleaned more easily, thereby enhancing the cleaning effectiveness of the small rag to the stubborn stains; secondly, further increasing the deformation amount of the fibers on the small rag after compressed, such that the fibers on the small fully wrap around the stains, increasing the contact area between the fibers and the stains, and the cleaning solution can also soak the stains more fully, so that further enhancing the cleaning effectiveness of the small rag; the increased deformation of the small rag can increase the cleaning area of the small rag, such that the small rag can fit to the blind area such as wall corner even without external spreading or expansion, thereby also increasing the cleaning range of the small rag tray, enhancing the cleaning effectiveness. As shown in FIG. 31, control the downward pressure within the range of 900 to 1500 Pa, not only the cleaning effectiveness is increased, but also the service life of the small rag tray can be controlled in an expected range. In case where the downward pressures is lower than 900 Pa, the lifespan of the small rag is long, but the area cleaning rate will reduce; in case where the the downward pressures is higher than 1500 Pa, the area cleaning rate of the small rag is high, but the lifespan is reduced, from the diagram, it can be observed that control the downward pressure to the small rag within the range of 900 to 1500 Pa considering the downward pressure to the small rag, the area cleaning rate and the service life of the small rag comprehensively. In small optional embodiments, controlling the downward pressure to the small rag at around 1000 Pa, such as 900 Pa, 1000 Pa, or around 1100 Pa, whether the area cleaning rate or the service life of the small rag can both obtain better effect. The so-called area cleaning rate refers to the percentage of remaining stains in the cleaning area to the total stains in the cleaning area over a unit of time.

[0210] Increasing the pressure to the small rag is to achieve a more human-like operation at the same time. When dealing with stubborn stains during household cleaning, people tend to consciously apply pressure to the mop, in order to increase the pressure to the stains, thus achieving better cleaning effect. The pressure boosting function of the small rag is to simulate the operation of pressing the rag when people is cleaning on one hand, thereby achieving a good cleaning effectiveness to the stubborn stains. On the other hand, in order to achieve a more intelligent cleaning from the software logic, the logical operation of pressure boosting for the small rag is designed to simulate to apply corresponding pressure to the mop according to the level of dirtness when humans are using the rag to implement the cleaning work, maximizing the cleaning efficiency. Deploying this software logic on the floor sweeping machine can avoid the traditional carpet-style repetitive cleaning to an extreme, and achieve planned and relatively intelligent cleaning.

[0211] From the perspective of industrial manufacturing and environmental protection, using small rag to enhance the lifespan of big rag, thus enhancing the service life of the mopping function of the whole machine entirely, such that the machine maintains a good cleaning effectiveness during the middle and later periods of long-term use, reduce the times of changing rag, thus reduces the carbon emissions of the lifecycle of the sweeping machine, protect the environment. The reduction in carbon emissions is because the rag of the sweeping machine can be made from polyester fiber materials, and the raw material for producing such fiber materials is generally from the petrochemical products, the processing of these products usually leads to higher environmental pollution and carbon emissions.

[0212] Due to the downward pressure of the auxiliary cleaning disk is enhanced, the small rag on the auxiliary cleaning rag can not only clean along the edge, but also can detect the stains on the floor when non-edge cleaning, in case where the level of the dirtness is bigger than the predefined value, the controller can control the main cleaning disk to ascend, the small rag of the auxiliary cleaning disk can implement the cleaning to the garbage or stains with a higher level of dirtness, such that the small rag not only achieves the cleaning along the edge, but also implements cleaning to the stains with a higher level of dirtness.

[0213] The rotational directions of the auxiliary cleaning disk 3021 on the right side and the two main cleaning disk are different, the corresponding cleaning effectiveness along the edge is different, specifically:

[0214] In the first implementation method, as shown in FIG. 19, in the mopping position, the main cleaning disk 2021 on the left side rotates along counterclockwise, the main cleaning disk 2021 on the right side rotates along clockwise, the auxiliary cleaning disk 3021 rotates along counterclockwise. That is the rotational directions of the two main cleaning disks 2021 are opposite, the rotational directions of the auxiliary cleaning disk 3021 and the main cleaning disk 2021 on the right side are opposite. During the process of cleaning, due to the auxiliary mop 3022 rotates along counterclockwise, the auxiliary mop 3022 directs the garbage on the edge of the obstacle or by the side of the wall along the direction towards the main cleaning disk 2021 on the right side continuously when mopping along the edge, such that the garbage moves to the first front region in front of the adjacent edges between the main cleaning disk 2021 and the auxiliary cleaning disk 3021 on the right side, due to there is a function of preventing cleaning-missed cases between the auxiliary mop 3022 and the main mop 2022, thereby removing the garbage from the edge of the obstacle or by the side of the wall to the first front region, further enhancing the cleaning effectiveness along the edge.

[0215] In the second implementation method, as shown in FIG. 20, in the mopping position, the main cleaning disk 2021 on the left side rotates along counterclockwise, the main cleaning disk 2021 on the right side rotates along clockwise, the auxiliary cleaning disk 3021 rotates along clockwise. That is the rotational directions of the two main cleaning disks 2021 are opposite, the rotational directions of the auxiliary cleaning disk 3021 and the main cleaning disk 2021 on the right side are same. During the process of cleaning, due to the auxiliary mop 3022 rotates along clockwise, the auxiliary mop 3022 directs the garbage disposed within the first front region which is disposed in front of the adjacent edges between the right side main cleaning disk 2021 and the auxiliary cleaning disk 3021 to the edge of the obstacle continuously when mopping along the edge; due to the main cleaning disk 2021 on the right side rotates along clockwise, the main mop 2022 directs the garbage in front of the main mop 2022 to the first front region when mopping the floor, or the main mop 2022 directs the garbage within the second front region which is disposed in front of the adjacent edges between the two main mops 2022 to the first front region when mopping the floor, over a period of cleaning, the edge of the obstacle is easy to gather the garbage, the cleaning effectiveness along the edge of the auxiliary cleaning disk 3021 is relatively reduced.

[0216] In the third implementation method, as shown in FIG. 22, in the mopping position, the main cleaning disk 2021 on the left side rotates along clockwise, the main cleaning disk 2021 on the right side rotates along counterclockwise, the auxiliary cleaning disk 3021 rotates along counterclockwise, that is the rotational directions of the auxiliary cleaning disk 3021 and the main cleaning disk 2021 on the right side are same.

[0217] During the process of cleaning, similar to the first implementation method, due to the auxiliary cleaning disk 3021 rotates along counterclockwise, the auxiliary mop 3022 directs the garbage on the edge of the obstacle or by the side of the wall along the direction towards the main cleaning disk 2021 on the right side continuously when mopping along the edge, such that the garbage moves to the first front region in front of the adjacent edges between the main cleaning disk 2021 and the auxiliary cleaning disk 3021 on the right side, due to there is a function of preventing cleaning-missed cases between the auxiliary mop 3022 and the main mop 2022, thereby removing the garbage away from the first front region, enhancing the cleaning effectiveness along the edge; even if the garbage disposed within the first front region cannot be removed by the adjacent edges between the main mop 2022 and the auxiliary mop 3022 or by the aforementioned first part 901, the garbage is remained in the first front region; but because the main cleaning disk 2021 on the right side rotates along counterclockwise, the main mop 2022 directs the remaining garbage within the first front region to the second front region between the two main cleaning disks 2021 continuously when mopping the floor, the two main mops 2022 possess the function of preventing cleaning-missed cases, thus the remaining garbage is further removed by the two main mops, further enhancing the cleaning effectiveness along the edge of the auxiliary mop 3022.

[0218] Compare with the first implementation method, the cleaning effectiveness of this implementation method is better, because in the first implementation method, the main cleaning disk 2021 on the right rotates along clockwise, during the process of rotating of the main cleaning disk 2021, the main mop 2022 mops the floor, meanwhile the main cleaning disk 2021 and the main mop 2022 directs the garbage located in front of the main cleaning disk 2021 or the garbage within the second front region which is disposed between the two main cleaning disks 2021 to the first front region, increasing the difficulty or intensity of the cleaning of the auxiliary cleaning disk 3021 and the right side main cleaning disk 2021.

[0219] In this implementation method, due to the main cleaning disk 2021 on the right side rotates along counterclockwise, the main cleaning disk 2021 and the main mop 2022 rotates to direct the garbage within the first front region to the second front region, due to the diameter of the two main mops 2022 is big, the cleaning ability and the function of preventing cleaning-missed cases of the two main mops 2022 are all stronger than the cleaning ability and the function of preventing cleaning-missed cases of the main mop 2022 on the right side and the auxiliary mop 3022, therefore the cleaning effectiveness along the edge in this implementation method is better under the cooperation of the main cleaning disk 2021 and the auxiliary cleaning disk 3021.

[0220] In the fourth implementation method, as shown in FIG. 21, in the mopping position, the main cleaning disk 2021 on the left side rotates along clockwise, the main cleaning disk 2021 on the right side rotates along counterclockwise, the auxiliary cleaning disk 3021 rotates along clockwise. Similar to the second implementation method, during the process of cleaning, due to the auxiliary cleaning disk 3021 rotates along clockwise, the auxiliary cleaning disk 3021 directs the garbage disposed within the front region which is disposed in front of the adjacent edges between the right side main cleaning disk 2021 and the auxiliary cleaning disk 3021 to the edge of the obstacle continuously when mopping along the edge, over a period of cleaning, the edge of the obstacle is easy to gather the garbage, the cleaning effectiveness along the edge of the auxiliary cleaning disk 3021 is relatively reduced. But corresponding to the second implementation method, due to the cleaning disk on the right side rotates along counter clockwise, the garbage within the front region can be brought to the front region between the two main mops 2022 by the cleaning disk on the right side, and being removed by the two main mops 2022, the aforementioned second driving structure 201 is configured to drive the main cleaning disk 2021 to rotate on the body 10 to mop. The first lift structure is configured to drive the main cleaning disk 2021 to implement the ascending or descending motion, and achieving to switch between the lifting position and the mopping position. Each one main cleaning disk 2021 is correspondent to one set of the first driving structure 302 and the first lift structure.

[0221] The aforementioned first driving structure 302 drives the auxiliary cleaning disk 3021 to rotate to mop, the second lift structure is configured to drive the auxiliary cleaning disk 3021 to ascend or descend, so as to switch between the lifting position and the mopping position.

[0222] During the process of cleaning, the main cleaning disk 2021 and the auxiliary cleaning disk 3021 can be in the lifting position synchronously, and in the moppoing position synchronously, under the cooperation of the main cleaning disk 2021 and the auxiliary cleaning disk 3021, the main mop 2022 and the auxiliary mop 3022 mop synchronously, the main mop 2022 implements the non-edge cleaning, the auxiliary mop 3022 implements the cleaning along the edge, no cleaning-missed cases occur in the cleaning area of the the main mop 2022 and the cleaning area of the auxiliary mop 3022, enhancing the cleaning effectiveness. When encountering scenarios such as carpets or returning to the base station, the main cleaning disk 2021 and the auxiliary cleaning disk 3021 are both in the lifting position. Wherein, the robot returning to the base station mainly implements charging, cleaning the main cleaning disk 2022 and auxiliary cleaning disk 3022, and collecting dust from the dust box 401.

[0223] In addition, under the mode of non-edge cleaning, the auxiliary cleaning disk 3021 is in the lifting position, the main cleaning disk 2021 is in the mopping position, the cleaning of the main cleaning disk 2021 is in priority. Certainly, under the mode of non-edge cleaning, the auxiliary cleaning disk 3021 and the main cleaning disk 2021 can both be in the mopping position, the auxiliary mop 3022 and the main mop 2022 both mop, under the cooperation of the auxiliary mop 3022 and the main mop 2022, along the width direction of the body 10, the area of a single cleaning is big, the cleaning time is shortened, the cleaning efficiency is increased. Under the mode of preventing the non-edge cleaning, the auxiliary cleaning disk 3021 is in the mopping position and easy to get caught by other objects or obstacles with the region to be cleaned, resulting in the auxiliary cleaning disk 3021 is easy to detach from the body 10, therefore, the auxiliary cleaning disk 3021 is in the lifting position when in the non-edge cleaning; the auxiliary cleaning disk 3021 is in the mopping position when in the cleaning along the edge.

[0224] Under the mode of cleaning along the edge, the auxiliary cleaning disk 3021 is in the mopping position, the main cleaning disk 2021 can be in the lifting position without mopping to clean, that is the main cleaning disk 2021 does not cooperate with the auxiliary cleaning disk 3021 when cleaning along the edge, relying solely on the main mop 2022 for cleaning, the cleaning effect is inferior compared to the cleaning effect achieved when both the main mop 2022 and the auxiliary mop 3022 are in the mopping position.

[0225] The aforementioned second driving structure and the first lift structure are the same structure, configured for driving the main cleaning disk 2021 to ascend, descend and rotate, to enable the main cleaning disk 2021 to switch between the lifting position and the mopping position, and to rotate in the mopping position, such that the driving structure is compact and occupies less space. Similarly, the aforementioned first driving structure and the second lift structure are the same structure, driving the auxiliary cleaning disk 3021 to ascend, descend and rotate, to enable the auxiliary cleaning disk 3021 to switch between the lifting position and the mopping position, and to rotate in the mopping position, such that the driving structure is compact and occupies less space. That is to drive the main cleaning disk 2021 or the auxiliary cleaning disk 3021 to ascend, descend and rotate by one motor.

[0226] The first driving structure 302 and the second driving structure 201 can adopt same structure, and can adopt different driving structure.

[0227] For example, the first driving structure 302 and the second driving structure 201 can both be spiral mechanism, the rotational direction when the main cleaning disk 2021 is descending is the same as the rotational direction during mopping; the rotational direction when the main cleaning disk 2021 is ascending is opposite to rotational direction when the main cleaning disk 2021 is descending.

[0228] In the inner cavity of the body 10, when the auxiliary cleaning module 30 is not set, the layout of the dust box chamber 108 (or dust box 401) of the dry cleaning module 40, the main fan 402, the dust exhaust channel 404, the second driving structure 201 and the water replenishing mechanism inside the body 10. The main fan 402 is configured to sunction the garbage into the dust box 401; the dust box 108 for mounting the dust box 401 is disposed inside the body 10; the dust exhaust channel 404 connected with the dust box 401 is also disposed in the body 10, the dust exhaust channel 402 is configured to draw the garbage from the dust box 401 into the base station under the action of the dust collection fan of the base station.

[0229] The dust box 401 is provided with a dust inlet, an air outlet, an air inlet, and an dust outlet, wherein, the dust inlet is connected with the dust sunction opening of the body 10, the air outlet is disposed on the rear said wall of the dust box chamber 108, the main fan 402 is disposed on the air outlet and behind the dust box chamber 108; the air inlet is disposed on the right sidewall of the dust box 401; the dust outlet is disposed on the left sidewall of the dust box 401, or the corner between the left sidewall and the rear sidewall, the dust exhaust channel 404 is connected with the dust outlet, the air inlet can be connected with the inner cavity of the body 10, the inner cavity of the body 10 serves as an intake area, under the sunction of the dust collection fan, the air of the intake area open the valve on the air inlet and enters into the dust box 401, the garbage within the dust box 401 open the valve on the dust outlet with the air, and is sucked into the dust collection container of the base station through the dust exhaust channel 401.

[0230] Along the forward direction of the body 10, the main fan 402 is disposed in front of the two first driving structures 302, and behind the dust box chamber 108;1 the dust box 108 is disposed between the two driving wheels 801, a third driving mechanism that respectively drives the driving wheel 801 to move is disposed inside the body 10, the two third driving mechanisms are distributed on the two sides of the dust box chamber 108, corresponding to their respective driving wheels 801; the dust exhaust channel 404 is usually disposed on the left side of the dust box chamber 108, or the junction between the left side and the rear side.

[0231] In the inner cavity of the body 10, the second region 104 is surround by the dust exhaust channel 401 and the dust box chamber 108, the two second driving structures 201, the main fan 402 is distributed within the second region 104 in the inner cavity of the body 10.

[0232] As shown in FIG. 10, the dry cleaning module 40 further comprises an exhaust duct 405 connected to the exhaust outlet of the main fan 402; the exhaust duct is disposed in the inner cavity of the body 10, one end of the exhaust duct is disposed within the second region 104, the other end extends out of the second region 104 and towards the right sidewall of the body 10, and connects with the air outlet on the right sidewall of the body 10, and further connects with the exterior of the body 10.

[0233] The water replenishing mechanism is configured to replenish water to the main cleaning component, such that the main mop 2022 forms wet cleaning. As shown in FIG. 28, the water replenishing mechanism comprises a water tank 501 and a pump body 502, there is a pipe connection between the water tank 501 and the pump body 502, the pump body 502 is configured to transport the solution from the water tank 501 to the main mop 2022, to moisten the main mop 2022.

[0234] In the inner cavity of the body 10, a third region 105 is formed between the two second driving structures 201 and the rear sidewall of the body 10; a fourth region 106 is surround by the driving wheel 801 on the left side and the dust exhaust channel 401, the left sidewall of the body 10; a fifth region 107 is surrounded by the second driving structure 201 on the right side and the right sidewall of the body 10, the exhaust duct of the main fan 402.

[0235] When the auxiliary cleaning module 30 mentioned above is not set, the layout of the water tank 501 and the pump body 502 in the inner cavity of the body 10 is: the water tank 501 is an irregularly shaped water tank 501, the irregularly shaped water tank 501 is provided with a first tank body 503, and a second tank body 504 fixed and connected to the first tank body 503, the two tank bodies are integrated into one unit, of course the two tank bodies also cannot be integrated into one unit. The first tank body 503 is disposed within the third region 501, the second tank body 504 is disposed within the fifth region 107, the pump body 502 is disposed within the fourth region 106, in this setting method, due to the pump body 502 is a peristaltic pump, or any other relatively large-sized pump body, the pump body 502 occupies a large space, the peristaltic pump is disposed within the fourth region 106; the water tank 501 is disposed within the third region 105 and the fifth region 107, ensuring the capacity of the water tank 501 to hold a larger amount of solution to replenish water to the two main mops 2022. The rear side of the housing of two second driving structures 201, and the outside of the right sidewall of the housing of the right side second driving structure 201 are surrounded by the front sidewall of the water tank 501, in order to fill up the third region 105 and the fifth region 107.

[0236] When the auxiliary cleaning module 30 mentioned above is set, due to the auxiliary cleaning disk 3021 is disposed behind the driving wheel 801 on the right side, and within the first region 103 of the upper right of the main cleaning disk 2021 on the right side. In order to set the first driving structure 302 in the inner cavity of the body 10, as shown in FIG. 10, the layout of the main fan 402, the dust box chamber 108, the dust exhaust channel 404, the two second driving structures 201, the driving structure of the driving wheel 801 and the exhaust duct of the main fan 402 in the inner cavity of the body 10 stays unchanged. But the layout of the water replenishing mechanism inside the body 10 changes.

[0237] As shown in FIG. 10, the water replenishing mechanism is designed to avoid the fifth region 107 to reserve installation space for the first driving structure 302, the first driving structure 302 is disposed within the fifth region 107, due to the fifth region 107 is disposed behind the right side driving wheel 801, and on the right side of the right side second driving structure 201, thus the first driving structure 302 is disposed right above or approximately right above the auxiliary cleaning disk 3021, only a minimal transmission mechanism is needed between the power output shaft 2031 of the first motor 203 of the first driving structure 302 and the auxiliary cleaning disk 3021, to transfer the driving force of the first motor 203 to the auxiliary cleaning disk 3021, such that the auxiliary cleaning disk 3021 rotates, ascend or descend, such that the first driving structure 302 is compact in structure, without increasing the size of the body 10, particularly the width size of the body 10, without changing the layout of the dust box chamber 108, the main fan 402, the two second driving structures 201 and the dust exhaust channel 404 in the inner cavity of the body 10, such that the first driving structure 302 is disposed within the fifth region 107, achieving to drive the auxiliary cleaning disk 3021 to rotate, ascend or descend. The first driving structure 302 is formed as a whole modular unit, facilitating the assembling and manufacturing of the first driving structure 302, the first driving structure 302 can be pre-assembled, and then installed into the inner cavity of the body 10, facilitating the installation in the inner cavity of the body 10.

[0238] To minimize the reduction of the volume of the water tank 501, there are multiple implementation methods for the set of the water tank 501, specifically:

[0239] In the first implementation method, as shown in FIG. 10, the pump body 502 is still disposed within the fourth region 106, the first tank body 503 is still disposed within the third region 105, the second tank body 504 is connected with the first tank body 503, and the second tank body 504 is distributed above the top of the dust exhaust channel 404, and extends towards the interior of the fourth region 106, part of the second tank body 504 can be disposed within the fourth region 106, the shape of the second tank body 504 changed, the thickness is reduced to ensure the water tank 501 to replenish water to the main mops 2022, and to replenish water to the auxiliary mop 3022.

[0240] In the second implementation method, in order to reduce the volume of the water tank 501, the pump body 502 is still disposed within the fourth region 106, the first tank body 503 is disposed within the third region 105, the second tank body 504 is distributed on the top of the housing of one second driving structure 201, for example, distributing above the housing of the second driving structure 202 on the left side, the second tank body 504 is disposed near one side of the second region 104, facilitating the connection between the water tank 501 and the pump body 502, similarly, the shape of the second tank body 504 changes without reducing the volume. Furthermore, part of the second tank body 504 can cover above the dust exhaust channel 404, to increase the volume of the water tank 501, more easily to connect to the pump body 502.

[0241] Due to the water replenishing mechanism not only replenishes the water to the two main mops 2022, but also replenishes the water to auxiliary mop 3022, optimally, the second tank body 504 is distributed above the housing of the two second driving structures 201, to increase the volume of the water tank 501.

[0242] Furthermore, when the second driving structure 201 on the right side and the first driving structure 302 share a single motor for driving, the shared motor can be disposed within the fifth region 107, no motor is disposed on the second driving structure 201, the second driving structure 201 can reserve the space for the installation of the second tank body 504, to increase the volume of the water tank 501. Certainly, the second tank body 504 cannot be disposed above the left-side first driving structure 302, the second tank body 504 is only disposed above the right side second driving structure 201.

[0243] In the third implementation method, the pump body 502 is disposed within the third region 105, the water tank 501 is disposed within the fourth region 106, to ensure the volume of the water tank 501 not to reduce, to satisfy the requirement of the water supply.

[0244] Or, the second tank body 504 of the water tank 501 is disposed within the fourth region 106, the first tank body 503 of the water tank 501 is disposed within the third region 105, the volume of the first tank body 503 is reduced to reserve space for the pump body 502, such that the pump body 502 is disposed within the third region 105. For example, the pump body 502 is disposed within a sub-region, which is surrounded by the adjacent edges of the rear portions of the housings of the two second driving structures 201, and the rear sidewall of the body 10. Along the forward direction of the body 10, due to the sub-region encloses a concave region at the rear portion of the adjacent edges of the housings of the two second driving structures 201, the space of the sub-region formed by the concave region and the rear sidewall of the body 10 is big enough to accommodate a larger volume peristaltic pump. The first tank body 503 is disposed on the left side of the pump body 502, and covers above the dust exhaust channel 404, and connects with the second tank body 504 within the fourth region 106.

[0245] When the peristaltic pump is not adopted, replace with other water pump with a small volume, the water pump can be disposed within other sub-regions of the third region 105. For example, the pump body 502 is distributed within the sub-region, which is between the right side of the dust exhaust channel 404 and the rear sidewall of the housing of the left-side second driving structure 201, the rear sidewall of the body 10; or, the pump body 502 is distributed within the sub-region, which is between the rear sidewall of the housing of the right side second driving structure 201 and the rear sidewall of the body 10, correspondingly, the first tank body 503 covers above the dust exhaust channel 404 to connect to the second tank body 504.

[0246] In the fourth implementation method, as an alternative implementation method for the water tank 501 in the aforementioned three implementation methods, the water tank 501 cannot set the first tank body 503 and only set the second tank body 504. [0247] specially when the water tank 501 is disposed within the fourth region 106, in the implementation method where the first tank body 503 is disposed within the third region 105, the pump body 502 is disposed within the third region 105, part of the first tank body 503 is needed to be disposed on the top of the dust exhaust channel 404 to connect to the first tank body 503, and inconvenient to connect to the two tank bodies, due to the space of the fourth retion 106 is big enough, when the pump body 502 is not set and the second tank body 504 is fully filled with the fourth region 106, the volume of the fourth region 106 is big enough to only set the second tank body 504, without setting the first tank body 503, and the pump body 502 is disposed within the third region 105 and is closer to the main mop 2022 and the auxiliary mop 3022, facilitating the pump body 502 in conveying the solution to the liquid outlet at the bottom of the body 10.

[0248] Due to multiple hollow regions or hollow holes are set along the circumference direction of the mail cleaning disk 2021 and the auxiliary cleaning disk 3021, the liquid outlet at the bottom of the body 10 is correspondent to the hollow region, the main mop 2022 is disposed on the bottom of the main cleaning disk 2021, the main mop 2022 covers the bottom of the hollow hole. During the process of rotation of the main cleaning disk 2021 and the auxiliary cleaning disk 3021, the liquid drops down from the liquid outlet passes through the hollow region and drops onto the main mop 2022 or the auxiliary rag 3022, to replenish water to the rag. Three liquid outlets are disposed on the bottom of the body 10, respectively are the first liquid outlet, the second liquid outlet and the third liquid outlet, the first liquid outlet on the left side corresponds to the main cleaning disk 2021 on the left side, the second liquid outlet in the middle corresponds to the main cleaning disk 2021 on the right side, and the third liquid outlet on the right side corresponds to the hollow region of the auxiliary cleaning disk 3021.

[0249] That is, in the inner cavity of the body 10, without changing the layout of the dust box chamber 108, the dust box 401, the dust exhaust channel 404, the main fan 402 and the two second driving structures 201, on the base of without reducing the volume of the water tank 501, by changing the position of the water replenishing mechanism and the shape of the water tank 501 to reserve a position to the first driving structure 302, such that the first driving structure 302 is disposed within the fifth region 107, the water replenishing mechanism 50 can replenish water to the main mop 2022 and the auxiliary mop 3022.

[0250] In the fifth implementation method, the water replenishing mechanisms share a single pump body 502, but the layout of the first tank body 503 and the second tank body 504 in the inner cavity of the body 10 is same as the four aforementioned implementation methods, the two tank bodies are independent, the first tank body 503 replenishes water to the auxiliary rag 3022, the second tank body 504 replenishes water to the main mop 2022.

[0251] For example, the second tank body 504 is disposed within the fourth region 106, the first tank body 503 is disposed within the third region 105, the volume of the second tank body 504 is big, the second tank body 504 is configured to replenish water to the two main mops 2022, the volume of the first tank body 503 is small, the first tank body 503 is configured to replenish water to the auxiliary mop 3022, the pump body 502 is disposed within the third region 105, the first tank body 503 is distributed near the first driving structure 302, the pump body 502 is disposed between the first tank body 503 and the dust exhaust channel 404, the pump body 502 is connected with the first tank body 503 and the second tank body 504 through the pipe respectively.

[0252] Or, the number of the pump body 502 is two, respectively are the first pump body 502 and the second pump body 502, the second tank body 504 is disposed within the fourth region, the first tank body 503 is disposed within the third region 105, the first pump body 502 is disposed within the third region 105 and is configured to connect to the first tank body 503, transfer the solution in the first tank body 503 to the third liquid outlet, to replenish water to the auxiliary mop 3022. The second pump body 502 can be disposed within the third region 105 or the fourth region 106 and connect to the second tank body 504, the second pump body 502 is configured to transfer the solution in the second tank body 504 to the first liquid outlet and the second liquid outlet, to replenish water to the two main mops 2022.

[0253] Another implementation method: by changing the exhaust duct of the main fan to reserve space for the first driving structure 302, for the installation of the first driving structure 302.

[0254] Specifically, the main fan 402 is disposed behind the dust box 401 and between the two second driving structures 201; the exhaust duct is not disposed behind the right side driving wheel 801, the exhaust duct is disposed within the region between the housings of the two second driving structures 201 and extends to the rear sidewall of the body 10 and connects with the exterior. The first driving structure 302 is disposed within the fifth region 107, which is between the rear of the right side driving wheel 801, the right sidewall of the housing of the right side second driving structure 201 and the right sidewall of the body 10. The second water tank 501 of the water replenishing mechanism 50 is disposed within the fourth region 106, the second water tank 501 and the first water tank 501 are independent, the second water tank 501 replenishes water to the two main mops 2022, the first water tank 501 replenishes water to the auxiliary mop 3022. Due to the position of the exhaust duct changes, increasing the space of the fifth region 107, at least part of the first water tank 501 is disposed within the fifth region 107, but behind the the first driving structure 302, the pump body 502 is disposed within the third region 105, the number of the pump body 502 can be one, configured to replenish water to the main mop 2022 and the auxiliary mop 3022 respectively with the solution in the two tank bodies, in case where the number of the pump body 502 is two, respectively are the first pump body 502 and the second pump body 502, the first pump body 502 is configured to replenish water to the auxiliary mop 3022 with the solution in the first tank body 503, the second pump body 502 is configured to replenish water to the auxiliary mop 3022 with the solution within the second tank body 504. Optimally, the first pump body 502 and the second pump body 502 are disposed on the two sides of the exhaust duct.

[0255] The aforementioned first driving structure 302 and the second driving structure 201 can be same structure, and can be different structures, preferably, the first driving structure 302 and the second driving structure 201 is same, in order to facilitate the explanation, the following description will take the first driving structure 302 as an example to expand.

[0256] The first driving structure 302 comprises the first motor 203 and the lifting assembly 60, the lifting assembly 60 is connected to the auxiliary cleaning disk 3021, the lifting assembly 60 drives the auxiliary cleaning disk 3021 to ascend or descend, and to rotate in the mopping position to mop.

[0257] As shown in FIG. 11, the first driving structure 302 comprises the first motor 203 and the lifting assembly 60, the lifting assembly 60 is connected to the auxiliary cleaning assembly 302, the lifting assembly 60 drives the cleaning assembly to ascend or descend, to rotate in the mopping position.

[0258] The lifting assembly 60 comprises a first fixed body and a second fixed body, the first fixed body is connected to the power output shaft 2031 of the first motor 203; the second fixed body is connected to the auxiliary cleaning assembly 302, a spiral mechanism is formed between the first fixed body and the second fixed body.

[0259] In the first implementation method of the lifting assembly 60, the power output shaft 2031 is rotating along the first direction, such that the second fixed body descends relative to the first fixed body through the spiral mechanism, during the process of descending, the auxiliary cleaning disk 3021 rotates; in the mopping position, the power output shaft 2031 continues to rotate along the first direction, there is no continually descending motion of the second fixed body relative to the first fixed body, the second fixed body rotates to drive the cleaning assembly to rotate to clean the surface to be cleaned; the power output shaft 2031 is rotating along the second direction, such that the second fixed body ascends relative to the first fixed body through the spiral mechanism, to drive the auxiliary assembly 302 to ascend.

[0260] That is, in the first implementation method, relies on the first motor 203 to drive the auxiliary cleaning disk 3021 to descend, ascend and rotate.

[0261] For example, as shown in FIG. 11, FIG. 12, FIG. 13 and FIG. 27, the first fixed body comprises a first sleeve 6011, a first mounting cavity recessed upwardly is disposed at the bottom of the first sleeve 6011, the top of the first sleeve 6011 is in driving connection with the power output shart 2031 of the first motor 203; the second fixed body comprises a second sleeve 6012 and a housing 6017, a first annular cavity 60122 recessed downwardly is disposed on the top of the second sleeve 6012, a second mounting cavity 60122 recessed upwardly is disposed at the bottom of the second sleeve 6012; a mounting protrusion 3023 on the top of the cleaning assembly is detachably mounted inside the second mounting cavity 60122; the first sleeve 6011 embeds into the first annular cavity 60122 through the first mounting cavity. The housing 6017 sleeves on an outer side of the second sleeve 6012, fixed relative to the body 10; a damping component is disposed between the inner wall of the housing 6017 and the outer wall of the second sleeve 6012, such that the second sleeve 6012 rotates relative to the first sleeve 6011 to ascend or descend; at least a rib 6014 is disposed on the outer wall of the first sleeve 6011, a spiral groove 6013 compatible with the rib 6014 is disposed on the inner wall of the second sleeve 6012, the spiral mechanism is formed by the rib 6014 and the spiral groove 6013; a first limiting portion 6015 is disposed on the top of the spiral groove 6013, in the mopping position, along the spiral direction of the spiral groove 6013, the rib 6014 abuts on the sidewall of the first limiting portion 6015 to limit the continually descending of the second sleeve 6012 relative to the first sleeve 6011. The first motor 203 can be disposed on the housing 6017, The first motor 203 is fixed relative to the body 10; or the first motor 203 is disposed on the housing 6017, the housing 6017 is fixed relative to the body 10.

[0262] The lifting assembly 60 in this implementation method, when the power output shaft 2031 of the first motor 203 is rotating along the first direction, driving the first sleeve 6011 to rotate, the rib 6014 on the outer wall of the first sleeve 6011 rotates in the spiral groove 6013 on the inner wall of the second sleeve 6012, due to the damping component is disposed between the housing 6017 and the second sleeve 6012, under the action of the damping component, such that the rotational speed of the second sleeve 6012 and the first sleeve 6011 is different, the second sleeve 6012 can descend relative to the first sleeve 6011, further drives the auxiliary cleaning disk 3021 to descend, when the rib 6014 abuts on the first limiting portion 6015 on the top of the spiral groove 6013, the first limiting portion 6015 limits the rib 6014 to rotate continuously relative to the second sleeve 6012, there is no continually descending motion of the second sleeve 6012, the second sleeve 6012 arrives at the mopoping position, at this moment, the power output shaft 2031 of the first motor 203 continues to rotate along the first direction, there is no correspondent movement between the second sleeve 6012 and the first sleeve 6011, the first sleeve 6011 and the second sleeve 6012 rotates synchronously, the second sleeve 6012 drives the auxiliary cleaning disk 3021 to rotate continuously, enabling the auxiliary rag 3022 to rotate to mop.

[0263] On the contrary, the first motor 203 is rotating along the second direction to drive the first sleeve 6011 to rotate in an opposite direction, the rib 6014 on the outer wall of the first sleeve 6011 rotates in the spiral groove 6013 of the second sleeve 6012, due to the action of the damping component, the second sleeve 6012 ascends relative to the first sleeve 6011, driving the auxiliary cleaning disk 3021 to ascend. In addition, a second limiting portion 6016 is disposed on the bottom of the spiral groove 6013, along the spiral direction of the spiral groove 6013, the rib 6014 abuts on the sidewall of the second limiting portion 6016, thereby limiting the ascending position of the second sleeve 6012, thereby achieving to use one first motor 203 to drive the auxiliary cleaning disk 3021 to ascend, descend and rotate.

[0264] In this implementation method, using one second sleeve 6012, the first annular cavity 60122 on the top of the second sleeve 6012 is compatibly connected to the first sleeve, and forms the spiral mechanism, achieving the ascending or descending motion and the rotating motion, the second mounting cavity 60122 on the bottom of the second sleeve 6012 is connected to the auxiliary cleaning disk 3021, and the first annular cavity 60122 is disposed on the outer periphery of the second mounting cavity 60122, such that the mounting protrusion 3023 on the top of the auxiliary cleaning disk 3021 is disposed inside the second mounting cavity 601122, without increasing the height of the lifting assembly 60, such that the whole lifting assembly 60 is compact and simple in structure, forms a modular structure as a whole, reducing the space occupied in the inner cavity of the body 10.

[0265] The auxiliary cleaning disk 3021 is disposed beneath the base tray 101 of the body 10, an avoidance hole is disposed on the base tray 101, the first sleeve 6011 and the first motor 203 are both disposed within the inner cavity of the body 10, the bottom of the second sleeve 6012 passes through the first avoidance hole, such that the second mounting cavity 60122 connects with the exterior, facilitating the mounting protrusion 3023 of the auxiliary cleaning disk 3021 to mount inside the second mounting cavity 60122, outside of the body 10. The mounting protrusion 3023 can be installed inside the second mounting cavity 60122 through a magnetic suction method, or with a snap-fastener, spring pin, and groove connection, or any other removable fixing method.

[0266] As to the damping component, there is at least three implementation methods, the first implementation method of the damping component, as shown in FIG. X, the housing 6017 is provided with at least one avoidance hole 60171, for example, at least two avoidance holes 60171 are uniformly disposed along the periphery direction of the housing 6017, at least one first protrusion is disposed inside each avoidance hole 60171, the first protrusion protrudes in the direction towards the second sleeve 6012, to interference abut on the outer wall of the second sleeve 6012; such as the first protrusion presents in a wave-like shape.

[0267] The damping component is the first protrusion, an interference abutment is formed between the first protrusion and the second sleeve 6023, the damping component blocks the second sleeve 6012 to produce frictional force, such that the rotational speed of the first sleeve 6011 and the second sleeve 6012 is different, the second sleeve 6012 can ascend or descend relative to the first sleeve 6011.

[0268] The second implementation method of the damping component, as shown in FIG. 11, the housing 6017 is provided with at least one avoidance hole 60171, a rotatable first rotating body is disposed inside the avoidance hole 60171, an interference abutment is formed between the first rotating body and the outer wall of the second sleeve 6012; during the process of ascending or descending of the auxiliary cleaning disk 3021, the first rotating body does not rotate; in the mopping position, a rolling friction is formed between the first rotating body and the second sleeve 6012, the first rotating body is the damping component.

[0269] The damping component of this implementation method, the damping component is the first rotating body, during the process of ascending or descending of the auxiliary cleaning disk 3021, the first rotating body does not rotate, a slidable friction is formed between the second sleeve 6012 and the first rotating body, when the second sleeve 6012 is driving the auxiliary cleaning disk 3021 to rotate to mop, the second sleeve 6012 rotates to drive the first rotating body to rotate, such that a rolling friction is formed between the second sleeve 6012 and the first rotating body, reducing the frictional force between the first protrusion 60181 and the second sleeve 6012, reducing the abrasion to the damping component and the second sleeve 6012, prolonging the service life of the lifting assembly 60, corresponding to the circumstance when the second sleeve 6012 is driving the auxiliary cleaning disk 3021 to rotate in embodiment 1.

[0270] The third implementation method of the damping component, the damping component is a fluff strip, one end of the fluff strip is fixed on the inner wall of the housing 6017, the other end interference abuts on the outer wall of the second sleeve 6012, to form a flexible abutment. Implant or adhere a ring of fluff strip on the inner peripheral wall of the housing 6017 to be the damping component, such that a flexible frictional force is formed between the second sleeve 6012 and the damping component when the second sleeve 6012 is driving the auxiliary cleaning disk 3021 to ascend, descend and rotate, corresponding to the hard frictional force between the damping component and the second sleeve 6012 in the first two implementation methods, reducing the abrasion between the second sleeve 6012 and the fluff strip, providing protection for both the fluff strip and the second sleeve 6023, prolonging the lifespan of the second sleeve 6012 while enabling the damping component to perform damping function, ensuring the lifting assembly 60 to drive the auxiliary cleaning disk 3021 to implement ascending, descending and rotating motion under the driving of the first motor 203. In addition, due to the first driving structure 302 is disposed inside the inner cavity of the body 10, replacement or maintenance of the lifting assembly 60 all requires to open the upper shell of the body 10, resulting in the inconvenience to the replacement or maintenance of the lifting assembly 60, using the fluff strip as the damping component, the lifespan of the lifting assembly 60 can be prolonged, the frequency of repair is reduced.

[0271] The second implementation of the lifting assembly 60, the descending of the auxiliary cleaning disk 3021 relies on the driving of the gravity of the second fixed body, the auxiliary cleaning disk 3021 and the auxiliary mop 3022, the rotation of the auxiliary cleaning disk 3021 relies on the driving of the first motor 203 along the first direction; the ascending of the auxiliary cleaning disk 3021 relies on the rotation of the first motor 203 along the second direction, to drive the first fixed body to rotate, lift assembly the second fixed body to drive the auxiliary cleaning disk 3021 to ascend.

[0272] Specifically, as shown in FIG. 18, the first fixed body comprises a first cylinder body 6021, the first cylinder body 6021 sleeves on an outer side of the power output shaft 2031 of the first motor 203 through a first one-way bearing 6024; the first one-way bearing 6024 possesses a transmission state that transfers the force of the power output shaft 2031 to the first cylinder body 6021, and a disconnection state that disconnects the force transmission of the force of the power output shaft 2031 to the first cylinder body 6021;

[0273] The second fixed body comprises a floating shaft 6022 and a second cylinder body 6023, the second cylinder body 6023 rotatably sleeves on the outer wall of the floating shaft 6022; the top of the floating shaft 6022 is connected to the power output shaft 2031, the bottom of the floating shaft 6022 is connected to the top of the auxiliary cleaning disk 3021. The spiral mechanism is formed between the second cylinder body 6023 and the first cylinder body 6021.

[0274] A second annular cavity 60231 recessed downwardly is disposed on the top of the second sleeve 6023, the lower portion of the first sleeve 6012 embeds into the second annular cavity 60231, the upper portion is disposed outside the second annular cavity 60231, and sleeves on an outer side of the one-way bearing, at least one first spiral surface 6025 is disposed on the outer wall surface at the lower portion of the first cylinder body 6021, at least one first rolling wheel 6021 is disposed on the inner wall of the second annular cavity 60231 of the second cylinder body 6023, the first rolling wheel 6026 and the first spiral surface 6025 correspond to each other one by one, the first rolling wheel 6026 abuts on the the first spiral surface 6025, the aforementioned spiral mechanism is formed by the first rolling wheel 6026 and the first spiral surface 6025. A third limiting portion is disposed on the bottom of the first spiral surface 6025, a fourth limiting portion is disposed on the top of the first spiral surface 6025.

[0275] When the power output shaft 2031 of the firs motor 203 is rotating along the first direction, under the action of the one-way bearing, the first cylinder body 6021 is in the disconnection state; the power output shaft 2031 drives the floating shaft 6022 to rotate, due to the rotatable connection between the floating shaft 6022 and the second cylinder body 6023, such as through bearing, the floating shaft 6022 rotates, the second cylinder body 6023 does not rotate, to drive the auxiliary cleaning disk 3021 to rotate; meanwhile, under the gravity of the second cylinder body 6023, the floating shaft 6022, the auxiliary cleaning disk 3021 and the auxiliary mop 3022, the first rolling wheel 6026 on the second cylinder body 6023 moves downwardly along the first spiral surface 6025, to drive the second cylinder body 6023, the floating shaft 6022 and the auxiliary cleaning disk 3021 to move downwardly as a whole, to arrive at the mopping position, in the mopping position, the power output shaft 2031 is rotating along the first direction continuously to drive the floating shaft 6022, the auxiliary cleaning disk 3021 and the auxiliary mop 3022 to rotate, to achieve mopping.

[0276] When the power output shaft 2031 of the firs motor 203 is rotating along the second direction, under the action of the one-way bearing, the force of the power output shaft 2031 is conveyed to the first cylinder body 6021, the first cylinder body 6021 is in a transmission state, the power output shaft 2031 drives the first cylinder body 6021 to rotate, and drives the floating shaft 6022 to rotate at the same time, such that the first rolling wheel 6026 of the second cylinder body 6023 rotates on the first spiral surface 6025 while the first cylinder body 6021 is rotating, the second cylinder body 6023 drives the floating shaft 6022 and the auxiliary cleaning disk 3021 to ascend, when the first rolling wheel 6026 abuts on the fourth limiting portion, the first rolling wheel 6026 does not ascend continuously, the auxiliary cleaning disk 3021 arrives at the lifting position, thus achieve the ascending, descending and rotating of the auxiliary cleaning disk 3021 by using one first motor and the spiral mechanism of the lifting assembly 60.

[0277] As an implementation method to replace, the position of the aforementioned first spiral surface and the first rolling wheel 6026 can be interchanged, or the first rolling wheel 6026 can be replaced with the second spiral surface.

[0278] Moreover, the lift 60 further comprises a first reset component 6027, the first reset component 6027 is disposed between the floating shaft 6-22 and the power output shaft 2031, the first reset component 6027 is configured to apply downward reset force to the floating shaft 6022 and the cleaning assembly, enable the auxiliary mop 3022 of the auxiliary cleaning disk 3021 can always keep abuting on the floor, increasing the frictional force, facilitating the auxiliary mop 3022 to clean the floor.

[0279] The first reset component 6027 can be a compression spring, disposed between the third mounting cavity 20311 of the power output shaft 2031 and the top of the floating shaft 6022.

[0280] In order to facilitate the installation of the compression spring, there are two connecting methods of between the floating shaft 6022 and the power output shaft 2031, the first method, as shown in FIG. 18, the third mounting cavity 20311 is disposed on the bottom of the power output shaft 2031, the inner hole of the floating shaft 6022 presents the fourth mounting cavity 60221, the floating shaft 6022 is disposed inside the third mounting cavity 20311; the mounting protrusion 3023 on the top of the auxiliary cleaning disk 3021 is detachably disposed inside the fourth mounting cavity 60221, an annular step surface can be disposed in the fourth mounting cavity 60221, one end of the compression spring abuts ton the top of the third mounting cavity 20311 of the power output shaft 2031, the other end abuts on the step surface.

[0281] In the second implementation method, when the floating shaft 6022 is not disposed inside the third mounting cavity 20311 of the power output shaft 2031, the floating shaft 6022 sleeves on the outer periphery of the power output shaft 2031, the fourth mounting cavity 60221 is disposed on the outer periphery of the third mounting cavity 20311, the compression spring sleeves on the outer periphery of the floating shaft 6022, the top of the compression spring is disposed on the power output shaft 2031, the other end sleeves on the floating shaft 6022 to apply downward acting force to the floating shaft 6022. For example, an annular step surface is disposed on the outer wall of the power output shaft 2031, the top of the compression spring abuts on the step surface. The bottom of the mounting protrusion 3023 is disposed on the inner wall on the bottom of the fourth mounting cavity 60221, to achieve the connection between the auxiliary cleaning disk 3021 and the floating shaft 6022.

[0282] In the mopping position, the mounting protrusion 3023 of the auxiliary cleaning disk 3021 is disposed inside the fourth mounting cavity 60221, part of the mounting protrusion 3023 can extend into the third mounting cavity 20311, or do not extend into the third mounting cavity 20311, that is the fourth mounting cavity 60221 is disposed beneath the third mounting cavity 20311; in the lifting position, the fourth mounting cavity 60221 is disposed on the outer periphery of the third mounting cavity 20311, the compression spring is in a compression state, the mounting protrusion 3023 of the auxiliary cleaning disk 3021 extends into the third mounting cavity 20311, such that the structures of the floating shaft 6022, the power output shaft 2031 and the compression spring are compact, occupy small space, the ascending height of the auxiliary cleaning disk 3021 in this implementation method corresponding to the first implementation method of the connection between the floating shaft 6022 and the power output shaft 2031.

[0283] Another implementation method of the first driving structure 302, as shown in FIG. 14 to FIG. 16, the lifting assembly 60 comprises a third cylinder body 6031, the third cylinder body 6031 sleeves on the outer side of the power output shaft 2031 of the first motor 203 through a second one-way bearing; the second one-way bearing possesses a transmission state that transfers the force of the power output shaft 2031 to the third cylinder body 6031, and a disconnection state that disconnects the force transmission of the force of the power output shaft 2031 to the third cylinder body 6031; the bottom of the power output shaft 2031 is connected to the cleaning assembly; [0284] a supporting body 6032, the supporting body 6032 is fixed relative to the body 10, the supporting body 6032 is disposed on the outside of the third cylinder body 6031, a spiral mechanism is formed between the supporting body 6032 and the third cylinder body 6031;

[0285] For example, the spiral mechanism comprises a third spiral surface 6034, and a second matching component complements the third spiral surface, the second matching component is the fourth spiral surface or the second rolling wheel. Taking an example that the second matching component is the fourth spiral surface 60351 to expand, one of the third spiral surface and the fourth spiral surface 60351 is disposed on the supporting body 6032, the other one is disposed on the outside of the third cylinder body 6031. For example, the fourth spiral surface 60351 is disposed on the outside of the third cylinder body 6031, a projection 6035 is protruded on the outer wall of the third cylinder body 6031, the fourth spiral surface 60351 is disposed on the bottom of the projection 6035, the third spiral surface 6034 is disposed on the supporting body 6032, the third spiral surface 6034 and the fourth spiral surface 60351 abuts.

[0286] When the power output shaft 2031 of the first motor 203 is rotating along the first direction, due to the connection between the auxiliary cleaning disk 3021 and the power output shaft 2031, the power output shaft 2031 drives the auxiliary cleaning disk 3021 to rotate under the action of the one-way bearing, the third cylinder body 6031 is in a disconnection state, under the gravity of the third cylinder body 6031, the auxiliary cleaning disk 3021 and the auxiliary rg 3022, the third spiral surface 6034 of the third cylinder body 6031 rotates on the fourth spiral surface 60351, implementing descending motion, to drive the auxiliary cleaning disk 3021 to descend, when descend to the mopping position, in the mopping position, the power output shaft 2031 of the first motor 203 continues to rotate along the first direction, there is no continually descending motion of the third cylinder body 6031 relative to the supporting body 6032, the power output shaft 2031 drives the cleaning assembly to rotate.

[0287] When the power output shaft 2031 of the firs motor 203 is rotating along the second direction, the third cylinder body 6031 is in a transmission state, the third cylinder body 6031 and the auxiliary cleaning disk 3021 both rotates, the third spiral surface 6034 of the third cylinder body 6031 rotates on the fourth spiral surface 60351 of the supporting body 6032, to drive the third cylinder body 6031, the auxiliary cleaning disk 3021 to ascend relative to the supporting body 6032, and to drive the auxiliary cleaning disk 3021 to ascend.

[0288] Due to the supporting body 6032 is fixed relative to the body 10, the bottom of the power output shaft 2031 is connected to the auxiliary cleaning disk 3021, the third cylinder body 6031 sleeves on the outer side of the power output shaft 2031 through the second one-way bearing, during the process of the third cylinder body 6031 drives the auxiliary cleaning disk 3021 to ascend or descend, the whole lifting assembly 60 implements ascending or descending motion relative to the supporting body 6032. As shown in FIG. X, the first motor 203 and the lifting assembly 60 are both disposed on the shell, the first motor 203 and the shell both ascend or descend synchronously.

[0289] However, in the first implementation method and the second implementation method of the lifting assembly 60 mentioned above, the first motor 203, the shell for mounting the first motor 203, and the third cylinder body 6031 or the first sleeve 6011 of the lifting assembly 60 do not ascend or descend, the second cylinder body 6023 or the second sleeve 6012 connected to the auxiliary cleaning disk 3021 implements the ascending or descending motion.

[0290] In order to limit the continuously descending of the third cylinder body 6031 at the mopping position, the third spiral surface is disposed on the supporting body 6032, the third limiting portion is disposed on the bottom of the third spiral surface 6034; along the spiral direction of the third spiral surface, the second matching portion abuts on the sidewall of the third limiting portion, and limit the continuously descending of the third cylinder body 6031 relative to the supporting body 6032 in the mopping position.

[0291] Similar to the second implementation method, further comprise a first shell body 6037 and a second reset component 6036; the first motor 203, the power output shaft 2031 and the third cylinder body 6031 are all disposed on the first shell body 6037, the first shell body 6037 is slidably disposed on the supporting body 6032 along the vertical direction; the second reset component 6036 is disposed between the first shell body 6037 and the supporting body 6032; the second reset component 6036 is configured to apply downward second reset force to the first shell body 6037, the second reset force applies on the shell and further acts on the auxiliary cleaning disk 3021, such that the auxiliary mop 3022 on the bottom of the auxiliary cleaning disk 3021 keeps contacting with the floor; meanwhile, due to the shell, the first motor 203 and the lifting assembly 60 ascends or descends as a whole, when the first motor 203 is rotating along the first direction, under the joint action of the gravity and the second reset force of the third cylinder body 6031, the shell and the cleaning assembly, driving the whole shell to descend relative to the supporting body 6032, increasing the driving force of the descending of the auxiliary cleaning disk 3021.

[0292] As shown in FIG. 16, further comprises a torque component, for example, the torque component is a torsion spring 6038, the torsion spring 6038 sleeves on the outer side of the third cylinder body 6031, one end of the torsion spring 6038 is connected to the supporting body 6032, the other end abuts on the third cylinder body 6031; the torsion spring 6038 is configured to apply torque to the third cylinder body 6031, such that the third cylinder body 6031 can rotate downwardly relative to the supporting body 6032, during the process of descending, urging the third spiral surface or the second rolling wheel on the third cylinder body 6031 to rotate through the torque produced by the torsion spring 6038, to rotate on the fourth spiral surface 60351 disposed on the outer wall of the supporting body 6032. Furthermore, one of the third spiral surface 6034 and the second matching component can be replaced by the spiral groove 6013, the other one is replaced by thread or the rib 6014, when the projection 6035 of the third cylinder body 6031 is rotating downward in the spiral groove 6013, due to the acting force applied by the top of the spiral groove 6013 to the rib 6014, such that the rib 6014 possesses the trend of spiral rotation, the aforementioned torsion spring 6038 can be omitted.

[0293] As shown in FIG. 17, a gear box is usually disposed between the first motor 203 and the power output shaft 2031, in order to change the speed ratio of the auxiliary cleaning disk 3021 driven by the power output shaft 2031, a sun wheel 60391, a planetary gear 60393, a ring gear 60392, and a planetary carrier 60394 are disposed on the power output shaft 2031, wherein the sun wheel 60391 sleeves on the power output shaft 2031 through a one-way bearing, the planetary carrier severs as the third cylinder body 6031, the projection 6035 is disposed at the exterior of the planetary carrier, the fourth spiral surface 60351 or the second rolling wheel is disposed at the exterior of the planetary carrier. The ring gear 60392 serves as the first shell 6037, an extending portion 603941 is disposed on the outer wall of the ring gear 60392, the extending portion 603941 is slidably disposed on the supporting body 6032.

[0294] Optionally, the structure of the second driving structure 201 of the main cleaning disk 2021 on the right side and the first driving structure 302 of the auxiliary cleaning disk 3021 are same, and share a first motor 203, to lower the cost and reduce the space occupied by the two driving structures in the inner cavity of the body 10.

[0295] Specifically, a first transmission mechanism, one end of the first transmission mechanism is connected to the power output shaft 2031 of the first motor 203, the other end is provided with a first output end and a second output end; [0296] the first output end is connected to the lifting assembly 60 of the first driving structure 302, the second output end is connected to the lifting assembly 60 of the second driving structure 201, ensuring that one first motor 203 can drive the main cleaning assembly 202 and the auxiliary cleaning assembly 302 to ascend, descend and rotate synchronously.

[0297] For example, when the lifting assembly 60 serves as the first implementation method, the first output end is connected to first sleeve 6011 of the lifting assembly 60 of the first driving structure 201, thus the first motor 203 rotates along the first direction, the first sleeves 6011 of the two lifting assemblies 60 rotates, the second sleeve 6012 implements the ascending and descend motion, to achieve the function of ascending or descending synchronously and mopping synchronously, and facilitating the control to the first motor 203. The first transmission mechanism can be a belt drive or a gear transmission, among others.

[0298] When the lifting assembly 60 serves as the second implementation method or the third implementation method, in the two lifting assemblies 60, one third cylinder body 6031 sleeves on the first output end through a one-way bearing, the other cylinder body 6031 sleeves on the second output end through a one-way bearing.

[0299] Based on the rotational direction of the aforementioned two main cleaning disks 2021 and the auxiliary trays 3021, when using one first motor 203 to drive, the rotational direction of the auxiliary cleaning disk 3021 and the main cleaning disk 2021 can be same, or opposite, there at least two implementation method correspondingly.

[0300] Take an example that the rotation direction of the auxiliary cleaning disk 3021 and the main cleaning disk 2021 is opposite to explain, the first implementation method: the spiral directions of the spiral mechanism of the two lifting assemblies 60 are same, the rotational directions of the first output end and the second output end are opposite. For example, by setting different amount of gears in the transmission mechanism, such that the rotational directions of the first output end and the second output end are different. The second implementation method, the spiral directions of the spiral mechanism of the two lifting assemblies 60 are opposite, the rotational directions of the first output end and the second output end are same.

[0301] Similarly, when the rotational directions of the auxiliary cleaning disk 3021 and the right side main cleaning disk 201 are same, the rotational directions of the aforementioned first output end and the second output end are same, and the spiral directions of the spiral mechanism of the two lifting assemblies 60 are also same.

[0302] For example, as shown in FIG. 6 and FIG. 7, what shown in the FIG. 6 and FIG. 7 is square-shaped machine, but the first driving structure and the second driving structure can be same, the transmission mechanism is gear set, for example, the gear set comprises main gear 604 and four transmission gears 605, the main gear is disposed on the power output shaft 2031, wherein, one transmission gear meshes with the main gear, and the inner bore of the transmission gear is provided with a first output shaft, the first output shaft is provided with a first output end; three transmission gears mesh with the main gear, the inner bore of one transmission gear at the last end is fixed to the second output shaft, the second output shaft is provided with a second output end, ensuring that the first output end and the second output end rotate in the same direction.

[0303] In case where the second output end and the first output end are required to rotate in different directions, changes the number of transmission gears between the main gear and the end gear of either the first output end or the second output end.

[0304] Or, the rotational directions of the first output end and the second output end are opposite, meanwhile, the spiral directions of the spiral mechanism of the two lifting assemblies 60 are opposite.

[0305] One of the rotatable first direction and the second direction of the power output shaft 2031 of the first motor 203 mentioned above is clockwise direction, the other is counterclockwise direction.

[0306] In addition, the existing cleaning robot in the background, during the process of moving forward of the robot, the buffer 70 disposed in front of the robot body meets the obstacles at first, impacted by an obstacle, the controller utilizes the signal from the buffer 70 or the corresponding signal triggered by the buffer 70 to control the drive system of the robot to perform actions such as obstacle avoidance, moving along the edge, and obstacle surpassing. Due to part of the auxiliary cleaning head extends beyond the buffer 70 and is disposed at the corner of the robot body, the auxiliary cleaning head protrudes beyond the buffer 70 in both the forward and width direction of the robot body, therefore, when the robot encounters an obstacle, the auxiliary cleaning head hits the obstacle before the buffer 70, after the auxiliary cleaning head is hitted, the auxiliary cleaning head is easy to be damaged, affecting the cleaning effectiveness along the edge; the auxiliary cleaning head may get stuck by the obstacle, preventing the buffer 70 from hitting the obstacle, the presence of the obstacle cannot be detected, affecting the planning of the cleaning path of the robot.

[0307] The cleaning robot in this implementation method, along the forward direction of the body 10, the body 10 is provided with a rear portion, and a front portion disposed in front of the rear portion; a buffer 70 is disposed on the front portion of the body 10, to detect the obstacle by colliding with the obstacle; the auxiliary cleaning disk 3021 and the two main cleaning disk 2021 are all disposed on the rear portion of the body 10.

[0308] Due to the auxiliary cleaning disk 3021 is disposed on the rear portion of the body 10, the buffer 70 is disposed on the front portion of the body 10, during the forward movement of the body 10, the buffer 70 encounters the obstacle before the auxiliary cleaning disk 3021 and detects the obstacle, thus the setting of the auxiliary cleaning module 30 will not affect the function of obstacle detecting of the buffer 70, ensuring the cleaning effectiveness along the edge, without affecting the detection of the buffer 70 to the obstacle.

[0309] As an alternative implementation method of embodiment 1, the vertical projection of the body 10 on the floor is in circular shape, that is circular-shaped machine, due to the edge of the body 10 of the square-shaped machine of the embodiment 1 presents in straight line, part of the auxiliary cleaning disk 3021 extends beyond the edge of the body, the cleaning along the edge can be achieved. But to the circular-shaped machine, due to the maximum width of the body 10 is the diameter of the body 10 in the width direction, when the body 10 is circular-shaped machine, in order to further improve the effectiveness of along the edge, the edge portion of the auxiliary cleaning disk 3021 is preferable to extend beyond the edge of the maximum width of the body 10, to achieve the cleaning along the edge; certainly, part of the edge of the auxiliary cleaning disk 3021 extends beyond the body 10, but not to extend the edge of the maximum width of the body 10, although the cleaning along the edge can be achieved, the area of cleaning along the edge is relatively small.

[0310] As shown in FIG. 4 to FIG. 7, due to the width of the square-shaped machine is smaller than the length of the body 10 along the forward direction, on the forward direction of the body 10, the rolling brush 403 of the dry cleaning module 40 is disposed in front of the driving wheel 801; however, when the body 10 is circular-shaped machine, the maximum width of the body 10 is greater than the maximum width of the body 10 of the square-shaped machine, the space between the two driving wheels 801 can hold the rolling brush 403, therefore, place at least part of the rolling brush 403 within the region between the two driving wheels 801, the dust box 401 is disposed behind the rolling brush 403, in addition, the layout of the exhaust duct of the main fan 402 is disposed between the housings of the two second regions 104 in priority, the layout of other structures (i.e. edge brush, the second driving structure 201, the water replenishing mechanism 50, the buffer 70, the driving wheel 801 and the dust exhaust channel 404) is same as the square-shaped machine, Please refer to the description of the embodiment 1 for detailed information, details are not described herein again.

Embodiment 2

[0311] The embodiment provides a cleaning robot, comprises the aforementioned body 10, the dry cleaning module 40, the main cleaning module 20, the auxiliary cleaning module 30, the edge brush, the water replenishing mechanism 50, the perception system, the locomotion system 80 and the buffer 70, etc.

[0312] The body 10 is circular-shaped machine, the main cleaning module 20 comprises the second driving structure 201, the first lift structure and the main cleaning assembly 202, the first lift mechanism is configured to drive the main cleaning disk 2021 to implement ascending or descending motion, the second driving structure 201 is configured to drive the main cleaning assembly 202 to oscillate or twist reciprocally, to enable the main cleaning assembly 202 to mop the floor. The first driving structure 302 and the second lift mechanism can use one motor to drive, or use two motors, one motor drives the main cleaning assembly 202 to ascend or descend, the other motor drives the main cleaning assembly 202 to oscillate or twist reciprocally.

[0313] As shown in FIG. 29, the first lift structure 303 can be a rope pulling structure, the two ends of the pulling rope are connected to the mounting base, driving the mounting to ascend through wrapping and relaxing stretching.

[0314] As shown in FIG. 23, FIG. 24, FIG. 25 and FIG. 29, the main cleaning assembly 202 is flat mop, the flat mop comprises the mounting base 2023, a vibrating plate 20232 disposed on the mounting base 2023, a main cleaning component at least disposed on the bottom of the vibrating plate 20232, for example, the main cleaning component is main mop 2022. The second driving structure 201 is disposed on the mounting base 2023 or the body 10, the second driving structure 201 is configured to drive the vibrating plate 20232 to oscillate or twist reciprocally, such that the friction between the main cleaning component and the floor bears force, enhancing the cleaning effectiveness. The first lift structure drives the mounting base 2023 to ascend or descend, to drive the whole flat mop to ascend or descend.

[0315] The aforementioned auxiliary cleaning module 30 is disposed on the mounting base 2023 as a whole, when the first lift structure is driving the mounting base 2023 to ascend or descend, the auxiliary cleaning module 30 ascends or descends synchronously with the falt mop as a whole, to stay in the moppoing position and the lifting position synchronously, and in the mopping position, the main mop 2022 and the auxiliary mop 3022 of the auxiliary cleaning assembly 302 mop the floor synchronously. Due to the auxiliary cleaning module 30 ascends or descends synchronously with the falt mop as a whole, there is no need to set the aforementioned second lift structure on the auxiliary cleaning module 30 to drive the auxiliary cleaning disk 3021 to ascend or descend, only need to set the first driving structure 302 to drive the auxiliary cleaning disk 3021 to rotate to mop the floor. That is the auxiliary cleaning module 30 comprises the first driving structure 302 and the auxiliary cleaning assembly 302, the first driving structure 302 drives the auxiliary cleaning assembly 302 to rotate to mop the floor. The auxiliary cleaning assembly 302 is same as the auxiliary cleaning assembly 302 in the embodiment 1, comprises a circular auxiliary cleaning disk 3021 and a main mop 3022 disposed on the bottom of the auxiliary cleaning disk 3021.

[0316] As to the setting method of the mounting base 2023 and the vibrating plate 20232, preferentially, the mounting base 2023 comprises a top plate 20231, bottom plate 20233 disposed on the bottom of the top plate 20231, the bottom plate 20233 is provided with a mounting hole, the vibrating plate 20232 embeds inside the mounting hole; the main mop 2022 sticks on the vibrating plate 20232 and the bottom palte 20233, the main mop 2022 cover the vibrating plate 20232 and the surface of the bottom of the bottom plate 20233, the main mop 2022 comprises a main part corresponds to the vibrating plate 20232, and an auxiliary part corresponds to the bottom plate 20233, the auxiliary part is wrapped around the outer circumference of the main part in one circle. The second driving structure 201 is disposed on the body 10 or the top plate 20231, to drive the vibrating plate 20232 to oscillate or twist reciprocally, increasing the frictional force between the main part and the floor; under the action of reciprocal vibration or twisting of the main part, the auxiliary part of the main mop 2022 bears a part of force, but the auxiliary part stays on the bottom plate 20233 corresponding to the main part, due to the auxiliary part and the main part stays on the same plane, the auxiliary part and the main part can mop the floor synchronously.

[0317] In this implementation method, for example, the second driving structure 201 is disposed on the top plate 20231, located beneath the base tray 101 of the body 10, or an avoidance recess region is disposed on the base tray 101, the avoidance recess region recesses upwardly towards the inner cavity of the body 10, the first lift structure is disposed within the avoidance recess region, when staying in the lifting position, the top surface of the top plate 20231 is level or close to the bottom surface of the base tray 101, the first lift structure does not occupy the height space, increasing the ascending height of the flat mop; correspondingly, the first lift structure is disposed in the inner cavity of the body 10, to drive the second lift structure to ascend or descend through driving the whole mounting base 2023 to ascend or descend.

[0318] Or, the mounting base 2023 is only equipped with the top plate 20231, without the bottom plate 20233, the mounting hole is disposed inside the top plate 20231, the vibrating plate embeds into the mounting hole, similarly, the main mop 2022 comprises a main part corresponds to the vibrating plate 20232, and an auxiliary part corresponds to the bottom surface of the bottom plate 20233. Due to the mounting hole is disposed on the top plate 20231 for mounting the vibrating plate 20232, the second lift structure 201 and the first lift structure are both disposed within the inner cavity of the body 10, the second lift structure 201 and the first lift structure are same set of structures, and share one motor.

[0319] In order to ensure no cleaning-missed cases occur between the cleaning area of the main mop 2022 and the cleaning area of the auxiliary mop 3022, the second implementation of no cleaning-missed cases in the embodiment 1 is used, the mounting base 2023 is provided with the first part 901, the auxiliary cleaning disk 3021 is provided with the second part 902, along the forward direction of the body 10, the cleaning area of the first part 901 and the cleaning area of the second part 902 have an overlapping region 903H.

[0320] On the forward direction of the body 10, due to the main mop 2022 occupies the rear portion of the body 10, there is no space reserved for the auxiliary cleaning disk 3021 at the rear portion of the body 10, in order to avoid affecting the cleaning area and cleaning effectiveness of the main cleaning rag 2022, on the forward direction of the body 10, the auxiliary cleaning disk 3021 is disposed in front of the mounting base 2023, the auxiliary mop 3022 on the auxiliary cleaning disk 3021 cleans firstly, and the main mop 2022 cleans afterwards, due to the second part 902 is at front, the first part 901 of the auxiliary mop 3022 is at back, the main mop 2022 on the second part 902 cleans firstly, and the auxiliary mop 3022 of the first part 901 cleans afterwards, the cleaning area cleaned by the second part 902 firstly and the cleaning area cleaned by the first part 901 afterwards have the overlapping region 903, to prevent the occurrence of the cleaning-missed cases.

[0321] For example, due to the vibrating plate 20232 on the flat mop oscillates or twists reciprocally, which is different with the rotating motion of the auxiliary cleaning disk 3021, in order to avoid the oscillating or twisting reciprocally of the vibrating plate 20232, in this implementation method, along the forward direction of the body 10, there is a gap between the auxiliary cleaning disk 3021 and the mounting base 2023, the rotation of the auxiliary cleaning disk 3021 and the reciprocally oscillating or twisting of the vibrating plate 20232 are independent, without affecting each other. Or, the auxiliary cleaning disk 3021 and the mounting base 2023 are disposed adjacently or closedly, but move independently, without affecting each other.

[0322] The edge brush and the buffer 70 are both disposed on the bottom of the front portion of the body 10; along the width direction of the body 10, the auxiliary cleaning disk 3021 and the edge brush are both disposed on the right side of the body 10, to form a right edge; the two driving wheels 801 of the locomotion system 80, the two driving wheels 801 are disposed on the bottom of the body 10 symmetrically.

[0323] Along the forward direction of the body 10, the flat mop is disposed behind the driving wheel 801, the auxiliary cleaning disk 3021 is disposed in front of the flat mop; along the width direction of the body 10, at least part of the auxiliary cleaning disk 3021 is disposed within the region on the outside of the right side driving wheel 801, such that a part of the auxiliary cleaning disk 3021 extends beyond the edge of the maximum width of the body 10, to achieve the cleaning along the edge.

[0324] Due to the main mop 2022 of the flat mop covers the rear portion of the body 10, in order to avoid affecting the normal cleaning of the flat mop, the auxiliary cleaning disk 3021 is disposed on the outside of the right side driving wheel 801, without affecting the movement of the right side driving wheel 801 while the auxiliary mop 3022 is achieving the cleaning along the edge, no other structures are disposed within the region on the outside of the right side driving wheel 801 on the base tray 101, therefore, taking the advantage of setting the auxiliary cleaning disk 3021 within the region on the outside of the right side driving wheel 801, the layout of other structures and the function achieved are not affected.

[0325] Even if the downward-looking sensor is disposed within the region on the outside of the right side driving wheel 801 on the base tray 101, in order to set the auxiliary cleaning disk 3021, the downward-looking sensor can be disposed within the region on the base tray 101, the region is between the right side driving wheel 801 and the flat mop, the function of the downward-looking sensor will not be affected, the auxiliary cleaning disk 3021 can be disposed without changing the layout of the driving wheel 801, the flat mop, the rolling brush 403 (part of or all of the rolling brush 403 is disposed between the two driving wheels 801) and the edge brush on the base tray 101, to achieve the cleaning effectiveness along the edge, such that the layout of the structures on the whole base tray 101 is compact.

[0326] Furthermore, along the forward direction of the body 10, the rolling brush 403 is disposed in front of the auxiliary cleaning disk 3021, to ensure that the rolling brush 403 and the edge brush of the dry cleaning module 40 can both clean at first, then using the wet type flat mop and the auxiliary cleaning disk 3021 to mop the floor.

[0327] Due to the auxiliary cleaning module 30 is disposed on the mounting base 2023, there is no need to enable the second lift structure to ascend or descend, the mounting base 2023 is disposed beneath the base tray 101, the base tray 101 is provided with the first avoidance region, such that the first driving structure 302 mounts on the top of the mounting base 2023, and extends into the inner cavity of the body 10 through the first avoidance region.

[0328] As shown in FIG. 30, the first driving structure 302 comprises the second motor, and the second transmission mechanism 204 transferring the driving force of the second motor to the auxiliary cleaning disk 3021, to drive the auxiliary cleaning disk 3021 to rotate.

[0329] For example, the base tray 101 is provided with a first avoidance hole, the output end of the second transmission mechanism is provided with a fifth mounting cavity recessed upwardly, the output end passes through the first avoidance hole to connect to the mounting protrussion 2023 of the auxiliary cleaning disk 3021, such that the auxiliary cleaning disk 3021 is disposed beneath the base tray 101. The mounting protrusion 3023 of the auxiliary cleaning disk 3021 can be detachably installed inside the fifth mounting cavity through a magnetic suction method or with a snap-fastener method. One end of the second transmission mechanism facing away from the output shaft of the second motor extends in the direction towards the right side driving wheel 801, and avoid the driving wheel 801, such that the auxiliary cleaning disk 3021 is disposed within the region on the outside of the right side driving wheel 801, the second transmission mechanism can be gear transmission, to reduce the rotational speed of the auxiliary cleaning disk 3021. Similar to the embodiment 1, the area of the auxiliary cleaning disk 3021 is smaller than the area of the mounting 2023, such that the auxiliary mop 3022 forms small rag, the main mop 2022 forms big rag cleaning.

[0330] The layout of other structures inside the inner cavity of the body 10, the main fan 402 of the dry cleaning module 40 is distributed at the rear portion of the dust box chamber 108, the dust exhaust channel 404 is distributed at the right side corner or right side of the dust box 401, the second driving structure 201 is disposed within the avoidance recess region of the base tray 101 (i.e. the inner cavity of the body 10 is provided with a correspondent avoidance cam 304), as shown in FIG. 29, the main fan 402 is distributed near the dust exhaust channel 404, the avoidance cam is distributed on the right side of the main fan 402, the first lift structure is distributed on the left side of the main fan 402.

[0331] When the auxiliary cleaning module 30 is not set, the inlet channel on the right side of the main fan 402 inside the body 10 is connected with the air inlet of the dust box 401, the discharge end of the dust sunction fan on the base station is connected with the inlet channel, the suction end is connected with the dust exhaust channel 404, to form a dust collection mode of one blow and one suction.

[0332] When the auxiliary cleaning module 30 is set, in order to supply avoidance space for the first driving structure 302, the inlet channel can be omitted, such that the second transmission mechanism of the first driving structure 302 extends towards the outside of the right side driving wheel 801. When the body 10 is connected with the exterior, the region connected with the air inlet can serve as the intake area.

[0333] As an alternative implementation method of the embodiment 2, the main cleaning module 20 is a track but not a flat mop, the mounting base 2023 is a track cover, the main cleaning component can be a track rotatably mounted on the track cover and disposed beneath the track cover, the second transmission mechanism drives the track to move so as to clean the surface to be cleaned such as floor, the auxiliary cleaning disk 3021 is also disposed on the outside of the right side driving wheel 801, and is disposed at the same side with the edge brush, to form a right edge mode.

[0334] The auxiliary cleaning module 30 is disposed on the track cover as a whole, the first lift structure drives the track cover to ascend or descend, driving the auxiliary cleaning module 30, the track cover and the track to ascend or descend synchronously.

[0335] Above all, the auxiliary cleaning assembly 302 does not swing, the auxiliary cleaning assembly 302 is fixed on the body 10 or the main cleaning assembly 202, at least part of the auxiliary cleaning assembly 302 is always disposed outside the edge of the body 10, to achieve the cleaning along the edge. The main cleaning assembly 202 and the auxiliary cleaning assembly 30210 achieves the function of no cleaning-missed cases, supply the avoidance space for the installation of the auxiliary cleaning module 30 without changing or only changes the layout of the water replenishing mechanism 50, while enabling the auxiliary component on the auxiliary cleaning disk 3021 to achieve cleaning along the edge, there is little or no impact on other structures on the body 10.

[0336] As an alternative implementation method of the embodiment 2, the auxiliary cleaning module 30 (flat mop or track) also can be disposed on the body 10 but not on the mounting base 2023, the first driving structure 302 uses the first driving structure 302 of the embodiment 1 to drive the auxiliary cleaning disk 3021 to rotate, ascend or descend to mop the floor.

[0337] As an alternative implementation method of any one of the aforementioned embodiment, the auxiliary cleaning disk 3021 can remain stationary without setting the first driving structure 302, but to set the second lift structure to drive the auxiliary cleaning disk 3021 to ascend or descend, when mopping the floor, the auxiliary cleaning disk 3021 can achieve the cleaning along the edge without rotating.

Embodiment 3

[0338] The implementation method provides a base station, wherein, the base station comprises a main body, the main body is provided with a cleaning chamber, the cleaning chamber is provided with at least one main cleaning area and auxiliary cleaning area; when the cleaning device of any one of the embodiment 1 or the embodiment 2 returns to the base station, the main cleaning area and the auxiliary cleaning area are respectively configured for cleaning the main mop 2022 of the main cleaning assembly 202 and the auxiliary mop 3022 of the auxiliary cleaning assembly 302 disposed on the cleaning device.

[0339] The base station of this implementation method, when corresponding to the two main cleaning disks 2021 and the auxiliary cleaning disk 3021 of the embodiment 1, two main cleaning areas and auxiliary cleaning area are disposed on the main body, when the main mop 2022 and/or the auxiliary rag 3022 is needed to be cleaned, the robot returns to the basic containment chamber of the base station, the cleaning chamber is disposed on the bottom of the containment chamber, each main cleaning area is correspondent to one main mop 2022, the auxiliary cleaning area is correspondent to the auxiliary mop 3022, achieving the cleaning to the two main mops 2022 and the auxiliary mop 3022. The layout of the main cleaning area and the auxiliary cleaning area is correspondent to the layout of the two main mops 2022 and the auxiliary mop 3022 in the embodiment 1.

[0340] Specifically, at least one main protruding rib protruded upwardly is disposed within the main cleaning area, to clean the main mop 2022 through the friction between the main protruding rib and the main mop 2022; at least one auxiliary protruding rib protruded upwardly is disposed within the auxiliary cleaning area, to clean the auxiliary mop 3022 through the friction between the auxiliary protruding rib and the auxiliary mop 3022.

[0341] Or, a cleaning disk is disposed on the bottom of the containment chamber of the body 10, the cleaning disk is provided with the main cleaning area and the auxiliary cleaning area, at least one main protruding rib protruded upwardly is disposed within the main cleaning area, to clean the main mop 2022 through the friction between the main protruding rib and the main mop 2022; at least one auxiliary protruding rib protruded upwardly is disposed within the auxiliary cleaning area, to clean the auxiliary mop 3022 through the friction between the auxiliary protruding rib and the auxiliary mop 3022. The main protruding rip and the auxiliary protruding rib are disposed on the cleaning disk, facilitating to remove the cleaning disk from the containment chamber of the base station to clean the cleaning disk.

[0342] In order to enhance the cleaning effectiveness, during the process of cleaning, the main cleaning disk 2021 drives the main mop 2022 to rotate, such that a rotational friction is formed between the main mop 2022 and the main protruding rib, increasing the effectiveness of frictional cleaning. Or the main cleaning disk does not rotate, the main protruding rig rotates, such that the rotational friction is formed between the main protruding rib and the main mop 2022.

[0343] Similarly, during the process of cleaning, the auxiliary cleaning disk 3021 drives the auxiliary mop to rotate, such that a rotational friction is formed between the auxiliary rag 3022 and the auxiliary protruding rib, increasing the effectiveness of frictional cleaning. Or the auxiliary cleaning disk does not rotate, the auxiliary protruding rig rotates, such that the rotational friction is formed between the auxiliary protruding rib and the auxiliary rag 3022.

[0344] The base station of this implementation method, when corresponding to the flat mop and the auxiliary cleaning disk 3021 of the embodiment 2, the main body is provided with one main cleaning area and auxiliary cleaning area, when the main mop 2022 and/or the auxiliary rag 3022 is needed to be cleaned, the robot returns to the basic containment chamber of the base station, the cleaning chamber is disposed on the bottom of the containment chamber, the main cleaning area is correspondent to one main mop 2022, the auxiliary cleaning area is correspondent to the auxiliary mop 3022, achieving the respectively cleaning to the main mop 2022 and the auxiliary mop 3022. The layout of the main cleaning area and the auxiliary cleaning area is correspondent to the layout of the main mop 2022 and the auxiliary mop 3022 in the embodiment 2.

[0345] Specifically, at least one main protruding rib protruded upwardly is disposed within the main cleaning area, to clean the main mop 2022 through the friction between the main protruding rib and the main mop 2022; at least one auxiliary protruding rib protruded upwardly is disposed within the auxiliary cleaning area, to clean the auxiliary mop 3022 through the friction between the auxiliary protruding rib and the auxiliary mop 3022.

[0346] Or, a cleaning disk is disposed on the bottom of the containment chamber of the body 10, the cleaning disk is provided with the main cleaning area and the auxiliary cleaning area, at least one main protruding rib protruded upwardly is disposed within the main cleaning area, to clean the main mop 2022 through the friction between the main protruding rib and the main mop 2022; at least one auxiliary protruding rib protruded upwardly is disposed within the auxiliary cleaning area, to clean the auxiliary mop 3022 through the friction between the auxiliary protruding rib and the auxiliary mop 3022. The main protruding rip and the auxiliary protruding rib are disposed on the cleaning disk, facilitating to remove the cleaning disk from the containment chamber of the base station to clean the cleaning disk.

[0347] In order to enhance the cleaning effectiveness, during the process of cleaning, the vibrating plate 20322 oscillates or twists reciprocally to drive the main mop 3022 to oscillate or twist reciprocally, such that a slidable friction is formed between the main mop 2022 and the main protruding rib, increasing the effectiveness of frictional cleaning. Or the vibrating plate 20322 does not drive the main mop 3022 to oscillate or twist reciprocally, the main protruding rig moves reciprocally, such that a slidable friction is formed between the main protruding rib and the main mop 2022, scrape off the dirt or grime on the main mop 2022 on the flat mop.

[0348] Similiarly, during the process of cleaning, the auxiliary cleaning disk 3021 drives the auxiliary mop 3022 to rotate, such that a rotational friction is formed between the auxiliary mop 3022 and the auxiliary protruding rib, increasing the effectiveness of frictional cleaning. Or the auxiliary cleaning disk does not rotate, the auxiliary protruding rib rotates, such that a rotational friction is formed between the auxiliary protruding rib and the auxiliary mop 3022.

Embodiment 4

[0349] This embodiment provides a cleaning system, the cleaning system comprises the cleaning device of any one of the implementation methods in the embodiment 1 or the embodiment 2, and any one of the base stations in the embodiment 3.

[0350] The cleaning system of this implementation method, due to comprise the cleaning device of the embodiment 1 or the embodiment 2, and the base station of the embodiment 3, in the cleaning system, part of the auxiliary cleaning disk 3021 always extend beyond the edge of the body 10 to achieve the cleaning along the edge, the cleaning device can return to the base station to perform self-cleaning on the main mop 2022 and the auxiliary mop 3022.

[0351] It should be noted that the above embodiments are only intended to illustrate the technical solutions of the present application, and not to limit them; although detailed descriptions have been provided for the aforementioned embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the embodiments, or equivalent substitutions can be made to some or all of the technical features; such modifications or substitutions do not depart from the scope of the technical solutions of the various embodiments of the present application.