Cleaning robot, cleaning system, and cleaning method

Abstract

A cleaning robot including a body ( 10 ), a moving unit ( 20 ) arranged on the body ( 10 ) and configured to support the body ( 10 ) and drive the cleaning robot to move on the surface of a working area, a mopping unit ( 40 ) provided with a mopping working head provided on the body ( 10 ) and configured to execute a preset mopping action, and a control unit ( 50 ) configured to when the cleaning robot is in a state of being ready to travel onto a carpet, control the mopping working head to be risen, whereby the rising height of the mopping working head is greater than 6 mm, and whereby the cleaning robot can adapt to soft ground materials such as carpets resulting in improved adaptability of the cleaning robot.

1 - 59 . (canceled) 
     
     
         60 . A cleaning robot. wherein the cleaning robot comprises:
 a body;   a moving unit arranged on the body and configured to support the body and drive the cleaning robot to move on a surface of a working region;   a mopping unit provided with a mopping working head, wherein the mopping unit is arranged on the body and configured to perform a preset mopping action; and   a control unit configured to control the mopping working head to rise when the cleaning robot is in a state of being about to move onto a carpet, wherein a rising height of the mopping working head is greater than 6 mm.   
     
     
         61 . The cleaning robot according to  claim 60 , wherein the cleaning robot further comprises: a sweeping unit provided with a sweeping working head, where the sweeping unit is arranged on the body and configured to perform a preset sweeping action;
 the cleaning robot is configured to include at least a cleaning mode and a mopping mode; and   the control unit is configured to, when the cleaning robot is in the cleaning mode and the cleaning robot detects a carpet, control the mopping working head to rise and control the cleaning robot to move onto the carpet to make it convenient for the sweeping unit to perform the sweeping action on the carpet, wherein a rising height of the mopping working head is greater than 6 mm.   
     
     
         62 . The cleaning robot according to  claim 61 , wherein the control unit is configured to, when the cleaning robot is in the mopping mode and the cleaning robot detects a carpet, control the cleaning robot to switch to the cleaning mode, control the mopping working head to rise and control the cleaning robot to move onto the carpet to sweep the carpet, wherein a rising height of the mopping working head is greater than 6 mm. 
     
     
         63 . The cleaning robot according to  claim 60 , wherein the rising height is simultaneously less than or equal to 20 mm. 
     
     
         64 . The cleaning robot according to  claim 60 , wherein a space volume occupied by the mopping working head in a rising process is a first volume, and a space volume occupied by the body of the cleaning robot is a second volume, wherein a ratio of the first volume to the second volume is less than or equal to 0.1. 
     
     
         65 . The cleaning robot according to  claim 60 , wherein the rising height is simultaneously less than or equal to a difference between a thickness of the body and a height of a bottom surface of the body away from a ground. 
     
     
         66 . The cleaning robot according to  claim 60 , wherein the rising height is greater than or equal to 6.5 mm. 
     
     
         67 . The cleaning robot according to  claim 66 , wherein a space volume occupied by the mopping working head in a rising process is a first volume, and a space volume occupied by the body of the cleaning robot is a second volume, wherein a ratio of the first volume to the second volume is greater than or equal to 0.004. 
     
     
         68 . The cleaning robot according to  claim 60 , wherein the mopping working head comprises a mop board configured to mount a wiping member; and the mopping unit comprises a mopping state switching assembly configured to drive the mop board to move up and down along a direction perpendicular to a working surface. 
     
     
         69 . The cleaning robot according to  claim 68 , wherein the mopping state switching assembly comprises a first switching member and a second switching member, the first switching member and the second switching member are connected to a mop board and arranged on two sides of a central axis of the mop board, and the first switching member collaborates with the second switching member to drive the mop board to move up and down along a direction perpendicular to a working surface. 
     
     
         70 . The cleaning robot according to  claim 69 , wherein the mopping state switching assembly further comprises a connection member configured to drive at least one part of the first switching member and at least one part of the second switching member to simultaneously move up and down in the direction perpendicular to the working surface. 
     
     
         71 . The cleaning robot according to  claim 68 , wherein at least one part of the mopping state switching assembly is connected to the mop board, and the at least one part of the mopping state switching assembly and the mop board move together. 
     
     
         72 . The cleaning robot according to  claim 61 , wherein the sweeping working head comprises a sweeping state of being in contact with the surface of the working region and a non-sweeping state of being out of contact with the surface of the working region;
 wherein the control unit is configured to control the sweeping working head to switch to the non-sweeping state when the cleaning robot is in the mopping mode and to control the sweeping working head to switch to the sweeping state when the cleaning robot is in the sweeping mode; and   wherein the sweeping working head is configured to switch between a sweeping working position of being in contact with the surface of the working region and a sweeping rising position of being out of contact with the surface of the working region,   whereby when the sweeping working head is in the sweeping state, the sweeping working head is in the sweeping working position, and when the sweeping working head is in the non-sweeping state, the sweeping working head is in the sweeping rising position to make it convenient to control the sweeping working head to perform state switching between the sweeping state and the non-sweeping state.   
     
     
         73 . The cleaning robot according to  claim 72 , wherein the sweeping working head comprises a roller brush working head and a side brush working head;
 wherein the control unit is configured to control the roller brush working head and the side brush working head to simultaneously rise when the cleaning robot is in the mopping mode.   
     
     
         74 . The cleaning robot according to  claim 73 , wherein the sweeping unit comprises a sweeping state switching assembly, and the sweeping state switching assembly is configured to simultaneously drive the roller brush working head and the side brush working head to move up and down. 
     
     
         75 . The cleaning robot according to  claim 72 , wherein the sweeping working head comprises at least one roller brush working head having a roller brush working position in contact with the surface of the working region and a roller brush rising position out of contact with the surface of the working region;
 wherein when the sweeping working head is in the sweeping state, the roller brush working head is in the roller brush working position, and when the sweeping working head is in the non-sweeping state, the roller brush working head is in the roller brush rising position.   
     
     
         76 . The cleaning robot according to  claim 75 , wherein the roller brush working head is configured to switch between the roller brush working position and the roller brush rising position in a rotation manner. 
     
     
         77 . The cleaning robot according to  claim 76 , wherein when the roller brush working head is in the sweeping state, the roller brush working head rotates around a roller brush shaft, and in a rotating process, the roller brush working head passes through at least a roller brush working position in contact with the surface of the working region and a roller brush rising position out of contact with the surface of the working region; and
 wherein when the sweeping working head is in the non-sweeping state, the roller brush working head is in the roller brush rising position.   
     
     
         78 . The cleaning robot according to  claim 75 , wherein the sweeping unit comprises a sweeping state switching assembly that is configured to drive the roller brush working head to move up and down; and
 wherein the sweeping state switching assembly comprises a first motor and a first cam, wherein the first cam is configured to follow the first motor to rotate, wherein the first motor rotates along a preset first direction and drives the first cam to rotate to rise the roller brush working head, and wherein the first motor rotates along a preset second direction and drives the first cam to rotate to drive the roller brush working head to descend, whereby the second direction is opposite to the first direction.   
     
     
         79 . The cleaning robot according to  claim 72 , wherein the sweeping working head comprises at least one side brush working head rotatable around a rotational shaft, the side brush working head comprising a side brush;
 wherein the sweeping unit comprises a sweeping state switching assembly that is configured to drive the side brush working head to move up and down;   wherein when the sweeping working head is in the sweeping state, the side brush working head rotates around the rotational shaft, and in a rotating process, the side brush passes through at least a side brush working position in contact with the surface of the working region and a side brush rising position out of contact with the surface of the working region; and   wherein when the sweeping working head is in the non-sweeping state, the side brush is always in the side brush rising position.