CN220477532U - Sweeping robot and cleaning module thereof - Google Patents

Abstract

The utility model discloses a sweeping robot and a cleaning module of the sweeping robot, wherein the sweeping robot comprises: a machine body; the cleaning unit comprises at least one cleaning module, wherein the cleaning module comprises a module body, and the module body has a cleaning function; and the first driving part is used for adjusting the position of at least one module body relative to the machine body under the driving of the first driving part. In the above-mentioned scheme, first drive division can carry out position control to the module body, can change the clearance scope, can realize the clearance to different regions, is favorable to reducing the clearance dead angle, promotes cleaning efficiency and cleaning effect to can promote user's use experience.

Description

Sweeping robot and cleaning module thereof

Technical Field

The utility model relates to the technical field of intelligent household appliances, in particular to a sweeping robot and a cleaning module of the sweeping robot.

Background

Sweeping robots are a common intelligent household appliance used for automatically completing cleaning of the floor of a room.

In the related art, a sweeping robot is configured with a travel module and a cleaning module, and the sweeping robot can be displaced in a room through the travel module and can clean the floor of the room through the cleaning module. In general, the cleaning module is fixed, the cleaning range is limited, and when cleaning a room, cleaning dead angles, such as corners, corners of walls and the like, exist easily, so that the use experience of a user is relatively poor.

Therefore, how to provide a solution to overcome or alleviate the above-mentioned drawbacks is still a technical problem to be solved by those skilled in the art.

Disclosure of Invention

The utility model aims to provide a sweeping robot and a cleaning module of the sweeping robot, wherein the cleaning range of the sweeping robot can be adjusted, so that cleaning of different areas can be realized, and cleaning dead angles can be reduced.

In order to solve the above technical problems, the present utility model provides a sweeping robot, comprising: a machine body; the cleaning unit comprises at least one cleaning module, wherein the cleaning module comprises a module body, and the module body has a cleaning function; and the first driving part is used for adjusting the position of at least one module body relative to the machine body under the driving of the first driving part.

In the above-mentioned scheme, at least one module body can cooperate with first drive division to be used for carrying out position control under the drive of first drive division, thereby can change the clearance scope of clearance module, can realize the clearance to different regions, be favorable to reducing clearance dead angle, promote cleaning efficiency and cleaning effect, and can promote user's use experience.

Optionally, the first driving part is installed in the machine body, and is connected with the module body, and is used for driving the module body connected with the first driving part to perform linear displacement, the machine body has a running direction, and the linear displacement direction of the module body and the running direction are arranged at an included angle.

Optionally, the first driving part includes driving a rotation part and a screw rod, the driving part is connected with the screw rod and is used for driving the screw rod to rotate, and the module body is in threaded connection with the screw rod.

Optionally, the module further comprises a guide component, wherein the module body is provided with a guide matching part, and the guide component is inserted into the guide matching part.

Optionally, the device further comprises a mounting seat, wherein the rotation driving component and the guiding component are fixedly assembled on the mounting seat, and the mounting seat is mounted on the machine body.

Optionally, the module body includes a second driving part and a cleaning part, where the second driving part is connected to the cleaning part and is used to drive the cleaning part to rotate.

Optionally, the cleaning part comprises a rotating disc and a cleaning element, the cleaning element is mounted on the rotating disc, and the second driving part is connected with the rotating disc.

Optionally, the rotary disk includes main disk body, floating axle and elastomeric element, the cleaning element install in the main disk body, the floating axle along axial sliding connection in the main disk body, the floating axle with the main disk body can synchronous rotation, elastomeric element sets up the floating axle with between the main disk body, the second drive division with the floating axle links to each other.

Optionally, the cleaning unit comprises two cleaning modules; the module body of one cleaning module is connected with the first driving part, and the cleaning module is a mobile module; the module body of the other cleaning module is fixedly arranged, and the cleaning module is a fixed module; the mobile module is provided with a first working position and a second working position; in the first working position, a first interval is arranged between the module body of the mobile module and the module body of the fixed module; in the second working position, a second interval is arranged between the module body of the mobile module and the module body of the fixed module, and the first interval is unequal to the second interval.

The utility model also provides a cleaning module of the sweeping robot, which comprises a module body and a first driving part, wherein the module body has a cleaning function, and the first driving part is connected with the module body and is used for driving the module body to carry out position adjustment. Under the effect of first drive division, the module body can carry out position adjustment to can produce different clearance scope, be favorable to reducing the clearance dead angle.

Drawings

FIG. 1 is a schematic view of a construction of a specific embodiment of a robot for sweeping floor according to the present utility model;

FIG. 2 is a schematic view of the structure of FIG. 1 from another perspective;

FIG. 3 is an enlarged view of a portion of the cleaning module of FIG. 2;

FIG. 4 is a bottom view of the floor sweeping robot with the movable cleaning module in a first work position;

FIG. 5 is a bottom view of the sweeping robot with the movable cleaning module in a second working position;

fig. 6 is a schematic structural view of the cleaning portion.

The reference numerals are explained as follows:

1a machine body;

2, a walking module;

the cleaning module comprises a cleaning module body 3, a module body 31, a guiding matching part 311, a second driving part 312, a cleaning part 313, a rotating disk 313a, a main disk body 313a-1, a floating shaft 313a-2, an elastic part 313a-3, a magnet 313a-4, a cleaning element 313b, a screw matching part 314, a first driving part 32, a 321 driving part, a screw 322, a 323 supporting bearing, a 33 guiding part and a 34 mounting seat.

Detailed Description

In order to make the technical solution of the present utility model better understood by those skilled in the art, the present utility model will be further described in detail with reference to the accompanying drawings and specific embodiments.

In embodiments of the present utility model, the terms "first," "second," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more such feature.

In describing embodiments of the present utility model, it should be noted that, unless explicitly stated and limited otherwise, the terms "mounted," "connected," and "connected" should be construed broadly, and for example, "connected" may be either detachably connected or non-detachably connected; may be directly connected or indirectly connected through an intermediate medium.

In the description of embodiments of the present utility model, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.

Referring to fig. 1 to 6, fig. 1 is a schematic structural diagram of a specific embodiment of a sweeping robot according to the present utility model; FIG. 2 is a schematic view of the structure of FIG. 1 from another perspective; FIG. 3 is an enlarged view of a portion of the cleaning module of FIG. 2; FIG. 4 is a bottom view of the floor sweeping robot with the movable cleaning module in a first work position; FIG. 5 is a bottom view of the sweeping robot with the movable cleaning module in a second working position; fig. 6 is a schematic structural view of the cleaning portion.

As shown in fig. 1 to 5, the present utility model provides a robot for sweeping floor, which comprises a machine body 1, a walking module 2, and a cleaning unit including a cleaning module 3.

The machine body 1 is a base module of the sweeping robot, which may include a housing, a controller, a scanning part, and the like. The shell is generally cylindrical, so that the steering smoothness of the sweeping robot is improved, and the collision damage of the shell and the collision damage of the sweeping robot to a room wall and the like can be reduced; of course, in other embodiments of the present utility model, the housing may be in other forms such as a square column, as long as the housing can meet the requirements of use. The scanning means may in particular be a sensor device in the form of a camera, infrared or ultrasound or the like for scanning the floor of the room in order to plan the travel path of the machine body 1. The controller is a core device of the sweeping robot and is used for being connected with the scanning component and the like in a signal mode so as to receive signals measured by the scanning component and can issue corresponding control instructions for the sweeping robot.

The travel module 2 may be mounted to the machine body 1. The running module 2 may comprise a running wheel and a running drive. The running driving part can be a driving element in the form of a motor and the like, and can be connected with the controller in a signal manner and used for receiving a control instruction from the controller. At least part of the running wheels can be in transmission connection with the running driving part and used for rotating under the driving of the running driving part, so that the machine main body 1 can be driven to move forward, backward, turn, transversely move and the like on the floor of a room. The running wheel in transmission connection with the running driving part is a driving wheel. In practical application, all the running wheels can be driving wheels; alternatively, part of the running wheels may be driven wheels, while the remaining running wheels are driven wheels.

The cleaning module 3 is a functional device of the sweeping robot and is used for cleaning the floor of a room. The cleaning module 3 is mounted to the machine body 1. As described in the background art section, in the related art, the cleaning modules are all fixedly disposed on the machine body 1, which results in limited cleaning range, and when cleaning the floor of a room, cleaning dead angles are easily present, which affects the use experience of customers.

In view of this, the embodiment of the present utility model further provides a cleaning module 3, which includes a module body 31 and a first driving portion 32, where the module body 31 has a cleaning function, and the first driving portion 32 and the module body 31 interact to drive the module body 31 to perform position adjustment. Like this, through removing the position of module body 31, can change the clearance scope of clearance module 3, can realize the clearance to different regions, be favorable to reducing the clearance dead angle, promote cleaning efficiency and cleaning effect to can promote user's use experience.

The position adjustment form of the module body 31 includes linear displacement and rotation.

In the rotating embodiment, the first driving part 32 may adopt a motor, a revolving cylinder, or the like, which can directly output a rotational displacement, the rotational driving element has a rotational output end, and the rotational output end may be connected to the module body 31, and the rotational driving element may drive the module body 31 to perform rotational swing so as to adjust the cleaning range of the module body 31. The rotary drive element may be directly connected to the module body 31; or, it may further include a rotating arm, one end of the rotating arm may be connected to the rotation output end, the other end of the rotating arm may be connected to the module body 31, and the rotation driving element may be indirectly connected to the module body 31 through the rotating arm, and the setting of the rotating arm may increase the rotation radius of the module body 31, so as to provide a larger swing adjustment range.

In the embodiment of linear displacement, the first driving portion 32 may adopt a linear driving element capable of directly outputting linear displacement, such as a linear cylinder, a linear oil cylinder, etc., where the linear driving element has a linear output end, and the linear output end may be directly connected to the module body 31, so as to drive the module body 31 to perform linear displacement, thereby adjusting the cleaning range of the module body 31. In addition, the first driving portion 32 may also adopt a rotary driving element such as a motor or a revolving cylinder capable of directly outputting rotary displacement, and at this time, a displacement conversion mechanism such as a rack-and-pinion mechanism or a screw mechanism may be used in combination to convert the rotary displacement directly output by the rotary driving element into the linear displacement required by the module body 31, so as to further satisfy the requirement of the module body 31 for linear displacement adjustment.

In the embodiment shown in the drawings, as shown in fig. 1 to 3, the module body 31 may adopt a position adjustment manner of linear displacement. The direction of the linear displacement is not limited, and in practical application, a person skilled in the art can set the linear displacement according to specific needs, and the linear displacement mainly can meet the technical effect of adjusting the cleaning range; the direction of the linear displacement may for example be at an angle to the direction of travel of the travel module 2, which may for example be 90 degrees or the like.

The first driving part 32 may include a driving part 321 and a screw 322. The driving component 321 can be a motor, and the motor does not need to be provided with an additional air path structure and a liquid path structure, and can realize start-stop control only by powering on or powering off, and the control logic and the whole structure form are simple; of course, other types of rotary driving elements such as a rotary cylinder may be used for the driving member 321. The driving component 321 may be connected to the screw 322, and is used for driving the screw 322 to rotate; the driving member 321 may be directly connected to the screw 322, or a transmission member in the form of a gear, a sprocket, a pulley, or the like may be provided so as to adjust a transmission ratio between the driving member 321 and the screw 322. The module body 31 may be configured with a screw fitting portion 314, and the screw fitting portion 314 may be provided with a screw hole for screw-coupling with the screw 322. After the rotation driving part 321 is started, the screw 322 can rotate, and the rotational displacement of the screw 322 can be converted into the linear displacement of the module body 31 through the threaded fit between the screw fitting part 314 and the screw 322.

Both ends of the screw rod 322 may be configured with support bearings 323 for supporting the screw rod 322, so that the stability of the screw rod 322 in rotation can be effectively improved.

The cleaning module 3 may further include a guide member 33, the module body 31 may be provided with a guide engagement portion 311, and the guide member 33 may be inserted into the guide engagement portion 311 to define a linear displacement direction of the module body 31. In the embodiment of fig. 3, the guide member 33 may be a guide rod, the guide engaging portion 311 may be a guide hole (not shown), the guide rod may be inserted into the guide hole, and the guide rod and the screw 322 may be parallel to each other.

It should be understood that the guiding member 33 may not be provided to the cleaning module 3, i.e. the cleaning module 3 may not comprise the guiding member 33; for example, the guide member 33 may be disposed on the machine body 1, and thus may be engaged with the guide engaging portion 311, and in this embodiment, the guide member 33 may be a bump or the like provided on the machine body 1.

The cleaning module 3 may further include a mounting seat 34, and the first driving portion 32 and the guiding component 33 may be fixedly assembled on the mounting seat 34, so as to improve the compactness and the integration level of the cleaning module 3. Referring to fig. 3, the number of the mounting seats 34 may be two, and the two mounting seats 34 may be disposed opposite to each other; the driving component 321 can be installed on one installation seat 34, and two ends of the screw rod 322 can be respectively installed on two installation seats 34 through the supporting bearing 323; both ends of the guide member 33 may be fixedly mounted to the two mounting seats 34, respectively.

The mounting seat 34 is used for being connected with the machine body 1, and specific connection modes include, but are not limited to, screw connection, clamping connection, riveting connection, welding connection, bonding connection and the like, so as to realize the mounting and fixing of the first driving part 32 and the guide part 33 on the machine body 1.

In the above description, the first driving portions 32 are directly connected to the module body 31, and transmit the driving force to the module body 31 in a contact manner. In addition, the driving force may be transmitted between the first driving portion 32 and the module body 31 in a non-contact manner, for example, the module body 31 may be driven to operate by magnetic force, at this time, the first driving portion 32 may be an electromagnet, the module body 31 may be provided with a permanent magnet, the electromagnet may change a magnetic pole according to a current direction, and the module body 31 may be driven to operate by generating an attraction force or a repulsive force.

The module body 31 has a cleaning function, and the specific type of the cleaning function is not limited herein, and in practical applications, a person skilled in the art may set the cleaning function according to actual needs, so long as the cleaning function can meet the requirements of use. For example, the cleaning function may be an adsorption function, in which case the module body 31 may be provided with an adsorption member to clean the floor of the room by means of vacuum adsorption; alternatively, the cleaning function may be a cleaning function, and in this case, the module body 31 may be provided with a cleaning member in the form of a brush or the like to clean the floor of the room; alternatively, the cleaning function may be a wiping function, in which case the module body 31 may be provided with a wiping member in the form of a wiper or the like to wipe the floor of the room. For convenience of description, the following embodiments of the present utility model will take, as an example, a module body 31 provided with a wiping member in the form of a wiper or the like, to describe the structural form of the module body 31.

As shown in fig. 3, the module body 31 may include a second driving part 312 and a cleaning part 313, and the second driving part 312 may be connected to the cleaning part 313 for driving the cleaning part 313 to rotate so as to enhance the cleaning effect on the floor of the room.

The second driving part 312 may specifically be a rotary driving element capable of directly outputting a rotary displacement, such as a motor, a rotary cylinder, or the like, and may be directly connected to the cleaning part 313. Alternatively, a transmission member in the form of a gear, a sprocket, a pulley, or the like may be disposed between the rotary drive element and the cleaning portion 313, so that the transmission ratio between the rotary drive element and the cleaning portion 313 and the rotational speed of the cleaning portion 313 may be adjusted.

Referring to fig. 6, the cleaning part 313 may include a rotating disk 313a and a cleaning member 313b, the cleaning member 313b may be mounted to the rotating disk 313a, and the second driving part 312 may be connected to the rotating disk 313a for driving the rotating disk 313a and the cleaning member 313b to rotate. The cleaning element 313b may be a wipe, but may also be a brush, etc.

The rotating disk 313a may include a main disk body 313a-1, a floating shaft 313a-2, and an elastic member 313a-3, and the cleaning member 313b may be mounted to the main disk body 313a-1.

The floating shaft 313a-2 may be slidably connected to the main disc 313a-1 in the axial direction, that is, the floating shaft 313a-2 and the main disc 313a-1 may be relatively displaced in the axial direction to adapt to the height fluctuation of the floor of the room. The embodiment of the present utility model is not limited to a specific implementation manner of sliding connection between the floating shaft 313a-2 and the main disc 313a-1, and those skilled in the art may configure the embodiment according to specific needs in practical applications. For example, as shown in fig. 6, the main disc body 313a-1 may be provided with a connection cylinder 313a-1a, the floating shaft 313a-2 may be inserted into the connection cylinder 313a-1a and may axially slide with respect to the connection cylinder 313a-1a, and an inner wall surface of the connection cylinder 313a-1a and an outer wall surface of the floating shaft 313a-2 may form a limit in an axial direction, so that the floating shaft 313a-2 and the main disc body 313a-1 may be prevented from being separated in an axial direction; alternatively, one of the floating shaft 313a-2 and the main disk 313a-1 may be provided with a slide groove, and the other may be inserted into the slide groove (directly inserted; or provided with a slider, and then inserted through the slider) and be able to slide along the slide groove.

The floating shaft 313a-2 and the main disk 313a-1 can be rotated synchronously, so that the main disk 313a-1 can be rotated synchronously when the floating shaft 313a-2 is rotated.

The second driving part 312 may include a power output shaft, and the floating shaft 313a-2 may be in driving connection with the power output shaft so as to introduce driving force of the second driving part 312. The connection method between the floating shaft 313a-2 and the power take-off shaft is not limited herein, and may be any one as long as it can meet the use requirements. Illustratively, the floating shaft 313a-2 and the power output shaft can be connected by adopting a relatively non-detachable connection mode such as welding, so as to improve the reliability of power transmission; alternatively, the floating shaft 313a-2 and the power output shaft may be connected by a relatively easy-to-detach connection such as flange connection, coupling connection, magnetic connection, etc., so that the cleaning portion 313 may be conveniently detached, and further the cleaning element 313b may be conveniently replaced.

Taking a magnetic attraction connection as an example, the floating shaft 313a-2 and the power output shaft may be provided with magnets 313a-4, and at this time, polarities of opposite sides of the magnets 313a-4 provided on the floating shaft 313a-2 and the power output shaft may be opposite, so that the floating shaft 313a-2 and the power output shaft may be attracted to each other; alternatively, only one of the floating shaft 313a-2 and the power take-off shaft may be provided with the magnet 313a-4, and the other may be provided with a metal member that can be attracted by the magnet 313a-4, so that the magnetic attraction connection between the power take-off shaft and the floating shaft 313a-2 can be also achieved.

The elastic member 313a-3 may be disposed between the floating shaft 313a-2 and the main disc 313a-1, and is used to provide a pressing force to the main disc 313a-1, so as to improve the contact tightness between the cleaning element 313b and the floor of the room, and further improve the cleaning effect.

The elastic component 313a-3 can be a spring, the types of the spring are numerous, the acquisition and the selection of the spring are relatively easy, and the elastic component has better elastic deformation and elastic restoring capability, and can better meet the use requirement of the rotating disk 313 a. In addition, the elastic member 313a-3 may be an elastic body made of a material having a certain elastic deformability, such as rubber or latex.

The cleaning unit may comprise only one cleaning module 3 or the cleaning unit may comprise a plurality of cleaning modules 3. When the number of cleaning modules 3 is plural, only part of the cleaning modules 3 may be the above-described cleaning modules 3 capable of performing position adjustment, and of course, each cleaning module 3 may be the above-described cleaning modules 3 capable of performing position adjustment.

In the embodiment of the drawings, as shown in fig. 1 to 5, there may be two cleaning modules 3, and one of the two cleaning modules 3 may be the cleaning module 3 capable of performing position adjustment, and the other may be the cleaning module 3 with a fixed installation position of the module body 31. For convenience of description, the cleaning module 3 in which the module body 31 is mounted in a fixed position may be referred to as a fixed module, and the cleaning module 3 capable of performing position adjustment may be referred to as a movable module.

In specific practice, according to actual use requirements, the module body 31 in the mobile module can be controlled to perform position adjustment so as to switch between different working positions, and under different working positions, the distance between the two cleaning modules 3 can be different, so that different cleaning ranges can be formed. Here, the number of working positions of the module body 31 is not limited in the embodiment of the present utility model, and in practical application, a person skilled in the art may set the number according to specific needs.

Fig. 4 and 5 show two working positions. In the first operating position shown in fig. 4, two cleaning modules 3 can have a first distance between them. In the second operating position shown in fig. 5, two cleaning modules 3 can have a second distance between them. The second pitch and the first pitch may be unequal in order to achieve cleaning of different areas, in particular of corner areas, corner areas etc.

The embodiment of the present utility model is not limited to the specific distance values of the first pitch and the second pitch, and in practical application, those skilled in the art may adjust the distance values according to actual needs, so long as the distance values can meet the use needs. Illustratively, in the first operating position, the first spacing may be substantially 0, such that the cleaning portions 313 of the two cleaning modules 3 may substantially contact to present a substantially 0 gap, which may reduce the cleaning dead angle between the two cleaning modules 3; in the process of switching to the second working position, the module body 31 of the mobile module can be relatively far away from the fixed module, and the cleaning portion 313 of the mobile module can extend out of the machine body 1 in the width direction as much as possible, so that cleaning of corner areas, corner areas and the like is more facilitated.

The foregoing is merely a preferred embodiment of the present utility model and it should be noted that modifications and adaptations to those skilled in the art may be made without departing from the principles of the present utility model, which are intended to be comprehended within the scope of the present utility model.

Claims (10)

1. A robot for sweeping floor, comprising:

a machine body (1);

the cleaning unit comprises at least one cleaning module (3), wherein the cleaning module (3) comprises a module body (31), and the module body (31) has a cleaning function;

-a first drive (32), at least one of said cleaning modules (3) being able to be position-adjusted with respect to said machine body (1) under the actuation of said first drive (32).

2. The robot cleaner according to claim 1, wherein the first driving part (32) is mounted on the machine body (1) and is connected to the module body (31) for driving the module body (31) connected thereto to perform linear displacement, the machine body (1) has a running direction, and the linear displacement direction of the module body (31) and the running direction are disposed at an included angle.

3. The robot cleaner according to claim 2, wherein the first driving part (32) comprises a driving part (321) and a screw (322), the driving part (321) is connected with the screw (322) for driving the screw (322) to rotate, and the module body (31) is in threaded connection with the screw (322).

4. A robot cleaner according to claim 3, further comprising a guide member (33), wherein the module body (31) is provided with a guide mating portion (311), and wherein the guide member (33) is inserted into the guide mating portion (311).

5. The robot cleaner according to claim 4, further comprising a mounting base (34), wherein the rotation driving member (321) and the guide member (33) are fixedly assembled to the mounting base (34), and wherein the mounting base (34) is mounted to the machine body (1).

6. The robot cleaner according to any of the claims 1-5, wherein the module body (31) comprises a second driving part (312) and a cleaning part (313), the second driving part (312) being connected to the cleaning part (313) for driving the cleaning part (313) to rotate.

7. The robot of claim 6, wherein the cleaning part (313) comprises a rotating disc (313 a) and a cleaning element (313 b), the cleaning element (313 b) is mounted on the rotating disc (313 a), and the second driving part (312) is connected to the rotating disc (313 a).

8. The robot cleaner according to claim 7, wherein the rotating disc (313 a) comprises a main disc body (313 a-1), a floating shaft (313 a-2) and an elastic member (313 a-3), the cleaning element (313 b) is mounted on the main disc body (313 a-1), the floating shaft (313 a-2) is axially slidably connected to the main disc body (313 a-1), the floating shaft (313 a-2) and the main disc body (313 a-1) can synchronously rotate, the elastic member (313 a-3) is disposed between the floating shaft (313 a-2) and the main disc body (313 a-1), and the second driving part (312) is connected to the floating shaft (313 a-2).

9. The robot cleaner according to any of the claims 1-5, characterized in that the cleaning unit comprises two cleaning modules (3); the module body (31) of one cleaning module (3) is connected with the first driving part (32), and the cleaning module (3) is a mobile module; the module body (31) of the other cleaning module (3) is fixedly arranged, and the cleaning module (3) is a fixed module;

the mobile module is provided with a first working position and a second working position; in the first operating position, a first distance is provided between the module body (31) of the mobile module and the module body (31) of the stationary module; in the second working position, a second distance is arranged between the module body (31) of the mobile module and the module body (31) of the fixed module, and the first distance is not equal to the second distance.

10. The cleaning module of the sweeping robot is characterized by comprising a module body (31) and a first driving part (32), wherein the module body (31) has a cleaning function, and the first driving part (32) is connected with the module body (31) and is used for driving the module body (31) to carry out position adjustment.