Patent Publication Number: US-2021161352-A1

Title: Sweeping robot

Description:
CROSS-REFERENCE TO RELATED APPLICATIONS 
     The present application claims the priority of the Chinese Patent Application No. CN 201911219787. X, filed on Nov. 28, 2019 and titled SWEEPING ROBOT, the content and specification of which is incorporated by reference herein in its entirety. 
     TECHNICAL FIELD 
     The present disclosure relates to the technical filed of cleaning machinery, in particular to a sweeping robot. 
     BACKGROUND 
     With the development of sweeping robot technology, people have a growing tendency to sweep the floor by a sweeping robot instead of labor. 
     During the process of mopping the floor, for the existing sweeping robot, people need to frequently disassemble the rag, sweep the rag, air the rag and assemble the rag. The whole process is tedious and time-consuming, decreasing the usage experience of the sweeping robot. 
     SUMMARY 
     According to various embodiments, a sweeping robot is provided. 
     The sweeping robot includes a robot body and a rag box detachably connected to the robot body. The rag box includes: a box body; two rag rolls detachably connected to the box body, the two rag rolls including a first rag roll and a second rag roll; and a rag having one end wound around the first rag roll, and the other end wound around the second rag roll, wherein after the rag is gradually released from the first rag roll, the rag is wound around the second rag roll. 
     In one of the embodiments, a driving member located in the box body and connected to the rag rolls and a control circuit electrically connected to the driving member, wherein the control circuit controls the driving member to drive the rag rolls to rotate synchronously. 
     In one of the embodiments, two driving gears, two driven gears, a first rotational stand, and a second rotational stand located in the box body, the two driving gears being connected to the driving member, the two driven gear being fixed to the first rag roll and the second rag roll, respectively, the first rag roll and the second rag roll being rotatably connected to each end of the first rotational stand and the second rotational stand, respectively, one end of the rag being fixed to the first rag roll, the other end of the rag being fixed to the second rag roll after winding around the first rotational stand and the second rotational stand, successively, wherein the first rotational stand and the second stand are rotatable with respect to the box body, such that the two driven gears are engaged or disengaged with the two driving gears, respectively. 
     In one of the embodiments, the rag roll includes: a roll body provided with a first latching slot and a second latching slot on a surface thereof along a circumferential direction thereof; and a pressing piece including a pressing portion, a first positioning post, and a second positioning post, which are located at both sides of the pressing portion, respectively, the first positioning post being detachably received in the first latching slot, the second positioning post being detachably received in the second latching slot, wherein a fixing slot is formed between the pressing piece and the roll body to receive and fix an end of the rag. 
     In one of the embodiments, a plurality of the first positioning posts are arranged at intervals along an extending direction of the pressing portion. 
     In one of the embodiments, a first rotational stand and a second rotational stand rotatably connected to the box body, the first rag roll being detachably and rotatably connected to the first rotational stand, the second rag roll being detachably and rotatably connected to the second rotational stand; the box body being provided with a first outlet and a second outlet on opposite sides thereof; wherein the first rotational stand and the second stand rotate relative to the box body, such that the first rag roll and the second are moved out of the box body through the first outlet and the second outlet, respectively. 
     In one of the embodiments, two driving gears, two driven gears, the two driving gears being connected to the driving member, the two driven gear being fixed to the first rag roll and the second rag roll, respectively, wherein the first rotational stand and the second stand are rotatable with respect to the box body, such that the two driven gears are engaged or disengaged with the two driving gears, respectively. 
     In one of the embodiments, the first rotational stand and the second rotational stand are each provided with a first hook, the box body is provided with two second hooks and a button connected to the two second hooks, the two second hooks are engaged with two first hooks, the button is triggered to disengage the two second hooks from the two first hooks. 
     In one of the embodiments, two first elastic members disposed between the first rotational stand and the box body, and between the second rotational stand and the box body, respectively, wherein when the button is triggered to disengage the two second hooks from the two first hooks, the two first elastic members drive the first rotational stand and the second rotational stand to rotate away from each other. 
     In one of the embodiments, two second elastic members disposed between the box body and the button, respectively, wherein when the button is triggered, the two second elastic members are deformed, and after external force applied to the buttons is removed, the second elastic members drive the button to restore to an initial state. 
     The sweeping robot according to the embodiments is provided with a detachable rag box, and the rag box can be replaced entirely. Further, during the working process of the sweeping robot, when a certain area is swept, the used rag can be wound around one rag roll, and a clean rag may be pulled out from another rag roll, thus the use of the sweeping robot is convenient. 
     The details of one or more embodiments are set forth in the accompanying drawings and the description below. Other features, objects, and advantages of the invention will be apparent from the description and drawings, and from the claims. 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
       To illustrate the technical solutions according to the embodiments of the present invention or in the prior art more clearly, the accompanying drawings for describing the embodiments or the prior art are introduced briefly in the following. Apparently, the accompanying drawings in the following description are only some embodiments of the present invention, and persons of ordinary skill in the art can derive other drawings from the accompanying drawings without creative efforts. 
         FIG. 1 a    is a front view of a rag according to one embodiment of the present application. 
         FIG. 1 b    is a cross-sectional view taken along line A-A of  FIG. 1   a.    
         FIG. 2  is a perspective view of a rag wound in a rag roll according to one embodiment of the present application. 
         FIG. 3 a    is a perspective structure view of a rag roll according to one embodiment of the present application. 
         FIG. 3 b    is a left view of the rag roll of  FIG. 3   a.    
         FIG. 4 a    is a perspective view of the rag roll connection structure. 
         FIG. 4 b    is a left view of the rag roll connection structure of  FIG. 4   a.    
         FIG. 5  is a perspective view of a rag box according to one embodiment of the present application. 
         FIG. 6 a    is a side view of the rag box of  FIG. 5  showing rotational stands located in the box body. 
         FIG. 6 b    is a side view of the rag box showing the rotational stands stretching out of the box body. 
         FIG. 6 c    is a side view of the rag. 
         FIG. 7  is a bottom view of a sweeping robot according to one embodiment of the present application. 
     
    
    
     DETAILED DESCRIPTION 
     Embodiments of the invention are described more fully hereinafter with reference to the accompanying drawings. The various embodiments of the invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art. Elements that are identified using the same or similar reference characters refer to the same or similar elements. 
     It will be understood that when an element is referred to as being “connected” or “coupled” to another element, it can be directly connected or coupled to the other element or intervening elements may be present. In contrast, if an element is referred to as being “directly connected” or “directly coupled” to another element, there are no intervening elements present. 
       FIG. 1 a    is a front view of a rag  10  according to one embodiment of the present application, and  FIG. 1 b    is a cross-sectional view taken along line A-A of  FIG. 1   a.  The rag  10  is used to be mounted at a bottom of a sweeping robot  40  (see  FIG. 7 ) to mop the floor. When the sweeping robot  40  sweeps the floor, the function of mopping the floor is synchronously implemented by the rag  10 . The rag  10  is detachably connected to the sweeping robot  40 . After mopping the floor for a certain period of time, the used rag  10  may be removed from the sweeping robot  40  and replaced by a new one. 
     In one of the embodiments, the rag  10  is integrated within a rag box  30 , as shown in  FIG. 5 , which is a perspective view of the rag box  30 . The rag box  30  is detachably connected to the sweeping robot  40 . When it is necessary to replace the rag  10 , the rag box  30  can be integrally removed from the sweeping robot  40 , and replaced by a new rag box  30 . 
     As shown in  FIG. 6 a   , the rag  10  is stored in rolls in the rag box  30 . Two rag rolls may be provided in the rag box  30 . As shown in  FIG. 6 c   , one of the two rag rolls stores a new rag  10 , and the other one stores a used (dirty) rag  10 . A portion of the rag  10  between the two rag rolls is used for mopping the floor. When the portion of the rag  10  for mopping the floor becomes dirty, the two rag rolls rotate to retrieve the dirty portion and release a new portion, which can be used to continue to mop the floor. Only after all of the rag  10  in the rag box  30  become dirty, the rag box  30  then is removed from the sweeping robot  40  and replaced by a new one. 
     As shown in FIGS. la and lb, the rag  10  includes a rag body  100  and two rag heads  110 . The rag body  100  is used as a portion for mopping the floor, and the two rag heads  110  are fixing portions. The rag  10  is mounted in the rag box  30  by the two rag heads  110 . Since the rag  10  need to be wound in a roll, the rag  10  is in a sheet shape, specifically a thin sheet shape. The rag  10  is made of flexible materials, so that the rag  10  is able to be wound within the rag box  30 . In one of the embodiments, the rag body  100  may include an outer layer and an inner layer, both of which are made of liquid absorbent material. The outer layer has a greater tenacity and integrity than that of the inner layer, while the hydroscopicity of the outer layer may be less than that of the inner layer. That is to say, the outer wrap can protect the inner layer, which makes the rag  10  not easily broken when mopping the floor, while the inner layer has a better hydroscopicity. In one embodiment, the outer layer may be made of a nonwoven cloth and the inner layer may be made of a sponge. 
     As shown in  FIG. 2 , the rag body  100  is arranged in a sheet shape and wound along the length direction in a roll shape and stored within the rag box  30 . In used, a new rag body  100  is able to be gradually pulled out of the rag roll and wound along the length direction of the rag body  100 . After winding, one rag head  110  is located inside the roll-shape structure, while the other rag head  110  is located outside the roll-shape structure. 
     Each of the two rag heads  110  is provided with a plurality of positioning holes  111  respectively for connecting the rag  10  to positioning posts of a rag roll  20 .  FIG. 3 a    is a perspective view of the rag roll  20 , and  FIG. 3 b    is a left view of the rag roll  20 . The rag roll  20  is used to fix the rag  10  which can be wound around the rag roll  20  in a roll shape. The rag roll  20  includes a roll body  200  and a pressing piece  210 . The roll body  200  and the pressing piece  210  are detachably connected, the rag head  110  can be clamped between the roll body  200  and the pressing piece  210 . 
     Specifically, as shown in  FIGS. 3 a  and 3 b   , the roll body  200  is in a long strip shape, and the outer periphery of the roll body  200  is provided with a first latching slot  200 A and a second latching slot  200 B on a surface thereof along a circumferential direction thereof. The pressing piece  210  includes a pressing portion  211 , a first positioning post  212 , and a second positioning post  213 , which are located at both sides of the pressing portion  211 , respectively. The first positioning post  212  can be detachably received in the first latching slot  200 A, and the second positioning post  213  can be detachably received in the second latching slot  200 B. In other words, the pressing piece  210  is latched with the roll body  200  by the first positioning post  212  and the second positioning post  213 , and a fixing slot  214  is formed between the pressing piece  210  and the roll body  200  to receive and fix the rag head  110  of the rag  10 . 
     In one of the embodiments, as shown in  FIG. 3 a   , the roll body  200  is circumferentially provided with a plurality of grooves  215 , which can decrease the weight of the roll body  200 . 
     In one of the embodiments, as shown in  FIG. 3 b   , each of distal ends of the first positioning post  212  and the second positioning post  213  respectively forms a protrusion t. The protrusions t of the first positioning post  212  and the second post  213  extend far away from each other. The protrusions t may be received tightly in the corresponding first latching slot  200 A and the second latching slot  200 B, respectively, such that the pressing piece  210  is latched with the roll body  200 . The first positioning post  212  and the second positioning post  213  have a certain elasticity, during disassembly, the protrusions t of the first positioning post  212  and the second positioning post  213  can move towards each other, in this way the first positioning post  212  and the second positioning post  213  may be disengaged from respective corresponding latching slots  200 A,  200 B. 
     Referring to  FIG. 4 a    and  FIG. 4 a   , the rag head  110  is fixed on the rag roll  20 . In conjunction with  FIG. 2 , the plurality of positioning holes  111  is provided on the rag head  110 . The first positioning post  212  or the second positioning post  213  can be fit in the positioning holes  111 . In other words, the positioning hole  111  on the rag roll  20  can be connected to any one of the first positioning post  212  and the second positioning post  213 , then the rag head  110  can be clamped between the rag roll  20  and the pressing piece  210 . Since the rag roll  20  and the pressing piece  210  press the rag head  110  tightly, the rag head  110  is firmly fixed to the rag roll  20 . Further, through the fitting of the positioning holes  111  and one of the first positioning post  212  and the second positioning  213 , the connection firmness of the rag roll  20  and the rag  10  is enhanced. 
     Since the positioning hole  111  of the rag head  110  is fit with the positioning post, when the rag head  110  is pulled, the outer periphery of the positioning hole  111  is prone to tearing. In one of the embodiments, in order to increase the strength of the rag roll connection structure, and prevent tearing of the rag  10  at the positioning hole  111 , the rag head  110  may be provided with a tear-proof structure, for example, a metal ring disposed at the positioning hole  111 . When the positioning post  212  is fit in the positioning hole  111 , the positioning post  212  is actually inserted into the metal ring as well, thereby protecting the edge of the positioning hole  111  from being torn. When the rag head  110  is made of nonwoven cloth, a circle of dense lines may be sewn at the edge of the positioning holes  111 , using a form of sewing to form a tear-proof structure. In some embodiments, the rag  110  itself may also be made of metal, rubber or the like. Since the rag  10  need to be wound around the rag roll  20 , the rag head  110  and the rag body  100  can be flexibly connected. 
     In one of the embodiments, as shown in FIG. la, the rag body  100  includes an outer layer and an inner layer. The outer layer and the two rag heads  110  may be made of nonwoven cloth. In other words, the outer layer may directly extend outward and form the rag heads  110 . As shown in  FIG. 1   b,  since the rag body  100  includes the outer layer and the inner layer, and the two rag heads  110  may be formed by the outer layer extending outward, respectively, the thickness of the rag heads  110  may be less than the thickness of the rag body  100 . The rag heads  100  may be formed by the outer layer extending outward, so the two rag heads  110  and the rag body  100  may be integrally formed. In some embodiments, the rag heads  110  and the outer layer may be made of nonwoven cloth, while the inner layer may be made of sponge, which is not limited hereto. 
     As shown in FIGS. la and  2 , the positioning holes  111  are aligned along the width direction of the rag body  100 . As shown in  FIG. 3 a   , the pressing portion  211  of the rag roll  20  is in a long stripe shape, and a plurality of the first positioning posts  212  are arranged at intervals along the extending direction (i.e., the length direction) of the pressing portion  211 . Thus, each first positioning post  212  may be connected to one positioning hole  111  in one-to-one correspondence. For another example, a plurality of the second positioning posts  213  are arranged at intervals, along the extending direction of the pressing portion  211 . Thus, each first positioning post  212  may be connected to one positioning hole  111  in one-to-one correspondence. It should be noted that, in the rag roll connection structure, if one of the positioning holes  111  on one rag head  110  is connected to the first positioning post  212 , all of the positioning holes  111  of the rag head  110  should be connected to the first positioning posts  212 ; similarly, if one of the positioning holes  111  of one rag head  110  is connected to the second positioning post  213 , all of the positioning holes  111  of the rag head  110  should be connected to the second positioning posts  213 . 
     Referring to  FIG. 3 b   , the fixing slot  214  is formed between the pressing piece  210  and the roll body  200  for receiving the rag head  110 . Correspondingly, as shown in  FIG. 1 , the positioning holes  111  are disposed on the rag head  110  adjacent to the rag body  100 . When the positioning hole  111  is fit with the first positioning post  212  or the second positioning post  213 , the rag head  110  can be received in the fixing slot  214 , as to be clamped and fixed by the pressing piece  210  and the roll body  200 , thus the connection strength of the rag  10  and the rag roll  20  is improved. 
     As shown in  FIG. 1   a,  the positioning hole  111  is in a long stripe shape. Specifically, the long-stripe-shape positioning hole  11  extends along a width direction of the rag body  100 . The corresponding first positioning post  212  and the second positioning post  213  are also in a long stripe shape. For example, the first positioning post  212  and the second positioning post  213  are both sheet-like structure in a long stripe shape. The shape of the first positioning post  212  and the second positioning post  213  mutually matches the shape of the positioning hole  111 , such that after the fitting of the first positioning post  212  and the second positioning post  213 , the rag  10  and the rag roll  20  will not waggle from each other, to increase the stability of the connection. 
     In one of the embodiments, as shown in  FIG. 3 b   , the first positioning post  212  and the second positioning post  213  are formed from bending of the pressing portion  211 , that is to say, a certain bending angle is formed between the first positioning post  212  and the pressing portion  211 , and a certain bending angle is also formed between the second positioning post  213  and the pressing portion  211 . For example, the bended portion of the first positioning post  212  and the second positioning post  213  with respect to the pressing portion  211  may be substantially parallel, thus facilitating to insert the first positioning post  212  into the first latching slot  200 A, or to insert the second positioning post  213  into the second latching slot  200 B. 
     As shown in  FIG. 5  and  FIG. 6 , the rag box  30  includes a box body  300  having a substantially trapezoidal cross-section, which is short on the upper side, and long on the lower side. A first outlet  300 A and a second outlet  300 B are respectively formed at the left and right sides of the box body  300 . One end of the rag  10  is able to stretch out of a box body  300  from the first outlet  300 A, then go down around the bottom of the box body  300 , and return to the box body  300  from the second outlet  300 B. The rag box  30  further includes a first rotational stand  310 A and a second rotational stand  310 B, which are rotationally connected to the box body  300 . Referring to  FIGS. 6 a  and 6 b   , the first rotational stand  310 A is located at the left half of the box body  300 , and the second rotational stand  310 B is located at the right half of the box body  300 . One of the two rag rolls  20  is detachably connected to the first rotational stand  310 A, and the other is detachably connected to the second rotational stand  310 B. The detachable connection described above thereof is for being enable the rag roll  20  to be detached from the corresponding rotational stand, and to be replaced conveniently. 
     Further, one end of the rag  10  is fixed to one of the rag rolls  20 , the other end of the rag  10  goes around the bottom of the box body  300  and is fixed to another rag roll  20 . For example, one end of the rag  10  is connected to the rag roll  20  on the first rotational stand  310 A, and the other end of the rage  10  is connected to the rag roll  20  on the second stand  310 B. After gradually being released from one of the rag roll  20 , the rag  10  may be wound around the other rag roll  20 . For example, as shown in  FIG. 6 a   , the rag  10  wound around the rag roll  20  on the first rotational stand  310 A is unused (i,e., not mopping the floor). The rag  10  is wound downward around the bottom of the box body  300 , then wounded on the rag roll  20  of the second rotational stand  310 B. After mopping the floor, the rag  10  at the bottom of the box body  300  becomes dirty, then it is wound around the rag roll  20  of the second rotational stand  310 B, so that the clean rag  10  on the first rotational stand  310 A is capable to move to the bottom of the box body  300 , and the mopping can be continued. As shown in  FIG. 6 b   , the first rotational stand  310 A and the second rotational stand  310 B can rotate with respect to the box body  300 , so as to rotate the respective corresponding rag roll  20  out of the box body  300  through the first outlet  300 A and the second outlet  300 B, respectively. Since the rag roll  20  is detachably connected to the rotational stand, when the rotational stands  310 A and  310 B are rotated out of the outlet, a new rag  10  can be loaded. 
     In one of the embodiments, as shown in  FIG. 6 a   , two driving gears  311 , two driven gears  312  are provided in the box body  300 . The two driving gears  311  are connected to an external driving member (not shown), the two driven gear  312  are fixed to the first rag roll  20  and the second rag roll  20 , respectively. When the first rotational stand  310 A and the second rotational stand  310 B rotate with respect to the box body  300 , the two driven gears  312  are engaged or disengaged with the two driving gears  311 , respectively. In the process from  FIG. 6 a    to  FIG. 6 b   , the first rotational stand  310 A and the second rotational stand  310 B can rotate away from each other towards both sides of the box body  300 , respectively, such that the driven gear  312  fixed to the rag roll  20  on the first rotational stand  310 A is disengaged from the diving gear  311  in the box body  300 , and the driven gear  312  fixed to the rag roll  20  on the second rotational stand  310 B is also disengaged from the driving gear  311  in the box body  300 . In the process from  FIG. 6 b    to  FIG. 6 a   , the driven gear  312  fixed to the rag roll  20  on the first rotational stand  310 A is re-engaged with the driving gear  311  in the box body  300 , and the driven gear  312  fixed to the rag roll  20  on the second rotational stand  310 B is also re-engaged with the driving gear  311  in the box body  300 . The external driving member may be a motor that drives the driving gear  311  to rotate, which can realize the automatical rolling-up of the dirty rag  10 , and to move the clean rag  10  to the bottom of the rag box  30 . Referring to  FIGS. 6 b  and 6 c   , after the first rotational stand  310 A and the second rotational stand  310 B are rotated out of the box  300 , the rag  10  and the rag roll  20  in  FIG. 6 c    may be removed, then a new rag roll  20  or rag  10  is loaded. 
     In one of the embodiments, further referring to  FIGS. 6 a    and  FIG. 6 b   , the first rotational stand  310 A and the second rotational stand  310 B are each provided with a first hook  320 . The box body  300  is provided with two second hooks  321  and a button  322  interconnecting the two second hooks  321 . The two second hooks  321  can be engaged with two first hooks  320 , respectively. The button  322  is triggered to disengage the two second hooks  321  from the two first hooks  320 . For example, in the state shown in  FIG. 6 a   , a pair of the first hooks  320  and the second hooks  321  are engaged, respectively, so that neither the first rotational stands  310 A nor the second rotational stands  310 B can rotate with respect to the box body  300 . By this time, the two second hooks  321  can be moved by operating the button  322  to the right or to the left, thus disengaging the second hook  321  and the first hook  320 . Then both the first rotational stand  310 A and the second rotational stand  310 B are rotatable with respect to the box body  300 . Similarly, after returning from  FIG. 6 b    to  FIG. 6 a   , the first hook  320  and the first hook  321  can be engaged again. 
     In one of the embodiments, further referring to  FIGS. 6 a    and  FIG. 6 b   , two first elastic members  323  are disposed between the first rotational stand  310  A and the box body  300 , and between the second rotational stand  310 B and the box body  300 , respectively. When the button  322  is triggered to disengage the two second hooks  321  from the two first hooks  320 , the two first elastic members  323  drive the first rotational stand  310  A and the second rotational stand  310 B to rotate away from each other. For example, the first elastic member  323  can be a torsional spring, one end of which is connected to the box body  300 , and the other end of which is connected to the first rotational stand  310 A or the second rotational stand  310 B. When the button  322  is triggered to disengage the two second hooks  321  from the two first hooks  320 , the two first elastic members  323  drive the first rotational stand  310 A and the second rotational stand  310 B to rotate away from each other. The elastic force provided by the first elastic member  323  is able to drive the first rotational stand  310 A to rotate out of the box  300 , or to drive the second rotational stand  310 B to rotate out of the box body  300 . 
     Further referring to  FIGS. 6 a    and  FIG. 6 b   , two second elastic members  323  are disposed at both ends of the button  322 . When the button  322  is moved towards one of the two second hooks  321  by an external force, the two second elastic members  323  are deformed, and after the external force applied to the button  322  is removed, the second elastic members  323  drive the button  322  to restore to an initial state. For example, the initial state of the button  322  is the state shown in  FIG. 6 a    and  FIG. 6   b,  and the two second elastic members  324  are located on the left and the right sides of the button  322 , respectively. The button  322  can slide leftward or rightward with respect to the box body  300 . For example, when the button  322  slides leftward, the second elastic member  324  on the left side is compressed, while the second elastic member  324  on the right side is stretched, the first hook  320  on the first rotational stand  310 A is disengaged from the second hook  321  on the left side, and the first elastic member  323  on the left side is able to rotate the first rotational stand  310 A out of the box body  300 . Similarly, when the button  322  slides rightward with respect to the box body  300 , the second elastic member  324  on the right side is compressed, while the second elastic member  324  on the left side is stretched, the first hook  320  on the second rotational stand  310 B is disengaged from the second hook  321  on the right side, and the first elastic member  323  on the right side is able to rotate the second rotational stand  310 B out of the box body  300 . After the external force applied on the button  322  is removed, the left and right two second elastic members  324  are capable to restore the button  322  to the initial state located in the middle. 
     As shown in  FIG. 7 , the sweeping robot  40  includes a robot body  400  and the rag box  30  detachably connected to the robot body  400 . For example, the rag box  30  is detachably connected to the robot body  400  in the way of latching engagement. Referring to  FIGS. 5 and 6   a , a support shaft  325  is provided at the upper portion of the box body  300  of the rag box  30 , and the end of the support shaft  325  protrudes from the box body  300 . The robot body  400  is provided with a latching engagement structure, which may latch and engage the support shaft  325  on the box body  300 . In one of the embodiments, the sweeping robot  40  includes the driving member and a control circuit. The control circuit may include a CPU, and the driving member may be a motor. The driving member is electrically connected to the control circuit, which may control the rotation of the driving member. For example, the control circuit controls the driving member to drive the rotation of the rag roll  20  in the rag box  30 , and then the rag  10  is gradually released from one of the rag rolls  20  and wound around the other rag roll  20 . For example, a time threshold may be set, after the sweeping robot  40  operates for the time threshold, the process of replacing the rag  10  mentioned above is automatically started. 
     The respective technical features of the above-described embodiments may be combined arbitrarily. For the sake of brevity of the description, all possible combinations of the respective technical features in the above-described embodiments, are not described. However, as long as the combinations of these technical features are not contradictory, all that should be deemed to be within the scope of the present specification recorded. 
     The above-described examples represent only a few embodiments of the present disclosure, the description of which is more specific and detailed, however, it cannot be therefore understood as limiting the scope of the disclosure patent. It should be noted that, for a person of ordinary skill in the art, under the premise that without departing from the inventive concept, various deformations and improvements may also be made, all of which fall within the protective scope of the present disclosure. Thus, the protective scope of the present disclosure patent shall be subject to the appended claims.