CN114424906B

CN114424906B - Sweeping robot system and control method thereof

Info

Publication number: CN114424906B
Application number: CN202011177282.4A
Authority: CN
Inventors: 曾思远; 赵传涛; 万超
Original assignee: Shenzhen Proscenic Technology Co Ltd
Current assignee: Shenzhen Proscenic Technology Co Ltd
Priority date: 2020-10-29
Filing date: 2020-10-29
Publication date: 2023-05-23
Anticipated expiration: 2040-10-29
Also published as: CN114424906A

Abstract

The invention discloses a sweeping robot system and a control method thereof, wherein the sweeping robot system comprises: the floor sweeping machine is characterized in that a middle sweeping dust collection opening is formed in the bottom of the floor sweeping machine, and a middle sweeping structure is arranged at the middle sweeping dust collection opening; the bottom of the service station is provided with a containing cavity, and the cavity bottom of the containing cavity forms a mop cleaning groove; the accommodating cavity is internally provided with a baffle structure, and the baffle structure is used for baffle between the middle sweeping structure and the mop cleaning tank when the middle sweeping dust collection opening enters the accommodating cavity. The technical scheme of the invention can effectively avoid the situation that the dust collection channel is blocked due to the suction of wet garbage in the mop cleaning tank in the dust collection process of the multifunctional service station, and improves the sanitation and practicability of the floor sweeping robot system.

Description

Sweeping robot system and control method thereof

Technical Field

The invention relates to the field of sweeping robots, in particular to a sweeping robot system and a control method thereof.

Background

At present, the sweeping robot is a household appliance commonly used in daily life of people, in order to enrich the cleaning function of the sweeping robot, an exemplary technology proposes a scheme of installing a mop at the bottom of the sweeping robot to enable the sweeping robot to finish mopping work, and in order to realize automatic cleaning of the mop, the exemplary technology is further provided with a mop cleaning tank in a service station with dust collection and charging functions, so that after the mop of the sweeping robot is dirty, the cleaning robot can enter the service station to automatically clean the mop, and then the sweeping robot can automatically and repeatedly execute mopping procedures, so that the mopping work duration of the sweeping robot is greatly prolonged.

However, when the sweeping robot performs dust recovery action in the service station, the middle sweeping dust collection port is just positioned in the wet mop cleaning tank, and the middle sweeping dust collection port is communicated with the dust collection port, so that the negative pressure of dust collection at the dust collection port can suck wet garbage in the mop cleaning tank from the middle sweeping dust collection port, and dust collection channels of the service station are easy to be blocked.

Disclosure of Invention

The invention mainly aims to provide a sweeping robot system, and aims to solve the technical problem that wet garbage in a mop cleaning tank is easily sucked into a service station from a sweeping dust collection port when a sweeping machine in the exemplary technology performs dust recovery action, so that a dust collection channel of the service station is blocked.

In order to achieve the above object, the present invention provides a robot system for sweeping floor, comprising:

the floor sweeping machine is characterized in that a middle sweeping dust collection opening is formed in the bottom of the floor sweeping machine, and a middle sweeping structure is arranged at the middle sweeping dust collection opening; and

the bottom of the service station is provided with a containing cavity, and the cavity bottom of the containing cavity forms a mop cleaning groove; wherein, the liquid crystal display device comprises a liquid crystal display device,

the accommodating cavity is internally provided with a baffle structure, and the baffle structure is used for baffle between the middle sweeping structure and the mop cleaning tank when the middle sweeping dust collection port enters the accommodating cavity.

Optionally, the middle sweeping structure can be assembled in the middle sweeping dust collection opening in a vertically movable manner, and the baffle structure is arranged at the abutting part of the cavity bottom of the accommodating cavity in a protruding manner corresponding to the position when the middle sweeping dust collection opening enters the accommodating cavity, so that the middle sweeping structure is at least partially jacked into the middle sweeping dust collection opening.

Optionally, the cavity bottom of the accommodating cavity is convexly provided with a supporting part with the extending direction consistent with the cavity opening orientation;

the propping part is integrally and convexly provided with a propping block formed on the supporting part, or the propping part is a propping mechanism which can move up and down relative to the supporting part.

Optionally, the propping portion is a propping mechanism capable of moving up and down relative to the supporting portion, a containing groove is concavely formed in the top surface of the supporting portion, the propping mechanism comprises a first connecting rod and a second connecting rod which are arranged along the length direction of the containing groove, and the first connecting rod and the second connecting rod are hinged in the horizontal direction so as to be adapted to be laid in the containing groove through relative rotation or extend out of the containing groove at a preset inclination angle.

Optionally, the baffle structure is a middle sweeping baffle movably arranged at the bottom edge of the cavity opening of the accommodating cavity;

based on the dust collection port of the middle sweep enters the accommodating cavity, the baffle of the middle sweep is pulled out from the bottom edge of the cavity port of the accommodating cavity, and the baffle is arranged between the middle sweep structure and the mop cleaning tank.

Optionally, a recovery groove for the middle sweeping baffle to enter and exit is formed in the bottom edge of the cavity opening of the accommodating cavity, and a driving device for driving the middle sweeping baffle to move is further arranged in the recovery groove.

Optionally, a cleaning installation part is arranged at the front side of the bottom of the sweeper, the cleaning installation part is used for assembling a sweeping whip or a mop, the rear end of the sweeper is provided with a dust suction port communicated with the middle sweeping dust suction port, and a dust collection assembly connected with the dust suction port is arranged in the service station;

based on the front end of the sweeper facing the accommodating cavity, the mop enters the mop cleaning tank for cleaning, and the baffle structure is kept away from the mop; based on the rear end of the sweeper facing the accommodating cavity, the dust suction port is connected with the dust collection assembly, and the baffle structure is baffle between the middle sweeping structure and the mop cleaning tank.

Optionally, based on the rear end of the sweeper facing the accommodating cavity, the sweeper keeps a front low and rear high inclined state under the support of the baffle structure.

Optionally, a clean water bucket and a sewage bucket are further arranged in the service station, and the dust collection assembly comprises a dust collection bucket and a dust collection channel;

the clean water bucket and the sewage bucket are respectively connected with the water inlet and the water outlet of the mop cleaning tank, one end of the dust collecting channel is connected with the dust collecting bucket, and the other end of the dust collecting channel extends into the accommodating cavity to be in butt joint with the dust pumping port.

Optionally, the waterway system of the service station comprises a clear water supply component and a sewage drainage component;

the clean water supply assembly comprises a clean water barrel water suction pipe, an electromagnetic valve, a water pump and a clean water supply pipe which are sequentially connected from the water outlet of the clean water barrel, and the clean water supply pipe stretches into the accommodating cavity so as to spray water to a mop of the sweeper;

the sewage drainage assembly comprises a sewage recovery pipe connected with the water inlet of the sewage bucket, and a sewage bucket exhaust pipe, an air pump and an air pump exhaust pipe which are sequentially connected with the air outlet of the sewage bucket, wherein one end of the sewage recovery pipe, which is far away from the sewage bucket, is communicated with the mop cleaning tank.

The invention also provides a control method of the sweeping robot system, which comprises the following steps:

s1, sending a dust collection instruction to a sweeper or receiving the dust collection instruction of the sweeper;

s2, detecting whether the sweeper reaches a dust collecting position in the accommodating cavity;

s3, based on the fact that the sweeper reaches the dust collecting position, the blocking structure is driven to move to the opening position so as to be blocked between the middle sweeping structure of the sweeper and the mop cleaning groove of the accommodating cavity.

Optionally, after the step S3, the method further includes the step of:

s4, after the dust collection process is completed based on the floor sweeping machine, driving the baffle structure to move to a closing position so as to completely expose the mop cleaning groove.

According to the technical scheme, the baffle structure is introduced into the accommodating cavity of the service station, so that when the sweeper enters the service station to collect dust, the baffle structure is utilized to baffle between the middle sweeping structure of the sweeper and the mop cleaning tank, and meanwhile, the sweeper is enabled to keep a front low and rear high inclined state, so that wet garbage in the mop cleaning tank is effectively prevented from being sucked into the service station from the middle sweeping dust collection port, the blockage probability of a dust collection channel is reduced, and the sanitation and practicability of the sweeping robot system are improved.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to the structures shown in these drawings without inventive effort for a person skilled in the art.

Fig. 1 is a schematic structural view of a first embodiment of a sweeping robot system according to the present invention when a sweeping baffle is stored in a service station;

FIG. 2 is a schematic view of the structure of the sweep bar of FIG. 1 when the sweep bar is withdrawn;

FIG. 3 is a schematic cross-sectional view of the sweeper of FIG. 1 entering a service station for dust collection;

figure 4 is a schematic cross-sectional view of the sweeper of figure 2 entering a service station for cleaning the mop;

FIG. 5 is a schematic top view of the sweeping robot system of FIG. 4;

FIG. 6 is a schematic view, partially in section, of the service station of FIG. 5;

FIG. 7 is a schematic view of the housing chamber in the service station of FIG. 1;

FIG. 8 is a schematic view of a service station of a second embodiment of the robot cleaner system according to the present invention;

FIG. 9 is a schematic cross-sectional view of the sweeper of FIG. 8 entering a service station for dust collection;

figure 10 is a schematic cross-sectional view of the sweeper of figure 8 entering a service station to clean the mop;

FIG. 11 is a schematic view showing the construction of a service station according to a third embodiment of the robot cleaner system of the present invention;

FIG. 12 is a schematic cross-sectional view of the sweeper of FIG. 11 entering a service station for dust collection;

FIG. 13 is a schematic cross-sectional view of the service station of FIG. 11;

fig. 14 is a schematic diagram of a control flow of the sweeping robot system of the present invention.

Reference numerals illustrate:

1. a service station enclosure; 11. a housing chamber; 111. mop cleaning tank; 111a, a supporting part; 111b, a jacking block; 111c, a first link; 111d, a second connecting rod; 111e, torsion springs; 112. a charging contact; 113. a clear water jet port; 114. a sewage recovery port; 115. cleaning a roller; 116. a middle sweeping baffle; 116a, a limiting block; 116b, stripe-shaped insections; 117. a drive gear; 2. a water cleaning barrel; 3. a sewage bucket; 4. a dust collection barrel; 5. a dust collecting pipe; 51. sealing the joint; 6. a clean water supply assembly; 61. a water pumping pipe of the clear water barrel; 62. an electromagnetic valve; 63. a water pump; 64. a clear water supply pipe; 641. a first pipe section; 642. a second pipe section; 643. a third pipe section; 65. a three-way joint; 66. a flow meter; 7. a sewage disposal assembly; 71. a sewage recovery pipe; 72. a sewage bucket exhaust pipe; 73. an air pump; 74. an air pump exhaust pipe; 8. a sweeper; 81. a middle-sweeping dust collection port; 811. a middle sweeping structure; 82. cleaning the mounting part; 821. sweeping the whip; 822. mop cloth; 83. a dust extraction port; 84. a charging pole piece; 85. universal wheel

The achievement of the objects, functional features and advantages of the present invention will be further described with reference to the accompanying drawings, in conjunction with the embodiments.

Detailed Description

The following description of the embodiments of the present invention will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are only some, but not all embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.

It should be noted that, if directional indications (such as up, down, left, right, front, and rear … …) are included in the embodiments of the present invention, the directional indications are merely used to explain the relative positional relationship, movement conditions, etc. between the components in a specific posture (as shown in the drawings), and if the specific posture is changed, the directional indications are correspondingly changed.

In addition, if there is a description of "first", "second", etc. in the embodiments of the present invention, the description of "first", "second", etc. is for descriptive purposes only and is not to be construed as indicating or implying a 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 at least one such feature. In addition, the technical solutions of the embodiments may be combined with each other, but it is necessary to base that the technical solutions can be realized by those skilled in the art, and when the technical solutions are contradictory or cannot be realized, the combination of the technical solutions should be considered to be absent and not within the scope of protection claimed in the present invention.

The invention provides a sweeping robot system.

In an embodiment of the present invention, referring to fig. 1 to 4 and 8 to 10, the robot system for sweeping floor includes:

the floor sweeping machine 8 is provided with a middle sweeping dust suction port 81 at the bottom, and a middle sweeping structure 811 is arranged at the middle sweeping dust suction port 81; and

the bottom of the service station shell 1 is provided with a containing cavity 11, and the cavity bottom of the containing cavity 11 forms a mop 822 cleaning tank 111; wherein, the liquid crystal display device comprises a liquid crystal display device,

a baffle structure is arranged in the accommodating cavity 11 and is used for baffle between the middle sweeping structure 811 and the mop cleaning tank 111 when the middle sweeping dust suction port 81 enters the accommodating cavity 11.

In the embodiment, a cleaning installation part 82 is arranged at the front side of the bottom of the sweeper 8, the cleaning installation part 82 is used for assembling a sweeping whip 821 or a mop 822, a dust suction port 83 communicated with a middle sweeping dust suction port 81 is arranged at the rear end of the sweeper 8, and a dust collection assembly connected with the dust suction port 83 is arranged in a service station; based on the front end of the sweeper 8 entering the accommodating cavity 11, the mop 822 enters the mop cleaning tank 111 for cleaning, and the baffle structure is arranged on the mop 822; based on the rear end of the sweeper 8 entering the accommodating cavity 11, the dust suction port 83 is connected with the dust collecting assembly, and the baffle structure is baffle between the middle sweeping structure 811 and the mop cleaning tank 111. It can be understood that the dust collection and mop 822 cleaning actions of the sweeper 8 are respectively interacted with the service station in a forward mode and a backward mode, on one hand, under the condition of adding dust collection and mopping components, the gesture balance design of the sweeper 8 is improved, and on the other hand, the interaction content of the sweeper 8 and the service station can be judged through vision by a user conveniently. The technical scheme of the invention aims to solve the problem that wet garbage in the mop cleaning tank 111 is sucked into the service station from the cleaning dust suction port 81 during the dust collection process of the sweeper 8 due to the two reasons. It is easy to understand that the front end of the sweeper 8 is also provided with a charging pole piece 84, a charging contact piece 112 is arranged in the accommodating cavity 11 corresponding to the charging pole piece 84, and the charging pole piece 84 is abutted against the charging contact piece 112 for charging based on that the front end of the sweeper 8 enters the accommodating cavity 11.

It is easy to understand that the accommodating cavity 11 for the floor sweeping machine 8 to enter is formed in the concave shape at the bottom of the service station casing 1, on one hand, the floor sweeping machine 8 robot is free from external interference in the process of charging, dust collection or mop 822 cleaning, and on the other hand, a water accumulation groove for mop 822 cleaning is conveniently formed. In this embodiment, the front side of the bottom of the service station casing 1 further has a traction platform extending obliquely from the bottom surface toward the accommodating cavity 11, so that the sweeper 8 can more easily enter the accommodating cavity 11, and a step is formed between the end of the traction platform and the bottom wall of the accommodating cavity 11, so that a mop 822 cleaning tank 111 is formed at the bottom of the accommodating cavity 11.

In this embodiment, the dust collecting assembly includes a dust collecting barrel 4 and a dust collecting channel, one end of the dust collecting channel is connected with the dust collecting barrel 4, and the other end of the dust collecting channel extends into the accommodating cavity 11 to butt against the dust suction port 83, so as to realize effective transfer of dust in the dust box, for example, but not limited to, the dust collecting channel is formed in the dust collecting tube 5 independent from the inner wall of the service station casing 1, the cavity side wall of the accommodating cavity 11 is provided with a position avoiding opening for the dust collecting tube 5 to extend into, however, in other embodiments, the dust collecting channel can also be integrally formed on the inner wall of the service station casing 1, and the design is not limited thereto. Without losing generality, the dust collecting pipe 5 extends from the dust collecting barrel 4 to the accommodating cavity 11 from top to bottom, one end far away from the dust collecting barrel 4 is sleeved with a sealing joint 51, and the sealing joint 51 is used for abutting against a dust suction port 83 of the sweeper 8. It will be appreciated that the arrangement is such that the tightness of the connection of the dust collecting pipe 5 and the dust extraction port 83 is effectively ensured. In this embodiment, the sealing joint 51 is a telescopic pipe joint made of plastic.

Optionally, referring to fig. 5, a clean water bucket 2 and a sewage bucket 3 are further arranged in the service station, and the clean water bucket 2 and the sewage bucket 3 are respectively connected with the water inlet and the water outlet of the mop cleaning tank 111. In this embodiment, the service station casing 1 includes an upper cover capable of rotating upwards to open and close, an upward opening slot is formed in the service station casing 1 casing, the clean water tank 2, the sewage tank 3 and the dust collecting tank 4 are all inserted in the slot from top to bottom, specifically, one side defining the opening direction of the accommodating cavity 11 is the front side of the service station casing 1, then the clean water tank 2 and the sewage tank 3 are arranged in parallel at the front side of the dust collecting tank 4, in the projection direction from top to bottom, the dust collecting tank 4 extends horizontally along the left and right direction along the long edge, the clean water tank 2 and the sewage tank 3 are rectangular like, and are symmetrically arranged along the left and right center line with respect to the dust collecting tank 4 in shape; of course, in other embodiments, the dust tub 4, the fresh water tub 2, and the sewage tub 3 may be assembled in other forms in the service station housing 1 or arranged in other forms, and the present design is not limited thereto.

In this embodiment, referring to fig. 7, a plurality of clean water spray ports, a sewage recovery port 114 and a cleaning structure of the mop 822 are provided in the mop cleaning tank 111, without losing generality, a clean water spray port and a cleaning structure of the mop 822 are provided on the left and right sides of the mop cleaning tank 111, a sewage recovery port 114 is provided on the center line of the mop cleaning tank 111 along the left and right direction, for example, but not limited to, the cleaning structure of the mop 822 is a cleaning roller 115 which is concavely provided on the bottom of the mop cleaning tank 111 and can rotate along the horizontal axis, and the cleaning roller 115 at least partially interferes with the mop 822 of the robot 8 in the up and down direction; of course, in other embodiments, the fresh water spray, the sewage spray, and the mop 822 cleaning structure may be arranged in other numbers or forms in the cleaning tank 111 of the mop 822, and the mop 822 cleaning structure may also be a brush or a hard wiper protruding from the bottom of the cleaning tank 111 of the mop, which is not limited thereto. It will be appreciated that the robot 8 enters the receiving cavity 11, after cleaning of the mop 822 is started, the mop 822 starts to rotate, dirt on the mop 822 is removed under the friction interference of the cleaning roller 115, and meanwhile, the dirt is taken away by water flow sprayed by the clean water spray port, accumulated in the mop cleaning tank 111 and finally flows out through the sewage recovery port 114, so that the whole cleaning process of the mop 822 is completed.

Referring to fig. 6, the waterway system of the multifunctional service station is specifically described below, and includes a clean water supply assembly 6 and a sewage discharge assembly 7; the clean water supply assembly 6 comprises a clean water barrel 2 water suction pipe, an electromagnetic valve 62, a water pump 63 and a clean water supply pipe 64 which are sequentially connected at the water outlet of the self-cleaning water barrel 2, wherein the clean water supply pipe 64 extends into the accommodating cavity 11 and is connected with a clean water spray port so as to spray water to a mop 822 of a robot 8 of the sweeper; the sewage discharging assembly 7 comprises a sewage recycling pipe 71 connected with the water inlet of the sewage bucket 3, and a sewage bucket 3 exhaust pipe, an air pump 73 and an air pump 73 exhaust pipe which are sequentially connected with the air outlet of the sewage bucket 3, wherein one end of the sewage recycling pipe 71 far away from the sewage bucket 3 is communicated with a sewage recycling port 114 in the mop 822 cleaning tank 111. It is easy to understand that after the mop 822 is started to be cleaned, the electromagnetic valve 62 is opened, under the action of the water pump 63, water in the clean water barrel 2 sequentially passes through the water suction pipe of the clean water barrel 2, the electromagnetic valve 62, the water pump 63 and the clean water feed pipe 64 to reach the clean water spray port, wherein in the embodiment, the clean water feed pipe 64 is divided into a first pipe section 641, a second pipe section 642 and a third pipe section 643 by the interface of the water pump 63, the first pipe section 641 is connected between the water pump 63 and the electromagnetic valve 62, and in addition, a three-way joint 65 is additionally arranged at the electromagnetic valve 62 to improve the portability degree of the disassembly and assembly of a user. When the mop 822 is washed, the air pump 73 and the air discharge pipe of the air pump 73 work together to start to suck out the air in the sewage bucket 3, and the sewage in the washing tank 111 of the mop 822 enters the sewage recovery pipe 71 through the sewage recovery port 114 under the action of the negative pressure in the sewage bucket 3 and finally flows into the sewage bucket 3.

According to the technical scheme, the baffle structure is introduced into the accommodating cavity 11 of the service station, so that when the sweeper 8 enters the service station to collect dust, the baffle structure is utilized to baffle between the middle sweeping structure 811 of the sweeper 8 and the mop 822 cleaning tank 111, wet garbage in the mop 822 cleaning tank 111 is effectively prevented from being sucked into the service station from the middle sweeping dust collection port 81, the blockage probability of a dust collection channel is reduced, and the sanitation and practicability of the sweeping robot system are improved.

In the first embodiment of the present invention, referring to fig. 1 to 7, the baffle structure is a middle sweeping baffle 116 movably arranged at the bottom edge of the cavity opening of the accommodating cavity 11; based on the middle sweeping dust suction port 81 entering the accommodating cavity 11, the middle sweeping baffle 116 is pulled out from the bottom edge of the cavity opening of the accommodating cavity 11 and is blocked between the middle sweeping structure 811 and the mop cleaning tank 111. It can be appreciated that in this embodiment, the accommodating cavity 11 is further provided with a triggering device, such as, but not limited to, an optical or pressure sensor, etc., which can detect whether the sweeper 8 reaches the dust collecting position to trigger the middle sweeping baffle 116 to be pulled out; the drawn middle sweeping baffle plate 116 can effectively resist the middle sweeping dust suction port 81, and the wet garbage in the cleaning groove 111 of the mop 822 is prevented from being sucked. The middle sweeping baffle 116 is only drawn out when the sweeper 8 performs dust collection operation, and when the sweeper 8 performs mop 822 cleaning operation, the middle sweeping baffle 116 is hidden and stored in the storage cavity 11, so that no interference is caused to mop 822 cleaning.

Optionally, a recovery groove for the middle sweeping baffle 116 to enter and exit is arranged at the bottom edge of the cavity opening of the accommodating cavity 11 (in the traction platform), and a driving device for driving the middle sweeping baffle 116 to move is further arranged in the recovery groove. For example, but not limited to, the driving device is a driving gear 117, and the bottom surface of the middle scanning baffle 116 is convexly provided with a strip-shaped insection 116b matched with the driving gear 117, so that the middle scanning baffle 116 is driven to enter and exit the recovery tank by the rotation of the driving gear 117; of course, in other embodiments, the driving device may also be configured as a cylinder, and the design is not limited thereto. Without losing generality, the middle sweeping baffle 116 is exposed out of the recovery tank and is close to one end of the cavity opening of the accommodating cavity 11, and a limiting block 116a extending obliquely towards the cavity is further arranged, and the limiting block 116a is used for abutting one end of the middle sweeping structure 811 close to the cavity opening, so that the stability of the posture of the sweeper 8 at the moment is improved.

Optionally, the rear end of the sweeper 8 enters towards the accommodating cavity 11, the universal wheel 85 at the front end of the bottom of the sweeper 8 is abutted against the traction platform, and the middle sweeping structure 811 at the bottom of the sweeper 8 is abutted against the middle sweeping baffle 116 so as to keep a front low and rear high inclined state; thus, the middle-sweep dust suction port 81 is better shielded, and the sewage or garbage in the mop cleaning tank 111 is better prevented from being sucked into the middle-sweep dust suction port 81.

In the second embodiment of the present invention, referring to fig. 8 to 10, the middle sweeping structure 811 is movably assembled in the middle sweeping dust suction port 81 up and down, and the baffle structure is arranged at a position corresponding to the position when the middle sweeping dust suction port 81 enters the accommodating cavity 11 and is protruded at the abutting part of the cavity bottom of the accommodating cavity 11, so as to at least partially push the middle sweeping structure 811 into the middle sweeping dust suction port 81. It will be appreciated that, during the cleaning process, the middle sweeping structure 811 needs to be closely attached to the ground, and on the other hand, is not blocked by the protrusions or small obstacles on the ground, so that the middle sweeping structure 811 is often designed to be assembled movably up and down, in this embodiment, the middle sweeping structure 811 of the sweeper 8 in the dust collection process is pushed into the middle sweeping dust collection opening 81 by designing a pushing portion with a certain height in the accommodating cavity 11 by utilizing the characteristic that the middle sweeping structure 811 can be pushed up, that is, the middle sweeping structure 811 is prevented from being directly contacted with the mop cleaning tank 111, so that respective dirt is caused, and the middle sweeping dust collection opening 81 can be effectively blocked, so that wet garbage in the mop cleaning tank 111 is prevented from being sucked by dust collection suction. It should be noted that in the embodiment of the present invention, the abutment does not interfere with the cleaning process of the mop 822 of the sweeper 8. In the present embodiment, the bottom of the accommodating cavity 11 is convexly provided with a supporting portion 111a with the extending direction consistent with the cavity opening, and the supporting portion is a supporting block 111b integrally formed in the middle of the supporting portion 111 a; it can be understood that the supporting portion 111a can support the direction of the center line of the sweeper 8 after entering the accommodating cavity 11 (the mop 822 is separately arranged on the left and right sides of the sweeper 8 and cannot interfere with the supporting portion 111 a), thereby effectively improving the reliability of the interaction process of the sweeper 8. For example, but not limited to, the supporting portion 111a is in an arc wave shape along the extending direction to improve the smoothness of the entrance and exit of the sweeper 8.

Optionally, the rear end of the sweeper 8 enters the accommodating cavity 11, the universal wheel 85 at the front end of the bottom of the sweeper 8 is abutted against the traction platform, and the bottom of the sweeper 8 is abutted against the jacking block 111b so as to keep a front low and rear high inclined state; in this way, the distance between the middle-sweep dust suction port 81 and the mop cleaning tank 111 is better increased, and the dirty water or garbage in the mop cleaning tank 111 is better prevented from being sucked into the middle-sweep dust suction port 81.

In the third embodiment of the present invention, referring to fig. 11 to 13, similar to the second embodiment, the technical solution of the third embodiment also uses the abutting portion to abut against the centering and sweeping structure 811, except that in this embodiment, the abutting portion is an abutting mechanism capable of moving up and down relative to the supporting portion 111 a. It will be appreciated that the abutment mechanism can be kept at the same height as the supporting part 111a or higher than the supporting part 111a according to the requirement, so that the abutment is not required to be too high to prevent the sweeper 8 from entering the mop cleaning tank 111 to clean the mop 822, and the running reliability of the sweeper system is greatly improved.

Optionally, in this embodiment, the propping portion is a propping mechanism that can move up and down relative to the supporting portion 111a, and the top surface of the supporting portion 111a is concavely provided with a receiving groove, where the propping mechanism includes a first link 111c and a second link 111d that are disposed along a length direction of the receiving groove, and the first link 111c and the second link 111d are hinged along a horizontal direction, so as to be adapted to be laid in the receiving groove by relative rotation, or extend out of the receiving groove at a preset inclination angle. It will be appreciated that the hinge of the first link 111c and the second link 111d serves to abut the sweeper 8 when the sweeper 8 is entering into dust collection; the hinged connecting rod structure is a movable propping design widely used in the prior art, and is simple in structure and small in space occupation when applied to the embodiment; of course, in other embodiments, the supporting structure may also specifically adopt a lifting loop bar, and the design is not limited thereto.

Optionally, the rear end of the sweeper 8 enters towards the accommodating cavity 11, the universal wheel 85 at the front end of the bottom of the sweeper 8 is abutted against the traction platform, and the bottom of the sweeper 8 is abutted against the abutting mechanism so as to keep a front low and rear high inclined state; in this way, the distance between the middle-sweep dust suction port 81 and the mop cleaning tank 111 is better increased, and the dirty water or garbage in the mop cleaning tank 111 is better prevented from being sucked into the middle-sweep dust suction port 81. In addition, in order to automatically switch the state of the propping mechanism, in this embodiment, one end of the first link 111c away from the second link 111d is connected with a torsion spring 111e, the preset elastic force of the torsion spring 111e is used to maintain that the first link 111c and the second link 111d are mutually inclined to stand up to maintain the propping state, and when the sweeper 8 enters the accommodating cavity 11 to clean the mop 822, the sweeper 8 is propped against the propping mechanism by the dead weight through the universal wheel 85, so that the first link 111c and the second link 111d are forced to be spread flat, the sweeper 8 can maintain a horizontal state in the accommodating cavity 11, mop 822 is cleaned normally, and after the sweeper 8 finishes cleaning the mop 822 and exits the accommodating cavity 11, the first link 111c and the second link 111d are reset to be in an inclined state under the action of the torsion spring 111 e.

The invention also provides a control method of the sweeping robot system, referring to fig. 14, the control method of the sweeping robot system comprises the following steps:

s1, sending a dust collection instruction to the sweeper 8 or receiving the dust collection instruction of the sweeper 8;

it is easy to understand that the dust collection operation of the sweeper 8 may be performed because the loaded dust box is full, and the dust collection instruction is automatically sent to the service station, or the user may actively send the dust collection instruction to the sweeper 8 through the service station, and the design is not limited to this.

S2, detecting whether the sweeper 8 reaches a dust collecting position in the accommodating cavity 11;

it is to be understood that the present design is not limited to detecting whether the sweeper 8 reaches the dust collecting position in the accommodating cavity 11 by means of pressure sensing, infrared detection or the like.

S3, based on the floor sweeper 8 reaching the dust collecting position, driving the baffle structure to move to the opening position so as to baffle between the middle sweeping structure 811 of the floor sweeper 8 and the mop 822 cleaning tank 111 of the accommodating cavity 11.

It is to be understood that the specific form of the barrier structure is described in detail in the first subject matter of the specification, and will not be repeated herein.

According to the technical scheme, the baffle structure is introduced into the accommodating cavity 11 of the service station, so that when the sweeper 8 enters the service station to collect dust, the baffle structure is utilized to baffle between the middle sweeping structure 811 of the sweeper 8 and the mop cleaning tank 111, wet garbage in the mop cleaning tank 111 is effectively prevented from being sucked into the service station from the middle sweeping dust collection port 81, the probability of blockage of a dust collection channel is reduced, and the sanitation and practicability of the robot system of the sweeper 8 are improved.

Optionally, after step S3, the method further includes the step of: s4, after the dust collection process is finished based on the sweeper 8, the baffle structure is driven to move to the closed position so as to completely expose the cleaning groove 111 of the mop 822. It will be appreciated that the barrier structure is effectively stowed after dust collection is completed, thereby avoiding interference with subsequent cleaning actions of the mop 822.

The foregoing description is only of the preferred embodiments of the present invention and is not intended to limit the scope of the invention, and all equivalent structural changes made by the description of the present invention and the accompanying drawings or direct/indirect application in other related technical fields are included in the scope of the invention.

Claims

1. A sweeping robot system, comprising:

a baffle structure is arranged in the accommodating cavity and is used for being blocked between the middle sweeping structure and the mop cleaning tank when the middle sweeping dust collection port enters the accommodating cavity; wherein, the liquid crystal display device comprises a liquid crystal display device,

the middle sweeping structure can be assembled in the middle sweeping dust collection opening in an up-down movable mode, and the baffle structure is arranged on the propping portion of the cavity bottom of the containing cavity in a protruding mode at a position corresponding to the position when the middle sweeping dust collection opening enters the containing cavity, so that the middle sweeping structure is at least partially propped into the middle sweeping dust collection opening.

2. The robot cleaner system according to claim 1, wherein the bottom of the accommodating chamber is provided with a supporting part with the extending direction consistent with the direction of the chamber opening in a protruding manner;

3. The robot cleaner system according to claim 2, wherein the supporting part is a supporting mechanism capable of moving up and down relative to the supporting part, the top surface of the supporting part is concavely provided with a receiving groove, the supporting mechanism comprises a first connecting rod and a second connecting rod which are arranged along the length direction of the receiving groove, and the first connecting rod and the second connecting rod are hinged along the horizontal direction so as to be adapted to be laid in the receiving groove or extend out of the receiving groove at a preset inclination angle through relative rotation.

4. The robot cleaner system of claim 1, wherein the barrier structure is a middle-sweep barrier movably disposed at a bottom edge of the cavity opening;

5. The robot cleaner system according to claim 4, wherein a recovery tank for the middle sweeping baffle to enter and exit is provided at the bottom edge of the cavity opening of the accommodating cavity, and a driving device for driving the middle sweeping baffle to move is further provided in the recovery tank.

6. The robot system for cleaning floor according to any one of claims 1 to 5, wherein a cleaning installation part is arranged at the front side of the bottom of the floor cleaner, the cleaning installation part is used for assembling a whip or a mop, a dust suction port communicated with the middle dust suction port is arranged at the rear end of the floor cleaner, and a dust collection assembly connected with the dust suction port is arranged in the service station;

7. The robot cleaner system of claim 5, wherein the sweeper is maintained in a front low, rear high, tilted state with the barrier structure supported based on the rear end of the sweeper entering the receiving cavity.

8. A control method of the sweeping robot system according to any one of claims 1 to 7, characterized by comprising the steps of:

9. The method of controlling a sweeping robot system according to claim 8, further comprising, after the step S3, the step of: