CN114601377A

CN114601377A - Base station, cleaning robot and cleaning robot system

Info

Publication number: CN114601377A
Application number: CN202110805936.1A
Authority: CN
Inventors: 段传林; 成盼; 刘垚鑫; 杨志敏
Original assignee: Beijing Rockrobo Technology Co Ltd
Current assignee: Beijing Rockrobo Technology Co Ltd
Priority date: 2021-07-16
Filing date: 2021-07-16
Publication date: 2022-06-10
Also published as: WO2023284147A1

Abstract

The utility model relates to an intelligence house technical field provides a basic station, cleaning machines people and cleaning machines people system. The base station comprises a base station body, wherein the base station body comprises a liquid supply part, a collecting box and a cleaning groove; the base station is provided with a liquid supply part, a liquid supply part and a water replenishing joint, wherein the liquid supply part is communicated with the water replenishing joint arranged on the base station body so that the base station supplies liquid to a liquid storage tank of the cleaning robot through the water replenishing joint; the collecting tank is connected with the cleaning tank to collect the liquid in the cleaning tank. When the cleaning robot moves to the base station body, the water supplementing joint can be connected with the water supplementing opening, so that the base station supplies liquid to the liquid storage tank through the water supplementing joint.

Description

Base station, cleaning robot and cleaning robot system

Technical Field

The utility model relates to an intelligence house technical field especially relates to a basic station, cleaning machines people and cleaning machines people system.

Background

A sweeping and mopping integrated cleaning robot in the related art comprises a sweeping rolling brush, a mop cloth and a liquid storage tank, wherein the liquid storage tank supplies water to the mop cloth. When the liquid in the liquid storage tank is insufficient, manual irrigation is frequently carried out at the present stage, and the use is extremely inconvenient.

Disclosure of Invention

The disclosure provides a base station, a cleaning robot and a cleaning robot system, which are used for supplying liquid to a liquid storage tank of the cleaning robot.

According to a first aspect of the present disclosure, there is provided a base station comprising:

the base station comprises a base station body and a base station body, wherein the base station body comprises a liquid supply part, a collecting box and a cleaning groove;

the base station is provided with a liquid supply part, a liquid supply part and a water replenishing joint, wherein the liquid supply part is communicated with the water replenishing joint arranged on the base station body so that the base station supplies liquid to a liquid storage tank of the cleaning robot through the water replenishing joint;

the collecting tank is connected with the cleaning tank to collect the liquid in the cleaning tank.

In one embodiment of the present disclosure, at least a portion of the refill adapter is movably disposed.

In one embodiment of the present disclosure, the refill adaptor includes:

a main body part connected with the base station body;

a sealing part, one end of which is connected with the main body part;

the joint part is connected with the other end of the sealing part, which is far away from the main body part, and is used for being connected with the liquid storage tank;

wherein, the sealing part is made of flexible material.

In one embodiment of the present disclosure, the base station further includes:

the first positioning part is arranged on the base station body and is used for being connected with the second positioning part of the cleaning robot;

when the first positioning part is connected with the second positioning part, the water supplementing joint is connected with the liquid storage tank.

In one embodiment of the present disclosure, the first positioning portion is formed with an accommodating space, and one end of the water replenishing joint for connecting with the liquid storage tank is located in the accommodating space.

In one embodiment of the present disclosure, the base station further includes:

the cleaning assembly is movably arranged on the base station body and comprises a liquid outlet device, and cleaning liquid discharged by the liquid outlet device is used for cleaning a cleaning system of the cleaning robot and enters the cleaning groove.

In one embodiment of the disclosure, the liquid supply part is selectively communicated with the water replenishing joint or the liquid outlet device.

In one embodiment of the disclosure, the liquid supply is selectively communicated with the water replenishing joint or the liquid outlet device through an electromagnetic valve.

In one embodiment of the present disclosure, the washing assembly further comprises:

the cleaning component support is provided with a liquid outlet device.

In one embodiment of the present disclosure, the base station further includes:

one end of the liquid feeding channel is communicated with the liquid supply part, and the other end of the liquid feeding channel is communicated with the liquid outlet device, so that the liquid supply part feeds the cleaning liquid into the liquid outlet device through the liquid feeding channel;

wherein at least part of the liquid feeding channel is movably arranged along with the cleaning component bracket.

the cleaning piece is arranged on the cleaning component support and is parallel to the liquid outlet device.

In one embodiment of the present disclosure, the cleaning members include a first cleaning member and a second cleaning member that remove debris from the cleaning system by interfering with the cleaning system.

According to a second aspect of the present disclosure, there is provided a cleaning robot adapted to the base station described above, including:

a machine main body;

the liquid reserve tank, the liquid reserve tank sets up in the machine main part, and the liquid reserve tank is used for connecting with the moisturizing to be linked together to receive the liquid that is provided through the moisturizing joint by the basic station.

In one embodiment of the disclosure, a water replenishing port is arranged on the liquid storage tank and is used for being connected with a water replenishing joint;

the liquid storage tank is provided with a valve which is a one-way valve, so that when the base station supplies liquid into the water replenishing connector, the valve is opened, and when the base station stops supplying liquid into the water replenishing connector, the valve is closed.

In one embodiment of the disclosure, a water replenishing port is arranged on the liquid storage tank, a second positioning part is arranged on the liquid storage tank, and the second positioning part is used for being connected with the first positioning part of the base station;

wherein, when first location portion is connected with second location portion, the moisturizing connects and is connected with the moisturizing mouth.

In one embodiment of the present disclosure, the second positioning portion is a groove, and the groove is adapted to the first positioning portion.

In one embodiment of the disclosure, a first charging contact piece and a buffer are arranged on the machine main body, and a through hole for exposing the first charging contact piece is arranged on the buffer.

According to a third aspect of the present disclosure, there is provided a cleaning robot system including:

the base station comprises a liquid supply part, a collecting box and a cleaning groove;

the cleaning robot comprises a robot body and a liquid storage tank, wherein the liquid storage tank is arranged on the robot body; wherein the content of the first and second substances,

the liquid supply part is communicated with a water replenishing connector arranged on the base station so that the base station supplies liquid to the liquid storage tank through the water replenishing connector;

When the cleaning robot moves to the base station body, the liquid supply part can supply liquid to the liquid storage tank through the water replenishing connector in the base station. And the collecting box is connected with the cleaning groove, so that the collecting box can collect liquid in the cleaning groove.

Drawings

Various objects, features and advantages of the present disclosure will become more apparent from the following detailed description of preferred embodiments thereof, when considered in conjunction with the accompanying drawings. The drawings are merely exemplary illustrations of the disclosure and are not necessarily drawn to scale. In the drawings, like reference characters designate the same or similar parts throughout the different views. Wherein:

FIG. 1 is a schematic diagram of a cleaning robot system with a cleaning robot in a first pose in accordance with an exemplary embodiment;

FIG. 2 is a schematic diagram of a cleaning robot system with a cleaning robot in a second position in accordance with an exemplary embodiment;

FIG. 3 is a schematic diagram illustrating a first perspective of a cleaning robot in accordance with an exemplary embodiment;

FIG. 4 is a schematic diagram illustrating a second perspective of a cleaning robot in accordance with an exemplary embodiment;

FIG. 5 is a schematic diagram of a partially exploded view of a cleaning robot, according to an exemplary embodiment;

FIG. 6 is a schematic diagram illustrating a third perspective of a cleaning robot in accordance with an exemplary embodiment;

FIG. 7 is a schematic diagram of a reservoir of a cleaning robot according to an exemplary embodiment;

FIG. 8 is a schematic cross-sectional view of a tank of a cleaning robot according to an exemplary embodiment;

FIG. 9 is a schematic diagram illustrating a fourth perspective of a cleaning robot in accordance with an exemplary embodiment;

FIG. 10 is a schematic diagram of a support platform of a cleaning robot shown in accordance with an exemplary embodiment;

FIG. 11 is a schematic diagram illustrating a partial structure of a base station in accordance with an example embodiment;

FIG. 12 is a schematic diagram illustrating a partial structure of a base station in accordance with an example embodiment;

FIG. 13 is a schematic diagram illustrating a first perspective internal structure of a base station in accordance with an exemplary embodiment;

FIG. 14 is a block diagram illustrating a second perspective of a base station in accordance with an exemplary embodiment;

FIG. 15A is a schematic diagram illustrating a portion of a washing assembly of a base station in accordance with one exemplary embodiment;

FIG. 15B is a schematic diagram illustrating a partial configuration of a wash assembly of a base station in accordance with one illustrative embodiment;

FIG. 15C is a schematic illustration of a portion of a washing assembly of a base station, according to another exemplary embodiment;

FIG. 16 is a schematic diagram illustrating a cross-sectional configuration of a cleaning assembly of a base station in accordance with one exemplary embodiment;

FIG. 17 is a schematic illustration showing a separate configuration of the reservoir and refill adapter and the first detent of a cleaning robot system in accordance with an exemplary embodiment;

FIG. 18 is a schematic diagram illustrating a configuration of a refill adapter and a first positioning portion of a base station in accordance with an exemplary embodiment;

FIG. 19 is a block diagram illustrating a state of a base station in accordance with another exemplary embodiment;

FIG. 20 is a block diagram illustrating another state of a base station in accordance with another exemplary embodiment;

FIG. 21 is a schematic diagram of a cooperative arrangement of a cleaning robot and a base station of a cleaning robot system, according to an exemplary embodiment;

FIG. 22 is a schematic diagram illustrating a partial cooperative configuration of a cleaning robot and a base station of a cleaning robot system according to an exemplary embodiment;

fig. 23 is a schematic diagram illustrating a partial structure of a base station according to an exemplary embodiment.

The reference numerals are explained below:

10. a cleaning robot; 110. a machine main body; 111. a forward portion; 112. a rearward portion; 120. a sensing system; 121. a determination device; 122. a buffer; 1221. a through hole; 130. a control module; 140. a drive system; 141. a drive wheel module; 142. a driven wheel; 150. cleaning the system; 151. a dry cleaning system; 152. brushing edges; 160. an energy system; 170. a human-computer interaction system; 400. a wet cleaning system; 410. a cleaning head; 420. a drive unit; 421. a drive platform; 422. a support platform; 4217. a water outlet device; 4218. a clean water pump pipe; 4219. a clean water pump; 12. a first charging contact piece; 13. a liquid storage tank; 14. a second positioning portion; 16. a water replenishing port; 17. a valve; 18. a pipeline; 19. a rotating wheel;

20. a base station body; 21. cleaning the tank; 211. a liquid extraction port; 22. a guide bottom surface; 221. anti-skid projections; 222. a lengthening plate; 23. a guide side surface; 231. a side surface; 232. an intermediate surface; 24. a guide top surface; 25. guiding and pressing blocks; 26. a guide wheel; 27. a guide bridge;

30. cleaning the assembly; 31. a first cleaning member; 32. a second cleaning member; 33. cleaning the component support; 34. a drive section; 341. a gear; 342. a rack; 35. a liquid outlet; 36. a liquid outlet device; 40. a second charging contact piece; 50. a water replenishing joint; 51. a main body portion; 52. a sealing part; 53. a joint portion; 60. a first positioning portion; 61. an accommodating space; 70. a liquid supply section; 71. and a collection box.

Detailed Description

Exemplary embodiments that embody features and advantages of the present disclosure are described in detail below in the specification. It is to be understood that the disclosure is capable of various modifications in various embodiments without departing from the scope of the disclosure, and that the description and drawings are to be regarded as illustrative in nature, and not as restrictive.

In the following description of various exemplary embodiments of the disclosure, reference is made to the accompanying drawings, which form a part hereof, and in which are shown by way of illustration various exemplary structures, systems, and steps in which aspects of the disclosure may be practiced. It is to be understood that other specific arrangements of parts, structures, example devices, systems, and steps may be utilized and structural and functional modifications may be made without departing from the scope of the present disclosure. Moreover, although the terms "over," "between," "within," and the like may be used in this specification to describe various example features and elements of the disclosure, these terms are used herein for convenience only, e.g., in accordance with the orientation of the examples in the figures. Nothing in this specification should be construed as requiring a specific three dimensional orientation of structures in order to fall within the scope of this disclosure.

As shown in fig. 1 to 23, a cleaning robot system of an embodiment of the present disclosure may include a cleaning robot 10 and a base station.

In the disclosed embodiment, as shown in fig. 3 and 4, the cleaning robot 10 may include a machine body 110, a sensing system 120, a control module 130, a driving system 140, a cleaning system 150, an energy system 160, and a human-machine interaction system 170.

As shown in fig. 3, the machine body 110 includes a forward portion 111 and a rearward portion 112, which have an approximately circular shape (circular front and rear), but may have other shapes including, but not limited to, an approximately D-shaped shape with a front and rear circle, and a rectangular or square shape with a front and rear.

As shown in fig. 3, the sensing system 120 includes a position determining device 121 disposed on the machine body 110, a collision sensor and a proximity sensor disposed on a bumper 122 of the forward portion 111 of the machine body 110, a cliff sensor disposed on a lower portion of the machine body, and a sensing device such as a magnetometer, an accelerometer, a gyroscope, and an odometer disposed inside the machine body, for providing various position information and motion state information of the machine to the control module 130. The position determining device 121 includes, but is not limited to, a camera, a Laser Distance Sensor (LDS).

As shown in fig. 3, the forward portion 111 of the machine body 110 may carry a bumper 122, the bumper 122 detects one or more events in the travel path of the cleaning robot 10 via a sensor system, such as an infrared sensor, provided thereon when the driving wheel module 141 propels the cleaning robot 10 to walk on the floor during cleaning, and the cleaning robot 10 may control the driving wheel module 141 to make the cleaning robot 10 respond to the event, such as to get away from an obstacle, by the event detected by the bumper 122, such as an obstacle, a wall.

The control module 130 is disposed on a circuit board in the machine body 110, And includes a non-transitory memory, such as a hard disk, a flash memory, And a random access memory, a communication computing processor, such as a central processing unit, And an application processor, And the application processor uses a positioning algorithm, such as a Simultaneous Localization And Mapping (SLAM), to map an environment in which the cleaning robot 10 is located according to the obstacle information fed back by the laser distance measuring device. And the distance information and speed information fed back by the sensors, cliff sensors, magnetometers, accelerometers, gyroscopes, odometers and other sensing devices arranged on the buffer 122 are combined to comprehensively judge which working state and position the cleaning robot 10 is currently in, and the current pose of the cleaning robot 10, such as passing a threshold, putting a carpet on the cliff, being blocked above or below the cleaning robot, being full of dust boxes, being taken up and the like, and specific next-step action strategies can be given according to different conditions, so that the cleaning robot 10 has better cleaning performance and user experience.

As shown in fig. 4, drive system 140 may steer machine body 110 across the ground based on drive commands having distance and angle information (e.g., x, y, and θ components). The drive system 140 includes a drive wheel module 141, and the drive wheel module 141 can control both the left and right wheels, and in order to more precisely control the motion of the machine, it is preferable that the drive wheel module 141 includes a left drive wheel module and a right drive wheel module, respectively. The left and right drive wheel modules are disposed along a transverse axis defined by the machine body 110. In order for the cleaning robot 10 to be able to move more stably or with greater mobility over the floor surface, the cleaning robot 10 may include one or more driven wheels 142, including but not limited to universal wheels. The driving wheel module comprises a traveling wheel, a driving motor and a control circuit for controlling the driving motor, and can also be connected with a circuit for measuring driving current and a milemeter. The driving wheel module 141 may be detachably coupled to the machine body 110 to facilitate disassembly and maintenance. The drive wheel may have a biased drop-type suspension system, be movably secured, e.g., rotatably attached, to the machine body 110, and receive a spring bias biased downward and away from the machine body 110. The spring bias allows the drive wheels to maintain contact and traction with the floor with a certain landing force while the cleaning elements of the cleaning robot 10 also contact the floor with a certain pressure.

Energy systems include rechargeable batteries, such as nickel metal hydride batteries and lithium batteries. The charging battery can be connected with a charging control circuit, a battery pack charging temperature detection circuit and a battery under-voltage monitoring circuit, and the charging control circuit, the battery pack charging temperature detection circuit and the battery under-voltage monitoring circuit are connected with the single chip microcomputer control circuit. The host computer is connected with the charging pile through the charging electrode arranged on the side or the lower part of the machine body for charging.

The human-computer interaction system 170 comprises keys on a panel of the host computer, and the keys are used for a user to select functions; the machine control system can further comprise a display screen and/or an indicator light and/or a loudspeaker, wherein the display screen, the indicator light and the loudspeaker show the current state or function selection item of the machine to a user; and a mobile phone client program can be further included. For the path navigation type cleaning robot, a map of the environment where the equipment is located and the position of the robot can be displayed to a user at a mobile phone client, and richer and more humanized function items can be provided for the user.

The cleaning system may be a dry cleaning system 151 and/or a wet cleaning system 400.

As shown in fig. 4, the dry cleaning system 151 provided in the embodiment of the present disclosure may include a roller brush, a dust box, a fan, and an air outlet. The rolling brush with certain interference with the ground sweeps the garbage on the ground and winds the garbage to the front of a dust suction opening between the rolling brush and the dust box, and then the garbage is sucked into the dust box by air which is generated by the fan and passes through the dust box and has suction force. The Dust removing capability of the cleaning robot 10 can be characterized by the cleaning efficiency (DPU) of the garbage, and the cleaning efficiency DPU is influenced by the structure and the material of the rolling brush, the wind power utilization rate of the wind channel formed by the Dust suction port, the Dust box, the fan, the air outlet and the connecting parts among the Dust suction port, the Dust box, the fan, the air outlet and the four, the type and the power of the fan, and the cleaning robot is a complicated system design problem. Compared with the common plug-in dust collector, the improvement of the dust removal capability is more significant for the cleaning robot with limited energy. Because the improvement of the dust removal capability directly and effectively reduces the energy requirement, namely the machine which can clean the ground of 80 square meters by charging once can be developed into the machine which can clean 180 square meters or more by charging once. And the service life of the battery, which reduces the number of times of charging, is also greatly increased, so that the frequency of replacing the battery by the user is also increased. More intuitively and importantly, the improvement of the dust removal capability is the most obvious and important user experience, and the user can directly draw a conclusion whether the sweeping/wiping is clean. The dry cleaning module may also include an edge brush 152 having an axis of rotation that is angled relative to the floor for moving debris into the roller brush area of the cleaning system 150.

As shown in fig. 4 to 8, a wet cleaning system 400 provided by the embodiment of the present disclosure may include: a cleaning head 410, a drive unit 420, a water supply mechanism, a reservoir 13, and the like. The cleaning head 410 may be disposed below the liquid storage tank 13, and the cleaning liquid in the liquid storage tank 13 is transferred to the cleaning head 410 through the water delivery mechanism, so that the cleaning head 410 performs wet cleaning on the surface to be cleaned. In other embodiments of the present disclosure, the cleaning liquid inside the liquid storage tank 13 may also be directly sprayed to the plane to be cleaned, and the cleaning head 410 cleans the plane by smearing the cleaning liquid uniformly.

Wherein the cleaning head 410 is used to clean a surface to be cleaned, and the driving unit 420 is used to drive the cleaning head 410 to substantially reciprocate along a target surface, which is a part of the surface to be cleaned. The cleaning head 410 reciprocates along the surface to be cleaned, the surface of the contact surface of the cleaning head 410 and the surface to be cleaned is provided with cleaning cloth or a cleaning plate, and high-frequency friction is generated between the cleaning cloth or the cleaning plate and the surface to be cleaned through reciprocating motion, so that stains on the surface to be cleaned are removed.

The higher the friction frequency, the more the friction times in unit time, the high-frequency reciprocating motion, also called reciprocating vibration, the cleaning capacity is much higher than that of the common reciprocating motion, such as rotation and friction cleaning, and optionally, the friction frequency is close to the sound wave, and the cleaning effect is much higher than that of the rotation friction cleaning of dozens of circles per minute. On the other hand, the bristles on the surface of the cleaning head 410 can be more regularly and straightly extended towards the same direction under the shaking of high-frequency vibration, so that the whole cleaning effect is more uniform, the cleaning effect is not improved by only applying downward pressure to increase friction force under the condition of low-frequency rotation, the bristles cannot be extended towards the same direction under the condition of only downward pressure, and the effect is that the water marks on the surface to be cleaned after the high-frequency vibration cleaning are more uniform, and the disordered water marks cannot be left.

The reciprocating motion may be a reciprocating motion in any one or more directions within the surface to be cleaned, or may be a vibration perpendicular to the surface to be cleaned, which is not strictly limited. Optionally, the reciprocating direction of the cleaning module is approximately perpendicular to the machine traveling direction, because the reciprocating direction parallel to the machine traveling direction may cause instability to the traveling machine itself, because the driving wheels may easily slip due to thrust and resistance in the traveling direction, the effect of the slip is more obvious when a wet cleaning module is included, because the possibility of the slip is increased due to the wet slip of the surface to be cleaned, and the slip may cause inaccurate distance measurement of sensors such as a speedometer and a gyroscope besides affecting smooth traveling cleaning of the machine, so that the navigation type cleaning robot cannot accurately position and map, and in the case of frequent slip, the effect on SLAM cannot be ignored, so that the machine behavior of the slip needs to be avoided as much as possible. In addition to slippage, the component of the cleaner head 410 motion in the direction of machine travel causes the machine to be constantly propelled forward and backward while traveling, and thus the machine travels erratically and smoothly.

In the embodiment of the present disclosure, as shown in fig. 5, the driving unit 420 may further include: a driving platform 421 connected to the bottom surface of the machine body 110 for providing a driving force; and a supporting platform 422 detachably connected to the driving platform 421 for supporting the cleaning head 410, and capable of being lifted under the driving of the driving platform 421.

As an alternative embodiment of the present disclosure, the wet cleaning system 400 may be connected with the machine body 110 through an active lift module. When the wet cleaning system 400 is not engaged in work for a while, for example, the cleaning robot 10 stops at a base station to clean the cleaning head 410 of the wet cleaning system 400 and fill the liquid storage tank 13 with water; or when a surface to be cleaned that cannot be cleaned using the wet cleaning system 400 is encountered, the wet cleaning system 400 is raised by the active lift module.

In the wet cleaning system 400 provided in the embodiment of the present disclosure, the cleaning head 410, the driving platform 421, the supporting platform 422, the water feeding mechanism, the liquid storage tank 13, and the like may be powered by one motor or a plurality of motors. An energy system 160 provides power and energy to the motor and is controlled as a whole by the control module 130.

The water supply mechanism in the embodiment of the present disclosure may include a water outlet device, and the water outlet device may be directly or indirectly connected to the liquid outlet of the liquid storage tank 13, wherein, as shown in fig. 10, the cleaning liquid may flow to the water outlet device 4217 through the cleaning liquid outlet of the liquid storage tank 13, and may be uniformly coated on the surface to be cleaned through the water outlet device. The water outlet device can be provided with a connecting piece and is connected with the cleaning solution outlet of the liquid storage tank 13 through the connecting piece. The water outlet device is provided with a distribution port which can be a continuous opening or a combination of a plurality of broken small openings, and the distribution port can be provided with a plurality of nozzles. The cleaning liquid flows through the cleaning liquid outlet of the reservoir 13 and the connection of the water outlet device to the distribution openings, through which it is evenly spread on the surface to be cleaned.

As shown in fig. 5 and 10, the water supply mechanism may further include a clean water pump 4219 and/or a clean water pump 4218, and the clean water pump 4219 may be directly communicated with the cleaning liquid outlet of the liquid storage tank 13 or may be communicated with the clean water pump 4218.

The clean water pump 4219 may be coupled to a connection of the outlet and may be configured to draw cleaning liquid from the tank 13 to the outlet. The clean water pump may be a gear pump, a vane pump, a plunger pump, a peristaltic pump, or the like.

The water delivery mechanism draws the cleaning solution in the liquid storage tank 13 through a clean water pump 4219 and a clean water pump tube 4218 and delivers the cleaning solution to a water outlet device, the water outlet device 4217 can be a nozzle, a water dropping hole, a wetting cloth and the like, and uniformly distributes the water on the cleaning head 410, so as to wet the cleaning head 410 and the surface to be cleaned. The stains on the wet surface to be cleaned can be cleaned more easily. In the wet cleaning system 400, the power/flow of the clean water pump may be adjusted.

In the embodiment of the present disclosure, the liquid storage tank 13 further includes a water replenishing port 16, as shown in fig. 7 to 9, the water replenishing port 16 may be located on a side wall of the liquid storage tank 13, and when the cleaning robot 10 stops at a base station, the base station may fill water into the liquid storage tank 13 of the cleaning robot 10 through the water replenishing port 16.

In the embodiment of the present disclosure, as shown in fig. 7, a second positioning portion 14 is disposed on the liquid storage tank 13, and the second positioning portion 14 is used for connecting with a base station, so that the base station can inject water into the liquid storage tank 13 of the cleaning robot 10 through the water replenishing opening 16.

In the embodiment of the present disclosure, as shown in fig. 8, a valve 17 is disposed on the water replenishing port 16 of the liquid storage tank 13, and the valve 17 is openably and closably disposed to control the connection and disconnection between the water replenishing port 16 and the liquid storage tank 13. A pipeline 18 is arranged in the liquid storage tank 13, and a valve 17 is arranged at one end of the pipeline 18.

In the disclosed embodiment, the valve 17 may be an electronic valve or a manual valve, and is controlled to open or close accordingly. In other embodiments of the present disclosure, the valve 17 may also be a check valve, when the liquid storage tank 13 completes the liquid replenishment, and after the connection between the water replenishment port 16 and the liquid storage tank 13 is disconnected, the valve 17 is automatically closed, so as to prevent the cleaning liquid in the liquid storage tank 13 from flowing out. For example, the valve 17 may be a cross valve, a lift check valve, a swing check valve, or the like.

In the embodiment of the present disclosure, the cleaning robot 10 further includes a first charging contact pad 12, the first charging contact pad 12 may be disposed on the machine main body 110 and connected to the energy system of the cleaning robot 10, and when the cleaning robot 10 stops at the base station, the base station may charge the energy system of the cleaning robot 10 through the first charging contact pad 12. In the embodiment of the present disclosure, first charging contact piece 12 may be located on the side of the body of cleaning robot 10, and this setting may prevent surface water from polluting first charging contact piece 12, and may also prevent charging contact piece from causing damage to cleaning robot 10 when cleaning robot 10 stops the base station to perform liquid storage tank 13 water injection or wash cleaning system 150 of cleaning robot 10. Optionally, the first charging contact pole piece 12 is located on a side of the machine body 110. For example, the first charging contact pad may be disposed on a side of the front of the machine main body 110, a bumper 122 for buffering the collision of the cleaning robot 10 may be further disposed on the front of the machine main body 110, and a through hole 1221 for exposing the first charging contact pad 12 may be disposed on the bumper 122, as shown in fig. 21.

In the embodiment of the present disclosure, as shown in fig. 14, the base station includes: a base station body 20, the base station body 20 including a liquid supply part 70 and a collection tank 71, and a cleaning tank 21; wherein, the liquid supply part 70 is communicated with a water supplement joint 50 arranged on the base station body 20, so that the base station supplies liquid to the liquid storage tank 13 of the cleaning robot 10 through the water supplement joint 50; the collection tank 71 is connected to the cleaning bath 21 to collect the liquid in the cleaning bath 21.

In the embodiment of the present disclosure, when the cleaning robot 10 moves to the base station body 20, the liquid supply part 70 can supply liquid to the liquid storage tank 13 through the water supplement joint 50. And by connecting the collection tank 71 to the cleaning tank 21, the collection tank 71 can be made to collect the liquid in the cleaning tank 21.

It should be noted that the cleaning tank 21 may be used to collect liquid dropped from the cleaning robot 10 or liquid dropped when the base station supplies liquid to the liquid storage tank 13 of the cleaning robot 10 through the water replenishment connector 50.

In the embodiment of the present disclosure, as shown in fig. 11 and 12, the base station further includes: and the water replenishing connector 50 is arranged on the base station body 20, and the water replenishing connector 50 is used for being connected with the water replenishing port 16 of the liquid storage tank 13 of the cleaning robot 10, so that water is injected into the liquid storage tank 13 of the cleaning robot 10.

In the disclosed embodiment, the cleaning robot 10 may move and dock to the base station body 20, as shown in fig. 1, for subsequent fluid replacement.

When the cleaning robot 10 moves to the base station body 20, the water replenishing connector 50 of the base station in the embodiment can be connected with the water replenishing port 16 of the cleaning robot 10, so that the base station supplies liquid to the liquid storage tank 13 through the water replenishing connector 50.

In the embodiment of the disclosure, since the cleaning robot 10 may have a slight side-to-side swing during docking at the base station, in order to make the base station water replenishing joint 50 align with the water replenishing port 16 of the liquid storage tank 13 of the cleaning robot 10, at least a part of the base station water replenishing joint 50 may be movably disposed, for example, the water replenishing joint 50 is made of a flexible material, or the water replenishing joint 50 is disposed on the flexible material.

In the disclosed embodiment, as shown in fig. 17 and 18, the refill joint 50 includes: a main body part 51, wherein the main body part 51 is connected with the base station body 20; a seal portion 52, one end of the seal portion 52 being connected to the main body portion 51; a joint part 53, wherein the joint part 53 is connected with the other end of the sealing part 52 far away from the main body part 51, and the joint part 53 is used for being connected with the liquid storage tank 13; wherein the sealing portion 52 is made of a flexible material.

Specifically, the main body 51 is a main flow channel of liquid, the joint 53 is a hard interface part for connecting with the water replenishing port 16 of the liquid storage tank 13 of the cleaning robot 10, the sealing part 52 is of a soft structure, and by arranging the soft sealing part 52, the water replenishing joint 50 can move in the radial direction and the axial direction, so that the alignment with the water replenishing port 16 of the liquid storage tank 13 is facilitated.

In the embodiment of the present disclosure, as shown in fig. 17, the water replenishing port 16 is adapted to fit with the water replenishing joint 50, that is, one end of the water replenishing joint 50 may be inserted into the water replenishing port 16, and further, the joint portion 53 of the water replenishing joint 50 is inserted into the water replenishing port 16. As described above, a valve is disposed at the water replenishing port 16 of the cleaning robot 10, for example, a cross valve is disposed at the water replenishing port 16, when the water replenishing connector 50 of the base station is aligned with the water replenishing port 16 of the cleaning robot 10, the base station starts replenishing water to the liquid storage tank 13 through the water replenishing port 16, the cross valve is opened by the water pressure from the direction of the water replenishing connector 50, so that the water replenishing port 16 is conducted with the liquid storage tank 13, the cleaning liquid flows into the liquid storage tank 13, when the water replenishing is completed, the water pressure from the direction of the water replenishing connector 50 at the water replenishing port 16 disappears, and the cross valve is closed, so that the water replenishing port 16 is disconnected from the liquid storage tank 13, and the cleaning liquid in the liquid storage tank 13 is prevented from flowing out.

In the embodiment of the present disclosure, a forward driving force may be added to the driving wheels of the cleaning robot 10 when the cleaning robot 10 stops at the base station to replenish the liquid storage tank 13 with water. Since the water replenishing joint 50 of the base station generates a backward pushing force to the cleaning robot 10 during the water discharging process during the water replenishing process of the liquid storage tank 13, the cleaning robot 10 generates a backward movement tendency. Increasing the forward driving force on the drive wheels offsets at least a portion of this thrust, ensuring that the cleaning robot 10 is more stable when refilling the tank 13. In other embodiments of the present disclosure, whether the forward driving force is increased or not, and the magnitude of the driving force may be determined by the water discharging speed of the water replenishing joint 50, the mass of the cleaning robot 10 itself, or the friction between the driving wheel and the docking surface of the base station when the cleaning robot 10 docks the base station, which is not limited by the present disclosure.

In order to make the liquid storage tank 13 of the cleaning robot 10 timely replenished with cleaning liquid, a sensor may be provided on the cleaning robot 10 to detect a change in the liquid level in the liquid storage tank 13. For example, a float containing a magnetic element may be provided in the tank 13, and one or more magnetic induction elements may be provided on the tank 13 or the cleaning robot 10 body to detect a change in the liquid level in the tank 13. When the liquid level in the liquid storage tank 13 is lower than the predetermined threshold, the cleaning robot 10 may automatically return to the base station to replenish water, or the cleaning robot 10 may issue a prompt to the user through app or voice, and the user controls the cleaning robot 10 to return to the base station to replenish water. In other embodiments of the present disclosure, the liquid level change in the liquid storage tank 13 may also be detected by other means, such as an infrared sensor or the like. In other embodiments of the present disclosure, the cleaning robot 10 may also return to the base station to replenish water through other control manners, for example, the cleaning robot 10 may automatically return to the base station to replenish water after completing a task of a designated cleaning area or a task of a designated area. The present disclosure is not so limited. In addition, in conjunction with the foregoing, it is also possible to replenish the reservoir 13 with water while cleaning the cleaning head 410 of the wet cleaning system 400 of the cleaning robot 10.

In the embodiment of the present disclosure, as shown in fig. 17 and 18, the base station further includes: the first positioning unit 60 is provided in the base station body 20, and the first positioning unit 60 is provided in the base station body 20. The first positioning portion 60 is connected to the second positioning portion 14 of the tank 13.

Specifically, after the cleaning robot 10 moves to the base station body 20 and the first positioning portion 60 is connected to the second positioning portion 14, the water replenishing connector 50 is connected to the liquid storage tank 13, and at this time, the liquid can be replenished to the liquid storage tank 13 through the water replenishing connector 50.

In the embodiment of the present disclosure, as shown in fig. 18, the first positioning portion 60 is formed with an accommodating space 61, and one end of the refill connector 50 for connecting with the reservoir 13 is located in the accommodating space 61. When the first positioning portion 60 is connected to the second positioning portion 14, the refill joint 50 located in the accommodating space 61 can be reliably connected to the refill port 16 of the tank 13.

In the embodiment of the present disclosure, as shown in fig. 17, the second positioning portion 14 is a groove, and the groove is adapted to fit with the first positioning portion 60. Namely, the first positioning portion 60 is inserted into the groove, so that the refill socket 50 is reliably connected to the refill opening 16. The outer surface of the first positioning portion 60 may be a slope to facilitate insertion into the groove, and in the case where the cleaning robot 10 and the base station body 20 are not perfectly aligned, the first positioning portion 60 may be introduced into the second positioning portion 14.

In the disclosed embodiment, the liquid supply portion 70 can be in communication with the water supplement connector 50, and the liquid supply portion 70 supplies liquid to the liquid storage tank 13 through the water supplement connector 50. The liquid supply unit 70 is used for containing a cleaning liquid, and the liquid in the liquid supply unit 70 can be fed into the liquid storage tank 13 through the water replenishing joint 50.

Optionally, the liquid supply portion 70 is selectively communicated with the water supplement connector 50 or the liquid outlet 35, that is, the liquid supply portion 70 can supplement the liquid to the liquid storage tank 13 through the water supplement connector 50, or the liquid supply portion 70 can send the cleaning liquid into the cleaning tank 21 through the liquid outlet 35 of the liquid outlet device 36. The first pump body is used for feeding cleaning liquid into the cleaning groove 21, or the first pump body is used for feeding liquid into the water replenishing connector 50, so that liquid is replenished to the liquid storage tank 13.

It should be noted that the liquid discharged from the liquid supply portion 70 can be divided into two passages, one passage is communicated with the water supplement connector 50, and the other passage is communicated with the liquid outlet 35. The liquid supply portion 70 can be selectively connected to the two passages, so as to control the supply of liquid to the water supplement joint 50 or the liquid outlet 35. Wherein, can be provided with the valve respectively on two passageways, through the disconnection and the intercommunication of open and the closed control two passageways of control valve. Alternatively, a three-way valve may be provided, for example, by providing a solenoid valve to control the liquid supply 70 to communicate with the corresponding passage.

In this embodiment of the present disclosure, as shown in fig. 11, the base station further includes: a washing assembly 30, the washing assembly 30 being movably disposed on the base station body 20, the washing assembly 30 including a liquid outlet device 36, the washing liquid discharged from the liquid outlet device 36 being used to wash the cleaning system 150 of the cleaning robot 10 and entering the cleaning tank 21.

In the embodiment of the disclosure, the liquid outlet device 36 of the base station is movably disposed, so that the cleaning liquid can be more uniformly sprayed or smeared on the cleaning system 150 of the cleaning robot 10, and when the cleaning assembly 30 cleans the cleaning system 150 of the cleaning robot 10, the cleaning liquid can be ensured to timely soak the cleaning system 150.

In addition, it is thereby prevented that the cleaning liquid overflows to flow into the external environment or flow onto the relevant power components of the cleaning robot 10 to cause a safety problem upon achieving the cleaning of the cleaning system 150.

In the embodiment of the present disclosure, when the cleaning robot 10 is docked to the base station body 20 and is stationary, the cleaning assembly 30 contacts with the cleaning system 150 of the cleaning robot 10 and moves relative to the base station body 20 and the cleaning robot 10, and the cleaning liquid discharged from the liquid outlet device 36 wets the cleaning system 150 of the cleaning robot 10, so that the cleaning system 150 of the cleaning robot 10 can be effectively cleaned.

It should be noted that, when the washing assembly 30 of the base station moves, the cleaning liquid discharged by the liquid outlet device 36 can be used for cleaning the cleaning system 150 of the cleaning robot 10, that is, the impurities on the cleaning system 150 of the cleaning robot 10 can be removed with the help of the cleaning liquid, and the cleaning system 150 can be uniformly wetted during the movement of the liquid outlet device 36.

In the disclosed embodiment, as shown in fig. 11, the cleaning assembly 30 further includes: the cleaning assembly support 33, the cleaning assembly support 33 are movably arranged on the base station body 20, and the liquid outlet device 36 is arranged on the cleaning assembly support 33, namely the cleaning assembly support 33 is used as a moving part to ensure that the liquid outlet device 36 can move along with the cleaning assembly support 33, so that the cleaning liquid can be discharged from different positions to uniformly wet the cleaned object. In the embodiment of the present disclosure, the base station further includes: one end of the liquid feeding channel is used for being communicated with the liquid supply part 70, and the other end of the liquid feeding channel is communicated with the liquid outlet device 36, so that the liquid supply part 70 sends the cleaning liquid to the liquid outlet device 36 through the liquid feeding channel; wherein at least a part of the liquid feeding passage is movably provided with the cleaning assembly holder 33. The liquid supply portion 70 realizes storage of the cleaning liquid, and the liquid feeding passage is a transfer member to move with the cleaning module holder 33.

In the embodiment of the present disclosure, the liquid sending channel is a liquid sending tube, and the liquid sending tube is connected to the cleaning assembly bracket 33, that is, the liquid outlet device 36 is disposed on the cleaning assembly bracket 33, and two ends of the liquid sending tube are respectively communicated with the liquid supply portion 70 and the liquid outlet device 36, so as to realize liquid supply.

Optionally, the liquid feeding channel is provided with a pump body, and the cleaning liquid in the liquid supply part 70 is conveyed to the liquid outlet device 36 under the action of the pump body, so that certain impact force of the cleaning liquid can be ensured, and the cleaning capability is improved.

In the embodiment of the present disclosure, the liquid outlet device 36 is provided with the plurality of liquid outlets 35 at intervals, the cleaning liquid is discharged through the liquid outlets 35, liquid outlet at a plurality of positions can be realized, and the cleaning efficiency is improved.

Optionally, the liquid outlet device 36 is a part of the cleaning assembly support 33, and the plurality of liquid outlets 35 are disposed at intervals on the cleaning assembly support 33, so as to realize liquid outlet at a plurality of positions.

In the embodiment of the present disclosure, as shown in fig. 13, a liquid suction port 211 may be disposed on the cleaning tank 21 below the cleaning assembly 30, and the cleaning liquid in the cleaning tank 21 can be discharged through the liquid suction port 211, so as to ensure that the cleaning liquid in the cleaning tank 21 can be replaced in time.

In the disclosed embodiment, as shown in fig. 14, the base station further includes a collection tank 71, and the collection tank 71 is communicated with the cleaning tank 21 through a liquid extraction port 211, so that the sewage in the cleaning tank 21 flows into the collection tank 71.

Specifically, as shown in fig. 14, the base station further includes a liquid supply portion 70, and the liquid supply portion 70 is communicated with the liquid outlet 35 through a liquid conveying pipeline, and is used for providing cleaning liquid for cleaning the cleaning system 150 of the cleaning robot 10.

In the embodiment of the present disclosure, the base station further includes: the first pump body is used for feeding cleaning liquid into the cleaning tank 21; the second pump body is used to pump away the washing liquid in the cleaning tank 21. The first pump body and the second pump body respectively realize feeding and extracting the cleaning liquid, so that the cleaning liquid in the cleaning groove 21 is ensured to be replaced, and the cleaning effect is ensured.

The first pump body is communicated with the liquid supply part 70, so that the cleaning liquid in the liquid supply part 70 is sent into the cleaning tank 21 through the liquid outlet 35. The second pump body communicates with the collection tank 71 so as to draw the cleaning liquid in the cleaning tank 21 into the collection tank 71 through the liquid drawing port 211.

In the embodiment of the present disclosure, the first pump body and the second pump body can work simultaneously, the first pump body sprays the cleaning liquid into the cleaning tank 21, and the second pump body pumps the cleaning liquid out of the cleaning tank 21, that is, the cleaning liquid flows rapidly in the cleaning tank 21.

In the disclosed embodiment, as shown in fig. 12 and 15A, the cleaning assembly 30 further includes: the cleaning piece is arranged on the cleaning component support 33 and can be parallel to the liquid outlet device 36, the arrangement can ensure that the structure of the cleaning component 30 is compact, and the compact structure can ensure that the cleaning system 150 of the cleaning robot 10 is timely soaked by the cleaning liquid discharged by the liquid outlet device 36 when the cleaning piece performs cleaning operation, so that the cleaning of the cleaning system 150 of the cleaning robot 10 by the cleaning piece is facilitated.

It should be noted that the cleaning member is parallel to the liquid outlet device 36, that is, the extending direction of the cleaning member is parallel to the straight line formed by connecting the central points of the plurality of liquid outlets 35 of the liquid outlet device 36.

In an embodiment of the present disclosure, as shown in fig. 15A, the cleaning member may include: a first washing member 31, the first washing member 31 being disposed on the washing assembly bracket 33, the first washing member 31 removing foreign substances from the cleaning system 150 of the cleaning robot 10 through contact with and relative movement to the cleaning system 150. In addition, the liquid outlet 35 of the liquid outlet device 36 may be disposed toward the first cleaning member 31, and in this arrangement, the cleaning liquid discharged from the liquid outlet 35 may be firstly sprayed to the first cleaning member 31, so that the first cleaning member 31 can uniformly apply the cleaning liquid to the cleaning system 150 of the cleaning robot 10. In other embodiments of the present disclosure, the cleaning liquid discharged from the liquid outlet 35 may also be directly sprayed to the cleaning system 150 of the cleaning robot 10, which is not limited by the present disclosure. In the embodiment of the present disclosure, the first cleaning member 31 may be a cleaning roller or the like rotating around an axis parallel to the liquid outlet device 36, such as a brush roller or a soft glue roller.

In an embodiment of the present disclosure, as shown in fig. 15A, the cleaning member may further include: and a second washing member 32, the second washing member 32 being disposed on the washing assembly support 33, the second washing member 32 removing the foreign materials on the cleaning system 150 by contact with and relative movement with the cleaning system 150 in cooperation with the first washing member 31. The second cleaning members 32 may be disposed in parallel on any side of the first cleaning member 31, and if there are a plurality of second cleaning members 32, the second cleaning members 32 may be disposed in parallel on any side or both sides of the first cleaning member 31. As shown in fig. 15A, the second cleaning member 32 is disposed at one side of the first cleaning member 31 and above the liquid outlet device 36. In the disclosed embodiment, the second cleaning member 32 may be a soft rubber wiper or the like.

Specifically, when the cleaning robot 10 is moved to the base station body 20, the washing assembly 30 is opposite to the cleaning system 150, the washing assembly 30 moves relative to the base station body 20, and the first washing member 31 and/or the second washing member 32 can contact with the cleaning system 150 to remove the sundries on the cleaning system 150, that is, the cleaning robot 10 can automatically clean the washing assembly 30.

In the present disclosed embodiment, as previously described, the cleaning system 150 of the cleaning robot 10 may include the dry cleaning system 151 and the wet cleaning system 400. The washing process of the wet cleaning system 400 of the cleaning robot 10 by the washing assembly 30 of the base station will be described in detail.

As shown in fig. 1, when the cleaning robot 10 moves onto the base station body 20, the wet cleaning system 400 of the cleaning robot 10 is fixedly disposed with respect to the base station body 20. The washing assembly 30 of the base station is in contact with the cleaning head 410 of the wet cleaning system 400 of the cleaning robot 10. In other embodiments of the present disclosure, the wet cleaning system 400 of the cleaning robot 10 may realize the up-and-down movement by the active lifting module. Thus, when the cleaning robot 10 docks the base station for a cleaning operation, the active lift module can be adjusted to achieve better contact of the base station cleaning assembly 30 with the cleaning head 410 of the wet cleaning system 400 of the cleaning robot 10. For example, in one embodiment of the present disclosure, the wet cleaning system 400 of the cleaning robot 10 may be rinsed when it is fully raised. In other embodiments of the present disclosure, the wet cleaning system 400 of the cleaning robot 10 may be washed in other lifting states thereof. The lifting state of the wet cleaning system 400 can be adjusted according to the material of the cleaning head 410 of the wet cleaning system 400, for example, when the friction coefficient of the cleaning head 410 to be cleaned is small, the contact between the cleaning head 410 and the cleaning assembly 30 can be made to be tighter, and when the cleaning assembly 30 moves relative to the base station body 20, the friction force between the cleaning head 410 and the cleaning assembly 30 is ensured to be within a certain range, so that the cleaning operation can be performed; otherwise, the same principle is applied. In addition, the lifting state of the wet type cleaning system 400 can be adjusted according to the degree of contamination of the cleaning head 410 of the wet type cleaning system 400, for example, when the cleaning head 410 to be cleaned is dirty, the contact between the cleaning head 410 and the cleaning assembly 30 can be made to be tighter, so that a larger friction force is generated between the cleaning head 410 and the cleaning assembly 30, thereby ensuring that the impurities on the cleaning head 410 are effectively removed; otherwise, the same applies. In the embodiment of the present disclosure, the lifting state of the wet type cleaning system 400 may be adjusted by a user according to actual conditions, or a sensor may be provided at a specific position, such as the cleaning head 410 of the wet type cleaning system 400, and the sensor outputs a specific signal to the control module 130 of the cleaning robot 10, and the control module 130 automatically adjusts the lifting state of the wet type cleaning system 400 according to the feedback result of the sensor. In other embodiments of the present disclosure, the lifting state of the wet cleaning system 400 may be adjusted in other manners, which is not limited by the present disclosure.

When the cleaning robot 10 is fixed to the base station body 20 and the cleaning head 410 of the wet type cleaning system 400 of the cleaning robot 10 is brought into good contact with the rinsing assembly 30 of the base station, the rinsing assembly 30 may perform rinsing of the wet type cleaning system 400 of the cleaning robot 10. In the disclosed embodiment, as shown in fig. 15A, the cleaning assembly 30 includes a first cleaning member 31 configured as a roller and a second cleaning member 32 configured as a scraper. During the washing process of the wet cleaning system 400 of the cleaning robot 10 by the washing assembly 30, the water outlet device of the washing assembly 30 can work simultaneously to spray the washing liquid onto the first washing member 31, and the first washing member 31 can uniformly spread the washing liquid onto the cleaning head 410 of the wet cleaning system 400 by contacting with the cleaning head 410 of the wet cleaning system 400 of the cleaning robot 10 and rotating by itself. In addition, the first cleaning member 31 may be a brush roller or a soft rubber roller with blades, and the cleaning head 410 of the wet type cleaning system 400 of the cleaning robot 10 may be made of soft cloth made of fiber or cotton, sponge, or the like. During the cleaning process, the bristles or blades of the first cleaning member 31 may penetrate into and substantially contact the interior of the cleaning head 410 and carry foreign materials out of the cleaning head 410 of the wet cleaning system 400. In addition, the first cleaning member 31 can rotate while moving left and right, and the bristles or blades thereof can generate a flapping effect on the cleaning head 410 of the wet cleaning system 400 during the rotation, so that the impurities collected in the cleaning head 410 can be shaken out and scraped off in the vibration generated by the flapping effect. Meanwhile, the scraper of the second cleaning member 32 scrapes off the foreign materials carried or shaken out in the cleaning head 410 of the wet cleaning system 400 and the contaminated water on the cleaning head 410 in cooperation with the operation of the first cleaning member 31.

As previously described, the wet cleaning system 400 of the cleaning system 150 may reciprocate in a horizontal plane. In the embodiment of the present disclosure, during the movement of the washing assembly 30 relative to the base station body 20, the wet cleaning system 400 of the cleaning robot 10 may be fixed, or the wet cleaning system 400 may also perform horizontal reciprocating motion, so as to cooperate with the movement of the washing assembly 30 to ensure that the washing of the wet cleaning system 400 is rapidly achieved.

In the disclosed embodiment, the first cleaning member 31 and the second cleaning member 32 are synchronously movably disposed. As shown in fig. 15A, the first cleaning member 31 and the second cleaning member 32 are both disposed on the cleaning assembly support 33 of the cleaning assembly 30, so that the cleaning assembly support 33 drives the first cleaning member 31 and the second cleaning member 32 to move synchronously and in the same direction, so that the first cleaning member 31 and the second cleaning member 32 sequentially complete the cleaning of the cleaning system 150. In other embodiments of the present disclosure, the first cleaning component 31 and the second cleaning component 32 may be respectively disposed on different brackets, and in this arrangement, by respectively controlling the movement of the brackets, the movement of the first cleaning component 31 and the movement of the second cleaning component 32 are respectively controlled, and the asynchronous movement of the first cleaning component 31 and the second cleaning component 32 is realized. For example, separate operations of the first cleaning member 31 or the second cleaning member 32 may be performed; alternatively, it may be realized that the first and

second cleaning members

31 and 32 make a time difference according to actual situations when cleaning the same position of the cleaning head 410. The present disclosure is not so limited.

As previously described, the washing assembly 30 may include one or more first washing members 31 and second washing members 32. For example, in one embodiment of the present disclosure, the cleaning assembly 30 may include two first cleaning members 31 and one second cleaning member 32, wherein the first cleaning members 31 are respectively disposed at both sides of the second cleaning member 32, as shown in fig. 15C. In this embodiment, the first cleaning member 31 may be always in front of the second cleaning member 32 during the reciprocating motion of the cleaning assembly 30. The arrangement can enable the cleaning assembly 30 to firstly clean the part to be cleaned of the cleaning head 410 by the first cleaning member 31 during the cleaning process of the cleaning head 410 of the wet cleaning system 400 of the cleaning robot 10, that is, the bristles or blades of the first cleaning member 31 generate a beating effect on the cleaning head 410 during the rotation of the first cleaning member 31, so that the impurities stored in the cleaning head 410 are shaken out and scraped off in the vibration generated by the beating effect; subsequently, the scrapers of the second cleaning member 32 scrape off the impurities carried or shaken out from the cleaning head 410 and the contaminated water on the cleaning head 410, ensuring that the cleaning head 410 can be cleaned more thoroughly.

In some embodiments of the present disclosure, the first cleaning member 31 and the second cleaning member 32 may be partially immersed in the cleaning liquid in the cleaning tank 21, completely immersed in the cleaning liquid, or completely not immersed in the cleaning liquid by controlling the height of the water level in the cleaning tank 21.

When the first cleaning part 31 and the second cleaning part 32 are partially immersed in the cleaning liquid in the cleaning tank 21, the first cleaning part 31 rotates during the reciprocating motion, and the cleaning liquid in the cleaning tank 21 can be carried out and smeared on the cleaning head 410 of the wet cleaning system 400 of the cleaning robot 10 by the first cleaning part 31 during the rotation, so that the cleaning head 410 can be cleaned under the condition that a water outlet device of the base station does not work. In addition, during the reciprocating motion of the first cleaning member 31 and the second cleaning member 32, impurities thereon are removed by the water flow.

When the first cleaning member 31 and the second cleaning member 32 are completely immersed in the cleaning liquid in the cleaning tank 21, that is, the cleaning head 410 of the wet cleaning system 400 of the cleaning robot 10 can be immersed in the cleaning liquid in the cleaning tank 21, so that the cleaning head 410 can be cleaned by the cleaning liquid in the cleaning tank 21 under the condition that the water outlet device of the base station is not operated. In addition, during the reciprocating motion of the first cleaning member 31 and the second cleaning member 32, impurities thereon are removed by the water flow.

When the first cleaning member 31 and the second cleaning member 32 are not immersed in the cleaning liquid in the cleaning tank 21, the cleaning head 410 of the wet cleaning system 400 of the cleaning robot 10 is cleaned by the cleaning liquid sprayed by the base station water outlet device, and the cleaning head 410 is prevented from being secondarily polluted by the impurities in the cleaning tank 21, so that the cleaning robot is suitable for the case that the cleaning head 410 is seriously polluted and the cleaning liquid in the cleaning tank 21 is used for a plurality of times and is not replaced.

In the embodiment of the present disclosure, as shown in fig. 15A and fig. 16, the base station further includes: a driving part 34, the driving part 34 is connected with the cleaning component bracket 33, and the driving part 34 is connected with the base station body 20 to drive the cleaning component bracket 33 to move relative to the base station body 20.

Alternatively, as shown in fig. 15A and 15B, the driving part 34 may move relative to the base station body 20 in synchronization with the washing unit support 33, that is, the driving part 34 may include a motor and a gear 341, the motor drives the gear 341 to rotate, and the base station body 20 may be provided with a rack 342 such that the gear 341 moves in an extending direction of the rack 342, thereby moving the driving part 34 on the base station body 20 in synchronization with the washing unit support 33.

In addition, as described above, when the washing unit 30 moves relative to the base station body 20, the first washing member 31 of the washing unit 30 is also accompanied by the rotation motion, and in one embodiment of the present disclosure, the movement of the washing unit 30 relative to the base station body 20 and the rotation motion of the first washing member 31 may be simultaneously driven using one motor. Specifically, the output shaft of the motor is connected with the gear 341 and the first cleaning member 31 through the gear transmission assembly, so that when the motor operates, the motor simultaneously drives the gear 341 and the first cleaning member 31 to rotate, at this time, the gear 341 moves along the extending direction of the rack, and the first cleaning member 31 rotates. The gear assembly is configured according to actual rotational speed requirements and is not limited herein. The gear transmission assembly includes a gear and a connecting shaft, and further, the gear transmission assembly may further include a conveyor belt or a chain, etc., which is not limited herein, as long as it is ensured that the motor drives the gear 341 and the first cleaning member 31 to rotate simultaneously. In some embodiments of the present disclosure, it is not excluded to drive the movement of the cleaning assembly 30 with respect to the base station body 20 and the rotation movement of the first cleaning member 31 by two motors, respectively.

Alternatively, the driving part 34 may be fixed to the base station body 20, and the driving part 34 may be an air cylinder or an oil cylinder, and the telescopic rod of the driving part 34 is connected to the cleaning assembly bracket 33 so as to drive the cleaning assembly bracket 33 to move on the base station body 20 by the extension and retraction of the telescopic rod. In other embodiments of the present disclosure, the driving portion 34 may also be an electric cylinder, or a motor and a belt may be matched, as long as the cleaning assembly support 33 can be driven to move, which is not limited by the present disclosure. As described above, the first cleaning member 31 and the second cleaning member 32 in the embodiment of the present disclosure may be located on different stands to achieve asynchronous movement of the two, and for this, the stands provided with the first cleaning member 31 and the second cleaning member 32 may be provided with independent driving portions. The present disclosure is not so limited.

In the embodiment of the present disclosure, the liquid outlet 35 of the liquid outlet device 36 may face at least one of the first cleaning member 31 and the second cleaning member 32, and the cleaning liquid discharged from the liquid outlet 35 can impact at least one of the first cleaning member 31 and the second cleaning member 32. That is, not only does the liquid outlet 35 serve as a passage for the washing liquid to enter the cleaning tank 21, but the liquid outlet 35 also enables the water flow to impact at least one of the first washing member 31, the second washing member 32 and the cleaning head 410 of the wet cleaning system 400 of the cleaning robot 10, thereby achieving the corresponding cleaning thereof.

In the embodiment of the present disclosure, the first cleaning part 31 and the second cleaning part 32 are arranged in parallel, the liquid outlet 35 of the liquid outlet device 36 is located below the second cleaning part 32 and faces the first cleaning part 31, the liquid outlet 35 sprays the cleaning liquid in the liquid supply part 70 to the first cleaning part 31, and the cleaning liquid is applied to the cleaning head 410 by interference between the rotation of the first cleaning part 31 and the cleaning head 410 of the wet cleaning system 400 of the cleaning robot 10. In other embodiments of the present disclosure, the liquid outlet 35 of the liquid outlet device 36 may face the cleaning head 410, and directly sprays the cleaning liquid to the cleaning head 410, and the cleaning head 410 is cleaned by using the impact of the cleaning liquid on the cleaning head 410 and matching with the first cleaning member 31 and the second cleaning member 32.

In addition, in other embodiments of the present disclosure, the liquid outlet device 36 may also be independently disposed from the cleaning assembly 30, i.e., the first cleaning member 31 and the second cleaning member 32. This arrangement may not affect the operation of other components in the event that some components are inoperable. For example, the base station may use only the dispensing device 36 to complete the cleaning of the cleaning head 410, i.e., the cleaning of the cleaning head 410 is achieved by the impact of the cleaning fluid on the cleaning head 410.

In the embodiment of the present disclosure, the liquid outlet device 36 may be arranged with a plurality of liquid outlets 35, the plurality of liquid outlets 35 may work simultaneously, or sequentially discharge the cleaning liquid according to a preset rule, that is, the plurality of liquid outlets 35 do not discharge the cleaning liquid simultaneously. For example, the control of the water outlet time and frequency of different liquid outlets 35 can be realized by different water pumps or valves. This setting can make the use adaptation of basic station different shapes and the cleaning head 410 of size, for example when cleaning head 410 washs the area less, can control some work in a plurality of liquid outlets 35, avoids the waste of washing liquid.

While the above is directed primarily to cleaning of the cleaning head 410 of the wet cleaning system 400 of the cleaning robot 10, in other embodiments of the present disclosure, the base station may also clean other components of the cleaning robot 10, and the present disclosure is not limited thereto.

As shown in fig. 11, the base station further includes a second charging contact pole piece 40, and the second charging contact pole piece 40 is used for being electrically connected with the first charging contact pole piece 12 of the cleaning robot 10, so that the base station charges the cleaning robot 10. As shown in fig. 2, when the cleaning robot 10 docks at the base station, the second charging contact pad 40 is electrically connected to the first charging contact pad 12.

In some embodiments, as shown in fig. 12, the base station body 20 further includes a guide side surface 23, the second charging contact pole piece 40 is disposed on the guide side surface 23, and the first charging contact pole piece 12 is disposed on a side surface of the cleaning robot 10, so that the second charging contact pole piece 40 and the first charging contact pole piece 12 can be electrically connected.

In some embodiments, as shown in fig. 12, the guide side 23 includes two opposite side surfaces 231 and an intermediate surface 232 located between the two side surfaces 231, the intermediate surface 232 being opposite to the proceeding direction of the base station movement on the cleaning robot 10; here, the second charging contact pad 40 is disposed on the middle surface 232, i.e., the first charging contact pad 12 is disposed on the end side surface of the cleaning robot 10.

In the embodiment of the present disclosure, the plurality of second charging contact pads 40 and the plurality of first charging contact pads 12 are all disposed in pairs. Alternatively, the second charging contact pad 40 may also be located on the side surface 231, that is, the two paired second charging contact pads 40 may be located on the two side surfaces 231, respectively.

Correspondingly, in the disclosed embodiment, the first charging contact pole piece 12 located on the cleaning robot 10 may be located on the front side of the cleaning robot 10. As shown in fig. 21, a bumper 122 is disposed at a forward portion of the cleaning robot 10, the bumper 122 is movably disposed at a body of the cleaning robot 10, when the robot 10 encounters an obstacle in front during movement, the bumper 122 collides with the obstacle and moves toward the body of the cleaning robot 10, and after the cleaning robot 10 disengages from the obstacle, the bumper 122 moves away from the body of the cleaning robot 10. Therefore, the bumper 122 is in a state of being continuously compressed and extended during the operation of the cleaning robot 10. In the embodiment of the present disclosure, the first charging contact pad 12 of the cleaning robot 10 is disposed on the cleaning robot 10 body behind the bumper 122, and a through hole 1221 is formed at a corresponding portion of the bumper 122, so that the first charging contact pad 12 contacts with the second charging contact pad 40 during the charging process of the cleaning robot 10. Since the first charging contact piece 12 is disposed at the rear portion of the bumper 122, it can be prevented from being directly exposed outside the body, thereby preventing the first charging contact piece 12 from being damaged by friction when the cleaning robot 10 collides with a hard obstacle.

In the embodiment of the present disclosure, the first charging contact pole piece 12 and the wet cleaning system 400 of the cleaning robot 10 are respectively located at two opposite sides of the cleaning robot 10, i.e., the front end and the rear end of the cleaning robot 10 in the running direction. Specifically, the first charging contact pole piece 12 is located at the front side of the cleaning robot 10, and the wet cleaning system 400 is located at the rear side of the cleaning robot 10. Therefore, in the embodiment of the present disclosure, the cleaning robot 10 may stop at the base station in two postures, the cleaning robot 10 operates the stop base station in a forward direction when the cleaning robot 10 returns to the base station for charging, and the cleaning robot 10 operates the stop base station in a reverse direction when the cleaning robot 10 cleans the wet type cleaning system 400 or replenishes the liquid tank 13 with water. In order to cooperate with the two operation modes, a component for communicating with the base station may be disposed in the front-rear direction of the cleaning robot 10, for example, an infrared device for receiving a signal of the base station may be disposed in the front-rear direction of the cleaning robot 10, which is not limited in the present disclosure.

In the disclosed embodiment, as shown in fig. 19, the base station may further include a guide bridge 27, the guide bridge 27 being disposed above the cleaning tank 21 for supporting the driven wheels 142 of the cleaning robot 10. As shown in fig. 4, a driven wheel 142 is provided in front of the bottom of the cleaning robot 10. To keep the cleaning robot 10 stable when the cleaning robot 10 is parked at a base station for charging, a support, i.e., a guide bridge 27, may be provided under the driven wheels 142. As shown in fig. 19, the guide bridge 27 in this embodiment spans the front and rear ends of the cleaning tank 21, and guides the passage of the driven wheel 142 and plays a supporting role after the cleaning robot 10 is parked. In other embodiments of the present disclosure, a forward extending bridge may be provided only at the front end portion of the water tank, and the extending length thereof may be determined according to the parking position of the cleaning robot 10, the arrangement position of the driven wheel 142, and the like, and the present disclosure is not limited thereto. In the embodiment of the present disclosure, since the wash assembly 30 that can reciprocate left and right is disposed above the cleaning tank, in order to prevent the guide bridge 27 from obstructing the movement of the wash assembly 30, the guide bridge 27 may be movably disposed above the cleaning tank 21. For example, when the cleaning robot 10 stops at a base station for charging, the guide bridge 27 may be moved to the middle of the cleaning tank 21 to guide and support the driven wheels 142 of the cleaning robot 10; when the cleaning robot 10 docks at a base station for cleaning of the cleaning head 410 of the wet cleaning system 400, the guide may be moved to one side of the cleaning tank 21 so that the cleaning assembly 30 may be moved left and right. In the embodiment of the present disclosure, as shown in fig. 19, the guide bridge 27 and the cleaning assembly 30 may be disposed on the same bracket and driven by the same driving unit to move left and right. The arrangement of all the parts can be more compact, and the space of the base station is effectively utilized.

In the embodiment of the present disclosure, as shown in fig. 19, the base station body 20 further includes a guide bottom surface 22, an anti-slip bump 221 is disposed on the guide bottom surface 22, the cleaning robot 10 moves onto the guide bottom surface 22 along the anti-slip bump 221, and the anti-slip bump 221 can generate a certain friction force with the cleaning robot 10, so as to ensure that the cleaning robot 10 can reliably move onto the base station body 20, and can assist in positioning the cleaning robot 10 during the cleaning process.

In the embodiment of the present disclosure, the washing unit 30 is located above the guide bottom 22, and the washing unit 30 is spaced apart from the anti-slip protrusions 221, so that after the cleaning robot 10 moves a certain distance on the guide bottom 22, the washing unit 30 is opposite to the cleaning system 150, so as to perform a subsequent washing process.

Alternatively, the cleaning grooves 21 are provided on the guide bottom surface 22, the guide bottom surface 22 includes a slant surface and a flat surface, the non-slip protrusions 221 may be provided on the slant surface, and the cleaning grooves 21 may be provided on the flat surface.

Note that the anti-slip structure formed by the anti-slip protrusions 221 corresponds to the traveling wheel assembly of the cleaning robot 10, and when there are two traveling wheel assemblies, there are two anti-slip structures.

In the embodiment of the present disclosure, as shown in fig. 19 and 20, the base station body 20 is provided with an elongated plate 222, the elongated plate 222 is connected to an end of the base station body 20 so as to assist the cleaning robot 10 to move to the base station body 20, and the elongated plate 222 is foldably provided, i.e., can be stacked on the guide bottom surface 22. When special conditions are met, such as slippery floors, the elongated plate 222 can be released, which facilitates the climbing of the cleaning robot 10.

In the embodiment of the present disclosure, the base station body 20 further includes a guide top surface 24, and a guide portion for contacting with the cleaning robot 10 is provided on the guide top surface 24; wherein the guide portion is located above the cleaning assembly 30. The guide portion may realize a limit of the cleaning robot 10, and may ensure that the cleaning robot 10 moves to a proper position.

Specifically, the guide portion is located above the cleaning assembly 30, i.e., the cleaning assembly 30 is located on the guide bottom surface 22, and the guide portion is located on the guide top surface 24, and the guide portion is located above the cleaning assembly 30 as viewed in the height direction.

In the disclosed embodiment, as shown in fig. 21 and 22, the guide part may include a guide pressing block 25, and the cleaning robot 10 is provided at an upper side edge thereof with a wheel 19, and as shown in fig. 9, the wheel 19 may be rotated along an axis perpendicular to the movement direction of the cleaning robot 10. When the cleaning robot 10 needs to move to the base station body 20, the rotating wheel 19 may be matched with the guide pressing block 25, so that the cleaning robot 10 may move to the base station body 20 more smoothly.

In the embodiment of the present disclosure, as shown in fig. 23, the guide part may include a guide wheel 26, and the guide wheel 26 may restrict the movement of the cleaning robot 10 in the vertical direction after the cleaning robot 10 is parked at the base station body 20, in addition to assisting the movement of the cleaning robot 10 to the base station body 20. For example, when the cleaning robot 10 is parked on the base station body 20 for cleaning, the cleaning assembly 30 of the base station contacts the cleaning head 410 of the wet cleaning system 400 of the cleaning robot 10 and applies a vertical upward pushing force to the cleaning robot 10, and the guide wheels 26 are disposed to partially or completely counteract the vertical upward pushing force, preventing the cleaning robot 10 from moving upward. Alternatively, the guide wheels 26 may be at least two and symmetrically distributed on the left and right sides of the base station.

The basic station in this embodiment can realize the washing to cleaning machines people, to the fluid infusion of cleaning machines people's liquid reserve tank to and the charging to cleaning machines people.

Other embodiments of the disclosure will be apparent to those skilled in the art from consideration of the specification and practice of the disclosure disclosed herein. This disclosure is intended to cover any variations, uses, or adaptations of the disclosure following, in general, the principles of the disclosure and including such departures from the present disclosure as come within known or customary practice within the art to which the disclosure pertains. It is intended that the specification and example embodiments be considered as exemplary only, with a true scope and spirit of the disclosure being indicated by the following claims.

It will be understood that the present disclosure is not limited to the precise arrangements described above and shown in the drawings and that various modifications and changes may be made without departing from the scope thereof. The scope of the present disclosure is limited only by the appended claims.

Claims

1. A base station, comprising:

a base station body (20), the base station body (20) including a liquid supply part (70) and a collection tank (71), and a cleaning tank (21);

the liquid supply part (70) is communicated with a water supplement joint (50) arranged on the base station body (20) so that the base station supplies liquid to a liquid storage tank (13) of the cleaning robot (10) through the water supplement joint (50);

the collection tank (71) is connected with the cleaning tank (21) to collect the liquid in the cleaning tank (21).

2. Base station according to claim 1, characterized in that at least part of the water refill socket (50) is movably arranged.

3. The base station according to claim 2, characterized in that said water refill joint (50) comprises:

a main body part (51), wherein the main body part (51) is connected with the base station body (20);

a seal part (52), one end of the seal part (52) being connected to the main body part (51);

a joint part (53), wherein the joint part (53) is connected with the other end of the sealing part (52) far away from the main body part (51), and the joint part (53) is used for being connected with the liquid storage tank (13);

wherein the sealing portion (52) is made of a flexible material.

4. The base station according to any of claims 1 to 3, wherein the base station further comprises:

a first positioning unit (60), the first positioning unit (60) being provided on the base station body (20), the first positioning unit (60) being used for connecting with a second positioning unit (14) of the cleaning robot (10);

wherein, when the first positioning part (60) is connected with the second positioning part (14), the water replenishing joint (50) is connected with the liquid storage tank (13).

5. The base station according to claim 4, wherein the first positioning portion (60) is formed with an accommodating space (61), and an end of the refill joint (50) for connecting with the reservoir (13) is located in the accommodating space (61).

6. The base station according to any of claims 1 to 3, wherein the base station further comprises:

a washing assembly (30), the washing assembly (30) being movably arranged on the base station body (20), the washing assembly (30) comprising a liquid outlet device (36), washing liquid discharged by the liquid outlet device (36) being used for washing a cleaning system (150) of the cleaning robot (10) and entering the cleaning tank (21).

7. A cleaning robot adapted to the base station of any one of claims 1 to, comprising:

a machine body (110);

liquid reserve tank (13), liquid reserve tank (13) set up on machine main part (110), liquid reserve tank (13) be used for with moisturizing connects (50) and is linked together, in order to receive by the basic station is through moisturizing connects the liquid that (50) provided.

8. The cleaning robot according to claim 7, characterized in that a water replenishing opening (16) is arranged on the liquid storage tank (13), and the water replenishing opening (16) is used for being connected with the water replenishing joint (50);

the base station is characterized in that a valve (17) is arranged on the liquid storage tank (13), the valve (17) is a one-way valve, n is opened by the valve (17) when the base station supplies liquid into the water supplementing joint (50), and the valve (17) is closed when the base station stops supplying liquid into the water supplementing joint (50).

9. The cleaning robot according to claim 7, characterized in that a water replenishing opening (16) is arranged on the liquid storage tank (13), a second positioning part (14) is arranged on the liquid storage tank (13), and the second positioning part (14) is used for being connected with a first positioning part (60) of the base station;

wherein, when the first positioning part (60) is connected with the second positioning part (14), the water replenishing joint (50) is connected with the water replenishing port (16).

10. A cleaning robot system, comprising:

a base station including a liquid supply part (70), a collection tank (71), and a cleaning tank (21);

a cleaning robot comprising a robot body (15) and a liquid storage tank (13), the liquid storage tank (13) being disposed on the robot body (15); wherein the content of the first and second substances,

the liquid supply part (70) is communicated with a water supplement joint (50) arranged on the base station, so that the base station supplies liquid to the liquid storage tank (13) through the water supplement joint (50);