WO2022166341A1

WO2022166341A1 - Base station and cleaning robot system

Info

Publication number: WO2022166341A1
Application number: PCT/CN2021/134009
Authority: WO
Inventors: 张猛; 陈令华; 丁铁; 张涛; 宣晓刚; 高东俊
Original assignee: 美智纵横科技有限责任公司
Priority date: 2021-02-08
Filing date: 2021-11-29
Publication date: 2022-08-11
Also published as: CN216454804U

Abstract

The present invention relates to the technical field of cleaning, and in particular, to a base station and a cleaning robot system having same. The base station of the present invention is used for a cleaning robot, and comprises a base station body, a first signal transmitter, and at least two second signal transmitters. An accommodation cavity having an opening on one end is arranged at the bottom of the base station body. The first signal transmitter is arranged on a first side wall of the accommodation cavity. The first side wall is arranged corresponding to the opening. At least one second signal transmitter is arranged on two sides of the first signal transmitter, respectively. According to the base station of the present invention, the cleaning robot is guided by the signals transmitted by the second signal transmitters on the two sides to move to the opposite side of the first side wall, and the cleaning robot is guided by the signal transmitted by the first signal transmitter to straighten the robot body, thereby effectively increasing a signal receiving area in the process of returning the cleaning robot to the base station, improving the recognition efficiency of the cleaning robot on the position of the base station, and ensuring that the cleaning robot can quickly and accurately enter the accommodation cavity.

Description

Base station and cleaning robot system

priority information

This application claims the priority and rights and interests of the following patent applications, the entire contents of which are incorporated into this application by reference: submitted to the State Intellectual Property Office of China on February 08, 2021, application number 202120365984.9, titled "Base Station and Cleaning Robot System" Chinese patent application.

technical field

The invention belongs to the field of cleaning technology, and in particular relates to a base station and a cleaning robot system having the base station.

Background technique

In recent years, with the development of social economy and the improvement of family living standards, household cleaning has gradually entered the era of intelligence and mechanization. The workload of cleaning is reduced, and the fatigue level of people in the process of household cleaning is relieved.

After the cleaning robot completes the cleaning task, it will return to the base station for cleaning or charging, so as to meet the next cleaning needs. In the prior art, a reflective barcode is generally pasted on the front of the base station, and the cleaning robot is equipped with an LDS laser navigation module. When returning, the cleaning robot scans the barcode to identify and return to the base station. When using LDS scanning to return to the base station, the cleaning robot needs to run to the front of the base station to identify the base station, which prolongs the time it takes for the cleaning robot to return to the base station.

SUMMARY OF THE INVENTION

The purpose of the present invention is to at least solve the problem of time-consuming identification of the location of the base station when the cleaning robot returns to the base station. This purpose is achieved by:

A first aspect of the present invention provides a base station for cleaning a robot, the base station comprising:

a base station body, the bottom of the base station body is provided with an accommodating cavity with one end open;

a first signal transmitter, the first signal transmitter is arranged on a first side wall of the accommodating cavity, and the first side wall is arranged corresponding to the opening;

At least two second signal transmitters, and at least one of the second signal transmitters are respectively provided on both sides of the first signal transmitter.

According to the base station of the present invention, by arranging the first signal transmitter on the first side wall of the accommodating cavity, and at least one second signal transmitter on both sides of the first signal transmitter, the cleaning robot can return to the base station when returning to the base station. During the process, the signals emitted by the second signal transmitters on both sides guide the cleaning robot to move to the front of the first side wall, and the signals emitted by the first signal transmitters guide the cleaning robot to straighten the fuselage, thereby effectively increasing the speed of the cleaning robot. The signal receiving area during the process of returning the cleaning robot to the base station is enlarged, which improves the identification efficiency of the cleaning robot for the position of the base station, and ensures that the cleaning robot can enter the accommodation cavity quickly and accurately, so as to clean and/or charge the cleaning robot through the base station. .

In addition, the base station according to the present invention may also have the following additional technical features:

In some embodiments of the present invention, two sides of the first side wall are respectively provided with a second side wall and a third side wall, the second side wall, the first side wall and the third side The wall encloses the accommodating cavity, and at least one of the second signal transmitters is respectively provided on the second side wall and the third side wall.

In some embodiments of the present invention, the second signal transmitter is disposed near the end of the opening.

In some embodiments of the present invention, the base station further includes at least two third signal transmitters, and at least one of the third signal transmitters is provided on both sides of the first signal transmitter, respectively. The signal transmission distance of the signal transmitter is greater than the signal transmission distance of the second signal transmitter, and the signal transmission angle range of the third signal transmitter is smaller than the signal transmission angle range of the second signal transmitter.

In some embodiments of the present invention, the first signal transmitter includes a partition plate and at least one signal transmission member, and the partition plate covers part of the signal transmission member, so that the first signal transmitter transmits The alignment signal is emitted at the first included angle.

In some embodiments of the present invention, the angle range of the first included angle is 20°˜30°.

In some embodiments of the present invention, the number of the signal emitting parts is two, and the partition plates are covered at positions of the two signal emitting parts that are close to each other.

In some embodiments of the present invention, the distance between the center line of the alignment signal emitted by the first signal transmitter and the edges on both sides of the first sidewall is equal.

In some embodiments of the present invention, the base station further includes:

a cleaning unit, which is arranged in the accommodating cavity and used to clean the cleaning robot entering the accommodating cavity;

and/or a charging unit, the charging unit is provided on the side wall of the accommodating cavity, and is used for charging the cleaning robot entering the accommodating cavity.

Another aspect of the present invention also provides a cleaning robot system, the cleaning robot system has the base station described in any one of the above, and the cleaning robot system further includes:

The cleaning robot is provided with a signal receiver, and the signal receiver is used for receiving the alignment signal emitted by the first signal transmitter and the guidance signal emitted by the second signal transmitter.

Description of drawings

Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The drawings are for the purpose of illustrating preferred embodiments only and are not to be considered limiting of the invention. Also throughout the drawings, the same components are denoted by the same reference numerals. in:

1 is a schematic structural diagram of a cleaning robot system according to this embodiment;

Fig. 2 is the front structure schematic diagram of the base station in Fig. 1;

3 is a schematic structural diagram of the first signal transmitter in FIG. 2;

FIG. 4 is a distribution diagram of the trajectory of the signal transmitted by the base station in FIG. 1 .

The reference numbers in the accompanying drawings are as follows:

1: Cleaning robot system;

10: base station, 11: base station body, 111: base, 112: shell, 12: accommodating cavity, 121: first side wall, 122: second side wall, 123: third side wall, 13: first signal transmission device, 131: signal transmitter, 132: partition plate, 133: mounting plate, 14: second signal transmitter, 15: cleaning unit, 16: guide surface;

20: cleaning robot, 21: box body, 22: mopping parts, 23: cover plate;

A1: alignment signal area, A2: short-range guidance signal area, A3: long-distance guidance signal area;

L1: the first boundary line of the alignment signal, L2: the second boundary line of the alignment signal, L3: the first boundary line of the remote pilot signal, L4: the second boundary line of the remote pilot signal.

Detailed ways

Exemplary embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the present invention are shown in the drawings, it should be understood that the present invention may be embodied in various forms and should not be limited by the embodiments set forth herein. Rather, these embodiments are provided so that the present invention will be more thoroughly understood, and will fully convey the scope of the present invention to those skilled in the art.

It is to be understood that the terminology used herein is for the purpose of describing particular example embodiments only and is not intended to be limiting. As used herein, the singular forms "a," "an," and "the" can also be intended to include the plural forms unless the context clearly dictates otherwise. The terms "comprising", "comprising", "containing" and "having" are inclusive and thus indicate the presence of stated features, steps, operations, elements and/or components, but do not preclude the presence or addition of one or Various other features, steps, operations, elements, components, and/or combinations thereof. Method steps, procedures, and operations described herein are not to be construed as requiring that they be performed in the particular order described or illustrated, unless an order of performance is explicitly indicated. It should also be understood that additional or alternative steps may be used.

Although the terms first, second, third, etc. may be used herein to describe various elements, components, regions, layers and/or sections, these elements, components, regions, layers and/or sections should not be restricted by these terms. These terms may only be used to distinguish one element, component, region, layer or section from another region, layer or section. Terms such as "first," "second," and other numerical terms when used herein do not imply a sequence or order unless clearly indicated by the context. Thus, a first element, component, region, layer or section discussed below could be termed a second element, component, region, layer or section without departing from the teachings of example embodiments.

For ease of description, spatially relative terms may be used herein to describe the relationship of one element or feature to another element or feature as shown in the figures, such as "inner", "outer", "inner" ", "outside", "below", "below", "above", "above", etc. This spatially relative term is intended to include different orientations of the device in use or operation other than the orientation depicted in the figures. For example, if the device in the figures is turned over, elements described as "below" or "beneath" other elements or features would then be oriented "above" or "above the other elements or features" above features". Thus, the example term "below" can encompass both an orientation of above and below. The device may be otherwise oriented (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.

As shown in FIG. 1 and FIG. 2 , the cleaning robot system 1 of this embodiment includes a base station 10 and a cleaning robot 20 . The cleaning robot 20 in this embodiment is an indoor cleaning robot that can automatically complete floor cleaning by virtue of certain artificial intelligence, such as a sweeping robot, a mopping robot, or a sweeping and mopping integrated robot. The cleaning robot 20 may return to the base station 10 for cleaning and/or charging according to the received recharging instruction. The recharge commands include internal recharge commands and external recharge commands. Internal recharge commands include but are not limited to commands issued when the power of the robot is lower than the preset threshold and when the preset cleaning task is completed. External recharge commands include but not limited to It is limited to the instructions issued when the user actively controls the robot to return to the base station 10, such as the instructions issued by the user through the operation panel on the fuselage, the remote controller or the APP on other terminal devices.

The base station 10 in this application is one of the base stations used with the cleaning robot, and is a base station to be used by the cleaning robot for this recharging, such as a charging base station, a cleaning base station, or a base station with integrated charging and cleaning functions. Specifically, the base station 10 in this embodiment includes a base station body 11 , a first signal transmitter 13 and two second signal transmitters 14 . The base station body 11 includes a base 111 and a housing 112. The base 111 is provided with an accommodation cavity 12 with one end open. The cleaning robot 20 can enter the accommodation cavity 12 through the opening, so as to perform cleaning and/or charging process of the cleaning robot 20.

1 and 2 again, the accommodating cavity 12 includes a first side wall 121, a second side wall 122 and a third side wall 123, and the second side wall 122 and the third side wall 123 are respectively provided on the first side wall On both sides of the 121 , the second side wall 122 , the first side wall 121 and the third side wall 123 form the accommodating cavity 12 , and an opening is formed between the second side wall 122 and the third side wall 123 . Both the height dimension and the width dimension of the opening should not be smaller than the height dimension and the width dimension of the cleaning robot 20 , so that the cleaning robot 20 can enter the accommodating cavity 12 through the opening.

As shown in FIG. 2 , the first signal transmitter 13 is provided on the first side wall 121 , and the second signal transmitter 14 is provided on the second side wall 122 and the third side wall 123 respectively. Correspondingly, the cleaning robot 20 is provided with a signal receiver for receiving the alignment signal transmitted by the first signal transmitter 13 and the guidance signal transmitted by the second signal transmitter 14 . The first signal transmitter 13 is used to transmit an alignment signal, and the signal receiver can receive and recognize the alignment signal transmitted by the first signal transmitter 13, and adjust the body of the cleaning robot 20 according to the received alignment signal, thereby The cleaning robot 20 can be quickly and accurately entered into the accommodating cavity 12 . The second signal transmitter 14 is used for transmitting a guidance signal, and the signal receiver can receive and recognize the guidance signal transmitted by the second signal transmitter 14, and guide the cleaning robot 20 to move toward the position directly opposite to the opening according to the received guidance signal, and When the cleaning robot 20 moves to the position opposite to the opening, according to the alignment signal sent by the first signal transmitter 13 received by the signal receiver, the cleaning robot 20 is set to straighten the body, and the cleaning robot 20 is driven into the accommodating cavity 12 , thereby effectively increasing the signal receiving area in the process of the cleaning robot 20 returning to the base station 10 , and improving the identification efficiency of the cleaning robot 20 on the position of the base station 10 . Wherein, in this embodiment, the alignment signal emitted by the first signal transmitter 13 and the guide signal emitted by the second signal transmitter 14 are both infrared rays.

According to the base station 10 of the present invention, by arranging the first signal transmitter 13 on the first side wall 121 of the accommodating cavity 12, and at least one second signal transmitter 14 on both sides of the first signal transmitter 13, respectively, During the process of returning to the base station 10 , the cleaning robot 20 guides the cleaning robot 20 to move to the opposite side of the first side wall 121 through the signals emitted by the second signal transmitters 14 on both sides, and the signals emitted by the first signal transmitter 13 Guide the cleaning robot 20 people to straighten the fuselage, thereby effectively increasing the signal receiving area of the cleaning robot 20 in the process of returning to the base station 10, ensuring that the cleaning robot 20 can enter the accommodating cavity 12 quickly and accurately, so as to pass the base station 10 to the cleaning robot. 20 for cleaning and/or charging.

Further, in order to ensure that the guiding signal emitted by the second signal transmitter 14 can effectively act on the area outside the width of the base 111 and increase the signal receiving area of the signal receiver, the second signal 14 in this embodiment is arranged near the end of the opening. , so that when the cleaning robot 20 moves to a position on both sides other than the width of the base 14, it can also return to the vicinity of the base station 10 according to the role of the guiding signal transmitted by the second signal transmitter 14, and according to the received first signal transmitter The alignment signal emitted by 13 enters into the accommodating cavity 12 after aligning the fuselage. The straightening of the body means that the center area of the driving wheel of the cleaning robot 20 is perpendicular to the center line of the alignment signal.

In other embodiments of the present embodiment, the second signal transmitter 14 may also be disposed at the ends of the second side wall 122 and the third side wall 123 close to the first side wall 121 , or disposed on the first side wall 121 on the first side. The positions on both sides of a signal transmitter 13 can also effectively increase the signal receiving area in the process of the cleaning robot 20 returning to the base station 10, and improve the recognition efficiency of the cleaning robot 20 on the position of the base station 10. The receiver 14 is placed at the end positions of the second side wall 122 and the third side wall 123 close to the opening, and the enlargement range of the signal receiving area thereof is limited.

As shown in FIG. 3 , the first signal transmitter 13 in this embodiment includes a partition plate 132 , at least one signal transmitting member 131 and a mounting plate 133 . The number of the signal emitting parts 131 in this embodiment is two, the two signal emitting parts 131 are arranged on the mounting plate 133 at intervals, and the mounting plate 133 is further provided with a partition plate 132, and the positions of the two signal emitting parts 131 close to each other are The cover is provided with a baffle plate 132 , so that the signal emission angle range of the two signal emitting elements 131 is limited by the baffle plate 132 . In this embodiment, the two signal transmitters 131 emit alignment signals at a first angle under the action of the partition plate 132, and the angle of the first angle ranges from 20° to 30°, thereby effectively illuminating the cleaning robot. The rotation angle range of the cleaning robot 20 when aligning is limited, so as to ensure that the cleaning robot 20 can align the body with the smallest rotation angle, so as to quickly and accurately enter the accommodating cavity 12 and reduce the angle adjustment of the cleaning robot 20. time wasting.

In this embodiment, both the signal emitting element 131 and the partition plate 132 are mounted on the mounting plate 133 , and then the mounting plate 133 is connected to the first side wall 121 , so as to facilitate the connection between the signal emitting element 131 and the first side wall 121 And disassembly, it is convenient to replace when the signal emitting part 131 is damaged. In other embodiments of the present application, the signal emitting part 131 and the partition plate 132 can also be directly placed on the first side wall 121, and the signal emitting part 131 can also emit an alignment signal to guide the cleaning robot to straighten the body.

In other embodiments of the present application, a rectangular or a rectangular-like elongated signal emitting element can also be selected, and a partition 132 is arranged at the center of the elongated signal emitting element, so as to transmit signals to the elongated signal emitting element. The signal emission angle of the alignment signal is limited.

The second signal transmitter 14 in this embodiment may also include a mounting plate 133 , a partition plate 132 and a signal transmitting member 131 , and the second signal transmitter 14 is integrally mounted on the second side wall 122 and the third side wall through the mounting plate 133 123 , and cover part of the signal emitting member 131 through the partition plate 132 , so as to limit the signal emitting angle of the signal emitting member 131 . Specifically, the partition plate 132 and the signal emitting element 131 can be correspondingly arranged according to the area of the pilot signal to be emitted by the second signal transmitter 14 to meet the actual requirements. The specific structure depends on the situation and will not be repeated here.

Further, the distance between the center line of the alignment signal emitted by the first signal transmitter 13 in this embodiment and the edges on both sides of the first side wall 121 is equal, so as to ensure that the cleaning robot 20 can move along the accommodating cavity 12 after receiving the alignment signal. The center line of the cleaning robot 20 is returned to the accommodating cavity 12 to ensure the relative position of the cleaning robot 20 and the accommodating cavity 12 during the process of returning to the base station 10 and after returning to the base station 10, and at the same time to prevent the cleaning robot 20 from returning to the base station 10. The collision of the third side wall 123 ensures the cleaning and charging process of the cleaning robot 20 . At the same time, the base station 10 is also provided with a reflective barcode. When the cleaning robot 20 returns to the accommodating cavity 12 along the center line of the accommodating cavity 12, the cleaning robot 20 can scan the reflective barcode to further determine the center line of the accommodating cavity 12. position, complete the return action, and record the coordinate position of the base station 10 at the same time.

Further, the base station 10 in this embodiment further includes two third signal transmitters (not shown in the figure), and two third signal transmitters are respectively provided on both sides of the first signal transmitter 13. The third signal transmitter The signal transmission distance of the second signal transmitter 14 is greater than that of the second signal transmitter 14 , and the signal transmission angle range of the third signal transmitter is smaller than the signal transmission angle range of the second signal transmitter 14 . Wherein, the third signal transmitter may be similar in structure to the first signal transmitter 13 in FIG. 3 , including a mounting plate 133 , a partition plate 132 and a signal transmitting member 131 , and the third signal transmitter is separately mounted on the mounting plate 133 through the mounting plate 133 . The second side wall 122 and the third side wall 123 are covered with part of the signal emitting member 131 through the partition plate 132 , so as to limit the signal emission angle of the signal emitting member 131 . The area adjusts the angular emission range of the third signal transmitter. In other embodiments of the present application, the signal emitting parts of the third signal transmitter and the signal emitting parts of the second signal transmitter 14 can also be installed on the same mounting plate and arranged at intervals, by setting different specifications of signal emitting parts The device limits the signal transmission distance of the third signal transmitter and the second signal transmitter 14 .

As shown in FIG. 4 , the alignment signal transmitted by the first signal transmitter 13 has two boundary lines, namely the first boundary line L1 of the alignment signal and the second boundary line L2 of the alignment signal, and the first boundary line of the alignment signal The included angle enclosed by L1 and the alignment signal second boundary line L2 ranges from 20° to 30°, and the area enclosed by the alignment signal first boundary line L1 and the alignment signal second boundary line L2 is the alignment signal area A1 , the cleaning robot 20 can move in the direction of the accommodating cavity 12 in the alignment signal area A1.

The pilot signal transmitted by the third signal transmitter also has two boundary lines, which are the first boundary line L3 of the long-distance pilot signal and the second boundary line L4 of the long-distance pilot signal. In this embodiment, both the second side wall 122 and the third side wall 123 are provided with a third signal transmitter. For the convenience of description, in this embodiment, only the third signal transmitter on the third side wall 123 is used to transmit the signal. The pilot signal (that is, the left pilot signal at the position shown in FIG. 4 ) is taken as an example to illustrate, the pilot signal emitted by the third signal transmitter on the second side wall 122 (that is, the right pilot signal at the position shown in FIG. 4 ) ) and the pilot signal emitted by the third signal transmitter on the third sidewall 123 are symmetrically arranged with respect to the center line of the alignment signal area A1. Wherein, the angle range enclosed by the first boundary line L3 of the long-distance pilot signal and the second boundary line L4 of the long-distance pilot signal is 20°-25°, and the first boundary line L3 of the long-distance pilot signal and the second boundary line of the long-distance pilot signal The area enclosed by the boundary line L4 is the remote guidance signal area A3, and the cleaning robot 20 can move toward the base station 20 under the action of the remote guidance signal in the remote guidance signal area A3.

Similarly, for the convenience of description, in this embodiment, only the pilot signal emitted by the second signal transmitter 14 on the third side wall 123 (ie, the pilot signal on the left in the position shown in FIG. 4 ) is used as an example for description. The pilot signal emitted by the second signal transmitter 14 on the second side wall 122 (ie, the right pilot signal at the position shown in FIG. 4 ) is related to the pilot signal emitted by the second signal transmitter 14 on the third side wall 123 The center line of the quasi-signal area A1 is symmetrically arranged. The short-range pilot signal area in this embodiment is A2, which is surrounded by pilot signals transmitted by the second signal transmitter 14. The angular range of the pilot signals transmitted by the second signal transmitter 14 is greater than the angular range of the pilot signals transmitted by the third signal transmitter 14. Therefore, when the cleaning robot 20 approaches the base station 10, it can receive the guidance signal transmitted by the second signal transmitter 14 in a wide range, and enter the alignment signal area A1 according to the guidance signal, so as to prevent the cleaning robot 20 from hitting the base station 20. outer wall. at the same time. The transmission distance of the guidance signal transmitted by the second signal transmitter 14 is smaller than the transmission distance of the guidance signal transmitted by the third signal transmitter, that is, the cleaning robot 20 can receive the guidance transmitted by the second signal transmitter 14 only when the cleaning robot 20 is close to the position of the base station 10 . Signal. In this embodiment, the angle range of the pilot signal transmitted by the second signal transmitter 14 is a sector-like area in FIG. 4 , and the maximum transmission distance of the pilot signal transmitted by the second signal transmitter 14 is 1.5m.

Specifically, when using the cleaning robot system 1 of this embodiment to recover the cleaning robot 20, the cleaning robot 20 first enters the remote guidance signal area A3, and moves toward the base station 10 by receiving the remote guidance signal transmitted by the third signal transmitter. When the distance between the cleaning robot 20 and the base station 10 is less than 1.5m, the cleaning robot 20 enters the short-range guidance signal area A2, and records the coordinates, angle and ranging distance of the cleaning robot 20 relative to the base station 10 at this time. The cleaning robot 20 moves toward the alignment signal area A1 under the action of the short-range guidance signal, passes through the alignment signal first boundary line L1 and the center line of the alignment signal area A1 in sequence, and knows that the alignment signal second boundary is detected. Stop moving at line L2. During this movement, there is no obstacle setting. According to the first boundary line L1 of the alignment signal and the second boundary line L2 of the alignment signal detected by the cleaning robot 20, the alignment signal area A1 of the triangle is determined, and the specific position of the first signal transmitter 13 is determined, thereby aligning the cleaning robot 10. fuselage, and drive the cleaning robot 20 to move toward the accommodation cavity 12, and finally determine the centerline position of the accommodation cavity 12 by scanning the reflective barcode on the base station body 11, complete the return action, and record the coordinates of the base station 10 at the same time.

During the process of returning the cleaning robot 20 to the base station 10, if it encounters an obstacle such as a wall, it will walk along the wall towards the base station 10 according to the previously recorded coordinates, angle and distance measurement information relative to the base station 10, while scanning a specific area, When the long-distance guidance signal transmitted by the third signal transmitter or the short-range guidance signal transmitted by the second signal transmitter 14 is scanned, it will return to the base station 10 along the path according to the above-mentioned obstacle-free situation.

In other embodiments of the present application, the structure of the third signal transmitter may also be omitted, and the operation of returning the cleaning robot 20 to the base station 10 is directly completed through the second signal transmitter 14 and the first signal transmitter 13 . That is, only when the cleaning robot 20 enters the short-range guidance signal area A2, it can receive the guidance signal transmitted by the second signal transmitter 14, move to the alignment signal area A1 under the action of the guidance signal, and finally return to the base station 10. In the accommodating chamber 12, the cleaning robot 20 is cleaned and/or charged.

According to the base station 10 and the robot cleaning system 1 having the base station 10 in this embodiment, when the cleaning robot 20 does not store the orientation of the base station 10 , it is possible to effectively increase the signal reception area during the process of the cleaning robot 20 returning to the base station 10 , thereby improving the cleaning performance. The identification efficiency of the position of the base station 10 by the robot 20 ensures that the cleaning robot 20 can enter the accommodating cavity 12 quickly and accurately, and reduces the collision and return time, so that the cleaning robot 20 can be cleaned and/or charged through the base station 10 .

As shown in FIG. 1 , the cleaning robot 20 of the present embodiment includes a box body 21 , the bottom of the box body 21 is provided with a mopping member 22 for cleaning the ground, and the interior of the box body 21 is provided with a mopping member 22 for providing moisture. The top of the box body 21 is provided with a cover plate 23, and the water tank can be replenished by removing the cover plate 23. After the wiping member 22 works for a period of time, it needs to return to the base station 10 in time for cleaning. Correspondingly, the base station 10 in this embodiment further includes a cleaning unit 15 . The cleaning unit 15 is disposed on the bottom surface of the accommodating cavity 12 and is used to clean the cleaning robot 20 in the accommodating cavity 12 . The cleaning unit of this embodiment is a plurality of extruding pieces rotatably disposed on the bottom surface of the accommodating cavity 12 . The plurality of extruding pieces protrude from the bottom surface of the accommodating cavity 12 and are in a plane parallel to the bottom surface of the accommodating cavity 12 . turn. Through the rotation of the extruding member and squeezing the mopping member 22 of the cleaning robot 20 , the sewage in the mopping member 22 is discharged, and the cleaning effect on the cleaning robot 20 is realized. Multiple extrusions can be driven individually or collectively. The multiple extrusion members in this embodiment are divided into two groups, and are symmetrically distributed on the bottom surface of the accommodating cavity 12 , so as to ensure that the mopping member 22 can be cleaned in the largest area. Further, the housing 112 is provided with a clean water tank for cleaning the mopping member 22 and a sewage tank for recycling sewage. Further, the cleaning robot 20 in this embodiment further includes a charging unit, which is provided on the side wall of the accommodating cavity 12 and is used to charge the cleaning robot 20 in the accommodating cavity 12 . Specifically, the charging unit may be disposed on the first side wall 121 .

The base station 10 in this embodiment is used for recycling and cleaning the cleaning robot 20 with the mopping function. In other embodiments of the present application, the base station 10 can also be used for recycling and cleaning the cleaning robot 20 with the mopping function. Correspondingly, the bottom of the cleaning robot 20 is provided with sweeping members, such as brushes, and the cleaning units in the accommodating cavity 12 of the base station 10 are roller brushes and side brushes.

Further, the opening of the accommodating cavity 12 in this embodiment is further provided with a guide surface 16 , through the setting of the guide surface 16 , the cleaning robot 20 can move along the guide surface 16 into the accommodating cavity 12 , so as to realize the cleaning robot 20 . Cleaning and charging prevent the movement trajectory of the cleaning robot 20 from being affected due to the height difference between the opening and the ground during the process of entering the cleaning robot 20 into the accommodating cavity 12 .

The above description is only a preferred embodiment of the present invention, but the protection scope of the present invention is not limited to this. Substitutions should be covered within the protection scope of the present invention. Therefore, the protection scope of the present invention should be subject to the protection scope of the claims.

Claims

A base station for cleaning robots, characterized in that it includes:

a base station body, the bottom of the base station body is provided with an accommodating cavity with one end open;

a first signal transmitter, the first signal transmitter is arranged on a first side wall of the accommodating cavity, and the first side wall is arranged corresponding to the opening;

At least two second signal transmitters, and at least one of the second signal transmitters are respectively provided on both sides of the first signal transmitter.
The base station according to claim 1, wherein a second side wall and a third side wall are respectively provided on both sides of the first side wall, and the second side wall, the first side wall and the The third side wall encloses the accommodating cavity, and at least one of the second signal transmitters is respectively provided on the second side wall and the third side wall.
The base station according to claim 2, wherein the second signal transmitter is disposed near the end of the opening.
The base station according to claim 1, wherein the base station further comprises at least two third signal transmitters, and at least one of the third signal transmitters are respectively provided on both sides of the first signal transmitter, The signal transmission distance of the third signal transmitter is greater than the signal transmission distance of the second signal transmitter, and the signal transmission angle range of the third signal transmitter is smaller than the signal transmission angle range of the second signal transmitter.
The base station according to claim 1, characterized in that, the first signal transmitter comprises a partition plate and at least one signal transmitting part, and the partition plate covers part of the signal transmitting part, so that the first signal transmitting part The alignment signal emitted by the signal transmitter is emitted at a first included angle.
The base station according to claim 5, wherein the angle range of the first included angle is 20°˜30°.
The base station according to claim 5, characterized in that, the number of the signal emitting parts is two, and the positions of the two signal emitting parts close to each other are covered with the partition plate.
The base station according to claim 1, wherein the distance between the center line of the alignment signal transmitted by the first signal transmitter and the two side edges of the first side wall is equal.
The base station according to claim 1, wherein the base station further comprises:

a cleaning unit, which is arranged in the accommodating cavity and used to clean the cleaning robot entering the accommodating cavity;

and/or a charging unit, the charging unit is provided on the side wall of the accommodating cavity, and is used for charging the cleaning robot entering the accommodating cavity.
A cleaning robot system, characterized in that it has the base station according to any one of claims 1 to 9, and the robot cleaning system further comprises:

The cleaning robot is provided with a signal receiver, and the signal receiver is used for receiving the alignment signal emitted by the first signal transmitter and the guidance signal emitted by the second signal transmitter.