CN216454804U - Base station and cleaning robot system - Google Patents
Base station and cleaning robot system Download PDFInfo
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- CN216454804U CN216454804U CN202120365984.9U CN202120365984U CN216454804U CN 216454804 U CN216454804 U CN 216454804U CN 202120365984 U CN202120365984 U CN 202120365984U CN 216454804 U CN216454804 U CN 216454804U
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- signal
- base station
- cleaning robot
- sidewall
- cleaning
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/24—Floor-sweeping machines, motor-driven
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
Abstract
The utility model belongs to the technical field of cleaning, and particularly relates to a base station and a cleaning robot system with the same. The base station is used for the cleaning robot and comprises a base station body, a first signal emitter and at least two second signal emitters, wherein an accommodating cavity with an opening at one end is formed in the bottom of the base station body, the first signal emitter is arranged on a first side wall of the accommodating cavity, the first side wall is arranged corresponding to the opening, and at least one second signal emitter is arranged on each of two sides of the first signal emitter. According to the base station, the cleaning robot is guided to move to the opposite side of the first side wall through signals transmitted by the second signal transmitters on the two sides, and the cleaning robot is guided to swing on the machine body through signals transmitted by the first signal transmitters, so that the signal receiving area in the process that the cleaning robot returns to the base station is effectively enlarged, the identification efficiency of the cleaning robot on the position of the base station is improved, and the cleaning robot can be enabled to quickly and accurately enter the accommodating cavity.
Description
Technical Field
The utility model belongs to the technical field of cleaning, and particularly relates to a base station and a cleaning robot system with the same.
Background
In recent years, with the development of social economy and the improvement of the domestic living standard, the household cleaning gradually enters an intelligent and mechanized era, and the cleaning robot produced by transportation can release people from the household cleaning work, effectively reduce the work burden of people in the aspect of household cleaning, and relieve the fatigue degree of people in the household cleaning process.
After the cleaning robot finishes the cleaning task, the cleaning robot returns to the base station to be cleaned or charged, so that the next cleaning requirement is met. In the prior art, a reflective bar code is generally attached to the front side of a base station, a cleaning robot is provided with an LDS laser navigation module, and when the cleaning robot returns, the cleaning robot identifies and returns to the base station by scanning the bar code. When the LDS code scanning mode is used for returning to the base station, the cleaning robot can identify the base station only when the cleaning robot runs to the front side of the base station, and therefore time consumed when the cleaning robot returns to the base station is prolonged.
SUMMERY OF THE UTILITY MODEL
The utility model aims to at least solve the problem that the time is consumed for identifying the position of a base station when a cleaning robot returns to the base station. This object is achieved by:
a first aspect of the present invention proposes a base station for a cleaning robot, the base station comprising:
the base station comprises a base station body, wherein the bottom of the base station body is provided with an accommodating cavity with one open end;
the first signal emitter is arranged on a first side wall of the accommodating cavity, and the first side wall is arranged corresponding to the opening;
and two sides of the first signal emitter are respectively provided with at least one second signal emitter.
According to the base station, the first signal transmitters are arranged on the first side wall of the accommodating cavity, the at least one second signal transmitter is respectively arranged on the two sides of the first signal transmitter, and the cleaning robot is guided to move to the opposite side of the first side wall through signals transmitted by the second signal transmitters on the two sides in the process of returning to the base station and is guided to swing to the body through the signals transmitted by the first signal transmitters, so that the signal receiving area in the process of returning the cleaning robot to the base station is effectively increased, the identification efficiency of the cleaning robot on the position of the base station is improved, the cleaning robot is ensured to be capable of rapidly and accurately entering the accommodating cavity, and the cleaning robot is cleaned and/or charged through the base station.
In addition, the base station according to the present invention may further have the following additional technical features:
in some embodiments of the present invention, a second sidewall and a third sidewall are respectively disposed on two sides of the first sidewall, the second sidewall, the first sidewall and the third sidewall surround the accommodating cavity, and at least one second signal emitter is respectively disposed on the second sidewall and the third sidewall.
In some embodiments of the utility model, the second signal emitter is disposed proximate an end of the opening.
In some embodiments of the present invention, the base station further includes at least two third signal transmitters, at least one of the third signal transmitters is respectively disposed on two sides of the first signal transmitter, a signal transmission distance of the third signal transmitter is greater than a signal transmission distance of the second signal transmitter, and a signal transmission angle range of the third signal transmitter is smaller than a signal transmission angle range of the second signal transmitter.
In some embodiments of the present invention, the first signal emitter includes a partition and at least one signal emitting member, and the partition covers a portion of the signal emitting member so that the alignment signal emitted by the first signal emitter emits at a first included angle.
In some embodiments of the utility model, the first included angle is in the range of 20 ° to 30 °.
In some embodiments of the present invention, the number of the signal emitting parts is two, and the partition plate covers a position where the two signal emitting parts are close to each other.
In some embodiments of the utility model, the center line of the alignment signal emitted by the first signal emitter is equidistant from both side edges of the first side wall.
In some embodiments of the utility model, the base station further comprises:
the cleaning unit is arranged in the accommodating cavity and used for cleaning the cleaning robot entering the accommodating cavity;
and the charging unit is arranged on the side wall of the accommodating cavity and used for charging the cleaning robot entering the accommodating cavity.
Another aspect of the present invention also provides a cleaning robot system having the base station described in any one of the above, further including:
the cleaning robot is provided with a signal receiver which is used for receiving the alignment signal transmitted by the first signal transmitter and the guide signal transmitted by the second signal transmitter.
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 only for purposes of illustrating the preferred embodiments and are not to be construed as limiting the utility model. Also, like parts are designated by like reference numerals throughout the drawings. Wherein:
fig. 1 is a schematic configuration diagram of a cleaning robot system of the present embodiment;
fig. 2 is a schematic front view of the base station in fig. 1;
FIG. 3 is a schematic diagram of the first signal transmitter in FIG. 2;
fig. 4 is a trace distribution diagram of the signals transmitted by the base station in fig. 1.
The reference numerals in the drawings denote the following:
1: cleaning a robotic system;
10: base station, 11: base station body, 111: base, 112: a housing, 12: accommodation chamber, 121: first side wall, 122: second side wall, 123: third side wall, 13: first signal transmitter, 131: signal emitting element, 132: separator, 133: mounting plate, 14: second signal transmitter, 15: cleaning unit, 16: a guide surface;
20: cleaning robot, 21: a box body, 22: a mopping piece, 23: a cover plate;
a1: alignment signal region, a 2: close proximity guidance signal region, a 3: a remote guidance signal region;
l1: alignment signal first boundary line, L2: alignment signal second boundary line, L3: distance guidance signal first boundary line, L4: and a remote guidance signal second boundary line.
Detailed Description
Exemplary embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the utility model are shown in the drawings, it should be understood that the utility model can be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the utility model 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" may be intended to include the plural forms as well, unless the context clearly indicates otherwise. The terms "comprises," "comprising," "including," and "having" are inclusive and therefore specify the presence of stated features, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, steps, operations, elements, components, and/or groups thereof. The method steps, processes, and operations described herein are not to be construed as necessarily requiring their performance in the particular order described or illustrated, unless specifically identified as an order of performance. 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 limited by these terms. These terms may be only 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 the example embodiments.
For convenience of description, spatially relative terms, such as "inner", "outer", "lower", "below", "upper", "above", and the like, may be used herein to describe one element or feature's relationship to another element or feature as illustrated in the figures. Such spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to 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 "over" the other elements or features. Thus, the example term "below … …" can include both an up and down orientation. 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 2, the cleaning robot system 1 of the present embodiment includes a base station 10 and a cleaning robot 20. The cleaning robot 20 of the present embodiment is an indoor cleaning robot capable of automatically cleaning the floor by means of certain artificial intelligence, such as a floor sweeping robot, a floor 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 recharge command. The recharging instruction comprises an internal recharging instruction and an external recharging instruction, the internal recharging instruction comprises but is not limited to an instruction sent when the electric quantity of the robot is lower than a preset threshold value and when a preset cleaning task is completed, and the external recharging instruction comprises but is not limited to an instruction sent when a user actively controls the robot to return to the base station 10, such as an instruction sent by the user through an APP on an operation panel, a remote controller or other terminal equipment on the body.
The base station 10 in this application is one of base stations used with the cleaning robot, and is a certain base station used by the cleaning robot in the process of recharging, such as a charging base station, a cleaning base station, or a base station with an integrated charging and cleaning function. Specifically, the base station 10 of the present 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, wherein the base 111 is provided with an accommodating cavity 12 having an opening at one end, and the cleaning robot 20 can enter the accommodating cavity 12 through the opening, so as to perform a cleaning and/or charging process of the cleaning robot 20.
Referring to fig. 1 and 2, the accommodating chamber 12 includes a first sidewall 121, a second sidewall 122 and a third sidewall 123, the second sidewall 122 and the third sidewall 123 are respectively disposed on two sides of the first sidewall 121, the second sidewall 122, the first sidewall 121 and the third sidewall 123 surround the accommodating chamber 12, and an opening is formed between the second sidewall 122 and the third sidewall 123. The height and width dimensions of the opening should be no less than the height and width dimensions of the cleaning robot 20 so that the cleaning robot 20 can enter the receiving cavity 12 through the opening.
As shown in fig. 2, the first side wall 121 is provided with a first signal emitter 13, and the second side wall 122 and the third side wall 123 are respectively provided with a second signal emitter 14. Accordingly, the cleaning robot 20 is provided with a signal receiver for receiving the alignment signal transmitted from the first signal transmitter 13 and the guide signal transmitted from the second signal transmitter 14. The first signal emitter 13 is used for emitting an alignment signal, and the signal receiver can receive and recognize the alignment signal emitted by the first signal emitter 13 and correct the body of the cleaning robot 20 according to the received alignment signal, so that the cleaning robot 20 can enter the accommodating cavity 12 quickly and accurately. The second signal emitter 14 is used for emitting a guide signal, the signal receiver can receive and recognize the guide signal emitted by the second signal emitter 14, guide the cleaning robot 20 to move towards the opposite position of the opening according to the received guide signal, and when the cleaning robot 20 moves to the opposite position of the opening, the cleaning robot 20 is made to swing right to the body according to the alignment signal emitted by the first signal emitter 13 and received by the signal receiver, the cleaning robot 20 is driven into the accommodating cavity 12, so that the signal receiving area in the process that the cleaning robot 20 returns to the base station 10 is effectively increased, and the identification efficiency of the cleaning robot 20 on the position of the base station 10 is improved. In the present embodiment, the alignment signal emitted by the first signal emitter 13 and the guiding signal emitted by the second signal emitter 14 are both infrared rays.
According to the base station 10 of the present invention, the first signal emitter 13 is disposed on the first sidewall 121 of the accommodating cavity 12, and the at least one second signal emitter 14 is disposed on each of two sides of the first signal emitter 13, so that the cleaning robot 20 is guided by the signals emitted by the second signal emitters 14 on two sides to move to the opposite side of the first sidewall 121 during the process of returning to the base station 10, and the cleaning robot 20 is guided by the signals emitted by the first signal emitter 13 to tilt the body, thereby effectively increasing the signal receiving area during the process of returning the cleaning robot 20 to the base station 10, ensuring that the cleaning robot 20 can quickly and accurately enter the accommodating cavity 12, and cleaning and/or charging the cleaning robot 20 through the base station 10.
Further, in order to ensure that the guide signal emitted from the second signal emitter 14 effectively acts on the region outside the width of the base 111 and to increase the signal receiving region of the signal receiver, the second signal 14 of the present embodiment is disposed near the end of the opening, so that when the cleaning robot 20 moves to both side positions outside the width of the base 14, it can return to the vicinity of the base station 10 according to the action of the guide signal emitted from the second signal emitter 14, and can enter the accommodating chamber 12 after aligning the body according to the received alignment signal emitted from the first signal emitter 13. Here, the main body is straightened in such a manner 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 this embodiment, the second signal emitter 14 may also be disposed at the end of the second sidewall 122 and the third sidewall 123 close to the first sidewall 121, or disposed at the two sides of the first signal emitter 13 on the first sidewall 121, which may also effectively increase the signal receiving area during the process of the cleaning robot 20 returning to the base station 10, and improve the identification efficiency of the cleaning robot 20 on the position of the base station 10, but the range of the signal receiving area is limited compared to the case where the second signal emitter 14 is disposed at the end of the second sidewall 122 and the third sidewall 123 close to the opening.
As shown in fig. 3, the first signal transmitter 13 of the present embodiment includes a partition 132, at least one signal transmitting member 131, and a mounting plate 133. The number of the signal emitting members 131 of this embodiment is two, two signal emitting members 131 are arranged on the mounting plate 133 at intervals, the mounting plate 133 is further provided with a partition 132, and the positions where the two signal emitting members 131 are close to each other are all covered with the partition 132, so that the signal emitting angle ranges of the two signal emitting members 131 are limited by the partition 132. In this embodiment, two signal emission piece 131 are first contained angle transmission alignment signal under the fender effect of baffle 132, and the angle scope of first contained angle is 20 ~ 30 to carry out the turned angle scope of pendulum timing to cleaning machines people 20 effectively and restrict, guarantee that cleaning machines people 20 puts the fuselage upright under the turned angle's of minimum circumstances, thereby accurately enter into fast and hold chamber 12 in, reduce the time waste because of cleaning machines people 20's angular adjustment causes.
In this embodiment, the signal emitting member 131 and the partition 132 are both mounted on the mounting plate 133, and the mounting plate 133 is connected to the first sidewall 121, so that the signal emitting member 131 and the first sidewall 121 can be conveniently connected and detached, and the signal emitting member 131 can be conveniently replaced when damaged. In other embodiments of the present application, the signal emitter 131 and the partition 132 may be directly disposed on the first sidewall 121, and the alignment signal can be emitted through the signal emitter 131 to guide the cleaning robot to swing right.
In other embodiments of the present application, a rectangular or rectangular-like elongated signal emitting member may be used, and a partition 132 is disposed at the center of the elongated signal emitting member, so as to limit the signal emitting angle of the alignment signal emitted by the elongated signal emitting member.
The second signal transmitter 14 of the present embodiment may also include a mounting plate 133, a partition 132, and a signal emitting member 131, wherein the second signal transmitter 14 is integrally mounted on the second side wall 122 and the third side wall 123 through the mounting plate 133, and is covered on a portion of the signal emitting member 131 through the partition 132, so as to limit the signal emitting angle of the signal emitting member 131. Specifically, the partition 132 and the signal emitting element 131 may be correspondingly disposed according to the area of the guiding signal required to be emitted by the second signal emitter 14, so as to meet the actual requirement, and the specific structure is determined according to the circumstances and is not described herein again.
Further, the distances between the center line of the alignment signal transmitted by the first signal transmitter 13 and the two side edges of the first sidewall 121 are equal, so that the cleaning robot 20 can return to the accommodating chamber 12 along the center line of the accommodating chamber 12 after receiving the alignment signal, the relative position between the cleaning robot 20 and the accommodating chamber 12 during the return process of the cleaning robot 20 to the base station 10 and after the return process of the cleaning robot 20 to the base station 10 is ensured, meanwhile, the cleaning robot 20 is prevented from colliding with the second sidewall 122 and the third sidewall 123 during the return process of the cleaning robot 20 to the base station 10, and the cleaning and charging processes of the cleaning robot 20 are ensured. Meanwhile, the base station 10 is further provided with a reflective bar code, and 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 further determine the position of the center line of the accommodating cavity 12 by scanning the reflective bar code, complete the return action, and record the coordinate position of the base station 10.
Further, the base station 10 of the present embodiment further includes two third signal transmitters (not shown in the figure), two sides of the first signal transmitter 13 are respectively provided with one third signal transmitter, a signal transmission distance of the third signal transmitter is greater than a signal transmission distance of the second signal transmitter 14, and a signal transmission angle range of the third signal transmitter is smaller than a signal transmission angle range of the second signal transmitter 14. The third signal emitter may have a structure similar to that of the first signal emitter 13 in fig. 3, and includes a mounting plate 133, a partition 132, and a signal emitting member 131, the third signal emitter is separately mounted on the second side wall 122 and the third side wall 123 through the mounting plate 133, and is covered on a portion of the signal emitting member 131 through the partition 132, so as to limit a signal emitting angle of the signal emitting member 131, and specifically, an angle emitting range of the third signal emitter may be adjusted according to a covered area of the partition 132. In other embodiments of the present application, the signal emitting element on the third signal emitter may also be mounted on the same mounting board and spaced from the signal emitting element of the second signal emitter 14, and the signal emitting distance between the third signal emitter and the second signal emitter 14 is limited by setting signal emitting elements of different specifications.
As shown in fig. 4, the alignment signal emitted by the first signal emitter 13 has two boundary lines, namely, an alignment signal first boundary line L1 and an alignment signal second boundary line L2, an included angle formed by the alignment signal first boundary line L1 and the alignment signal second boundary line L2 ranges from 20 degrees to 30 degrees, an area formed by the alignment signal first boundary line L1 and the alignment signal second boundary line L2 is an alignment signal area a1, and the cleaning robot 20 can move in the direction of the accommodating chamber 12 in the alignment signal area a 1.
The guiding signal emitted by the third signal emitter also has two boundary lines, a first boundary line L3 for the distance guiding signal and a second boundary line L4 for the distance guiding signal. In the present embodiment, the third signal emitter is disposed on each of the second sidewall 122 and the third sidewall 123, and for convenience of description, only the guiding signal emitted by the third signal emitter on the third sidewall 123 (i.e., the left guiding signal at the position shown in fig. 4) is taken as an example in the present embodiment, and the guiding signal emitted by the third signal emitter on the second sidewall 122 (i.e., the right guiding signal at the position shown in fig. 4) and the guiding signal emitted by the third signal emitter on the third sidewall 123 are symmetrically disposed about the center line of the alignment signal area a 1. The included angle range surrounded by the first boundary line L3 of the remote guidance signal and the second boundary line L4 of the remote guidance signal is 20 degrees to 25 degrees, the region surrounded by the first boundary line L3 of the remote guidance signal and the second boundary line L4 of the remote guidance signal is a remote guidance signal region A3, and the cleaning robot 20 can move towards the base station 20 under the action of the remote guidance signal in the remote guidance signal region A3.
Likewise, for convenience of description, in the present embodiment, only the guidance signal emitted by the second signal emitter 14 on the third side wall 123 (i.e., the left guidance signal in the position shown in fig. 4) is taken as an example, and the guidance signal emitted by the second signal emitter 14 on the second side wall 122 (i.e., the right guidance signal in the position shown in fig. 4) and the guidance signal emitted by the second signal emitter 14 on the third side wall 123 are symmetrically arranged with respect to the center line of the alignment signal area a 1. The short distance guidance signal area of the present embodiment is a2, and is defined by the guidance signal transmitted by the second signal transmitter 14, and the angle range of the guidance signal transmitted by the second signal transmitter 14 is greater than the angle range of the guidance signal transmitted by the third signal transmitter, so that when the cleaning robot 20 approaches the base station 10, the guidance signal transmitted by the second signal transmitter 14 can be received in a large range, and enters the alignment signal area a1 according to the guidance signal, thereby preventing the cleaning robot 20 from hitting the outer wall of the base station 20. At the same time. The transmission distance of the guide signal transmitted by the second signal transmitter 14 is shorter than that of the guide signal transmitted by the third signal transmitter, i.e., the guide signal transmitted by the second signal transmitter 14 can be received only when the cleaning robot 20 is close to the base station 10. The angular range of the pilot signal emitted by the second signal emitter 14 in this embodiment is a sector-like area in fig. 4, and the maximum emission distance of the pilot signal emitted by the second signal emitter 14 is 1.5 m.
Specifically, when the cleaning robot 20 is retracted by using the cleaning robot system 1 of the present embodiment, the cleaning robot 20 first enters the long distance guidance signal area A3, moves toward the base station 10 by receiving the long distance guidance signal transmitted from the third signal transmitter, and 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 distance guidance signal area a2, and records the coordinates, angle, and ranging distance of the cleaning robot 20 with respect to the base station 10 at this time. The cleaning robot 20 moves toward the alignment signal area a1 by the close distance guide signal, sequentially passes through the center lines of the alignment signal first boundary line L1 and the alignment signal area a1, and stops moving when it knows that the alignment signal second boundary line L2 is detected. During this movement, no obstacles are placed. Determining a triangular alignment signal area A1 according to the alignment signal first boundary line L1 and the alignment signal second boundary line L2 detected by the cleaning robot 20, determining the specific position of the first signal emitter 13 so as to erect the body of the cleaning robot 10, driving the cleaning robot 20 to move towards the accommodating cavity 12, finally determining the center line position of the accommodating cavity 12 by scanning the reflective bar code on the base station body 11, completing the return action, and simultaneously recording the coordinates of the base station 10.
When the cleaning robot 20 encounters an obstacle such as a wall while returning to the base station 10, it travels along the wall toward the base station 10 while scanning a specific area based on the previously recorded coordinates, angle, and ranging information with respect to the base station 10, and when it scans the long-distance guide signal transmitted from the third signal transmitter or the short-distance guide signal transmitted from the second signal transmitter 14, it returns to the base station 10 along the path without the obstacle as described above.
In other embodiments of the present application, the structure of the third signal emitter may be omitted, and the operation of returning the cleaning robot 20 to the base station 10 may be performed directly by the second signal emitter 14 and the first signal emitter 13. That is, the cleaning robot 20 can be cleaned and/or charged only when the cleaning robot 20 enters the close range guidance signal zone a2, and moves into the alignment signal zone a1 by the guidance signal, and finally returns to the receiving chamber 12 of the base station 10.
According to the base station 10 and the robot cleaning system 1 having the base station 10 of the present embodiment, when the cleaning robot 20 does not store the orientation of the base station 10, it is possible to effectively increase the signal receiving area in the process of returning the cleaning robot 20 to the base station 10, improve the efficiency of identifying the position of the base station 10 by the cleaning robot 20, ensure that the cleaning robot 20 can quickly and accurately enter the accommodating chamber 12, and reduce the collision and return time, thereby cleaning and/or charging the cleaning robot 20 through the base station 10.
As shown in fig. 1, the cleaning robot 20 of the present embodiment includes a case 21, a mop 22 for cleaning a floor surface is provided at the bottom of the case 21, a water box for supplying water to the mop 22 is provided inside the case 21, a cover plate 23 is provided above the case 21, and the water box can be replenished by detaching the cover plate 23. After the mop 22 has been in operation for a period of time, it is then returned to the base station 10 for cleaning. Accordingly, the base station 10 of the present embodiment further includes a cleaning unit 15, and the cleaning unit 15 is disposed on the bottom surface of the accommodating chamber 12 and is used for cleaning the cleaning robot 20 in the accommodating chamber 12. The cleaning unit of the present embodiment is a plurality of pressing members rotatably provided on the bottom surface of the accommodating chamber 12, and the plurality of pressing members are provided to protrude from the bottom surface of the accommodating chamber 12 and rotate in a plane parallel to the bottom surface of the accommodating chamber 12. The cleaning action of the cleaning robot 20 is achieved by rotating the pressing member and pressing the mop 22 of the cleaning robot 20, thereby discharging the sewage in the mop 22. The multiple extrusions may be driven individually or collectively. The multiple pressure members of this embodiment are divided into two groups and are symmetrically distributed on the bottom surface of the receiving chamber 12 to ensure maximum area cleaning of the mop 22. Further, a clean water tank for cleaning the mop 22 and a sewage tank for recovering sewage are provided in the housing 112. Further, the cleaning robot 20 of the present embodiment further includes a charging unit disposed on a side wall of the accommodating chamber 12 for charging the cleaning robot 20 in the accommodating chamber 12. Specifically, the charging unit may be disposed on the first sidewall 121.
The base station 10 of the present embodiment is used for recycling and cleaning the cleaning robot 20 having the floor mopping function, and in other embodiments of the present application, the base station 10 may also be used for recycling and cleaning the cleaning robot 20 having the floor sweeping function. Accordingly, the bottom of the cleaning robot 20 is provided with sweeping members, such as brushes, and the cleaning units in the accommodating chamber 12 of the base station 10 are roll brushes and side brushes.
Further, the opening part of the accommodating cavity 12 of the embodiment is also provided with a guide surface 16, and through the arrangement of the guide surface 16, the cleaning robot 20 can move to the accommodating cavity 12 along the guide surface 16, so that the cleaning and charging of the cleaning robot 20 are realized, and the influence on the movement track of the cleaning robot 20 due to the height difference at the connecting part of the opening and the ground in the process of leading into the accommodating cavity 12 is prevented when the cleaning robot 20.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are included in the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (9)
1. A base station for a cleaning robot, comprising:
the base station comprises a base station body, wherein the bottom of the base station body is provided with an accommodating cavity with one open end;
the first signal emitter is arranged on a first side wall of the accommodating cavity, and the first side wall is arranged corresponding to the opening;
the two sides of the first signal emitter are respectively provided with at least one second signal emitter;
the cleaning unit is arranged in the accommodating cavity and used for cleaning the cleaning robot entering the accommodating cavity;
and the charging unit is arranged on the side wall of the accommodating cavity and used for charging the cleaning robot entering the accommodating cavity.
2. The base station of claim 1, wherein a second sidewall and a third sidewall are respectively disposed on two sides of the first sidewall, the second sidewall, the first sidewall and the third sidewall surround the accommodating cavity, and at least one second signal transmitter is respectively disposed on the second sidewall and the third sidewall.
3. The base station of claim 2, wherein the second signal transmitter is disposed proximate an end of the opening.
4. The base station of claim 1, further comprising at least two third signal transmitters, wherein at least one of the third signal transmitters is disposed on each of two sides of the first signal transmitter, a signal transmission distance of the third signal transmitter is greater than a signal transmission distance of the second signal transmitter, and a signal transmission angle range of the third signal transmitter is smaller than a signal transmission angle range of the second signal transmitter.
5. The base station of claim 1, wherein the first signal transmitter comprises a spacer and at least one signal emitter, and the spacer covers a portion of the signal emitter to cause the alignment signal emitted by the first signal transmitter to emit at a first included angle.
6. The base station of claim 5, wherein the first included angle is in the range of 20 ° to 30 °.
7. The base station of claim 5, wherein the number of the signal emitting members is two, and the partition is covered at the position where the two signal emitting members are close to each other.
8. The base station of claim 1, wherein the center line of the alignment signal transmitted by the first signal transmitter is equidistant from both side edges of the first sidewall.
9. A cleaning robot system having a base station according to any of claims 1-8, the robot cleaning system further comprising:
the cleaning robot is provided with a signal receiver which is used for receiving the alignment signal transmitted by the first signal transmitter and the guide signal transmitted by the second signal transmitter.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120365984.9U CN216454804U (en) | 2021-02-08 | 2021-02-08 | Base station and cleaning robot system |
| PCT/CN2021/134009 WO2022166341A1 (en) | 2021-02-08 | 2021-11-29 | Base station and cleaning robot system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120365984.9U CN216454804U (en) | 2021-02-08 | 2021-02-08 | Base station and cleaning robot system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN216454804U true CN216454804U (en) | 2022-05-10 |
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| CN202120365984.9U Active CN216454804U (en) | 2021-02-08 | 2021-02-08 | Base station and cleaning robot system |
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| CN (1) | CN216454804U (en) |
| WO (1) | WO2022166341A1 (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114846993A (en) * | 2022-06-13 | 2022-08-05 | 美智纵横科技有限责任公司 | Mowing robot and mowing equipment |
| CN115067841A (en) * | 2022-07-14 | 2022-09-20 | 杭州萤石软件有限公司 | Control method and control device for cleaning robot and cleaning robot system |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
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| US7332890B2 (en) * | 2004-01-21 | 2008-02-19 | Irobot Corporation | Autonomous robot auto-docking and energy management systems and methods |
| CN103948354B (en) * | 2014-05-05 | 2016-03-09 | 苏州爱普电器有限公司 | A kind of robot for cleaning floor and control method thereof |
| CN105361817A (en) * | 2015-11-17 | 2016-03-02 | 深圳市银星智能科技股份有限公司 | Automatic docking system of robot |
| CN107095622B (en) * | 2016-02-19 | 2023-01-03 | 松下家电(中国)有限公司 | A dock station and clean robot for docking clean robot |
| CN106814739A (en) * | 2017-04-01 | 2017-06-09 | 珠海市微半导体有限公司 | A kind of mobile robot recharges control system and control method |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114846993A (en) * | 2022-06-13 | 2022-08-05 | 美智纵横科技有限责任公司 | Mowing robot and mowing equipment |
| CN114846993B (en) * | 2022-06-13 | 2024-02-23 | 美智纵横科技有限责任公司 | Mowing robot and mowing equipment |
| CN115067841A (en) * | 2022-07-14 | 2022-09-20 | 杭州萤石软件有限公司 | Control method and control device for cleaning robot and cleaning robot system |
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| WO2022166341A1 (en) | 2022-08-11 |
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