CN111134582A

CN111134582A - Base station, cleaning robot system and method for cleaning robot

Info

Publication number: CN111134582A
Application number: CN201911365511.2A
Authority: CN
Inventors: 张峻彬; 黄吉彪
Original assignee: Narwel Intelligent Technology Dongguan Co ltd
Current assignee: Narwel Intelligent Technology Dongguan Co ltd; Yunjing Intelligence Technology Dongguan Co Ltd
Priority date: 2019-12-25
Filing date: 2019-12-25
Publication date: 2020-05-12

Abstract

The invention discloses a base station, a cleaning robot system and a method for cleaning a cleaning robot, wherein the base station comprises a base station body and a cleaning device arranged on the base station body, the base station body is configured to be moved by the cleaning robot in the front-back direction, and the cleaning device is configured to clean different parts of the cleaning robot along a mopping piece by means of the cleaning robot moving in the front-back direction on the base station body. The cleaning device of the base station can move along the mopping piece relatively by utilizing the forward and backward movement of the cleaning robot on the base station, so that the aim of cleaning different parts of the mopping piece is fulfilled, the automatic cleaning of various types of mopping pieces can be realized, the cleaning device is particularly suitable for the traditional mopping piece attached to a shell of the robot, the use burden of a user is reduced, and the use experience of the user is improved.

Description

Base station, cleaning robot system and method for cleaning robot

Technical Field

The invention relates to the technical field of cleaning robots, in particular to a base station, a cleaning robot system and a method for cleaning the cleaning robot.

Background

The mop of traditional cleaning robot all pastes on cleaning robot's drain pan generally, drives the mop motion through cleaning robot's motion, and if cleaning robot's operational environment is bigger, the mop has held in front easily and has been full of spot and rubbish, works to the back and just cleaning robot drags a dirty cloth work, causes the secondary pollution of environment easily or drags unclean.

Fig. 1 provides a conventional cleaning robot, which includes a robot bottom case H, a traveling device X and a mop T, wherein the traveling device X and the mop T are disposed on the robot bottom case H, the traveling device X is composed of two driving wheels X1 and a driven wheel X2, the cleaning robot is driven by the traveling device X to move, and the mop T cleans the ground by the movement of the cleaning robot.

Because mop T is when work, mop T can laminate ground, can meet rubbish earlier at mop T laminate ground's front end, and longer in the time of work, mop T laminate ground's front end can dock more and more rubbish (or mop T holds the volume of rubbish and has been full), and mop T has been contaminated very seriously (as shown in fig. 2) this time, but cleaning machines people still drags contaminated mop T and continues to work, can bring rubbish everywhere like this, pollute ground.

If the mop T is prevented from polluting the ground or being unclean, the mop T is taken down to be cleaned and then attached to the bottom shell H of the robot to be put into use again, so that the use burden of a user is increased undoubtedly, and the use experience of the user is influenced.

Disclosure of Invention

The invention aims to provide a base station which can automatically clean a mopping piece of a cleaning robot, reduce the use burden of a user and improve the use experience of the user.

Another object of the present invention is to provide a cleaning robot system, which can automatically clean a mop of a cleaning robot, reduce the user's usage burden, and improve the user's usage experience.

The invention also aims to provide a method for cleaning the cleaning robot, which can automatically clean the mopping piece of the cleaning robot, reduce the use burden of a user and improve the use experience of the user.

In order to achieve the above object, the present invention provides a base station for a cleaning robot, the cleaning robot including a mop disposed at a bottom thereof, the base station including a base station body and a cleaning device disposed at the base station body, the base station body being configured to allow the cleaning robot to move thereon in a front-rear direction, the cleaning device being configured to clean different portions thereof along the mop by the cleaning robot moving in the front-rear direction on the base station body.

Optionally, the cleaning device comprises a cleaning roller configured to squeeze the mop with rotation of the opposite mop.

Optionally, the cleaning roller is a profiled roller, and a protrusion for pressing the wiping member is formed on the cleaning roller.

Optionally, the cleaning device further comprises a roller driving device for driving the cleaning roller to rotate.

Optionally, the base station further comprises a scraping member that scrapes off residual garbage on the cleaning drum by interfering contact with the cleaning drum when rotating.

Optionally, the scraping member is in interference contact with a bottom of the cleaning roller when the cleaning roller rotates.

Optionally, the base station further comprises a filter screen, the filter screen is detachably mounted on the base station body and used for blocking large-particle garbage falling from the cleaning roller and the mopping piece, and the scraping piece is arranged on the filter screen.

Optionally, the base station further comprises a water spray conduit for spraying fresh water onto the cleaning drum, the rotation of the cleaning drum bringing a portion of the water onto the mop; when the cleaning roller rotates in a preset direction, after each contact position of the cleaning roller is contacted with the dragging piece, the cleaning roller is firstly in interference contact with the scraping piece and then is sprayed with water by the water spraying pipeline.

Optionally, the base station further comprises a water spray conduit for spraying fresh water onto the cleaning roller, the rotation of the cleaning roller bringing a portion of the water onto the mop.

Optionally, the basic station still including install the filter screen of basic station body, the filter screen is used for blocking the large granule rubbish that drops when cleaning the piece of mopping, form sewage receiving chamber below the filter screen.

Optionally, the base station further includes a water spray pipe for spraying clean water, the water spray pipe is used for spraying water to the mop and/or the cleaning device, the water spray pipe includes a water spray section located under the filter screen, a water spray hole corresponding to a part of the mesh of the filter screen is formed on the water spray section, or the water spray pipe includes a water spray section staggered with the filter screen.

Optionally, the base station body includes a base station base, a sinking space is formed on the base station base, and the cleaning device is located in the sinking space.

In order to achieve the other object, the invention provides a cleaning robot system, which comprises a cleaning robot and a base station, wherein the cleaning robot comprises a walking device for driving the cleaning robot to walk on the ground and a mopping piece for cleaning the ground, and the base station is as described above.

Optionally, the base station further comprises a pressing device configured to apply downward pressure on the cleaning robot during the squeezing cleaning of the mop by the cleaning device so that the cleaning robot applies pressure on the cleaning device.

Optionally, the pressure applying device comprises a spring press for crimping on the top of the cleaning robot.

Optionally, the walking device includes a main walking wheel and an auxiliary walking wheel arranged along the traveling direction of the cleaning robot, the mopping member is located between the main walking wheel and the auxiliary walking wheel, a support portion for supporting the auxiliary walking wheel is formed on the base station body, the auxiliary walking wheel is correspondingly supported on the support portion at least when the auxiliary walking wheel is in a cleaning position away from the cleaning device, and the auxiliary walking wheel can be compressed upward by the support portion and/or compressed downward by the auxiliary walking wheel when the cleaning robot is subjected to the pressure applied by the pressure applying device.

To achieve the above-mentioned further object, the present invention provides a method for cleaning a cleaning robot using a base station including a cleaning device for cleaning a mop at a bottom of the cleaning robot, the method for cleaning the cleaning robot comprising:

the cleaning robot drives into the base station and moves in the front-back direction along the base station;

the cleaning device cleans different parts of the base station along the mopping piece by moving the cleaning robot in the front-back direction of the base station.

Optionally, the cleaning device comprises a cleaning roller for performing squeezing type cleaning on the mopping piece and a roller driving device for driving the cleaning roller to rotate;

when the cleaning robot normally cleans the ground, the cleaning robot is provided with a head part facing forwards, and the mopping piece is provided with a head part which is firstly contacted with the garbage;

when the head of the mopping piece is cleaned for at least the first time, the preset rotating direction of the cleaning roller enables the direction of cleaning the garbage on the mopping piece to be consistent with the head direction of the mopping piece.

Optionally, at least when the cleaning roller is sequentially cleaned for the first time along the mopping member, the preset rotation direction of the cleaning roller enables the direction in which the cleaning roller cleans the garbage on the mopping member to be consistent with the head orientation of the mopping member.

Optionally, when cleaning each part of the mop last time, the rotation speed of the cleaning roller is increased to squeeze the moisture on the mop.

Optionally, the cleaning device comprises a cleaning roller for squeeze cleaning of the mop;

the base station also comprises a scraping piece and a water spraying pipeline, wherein the scraping piece scrapes residual garbage on the cleaning roller through interference contact when the scraping piece rotates with the cleaning roller, the water spraying pipeline is used for spraying clean water onto the cleaning roller, and the rotation of the cleaning roller can bring part of water onto the mopping piece;

the cleaning roller rotates in a preset direction, and after each contact position of the cleaning roller is contacted with the dragging piece, the cleaning roller is firstly in interference contact with the scraping piece and then is sprayed with water by the water spraying pipeline.

Optionally, the base station comprises a pressure applying device;

when the cleaning device cleans different parts of the cleaning device in a squeezing mode along the mopping piece, the pressing device exerts downward pressure on the cleaning robot so that the cleaning robot exerts pressure on the cleaning device.

Optionally, when the cleaning device cleans different parts of the cleaning device along the mopping piece, the pressure applying device moves relatively along the top of the cleaning robot to press and connect different positions of the top of the cleaning robot.

Optionally, the cleaning robot comprises a main travelling wheel and an auxiliary travelling wheel arranged along the travelling direction of the cleaning robot, wherein the main travelling wheel is arranged between the mopping piece and the auxiliary travelling wheel;

when the cleaning robot is pressed downwards by the pressing device in the cleaning process, one end, provided with the auxiliary walking wheels, of the cleaning robot is lifted upwards, and one end, provided with the mopping piece, of the cleaning robot is pressed downwards on the cleaning device.

Optionally, the cleaning robot comprises a main travelling wheel and an auxiliary travelling wheel arranged along the travelling direction of the cleaning robot, and the mopping piece is positioned between the main travelling wheel and the auxiliary travelling wheel;

when the cleaning device cleans different parts of the mopping piece along the mopping piece, the auxiliary walking wheels are suspended.

The cleaning device of the base station can move along the mopping piece relatively by utilizing the forward and backward movement of the cleaning robot on the base station, so that the aim of cleaning different parts of the mopping piece is fulfilled, the automatic cleaning of the mopping piece of each type of cleaning robot can be realized, the cleaning device is particularly suitable for the traditional mopping piece attached to a robot shell, the use burden of a user is reduced, and the use experience of the user is improved.

Drawings

Fig. 1 is a schematic configuration diagram of a conventional cleaning robot.

Fig. 2 shows a garbage accumulation state of the cleaning robot shown in fig. 1.

Fig. 3 is a schematic structural diagram of a cleaning robot according to an embodiment of the present invention.

Fig. 4 is a schematic bottom view of a cleaning robot according to an embodiment of the present invention.

Fig. 5 to 14 show a first embodiment of a base station and a cleaning robot system having the same of the present invention, in which:

fig. 5 to 7 are schematic structural views of different orientations of the cleaning robot when it is on the base station.

Fig. 8 is an exploded structural view of the cleaning robot system.

Fig. 9 is a cross-sectional view of the cleaning robot in the base station showing the flow of fresh water.

Fig. 10 is a schematic top view of the cleaning robot on the base station, in which a part of the base station is hidden.

Fig. 11 is a schematic top view of a base station, wherein a part of the base station is hidden.

Fig. 12 to 14 are schematic cross-sectional views of the cleaning robot at different positions of the base station for cleaning.

Fig. 15 is a schematic cross-sectional view of a base station and a cleaning robot system having the base station according to a second embodiment of the present invention, when a cleaning robot is on the base station for cleaning.

Fig. 16 is a schematic cross-sectional view of a base station and a cleaning robot system having the base station according to a third embodiment of the present invention, when a cleaning robot is on the base station for cleaning.

Fig. 17 is a schematic cross-sectional view illustrating a cleaning robot system according to a fourth embodiment of the present invention, when the cleaning robot is located on a base station for cleaning.

Detailed Description

In order to explain technical contents and structural features of the present invention in detail, the following description is made with reference to the embodiments and the accompanying drawings.

In the description of the present invention, the directional words "front, rear, left, right, up, down, top, bottom" are all defined in a state where the base station is normally used, wherein a direction in which the cleaning robot travels on the base station is "front" and a direction in which the cleaning robot travels out of the base station is "rear".

Fig. 3 to 17 show various embodiments of a cleaning robot system comprising a base station 1 according to the invention. Referring to fig. 3 to 17, the base station 1 of the present invention includes a base station body 10 and a cleaning device 20 disposed on the base station body 10, wherein the base station body 10 is configured to allow the cleaning robot 9 to move thereon in a front-back direction, and the cleaning device 20 is configured to clean different portions of the base station body 10 along the mop 90 by the cleaning robot 9 moving thereon in the front-back direction.

According to the invention, the cleaning robot 9 moves back and forth on the base station body 10 to drive the mopping piece 90 to move back and forth, and the cleaning device 20 can move relatively along the mopping piece 90 due to the back and forth movement of the mopping piece 90, so that the cleaning device 20 can clean different parts of the mopping piece 90. That is to say, when the base station 1 of the present invention cleans the mopping piece 90 of the cleaning robot 9, the cleaning device 20 can automatically clean different parts of the mopping piece 90 by the back and forth movement of the cleaning robot 9, so that manual intervention is not needed, and the cleaning efficiency and the user experience are improved.

Although the cleaning device 20 of the base station 1 can automatically clean different parts of the mopping member 90 by the forward and backward movement of the cleaning robot 9, the invention is not limited to the cleaning device 20 which can not move. For example, in various implementations, the cleaning device 20 may be configured to be movable up and down and/or back and forth to facilitate cleaning operations.

The invention prefers a water washing mode when cleaning the mopping piece 90, because the water washing mode is easier to realize, the cost is lower, the cleaning effect is cleaner, and the mopping piece 90 cleaned by the water washing mode has certain moisture, which is convenient to directly continue to be put into mopping work without additionally arranging a step of wetting the mopping piece 90, therefore, the water washing cleaning mode can further reduce the participation of users and further ensure the working continuity of the cleaning robot 9. When cleaning by washing, the invention is not limited to the manner of supplying clean water to the mop 90, for example, water may be directly sprayed to the mop 90, or water may be sprayed to the cleaning device 20 and clean water may be supplied to the mop 90 through the cleaning device 20, or a water tank (not shown) may be provided on the cleaning robot 9, and the base station 1 may supply clean water to the water tank, and the cleaning robot 9 may wet the mop 90 by using clean water in the water tank, etc.

Fig. 3 and 4 show an embodiment of a cleaning robot 9 for cleaning a mop 90 using the base station 1 according to the invention. The cleaning robot 9 includes a walking device 91 for driving the cleaning robot 9 to walk on the ground and a mopping member 90 for cleaning the ground.

In this embodiment, the walking device 91 of the cleaning robot 9 comprises a main walking wheel 92 and an auxiliary walking wheel 93, wherein the auxiliary walking wheel 93 is a universal wheel capable of guiding and arranged at the head of the cleaning robot 9, and the mopping member 90 is specifically a mop cloth and is attached to the bottom of the cleaning robot 9 and positioned between the main walking wheel 92 and the auxiliary walking wheel 93.

The base station 1 of the present invention is not limited to cleaning only the cleaning robot 9 in the above-described embodiment. The cleaning robot 9 which can clean the mopping member 90 by using the base station 1 of the present invention may be in various forms, for example, in the case that the traveling device 91 of the cleaning robot 9 includes the main traveling wheel 92 and the auxiliary traveling wheel 93, the main traveling wheel 92 and the auxiliary traveling wheel 93 may be in various forms, the number is not limited, and the arrangement position may be variously changed.

The traveling device 91 of the cleaning robot 9 is also not limited to the form of traveling wheels, and for example, the traveling device 91 may also be in the form of crawler belts.

In addition, the mop 90 is not limited to the specific form in this embodiment, for example, the mop 90 may be selected from various setting positions according to the specific design of the cleaning robot 9; the mop piece 90 can be a mop cloth, a sponge and the like; the number of mopping members 90 is also not limited to one; the mop element 90 may also be mounted to a dedicated mop element mounting structure, for example, the mop element mounting structure may drive the mop element 90 to rotate for cleaning the floor.

The cleaning robot 9 may be a dedicated floor mopping robot, a floor mopping and sweeping integrated robot, or a robot which can be selectively used for mopping or sweeping by detaching and replacing. Furthermore, the base station 1 of the present invention is not limited to cleaning the mop 90 of the cleaning robot 9, for example, it may also be used to charge the cleaning robot 9, and in this case, the cleaning robot 9 may be a simple sweeping robot.

In short, the cleaning device 20 may be configured to clean different portions of the wiper 90 by the forward and backward movement of the cleaning robot 9.

Fig. 5 to 14 show a first embodiment of a cleaning robot system including the base station 1 of the present invention and having the base station 1.

In the present embodiment, the base station body 10 serves as a mounting base for other structural components of the base station 1 and a carrying structure for the cleaning robot 9, but the base station body 10 is not limited to a specific form, and may be a single structure or may be composed of two or more structures. As a specific example, the base station body 10 includes a base station base 11 and a base station cover 12, wherein the base station base 11 includes a base 111 and two side walls 112 and a front wall 113 formed on the base 111, a rear side of the base station base 11 is opened to provide an entrance 114 for the cleaning robot 9, a rear end of the base 111 is formed with a slope 115 for the cleaning robot 9 to enter and exit, and the base station cover 12 covers the side walls 112 and the front wall 113 of the base.

In the present embodiment, it is preferable that the cleaning device 20 includes the cleaning roller 21, and the cleaning roller 21 is configured to perform squeeze-type cleaning of the wiping member 90 with rotation of the relative wiping member 90. Through this design, utilize cleaning robot 9 to remove and cleaning roller 21 to drag the rotation of piece 90 relatively in the fore-and-aft direction on base station body 10, can realize the extrusion formula cleanness to dragging the different positions of piece 90, also be convenient for simultaneously utilize cleaning roller 21 to reduce the water content that drags piece 90 to the extrusion of dragging piece 90 and cleaning roller 21's slew velocity.

Specifically, the cleaning roller 21 is a profiled roller, and a protrusion 211 for pressing the wiping member 90 is formed on the cleaning roller 21. By providing the protruding portion 211 on the cleaning roller 21, squeeze cleaning of the wiping member 90 can be more effectively achieved.

It is to be understood that the cleaning roller 21 is not limited to the above-described specific form as long as squeeze cleaning of the wiping member 90 can be achieved by rotation thereof. For example, in other embodiments, the cleaning roller 21 may be a circular roller; the material of the cleaning roller 21 may be hard or soft; the cleaning roller 21 may also be provided with a brush structure or the like for facilitating cleaning.

In addition, in order to ensure that the cleaning effect is not affected by excessive accumulation of garbage, the cleaning roller 21 may be configured to be detachable; for example, it can be mounted on the base station body 10 by means of a snap fit, more specifically, a contour-oriented mounting.

In the specific example in the present embodiment, the number of the cleaning rollers 21 is one, and the length thereof in the left-right direction completely covers the wiping member 90. Of course, the number of the cleaning rollers 21 is not limited to one, and it is not required that they cover the wiping member 90 in the left-right direction. According to different specific conditions, different specific settings can be performed, for example, when the bottom of the cleaning robot 9 is provided with two mopping pieces 90 which are arranged in parallel from left to right, two cleaning rollers 21 can be arranged to clean them respectively, and certainly, the same cleaning roller 21 can also be used for cleaning.

In short, the cleaning roller 21 is not limited to the specific embodiment as long as it can perform a cleaning function on the wiping member 90.

Specifically, the cleaning device 20 further includes a roller driving device 22, and the roller driving device 22 is used for driving the cleaning roller 21 to rotate. Through cylinder drive arrangement 22's drive for cleaning roller 21 can carry out the extrusion formula of wiping piece 90 better and clean and reduce the water content that wipes piece 90, and then can effectively prevent because clean cleaning robot 9 continues to work after finishing, drags wiping piece 90 water content too much and cause harmful effects such as the injury of timber apron.

In order to achieve better squeezing type cleaning and reduce the water content of the wiping member 90, generally, the cleaning roller 21 mainly uses the roller driving device 22 to rotate relative to the wiping member 90, but it is not excluded that the cleaning roller 21 is driven to rotate only by the back and forth movement of the cleaning robot 9 and the pressure contact between the wiping member 90 and the cleaning roller 21, and the cleaning roller 21 is configured to rotate easily under stress.

The roller drive 22 is typically a motor. In a specific example, it is installed on a side wall of the base station base 11, one end of the cleaning roller 21 is connected to a motor, and other transmission mechanisms may be provided between the motor and the cleaning roller 21. Of course, in other embodiments, the roller driving device 22 may be configured differently according to different specific situations.

Specifically, the base station 1 further includes a scraping member 30, and the scraping member 30 scrapes off residual garbage on the cleaning drum 21 by interfering contact with the cleaning drum 21 while rotating. Through the setting of scraping the piece 30, when cleaning roller 21 utilizes to rotate to drag piece 90 and clean, can constantly scrape the residual rubbish on cleaning roller 21 through scraping the interference contact of piece 30 and the cleaning roller 21 in rotating, and then cleaning roller 21 always can carry out extrusion contact with dragging piece 90 with relatively clean contact surface to can effectively guarantee cleaning roller 21's cleaning performance.

In order to avoid that excessive waste is accumulated on the scraping element 30 and the cleaning effect is affected, the scraping element 30 may be arranged to be detachable.

In a specific example, the number of the scraping elements 30 is one, and the scraping elements are in a strip structure consistent with the extending direction of the cleaning roller 21, but not limited thereto.

In a preferred embodiment, the scraping member 30 is in interference contact with the bottom of the cleaning roller 21 when the cleaning roller 21 rotates. Since the scraping element 30 is in interference contact with the bottom of the cleaning roller 21 when the cleaning roller 21 cleans the wiping element 90, the garbage scraped from the cleaning roller 21 by the scraping element 30 can be effectively prevented from splashing to the wiping element 90 or other inconvenient positions in the base station 1, thereby further ensuring the cleaning effect.

Of course, in other embodiments, the scraper 30 is not limited to interfering contact with the bottom of the cleaning cylinder 21 when the cleaning cylinder 21 rotates.

As a preferred embodiment, the base station further comprises a filter screen 40, the filter screen 40 is detachably mounted on the base station body 10 and is used for blocking large-particle garbage falling from the wiping member 90 and the cleaning roller 21, and the scraping member 30 is disposed on the filter screen 40.

Through detachable filter screen 40's setting, can avoid large granule rubbish to get rid of the influence that probably causes sewage, the user of also being convenient for moreover cleans filter screen 40 according to the in service behavior. Through scraping a 30 setting on filter screen 40, need not to scrape a 30 specially again and fix, can dismantle along with filter screen 40 in addition, can realize simultaneously when taking out filter screen 40 and clean scraping a 30 cleanness, avoided influencing clean effect because scrape too much rubbish of accumulation on a 30. In addition, in order to clean the scraping element 30 more thoroughly, the scraping element 30 may be detachably disposed on the filtering net 40, such as a snap-fit connection.

Of course, scraping element 30 may not be disposed on filtering net 40, and in this case, filtering net 40 mainly functions to block the large-particle garbage scraped by scraping element 30 and only allow the sewage containing small-particle garbage to pass through.

In this embodiment, preferably, the base station 1 further includes a filter screen 40 installed on the base station body 10, the filter screen 40 is used for blocking large-particle garbage falling when the cleaning wiper 90 is cleaned, and a sewage receiving chamber 13 is formed below the filter screen 40. Through the setting of filter screen 40, can avoid large granule rubbish to get into sewage and receive chamber 13, effectively prevented that large granule rubbish from getting rid of the influence that probably causes to sewage.

The structure, coverage, number of components, etc. of the filter net 40 are not limited as long as the garbage dropped while cleaning the wiper 90 is mainly dropped at the filter net 40.

The filter screen 40 is preferably removable for cleaning, and in particular a simple snap fit, for example a contour set, may be used. Therefore, the user can select to take out the filter screen 40 for cleaning according to the use condition, further the influence on the discharge of sewage caused by the accumulation of garbage on the filter screen 40 to a certain degree can be prevented, and the filter screen 40 is convenient to replace when needed.

Specifically, the base station 1 further includes a sewage tank 50 and a water suction pipe 51, and the water suction pipe 51 can discharge the sewage in the sewage receiving chamber 13 into the sewage tank 50 for temporary storage and can pour the sewage in the sewage tank 50 after the cleaning operation is completed. In the specific example of the present embodiment, the sewage tank 50 is provided on the base station upper cover 12, and sewage is drawn up from the sewage receiving chamber 13 on the base station base 11 by negative pressure and enters the sewage tank 50 above the base station upper cover 12 through the water suction pipe 51.

Of course, the waste water tank 50 and/or the water suction pipe 51 may not be provided, and for example, waste water in the waste water receiving chamber 13 may be discharged to the outside through another discharge pipe.

In the specific example of the present embodiment, a sinking area 116 is formed on base station base 11, filter screen 40 is installed on sinking area 116, and cleaning device 20 is located in sinking space 117 above sinking area 116 and directly above filter screen 40. Here, "the cleaning device 20 is located in the subsidence space 117" mainly refers to a structure in which the cleaning device 20 directly performs cleaning, such as the cleaning roller 21 in the specific example.

Specifically, the base station 1 further includes a fan 60, an air duct (not shown) is provided in the base station body 10, an air inlet of the air duct is connected to the fan 60, an air outlet of the air duct is connected to the sewage receiving chamber 13 located below the cleaning device 20, a part of air generated by the fan 60 is blown to the wiping member 90 of the cleaning robot 9 through the air duct and the filter screen 40, and a part of air circularly flows in the sewage receiving chamber 13, so that the effect of effectively drying the wiping member 90 and the sewage receiving chamber 13 can be achieved.

Specifically, the base station 1 further includes a water spraying pipe 70 for spraying clean water, the water spraying pipe 70 is used for spraying water to the mop 90, the water spraying pipe 70 includes a water spraying section 71 located right below the filter screen 40, and the water spraying section 71 is formed with water spraying holes 72 corresponding to part of the meshes 41 of the filter screen 40. The cleaning device 20 can be used for cleaning the mopping piece 90 by spraying water to the mopping piece 90 through the water spraying pipeline 70, and the water spraying section 71 of the water spraying pipeline 70 is arranged right below the filter screen 40, so that the coverage area of the filter screen 40 is increased, and the installation of the water spraying pipeline 70 is facilitated. Of course, the water spraying section 71 of the water spraying pipe 70 may be staggered from the filter screen 40, for example, the filter screen 40 is located on one side or two sides of the water spraying section 71, and further, the corresponding relationship between the filter screen 40 and the water spraying section 71 during installation is not needed to be considered, and the filter screen 40 does not affect the water spraying operation of the water spraying pipe 70, thereby facilitating the installation and the water spraying operation of the water spraying pipe 70.

In a specific example of the present embodiment, the sinking region 116 of the base station base 11 is formed with a water spray installation groove 118 penetrating upward, and the water spray section 71 of the water spray pipe 70 is inserted into the water spray installation groove 118. The water spraying pipe 70 further comprises a connecting section 73 vertically installed in a side wall 112 of the base station base 11, the connecting section 73 is connected to a clean water tank 75 arranged on the base station upper cover 12 through a water pump 74, and clean water is pumped from the clean water tank 75 to the water spraying pipe 70 through the water pump 74 and sprayed onto the mopping member 90 through the water spraying holes 72 on the water spraying section 71 when cleaning is performed. In this specific example, the clean water tank 75 and the dirty water tank 50 are respectively located on the left and right sides of the base station upper cover 12.

In this embodiment, the base station 1 preferably further comprises a water spray pipe 70, the water spray pipe 70 being used for spraying water to the mop 90. The cleaning device 20 can be used to wash and clean the mopping element 90 by spraying water to the mopping element 90 through the water spraying pipe 70, so that the cleaning robot 9 can be directly put into mopping operation without additionally providing a step of wetting the mopping element 90. It will be appreciated that the water jet conduit 70 is provided to spray water onto the mop 90 for water cleaning purposes only in the preferred embodiment.

In the present embodiment, the base station body 10 generally includes a base station base 11, a sinking space 117 is formed on the base station base 11, and the cleaning device 20 is located in the sinking space 117. Through the arrangement of the sinking space 117 and the arrangement of the cleaning device 20 in the sinking space 117, the cleaning robot 9 can conveniently normally drive into the base station 1 for cleaning, thereby being beneficial to simply and conveniently completing the whole cleaning process. Here, "the cleaning device 20 is located in the subsidence space 117" mainly refers to a structure in which the cleaning device 20 directly performs cleaning, such as the cleaning roller 21 in the specific example.

Of course, not limited to this, for example, in other embodiments, the walking device 91 of the cleaning robot 9 may be configured to extend downward to raise the cleaning robot 9 when the cleaning robot 9 enters the base station 1.

In the present embodiment, it is preferable that the base station 1 further includes a pressing device 80, and the pressing device 80 is configured to apply downward pressure on the cleaning robot 9 during the squeeze cleaning of the wiper 90 by the cleaning device 20 so that the cleaning robot 9 applies pressure on the cleaning device 20. That is to say, when cleaning device 20 cleans mopping piece 90 in a squeezing type cleaning manner, the squeezing degree of cleaning device 20 to mopping piece 90 can be properly increased through pressure applying device 80, and then the effect of improving the cleaning effect can be played.

Specifically, when the cleaning robot 9 moves forward and backward on the base station body 10 so that the cleaning device 20 cleans different portions of the wiper 90, the pressing device 80 is pressed against different positions on the top of the cleaning robot 9.

Specifically, the pressing device 80 includes a spring press piece for pressing against the top of the cleaning robot 9 to maintain downward pressing of the cleaning robot 9 when the cleaning robot 9 performs mobile cleaning. Of course, the pressing device 80 is not limited to the form of a spring press, and for example, a motor may be used to drive the press to press the press against the top of the cleaning robot 9.

In a specific example of the present embodiment, the pressing device 80 is mounted on the base station upper cover 12.

In this embodiment, it is preferable that the traveling device 91 includes a main traveling wheel 92 and an auxiliary traveling wheel 93 disposed along the traveling direction of the cleaning robot 9, the mopping member 90 is disposed between the main traveling wheel 92 and the auxiliary traveling wheel 93, and the auxiliary traveling wheel 93 is suspended when the cleaning robot 9 is located at the cleaning position. That is to say, in the process of cleaning the mopping member 90 by the cleaning device 20, the auxiliary traveling wheel 93 of the cleaning robot 9 is kept in a suspended state, and further, under the condition that the pressure is applied by the pressure applying device 80, it can be ensured that most of the pressure applying device 80 acts on the cleaning robot 9, pressure loss due to the fact that the auxiliary traveling wheel 93 is supported is avoided, the extrusion force of the cleaning device 20 on the mopping member 90 is effectively increased, and therefore the cleaning effect is further improved.

Specifically, the base station body 10 may be sunk in a corresponding area so that the auxiliary traveling wheels 93 of the cleaning robot 9 are suspended during cleaning, and naturally, the case where the auxiliary traveling wheels 93 themselves are vertically retractable is not excluded.

In a specific example of the present embodiment, the auxiliary traveling wheels 93 are provided in a head region of the cleaning robot 9. In this example, when cleaning of the mop 90 is required, the cleaning robot 9 is headed forward into the base station 1 in order to effect cleaning of the mop 90. In other embodiments, the cleaning robot 9 may enter the base station 1 with its tail facing forward, depending on the base station 1. In addition, the auxiliary traveling wheel 93 may be provided in a rear area of the cleaning robot 9.

In other embodiments, the traveling device 91 includes a main traveling wheel 92 and an auxiliary traveling wheel 93 disposed along the traveling direction of the cleaning robot 9, the mopping member 90 is disposed between the main traveling wheel 92 and the auxiliary traveling wheel 93, a support portion (not shown) for supporting the auxiliary traveling wheel 93 is formed on the base station body 10, the auxiliary traveling wheel 93 is correspondingly supported on the support portion at least when the cleaning robot 9 is at a cleaning position away from the cleaning device 20, and the auxiliary traveling wheel 93 can be compressed upward by the support portion and/or the support portion can be compressed downward by the auxiliary traveling wheel 93 when the cleaning robot 9 is pressed by the pressing device 80. Through the design, under the condition that the pressure is applied by the pressure applying device 80, the pressure of the pressure applying device 80 can be ensured to act on the cleaning robot 9 for the most part, the pressure loss caused by the complete support of the auxiliary walking wheels 93 can be avoided, the extrusion force of the cleaning device 20 on the mopping piece 90 is effectively increased, and the cleaning effect is further improved.

The following describes a specific procedure for cleaning the wiper 90 of the cleaning robot 9 in the specific example of fig. 5-14, for ease of understanding of the invention only, and should not be construed as limiting the invention.

Firstly, the cleaning robot 9 drives the head forward into the base station 1, the cleaning robot 9 advances, the water spraying pipe 70 located behind the cleaning roller 21 sprays water to the mopping member 90, when the head of the mopping member 90 starts to contact with the cleaning roller 21, the forward travel of the cleaning robot 9 makes the pressing device 80 abut on the top of the cleaning robot 9, and further makes the cleaning roller 21 provide a larger pressing force to the head of the mopping member 90, so that the cleaning of the mopping member 90 is started under the rotation of the cleaning roller 21. As the cleaning robot 9 continues to travel forward, the pressing device 80 remains in abutment against the top of the cleaning robot 9 to ensure that downward pressure is continuously given to the cleaning robot 9, so that the cleaning robot 9 can keep giving a large pressure to the cleaning roller 21, and in turn, the cleaning roller 21 keeps giving a large pressing force to the wiper 90. The cleaning roller 21 moves to the tail of the wiping member 90 to clean the tail of the wiping member 90, and the first sequential cleaning is completed. Specifically, it may be configured that only one time of sequential cleaning is completed, which means that the entire cleaning is completed, and at this time, the cleaning robot 9 may be driven away from the base station 1, and accordingly, the driving of the cleaning roller 21 may be stopped, and the water spraying from the water spraying pipe 70 may be stopped. Of course, when the cleaning of the cleaning robot 9 is not performed, the cleaning robot may move back and forth to perform a plurality of sequential cleaning operations, and during the cleaning operation, the rotation direction of the cleaning roller 21 may or may not be changed as required, and during the last sequential cleaning operation, the cleaning roller 21 may be rotated at a higher speed to squeeze off the excess water in the mop 90, so as to meet the requirement of the cleaning robot 9 during normal operation. When cleaning in order at least for the first time, cleaning roller 21 is driven with clockwise rotation to when guaranteeing to clean mopping piece 90, clear up rubbish forward, can not wipe the regional clearance of piece 90 cleaner with rubbish orientation, avoid causing secondary pollution, be favorable to promoting clean effect. During the moving cleaning of the cleaning robot 9, the scraper 30 scrapes off the garbage on the cleaning roller 21 during the rotation cleaning of the cleaning roller 21.

According to the specific example of the embodiment, the tail or other parts of the mop 90 may be cleaned first, and whether the cleaning is performed sequentially is not important, as long as the cleaning of the positions of the mop 90 can be completed finally.

When cleaning is specifically performed, a preset cleaning strategy can be established, and different cleaning strategies can be selected. For example, the cleaning robot 9 may be set to move back and forth a predetermined number of times, and the cleaning roller 21 may sequentially clean each part of the mop 90 once during each unidirectional movement; it is also possible to choose to focus the cleaning of the mop 90, for example, the cleaning robot 9 may stay for a preset time or may choose to move back and forth to a small extent while the focus is being cleaned.

Fig. 15 shows a second embodiment of a cleaning robot system including the base station 1 of the present invention and having the base station 1.

The difference between this embodiment and the first embodiment mainly lies in the arrangement of the water spraying pipe 70.

In the present embodiment, it is preferable that the base station 1 further includes a water spray pipe 70, and the water spray pipe 70 is used for spraying water to the cleaning device 20. The cleaning device 20 is sprayed with water through the water spraying pipeline 70, the cleaning device 20 is convenient to wash and clean the mopping piece 90, so that the cleaning robot 9 can directly continue to throw into mopping work without additionally arranging a step of wetting the mopping piece 90, the cleaning device 20 can be cleaned in real time, and the cleaning effect is improved. It is understood that the water spraying pipe 70 is only a preferred embodiment for spraying water to the cleaning device 20 during the water washing cleaning, for example, in other embodiments, the water can be sprayed to both the mop 90 and the cleaning device 20.

On the basis of the solution in the first embodiment, the base station 1 in this embodiment further includes a water spraying pipe 70, the water spraying pipe 70 is used for spraying clean water onto the cleaning roller 21, and the rotation of the cleaning roller 21 can bring a part of the water onto the mop 90. Since the water spray pipe 70 sprays clean water onto the cleaning roller 21, the cleaning roller 21 can be washed and the cleaning roller 21 can bring a part of water onto the wiping member 90 by rotation for cleaning, thereby ensuring that each position of the cleaning roller 21 is always kept in a relatively clean state each time it is in contact with the wiping member 90, and further facilitating clean cleaning of the wiping member 90.

Of course, in other embodiments, it is not excluded to provide both the water spray conduit 70 spraying water directly onto the cleaning cylinder 21 and the water spray conduit 70 spraying water directly onto the mop 90, or the same water spray conduit 70 may spray water onto both the cleaning cylinder 21 and the water spray conduit 70.

On the basis of the corresponding technical solution in the first embodiment, the base station 1 in this embodiment further includes a water spraying pipe 70, the water spraying pipe 70 is used for spraying clean water onto the cleaning roller 21, and the rotation of the cleaning roller 21 can bring a part of the water onto the mopping member 90; when the cleaning roller 21 rotates in a predetermined direction, each contact position of the cleaning roller 21 contacts the wiping member 90, and then interferes with the scraping member 30, and is sprayed with water by the water spraying pipe 70.

Since the water spray pipe 70 sprays clean water onto the cleaning roller 21, the cleaning roller 21 can be washed and the cleaning roller 21 can bring a part of water onto the wiping member 90 by rotation for cleaning, thereby ensuring that each position of the cleaning roller 21 is always kept in a relatively clean state each time it is in contact with the wiping member 90, and further facilitating clean cleaning of the wiping member 90. When the cleaning roller 21 rotates in the preset direction, after each contact position of the cleaning roller 21 contacts with the wiping part 90, the cleaning roller firstly interferes with the scraping part 30 and then is sprayed with water by the water spraying pipeline 70, so that the cleaning roller 21 can firstly utilize the scraping part 30 to scrape residual garbage on the cleaning roller and then is cleaned by clean water sprayed by the water spraying pipeline 70, and further, the real-time cleaning in the rotating process of the cleaning roller 21 can be relatively thoroughly realized, and the cleaning effect of the cleaning roller 21 is powerfully ensured.

Of course, it is not excluded that the cleaning roller 21 is first sprayed with water by the water spraying pipe 70 and then brought into interference contact with the scraping member 30 after each contact position of the cleaning roller 21 is brought into contact with the wiping member 90 while the cleaning roller 21 is rotated in a predetermined direction.

In addition, considering that the cleaning roller 21 may involve the change of the rotation direction during the cleaning of the wiping member 90, in this case, the water spraying pipes 70 may be provided on both sides of the cleaning roller 21 for selectively spraying water, or other methods may be adopted to ensure that the wiping member 90 contacts each contact position of the cleaning roller 21, and then the wiping member 30 is in interference contact with the wiping member, and then the water is sprayed by the water spraying pipes 70.

Fig. 16 shows a third embodiment of a cleaning robot system including the base station 1 of the present invention and having the base station 1.

In this embodiment, the traveling device 91 of the cleaning robot 9 is disposed at a different position from the mopping member 90, compared with the previous embodiments. In the present embodiment, the cleaning robot 9 includes a main running wheel 92 and an auxiliary running wheel 93 provided along the running direction thereof, the main running wheel 92 being provided between the mop 90 and the auxiliary running wheel 93; when the downward pressure is applied by the pressing device 80 in the cleaning process, one end of the cleaning robot 9, which is provided with the auxiliary walking wheel 93, is lifted upwards, one end of the cleaning robot 9, which is provided with the mopping piece 90, is pressed downwards on the cleaning device 20, so that the auxiliary walking wheel 93 is suspended without special arrangement, or the landing place of the auxiliary walking wheel is compressible, or the universal wheel is compressible, the effect of obviously increasing the extrusion force of the cleaning device 20 on the mopping piece 90 can be achieved, and the cleaning effect is effectively improved.

In the present embodiment, specifically, the auxiliary traveling wheel 93 is disposed at a head region of the cleaning robot 9, and the mop 90 is disposed at a tail region of the cleaning robot 9. In a particular example, when cleaning of the mop 90 is required, the cleaning robot 9 is advanced tail-first into the base station 1 to facilitate cleaning of the mop 90. In other embodiments, depending on the base station 1, the cleaning robot 9 may enter the base station 1 with its head facing forward. In addition, the auxiliary traveling wheel 93 may be disposed at a rear region of the cleaning robot 9, and the mop 90 may be disposed at a head region of the cleaning robot 9.

The following describes a specific process of cleaning the wiper 90 of the cleaning robot 9 in the specific example of fig. 16, which is for the purpose of understanding the present invention only and should not be construed as limiting the present invention.

Firstly, the cleaning robot 9 drives into the base station 1 with the tail portion facing forward, the cleaning robot 9 moves forward, the water spraying pipe 70 sprays water to the mopping member 90, when the tail portion of the mopping member 90 starts to contact with the cleaning roller 21, the forward movement of the cleaning robot 9 makes the pressing device 80 abut against the top of the cleaning robot 9, so that the cleaning roller 21 can provide a larger pressing force to the tail portion of the mopping member 90, and the cleaning of the mopping member 90 is started under the rotation of the cleaning roller 21. As the cleaning robot 9 continues to travel forward, the pressing device 80 remains in abutment against the top of the cleaning robot 9 to ensure that downward pressure is continuously applied to the cleaning robot 9, so that the cleaning robot 9 can maintain a large pressure applied to the cleaning roller 21, and in turn, the cleaning roller 21 maintains a large pressing force applied to the wiper 90. Until the cleaning roller 21 moves relatively to the head of the wiping member 90 to clean the head of the wiping member 90, the first sequential cleaning is completed. Specifically, it may be configured that only one time of sequential cleaning is completed, which means that the entire cleaning is completed, and at this time, the cleaning robot 9 may be driven away from the base station 1, and accordingly, the driving of the cleaning roller 21 may be stopped, and the water spraying from the water spraying pipe 70 may be stopped. Of course, when the cleaning of the cleaning robot 9 is not performed, the cleaning robot may move back and forth to perform a plurality of sequential cleaning operations, and during the cleaning operation, the rotation direction of the cleaning roller 21 may or may not be changed as required, and during the last sequential cleaning operation, the cleaning roller 21 may be rotated at a higher speed to squeeze off the excess water in the mop 90, so as to meet the requirement of the cleaning robot 9 during normal operation. When cleaning in sequence at least for the first time, the cleaning roller 21 is driven to rotate anticlockwise so as to ensure that when the mopping piece 90 is cleaned, the garbage is not cleaned towards a cleaner area of the mopping piece 90, so that the secondary pollution is avoided, and the cleaning effect is favorably improved. During the moving cleaning of the cleaning robot 9, the scraper 30 scrapes off the garbage on the cleaning roller 21 during the rotation cleaning of the cleaning roller 21.

According to the specific example of the embodiment, the head or other parts of the mop 90 may be cleaned first, and whether the cleaning is performed sequentially is not important, as long as the cleaning of the positions of the mop 90 can be completed finally.

Fig. 17 shows a fourth embodiment of a cleaning robot system including the base station 1 of the present invention and having the base station 1.

This embodiment is different from the first embodiment in the arrangement of the filter screen 40. In the specific example of the present embodiment, the scraping member 30 is also disposed on the filtering net 40, but the filtering net 40 is mainly located at a side corresponding to the garbage scraping direction of the scraping member 30, in which case, the cleaning roller 21 is usually set to rotate in a preset direction so that the scraping member 30 can always scrape the garbage toward the filtering net 40. Of course, in this embodiment, the scraping member 30 may not be provided on the filter screen 40, and it is sufficient that the filter screen 40 capable of receiving the scraped waste exists in the waste scraping direction of the scraping member 30.

In this embodiment, because the filter screen 40 is mainly or completely located at the side corresponding to the garbage scraping direction of the scraping member 30, preferentially, the water spraying section 71 of the water spraying pipeline 70 provided on the base station 1 in this embodiment is located at the other side of the scraping member 30 so as to be staggered with the filter screen 40, and then the corresponding relationship between the filter screen 40 and the water spraying section 71 when the installation is not considered, the filter screen 40 will not affect the water spraying operation of the water spraying pipeline 70, thereby being beneficial to the installation and the water spraying operation of the water spraying pipeline 70.

Referring to fig. 1 to 17, the present invention further discloses a method for cleaning a cleaning robot 9 by using a base station 1, the base station 1 includes a cleaning device 20 for cleaning a mop 90 at the bottom of the cleaning robot 9, and the method for cleaning the cleaning robot 9 includes:

the cleaning robot 9 drives into the base station 1 and moves in the front-rear direction along the base station 1;

the cleaning device 20 cleans different portions of the base station 1 along the wiper 90 by moving the cleaning robot 9 in the forward and backward directions of the base station.

According to the invention, the cleaning robot 9 moves back and forth on the base station 1 to drive the mopping piece 90 to move back and forth, and the cleaning device 20 can move relatively along the mopping piece 90 due to the back and forth movement of the mopping piece 90, so that the cleaning device 20 can clean different parts of the mopping piece 90. That is, when the cleaning device 90 of the cleaning robot 9 is cleaned, the cleaning device 20 can automatically clean different parts of the cleaning device 90 by the back-and-forth movement of the cleaning robot 9, so that manual participation is not needed, and the cleaning efficiency and the user experience are improved.

As an alternative embodiment, the cleaning device 20 includes a cleaning roller 21 for performing squeeze cleaning on the wiping member 90, and a roller driving device 22 for driving the cleaning roller 21 to rotate; when the cleaning robot 9 normally cleans the floor, the cleaning robot 9 has a head facing forward, and the wiping member 90 has a head which first comes into contact with the garbage; the preset direction of rotation of the cleaning roller 21 is such that it clears the dirt from the mop 90 in the same direction as the head of the mop 90, at least for the first time the head of the mop 90 is being cleaned. Therefore, the garbage can not be cleaned towards a cleaner area of the mopping piece 90, so that secondary pollution is avoided, and the cleaning effect is favorably improved.

Specifically, at least during the first sequential cleaning along the wiping member 90, the cleaning roller 21 is rotated in a predetermined direction such that the direction in which the cleaning roller cleans the wiping member 90 of the waste is the same as the direction of the head of the wiping member 90, thereby ensuring that the cleaning roller does not clean the waste toward a relatively clean area of the wiping member 90 during at least the first successful cleaning.

In this case, the cleaning robot 9 first moves different portions of the wiping member 90 in a backward-forward or forward-backward movement to sequentially pass through the cleaning roller 21 to perform the first cleaning. If the cleaning member 90 cannot be cleaned after the first cleaning, the cleaning can be continued by moving the cleaning robot 9 back and forth, for example, the cleaning robot 9 can move back and forth again to sequentially clean different parts of the cleaning member 90 for multiple times, and in this process, the rotation direction of the cleaning roller 21 can be selectively changed or maintained.

When cleaning is specifically performed, a preset cleaning strategy can be established, and different cleaning strategies can be selected. For example, the cleaning robot 9 may be set to move back and forth a predetermined number of times, and the cleaning device 20 may sequentially clean each part of the mop 90 once during each unidirectional movement; it is also possible to choose to focus the cleaning of the mop 90, for example, the cleaning robot 9 may stay for a preset time or may choose to move back and forth to a small extent while the focus is being cleaned.

As an alternative embodiment, when cleaning each part of the wiping member 90 for the last time, the rotation speed of the cleaning roller 21 is increased to squeeze the moisture on the wiping member 90. That is, in the case that the positions of the wiping member 90 need to be cleaned at least twice, the water on the wiping member 90 can be squeezed to the required degree when the cleaning robot 9 normally works by increasing the rotation speed of the cleaning roller 21 in the last cleaning, so that the cleaning robot 9 can be immediately put into operation after being driven away from the base station 1.

As an alternative embodiment, the cleaning device 20 includes a cleaning roller 21 for squeeze-type cleaning of the wiping member 90; the base station 1 further comprises a scraper 30 and a water spray pipe 70, the scraper 30 scrapes the residual garbage on the cleaning roller 21 by interfering contact with the rotation of the cleaning roller 21, the water spray pipe 70 is used for spraying clean water on the cleaning roller 21, and the rotation of the cleaning roller 21 can bring part of the water to the wiper 90; the cleaning roller 21 rotates in a predetermined direction, and after each contact position of the cleaning roller 21 contacts the wiping member 90, the cleaning roller first interferes with the scraping member 30 and is sprayed with water by the water spraying pipe 70.

As an alternative embodiment, the base station 1 comprises pressure applying means 80; when the cleaning device 20 performs squeeze cleaning on different parts of the cleaning device along the mopping piece 90, the pressing device 80 applies downward pressure on the cleaning robot 9 so that the cleaning robot 9 applies pressure on the cleaning device 20. That is to say, when cleaning device 20 cleans mopping piece 90 in a squeezing type cleaning manner, the squeezing degree of cleaning device 20 to mopping piece 90 can be properly increased through pressure applying device 80, and then the effect of improving the cleaning effect can be played.

Specifically, when the cleaning device 20 cleans different parts along the mop 90, the pressing device 80 moves along the top of the cleaning robot 9 to press against different positions on the top of the cleaning robot 9.

Specifically, the cleaning robot 9 includes a main running wheel 92 and an auxiliary running wheel 93 provided along its running direction, the main running wheel 92 being provided between the mop 90 and the auxiliary running wheel 93; when the cleaning robot 9 is pressed downward by the pressing device 80 during the cleaning process, the end of the cleaning robot 9 provided with the auxiliary traveling wheel 93 is lifted upward, and the end of the cleaning robot 9 provided with the mop 90 is pressed downward against the cleaning device 20 (as shown in fig. 16). Under this condition, need not to carry out special setting and make supplementary walking wheel 93 unsettled, perhaps make its landing place compressible, perhaps the universal wheel is compressible again, can play the effect that is showing the extrusion force that increases cleaning device 20 to mopping piece 90 equally, has effectively promoted clean effect.

As an alternative embodiment, the cleaning robot 9 includes a main running wheel 92 and an auxiliary running wheel 93 provided along its running direction, the mop 90 being located between the main running wheel 92 and the auxiliary running wheel 93; the auxiliary road wheels 93 remain suspended while the cleaning device 20 cleans different parts thereof along the mop 90. That is to say, in the process of cleaning the mopping member 90 by the cleaning device 20, the auxiliary traveling wheel 93 of the cleaning robot 9 is kept in a suspended state, and further, under the condition that the pressure is applied by the pressure applying device 80, it can be ensured that most of the pressure applying device 80 acts on the cleaning robot 9, pressure loss due to the fact that the auxiliary traveling wheel 93 is supported is avoided, the extrusion force of the cleaning device 20 on the mopping member 90 is effectively increased, and therefore the cleaning effect is further improved.

The above disclosure is only a preferred embodiment of the present invention, and should not be taken as limiting the scope of the invention, so that the appended claims are intended to cover all such modifications and changes as fall within the true spirit of the invention.

Claims

1. A base station for a cleaning robot, the cleaning robot comprising a mop arranged at the bottom of the cleaning robot, characterized in that the base station comprises a base station body and a cleaning device arranged on the base station body, the base station body is configured to allow the cleaning robot to move thereon in the front-back direction, and the cleaning device is configured to clean different parts of the cleaning robot along the mop by moving the cleaning robot in the front-back direction on the base station body.

2. The base station of claim 1, wherein the cleaning device comprises a cleaning roller configured to squeeze cleaning of the scrubbing element with rotation of the opposing scrubbing element.

3. The base station of claim 2, wherein the cleaning cylinder is a profiled cylinder having protrusions formed thereon for squeezing the mop.

4. The base station of claim 2, wherein the cleaning device further comprises a roller drive for driving the cleaning roller in rotation.

5. The base station of claim 2, further comprising a scraping member that scrapes off residual debris on the cleaning roller by interfering contact with the cleaning roller when rotating.

6. The base station of claim 5, wherein the scraper element is in interfering contact with the bottom of the cleaning roller as the cleaning roller rotates.

7. The base station of claim 5, further comprising a filter net detachably installed at the base station body for blocking large-sized garbage dropped on the cleaning drum and a scraping member provided on the filter net.

8. A base station according to claim 5, further comprising a water spray conduit for spraying fresh water onto the cleaning roller, the rotation of the cleaning roller carrying a portion of the water onto the scrubbing element; when the cleaning roller rotates in a preset direction, after each contact position of the cleaning roller is contacted with the dragging piece, the cleaning roller is firstly in interference contact with the scraping piece and then is sprayed with water by the water spraying pipeline.

9. A base station according to claim 2, further comprising a water spray conduit for spraying fresh water onto the cleaning roller, the rotation of the cleaning roller carrying a portion of the water onto the scrubbing element.

10. The base station of claim 1, further comprising a filter screen mounted on the base station body, the filter screen being adapted to retain large-sized waste that falls off when the mop is cleaned, the filter screen defining a waste receiving chamber thereunder.

11. The base station of claim 10, further comprising a water spray conduit for spraying fresh water, said water spray conduit for spraying water onto the mop and/or said cleaning device; the water spraying pipeline comprises a water spraying section which is positioned right below the filter screen, wherein water spraying holes corresponding to partial meshes of the filter screen are formed in the water spraying section, or the water spraying pipeline comprises a water spraying section which is staggered with the filter screen.

12. The base station of claim 1, wherein the base station body comprises a base station base, a sinking space is formed on the base station base, and the cleaning device is located in the sinking space.

13. A cleaning robot system comprising a cleaning robot and a base station, wherein the cleaning robot comprises a walking device for driving the cleaning robot to walk on the ground and a mopping member for cleaning the ground, and the base station is as claimed in any one of claims 1 to 12.

14. The cleaning robot system of claim 13, wherein the base station further comprises a pressure applicator configured to apply downward pressure on the cleaning robot to cause the cleaning robot to apply pressure on the cleaning device during squeeze cleaning of the mop by the cleaning device.

15. The cleaning robot system of claim 14, wherein the pressure applicator comprises a spring press for crimping onto a top of the cleaning robot.

16. The cleaning robot system according to claim 14 or 15, wherein the traveling device includes a main traveling wheel and an auxiliary traveling wheel arranged in a traveling direction of the cleaning robot, the mop is located between the main traveling wheel and the auxiliary traveling wheel, a support portion for supporting the auxiliary traveling wheel is formed on the base station body, the auxiliary traveling wheel is correspondingly supported on the support portion at least when the cleaning robot is in a cleaning position away from the cleaning device, and the auxiliary traveling wheel is upwardly compressible by the support portion and/or downwardly compressible by the auxiliary traveling wheel when the cleaning robot is subjected to the pressure applied by the pressure applying device.

17. A method of cleaning a cleaning robot using a base station including a cleaning device for cleaning a mop at the bottom of the cleaning robot, the method comprising:

18. A method of cleaning a cleaning robot as recited in claim 17,

the cleaning device comprises a cleaning roller for performing extrusion type cleaning on the mopping piece and a roller driving device for driving the cleaning roller to rotate;

19. A method of cleaning a cleaning robot as recited in claim 18,

at least when the cleaning roller is used for cleaning along the mopping piece for the first time, the preset rotating direction of the cleaning roller enables the direction of cleaning the garbage on the mopping piece to be consistent with the head direction of the mopping piece.

20. A method of cleaning a cleaning robot as recited in claim 17,

when cleaning all parts of the mopping piece for the last time, the rotating speed of the cleaning roller is increased to squeeze the moisture on the mopping piece.

21. A method of cleaning a cleaning robot as recited in claim 17,

the cleaning device comprises a cleaning roller for performing extrusion type cleaning on the mopping piece;

22. A method of cleaning a cleaning robot as recited in claim 17,

the base station comprises a pressure applying device;

23. A method of cleaning a cleaning robot as recited in claim 22,

when the cleaning device cleans different parts of the cleaning device along the mopping piece, the pressure applying device moves relatively along the top of the cleaning robot so as to be pressed at different positions of the top of the cleaning robot.

24. A method of cleaning a cleaning robot as claimed in claim 22 or 23,

the cleaning robot comprises a main travelling wheel and an auxiliary travelling wheel which are arranged along the travelling direction of the cleaning robot, and the main travelling wheel is arranged between the mopping piece and the auxiliary travelling wheel;

25. A method of cleaning a cleaning robot according to claims 17-23,

the cleaning robot comprises a main travelling wheel and an auxiliary travelling wheel which are arranged along the travelling direction of the cleaning robot, and the mopping piece is positioned between the main travelling wheel and the auxiliary travelling wheel;