CN113573622B

CN113573622B - Cleaning robot system, control method thereof and base station

Info

Publication number: CN113573622B
Application number: CN202080010071.3A
Authority: CN
Inventors: 张士松; 钟红风; 谭一云
Original assignee: Positec Power Tools Suzhou Co Ltd
Current assignee: Positec Power Tools Suzhou Co Ltd
Priority date: 2019-07-11
Filing date: 2020-07-13
Publication date: 2023-07-14
Anticipated expiration: 2040-07-13
Also published as: CN113573622A; CN116746845A; CN214712342U; WO2021004546A1

Abstract

The present invention relates to a cleaning robot system, a control method thereof, and a base station, the cleaning robot system including a cleaning robot (107) and a base station (109), the base station (109) including: a frame (15), the frame (15) having a suction inlet (11), the suction inlet (11) being pneumatically connected to the suction assembly (75) when the cleaning robot (107) is docked to the base station (109); a recovery module mounted on the frame (15) for recovering dust in the wiping module (81) and the dust suction assembly (75) sucked through the suction inlet (11); the cleaning robot (107) system further comprises: and the recovery module recovers dust in the wiping module (81) and the dust collection assembly (75) under the control of the control module. The control method reduces the intervention amount of the user.

Description

Cleaning robot system, control method thereof and base station

The present application claims priority from chinese patent application having application date 2019, month 07, and 11, application number 201910623210.9, entitled "master base station, cleaning robot system, and control method and apparatus thereof", the entire contents of which are incorporated herein by reference.

Technical Field

The invention relates to the field of sweeping robots, and also relates to a cleaning robot system, a control method thereof and a base station.

Background

In order to improve the cleaning effect, the cleaning area is cleaned and dragged during cleaning. Therefore, a plurality of cleaning robot systems, such as a cleaning robot for cleaning, a cleaning robot for mopping, or a cleaning robot for both cleaning and mopping, are provided in a general household. But each cleaning robot needs maintenance after cleaning, for example, a cleaning robot performing cleaning needs to clean up the collected dust, and a cleaning robot performing mopping needs to replace the cleaning cloth. Whereas in the prior art dust is usually cleaned manually or the cleaning cloth is replaced. Therefore, not only are two cleaning robots required to be manually managed, but also the manual intervention degree is high, the labor intensity is high, and the maintenance cost is high.

Therefore, it is necessary to provide a cleaning robot system, a control method thereof, and a base station to overcome the above-mentioned drawbacks.

Disclosure of Invention

In order to overcome the defects of the prior art, the invention aims to provide a cleaning robot system capable of reducing the user intervention amount, a control method thereof and a base station.

The technical scheme adopted for solving the problems in the prior art is as follows: a cleaning robot system; comprising a cleaning robot and a base station, the cleaning robot walking and/or working on a working surface, the cleaning robot comprising: the dust collection assembly is used for being installed on the cleaning robot and used for recycling dust on the working surface; the wiping module is used for being installed on the cleaning robot and used for wiping the working surface, and wiping pieces can be installed on the wiping module; the base station includes: the rack is provided with a suction inlet, and when the cleaning robot is stopped at the base station, the suction inlet is pneumatically connected with the dust collection assembly; a recovery module mounted on the frame for recovering dust in the wiper and the dust suction assembly sucked through the suction inlet; the cleaning robot system further includes: and the recovery module is used for recovering dust in the wiping piece and the dust collection assembly under the control of the control module.

In one embodiment, the rack further comprises: a first surface for docking the cleaning robot, the first surface being provided with the suction port.

In one embodiment, a storage location is provided on the rack for storing the wipes detached from the cleaning robot.

In one embodiment, the recovery module includes a dust extraction device for creating a dust extraction airflow having a negative pressure to recover dust from the wiper and/or the dust extraction assembly.

In one embodiment, the recovery module includes a transfer unit for transferring the wipes.

In one embodiment, the recycling module further comprises a second dust suction device for forming a dust suction air flow with a negative pressure to recycle the dust in the wiper and/or the dust suction assembly transferred by the transfer unit. In one embodiment, the transfer unit includes at least one roller in contact with the wiper to transfer the wiper.

In one embodiment, there is a height difference between the highest point of the roller and the highest point of the wipe to be transferred.

In one embodiment, the height difference is greater than or equal to 0.1mm and less than or equal to 0.5mm

In one embodiment, the roller comprises at least two, at least two of the rollers comprising: the cleaning device comprises a driving roller and a driven roller, wherein the driving roller drives the driven roller to rotate, and the wiping piece is transferred in the process that the driving roller drives the driven roller to rotate.

In one embodiment, the base station further comprises: and the force application module is used for applying force to the driven roller so that the driven roller can be propped against the driving roller.

In one embodiment, the transfer unit includes at least one slider in contact with the wiper to transfer the wiper.

In one embodiment, the cleaning robot system further comprises: an in-place detection module that controls the cleaning robot to perform at least one of the following operations when the in-place detection module detects that the cleaning robot reaches a target position of the base station, including: stopping walking, separating the wiper module.

In one embodiment, the base station further comprises a first storage module for storing the dust and the wiper recovered by the recovery module.

In one embodiment, the recovery module generates dust-collecting airflow when recovering, and the first storage module is further provided with a separation device, and the separation device is used for separating dust from air in the dust-collecting airflow.

In one embodiment, a filtering device is further disposed in the first storage module, and is configured to filter the gas separated by the separating device.

In one embodiment, the first storage module includes a first storage unit for storing the wiper; and a second storage unit for storing the dust; and the recovery module generates dust absorption air flow when recovering, and the dust absorption air flow sequentially passes through the first storage unit and the second storage unit.

In one embodiment, the base station further comprises a second storage module for storing wipes for installation by the cleaning robot.

In one embodiment, the base station further comprises a export module for exporting the wiper within the second storage module.

In one embodiment, the base station further comprises a mounting location for storing the wipes derived by the derivation module for mounting by the cleaning robot.

In one embodiment, a storage location is provided on the frame for storing the wipes detached from the cleaning robot, the storage location and the mounting location being at least partially coincident.

The embodiment of the invention also provides a control method of the cleaning robot system, which comprises the following steps: a cleaning robot and a base station, the cleaning robot comprising: a dust extraction assembly for recovering dust from a work surface, comprising: controlling the cleaning robot to be connected with a suction inlet in the base station when the cleaning robot stops at the base station; and controlling the base station to recycle the wiper of the cleaning robot and dust in the dust collection assembly sucked through the suction inlet.

The embodiment of the invention also provides a base station for a cleaning robot, which comprises: a dust extraction assembly for recovering dust from a work surface, comprising: the rack is provided with a suction inlet, and when the cleaning robot is stopped at the base station, the suction inlet is pneumatically connected with the dust collection assembly; a recovery module mounted on the frame for recovering dust in the wiper and the dust suction assembly sucked through the suction inlet; the base station further includes: and the recovery module is used for recovering dust in the wiping piece and the dust collection assembly under the control of the control module.

Compared with the prior art, the invention has the beneficial effects that: the cleaning robot system according to the embodiment of the application is provided with a suction inlet and a recovery module on a base station, and the cleaning robot system is pneumatically connected with a dust collection assembly in a cleaning robot through the suction inlet and collects wiping pieces and dust of the cleaning robot through the recovery module. Therefore, when the cleaning robot is a sweeping and mopping unit, the dust and the mop of the cleaning robot can be automatically recovered directly through the base station; when the cleaning robot is only a sweeping robot or a mopping robot, only dust or only a wiper in the above manner may be recovered by the base station selection. Further, when a plurality of cleaning robots are provided in a home, such as a cleaning robot for cleaning (dust collection), a cleaning robot for mopping (floor mopping), or a cleaning robot capable of cleaning (dust collection), the automatic recovery of dust and wiping pieces can be realized by adopting the above-mentioned manner, thereby avoiding the manual management of the cleaning robot and greatly reducing the workload of people.

Drawings

The above-mentioned objects, technical solutions and advantages of the present invention can be achieved by the following drawings:

fig. 1 is a schematic structural diagram of a base station according to an embodiment of the present invention;

FIG. 2 is a schematic diagram of a base station of FIG. 1 with a first memory module transformed;

fig. 3 is a schematic structural diagram of another base station according to an embodiment of the present invention;

FIG. 4 is an exploded view of a first memory module according to an embodiment of the present invention;

fig. 5 is a schematic view of a structure of a cleaning robot according to an embodiment of the present invention;

fig. 6 is a schematic view showing a state of a cleaning robot according to an embodiment of the present invention;

fig. 7 is another state diagram of a cleaning robot provided in an embodiment of the present invention;

fig. 8 is a schematic view showing a state in which a cleaning robot provided in an embodiment of the present invention moves toward a base station;

fig. 9 is a schematic view showing a state in which a cleaning robot provided in an embodiment of the present invention is moved onto a first surface;

fig. 10 is a schematic view showing a state in which a floor is lowered on a cleaning robot according to an embodiment of the present invention;

fig. 11 is a schematic view showing a state in which a paper clip on a cleaning robot according to an embodiment of the present invention is opened;

Fig. 12 is a schematic view showing a state in which a transfer unit on a cleaning robot receives paper according to an embodiment of the present invention;

FIG. 13 is a schematic view of a wipe entering a first dust bin according to an embodiment of the present invention;

FIG. 14 is a schematic view showing a state in which dust is discharged from the first cavity according to the embodiment of the present invention;

fig. 15 is a schematic structural diagram of a base station according to an embodiment of the present invention;

fig. 16 is a schematic structural diagram of another base station according to an embodiment of the present invention;

fig. 17 is a schematic structural diagram of another base station according to an embodiment of the present invention.

Reference numerals illustrate:

11. a suction inlet; 13. a dust collection channel; 15. a frame; 16. a first dust collection device; 18. a second dust collection device; 19. a transfer unit; 21. a first dust box; 23. a second dust box; 25. a dust collection cover; 29. a first opening; 31. a second opening; 33. an annular space; 35. a garbage bag; 37. a hanging part; 39. a separation device; 41. a filtering device; 44. a first roller; 46. a second roller; 47. a spring; 49. a first groove; 51. a second storage module; 53. a roller; 55. a conveying wheel set; 57. a first roller set; 59. a second roller set; 63. a wiper; 45. a second portion; 43. a first portion; 69. a first surface; 71. a first cavity; 73. a second cavity; 75. a dust collection assembly; 77. a driving wheel; 79. a universal wheel; 81. a wiping module; 83. a bottom plate; 85. paper clips; 87. a lifting assembly; 89. a first extension; 91. a second extension; 93. a third extension; 95. an inlet; 97. an outlet; 99. an annular protrusion; 101. a convex ring; 103. a stop ring; 107. a cleaning robot; 109. and (5) a base station.

Detailed Description

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

The cleaning robot system provided by one embodiment of the application comprises a cleaning robot and a base station, wherein the cleaning robot comprises: the dust collection device comprises a dust collection assembly and a wiping module, wherein the dust collection assembly is used for recycling dust on a working surface; the wiping module is used for wiping the working surface, and a wiping piece can be arranged on the wiping module; the base station includes: the rack is provided with a suction inlet, and when the cleaning robot is stopped at the base station, the suction inlet is pneumatically connected with the dust collection assembly; a recovery module mounted on the frame for recovering dust in the wiper and the dust suction assembly sucked through the suction inlet; the cleaning robot system further includes: and the recovery module is used for recovering dust in the wiping piece and the dust collection assembly under the control of the control module.

The technical scheme can be seen from the above: the cleaning robot system according to the embodiment of the application is provided with a suction inlet and a recovery module on a base station, and the cleaning robot system is pneumatically connected with a dust collection assembly in a cleaning robot through the suction inlet and collects wiping pieces and dust of the cleaning robot through the recovery module. Therefore, when the cleaning robot is a sweeping and mopping unit, the dust and the mop of the cleaning robot can be automatically recovered directly through the base station; when the cleaning robot is only a sweeping robot or a mopping robot, only dust or only a wiper in the above manner may be recovered by the base station selection. Further, when a plurality of cleaning robots are provided in a home, such as a cleaning robot for cleaning (dust collection), a cleaning robot for mopping (floor mopping), or a cleaning robot capable of cleaning (dust collection), the automatic recovery of dust and wiping pieces can be realized by adopting the above-mentioned manner, thereby avoiding the manual management of the cleaning robot and greatly reducing the workload of people.

In one embodiment of the present application, the rack may further include: a first surface for docking the cleaning robot, the first surface being provided with a suction inlet. Referring to fig. 1, 6, 8 and 15, the cleaning robot system provided in an embodiment of the present application may include a cleaning robot 107 and a base station 109, where the cleaning robot 107 includes: a dust collection assembly 75 and a wiping module 81, wherein the dust collection assembly 75 is used for recovering dust on a working surface; the wiping module 81 is used for wiping the work surface, on which wiping module a wiper can be mounted. The base station 109 includes: a frame 15; the rack comprises a first surface for stopping the cleaning robot, wherein a suction inlet is arranged on the first surface, and when the cleaning robot is stopped on the base station, the suction inlet is in pneumatic connection with the dust collection assembly; a recovery module mounted on the frame 15 for recovering dust from the wiper 63 and the dust collection assembly 75. The cleaning robot system may further include: and the recovery module is used for recovering dust in the wiping piece and the dust collection assembly under the control of the control module. In another embodiment of the present application, as shown in fig. 16, the cleaning robot may rest directly on the work surface when it reaches the base station. When the cleaning robot is stopped on the working surface, the dust collection assembly on the cleaning robot can be in butt joint with the suction inlet, so that dust collection is realized. The following embodiments of the present application will be described mainly with respect to a scenario in which a robot is docked on a base station, and the following embodiments of the present application may also be applicable to a scenario in which a robot is docked on a working surface.

In the present embodiment, the cleaning robot may be a floor mopping robot, a sweeping robot, or a sweeping and mopping robot. The cleaning robot 107 may include: the cleaning robot walks and works on the work surface under the control of the controller, and the work can absorb dust, dust and the like on the work surface, or can be mopping work. Specifically, the dust collection assembly 75 is used for recycling dust on the working surface to achieve the cleaning effect, and the wiping module 81 is used for wiping the working surface to achieve the mopping effect. The cleaning robot 107 may be a sweeping robot including only the dust suction assembly 75, i.e., only for sweeping; it is also possible to include only the wiping module 81, i.e. only the mopping robot for mopping. In the embodiments of the present application, a sweeping and towing integrated robot as shown in fig. 5 to 7 is exemplified.

As shown in fig. 5 to 7, the cleaning robot 107 may include a dust collection assembly 75, a wiping module 81, a driving wheel 77, a universal wheel 79, and a communication module. An air duct is provided in the dust collection assembly 75. The air duct is provided with a dust collection opening which is open outwards. An ash suction fan for sucking dust through the dust suction opening is provided in the dust suction unit 75. The communication module is used to communicate with the base station 109 or a communication component of the user terminal, the server, etc., so that the cleaning robot can acquire the state of the base station 109 and control it according to the state of the base station 109.

The wiping module 81 may include a base plate 83 and an acquisition unit. The pick-up unit detachably mounts the wiper 63 to the base plate 83, i.e., the pick-up unit can mount the wiper 63 to the base plate 83 and can detach the wiper 63 from the base plate 83 so that the wiper 63 can be separated from the cleaning robot 107. In the embodiments below of the present application, a wiping module with a wiper mounted thereto may be referred to when referring to the wiping module.

In particular, as shown in fig. 5 to 7, the acquisition unit may be a paper clip 85 provided on the base plate 83, the paper clip 85 being capable of being opened and clamped with respect to the base plate 83 to effect attachment and detachment of the wiper 63 to and from the lower surface of the base plate 83. As shown in fig. 5 or 6, when the paper clip 85 is clamped, the wiper 63 can be clamped to the base plate 83, i.e., the attachment of the wiper 63 is achieved. As shown in fig. 7, when the paper clip 85 is opened, the wiper 63 on the lower surface of the bottom plate 83 can be released, that is, the removal and separation of the wiper 63 can be achieved. The wiping module 81 is located on one side of the suction assembly 75, as shown in fig. 5, the wiping module 81 being located on the left side of the suction assembly 75. Of course, the acquisition unit may also include other sensors, such as hall sensors, that can mount and separate the wiper from the base plate, which is not limited in this application.

The wiping module on the cleaning robot can be lifted. As shown in fig. 6, during the operation of the cleaning robot, the wiping module is lowered to be in contact with the working surface, and at this time, the universal wheel 79 is lifted, and the cleaning robot operates with the cooperation of the wiping module and the driving wheel. As shown in fig. 5, when the cleaning robot completes the work, returns to the base station or encounters an obstacle or disassembles the wiper, etc., the wiper module is controlled to be lifted and the universal wheel is controlled to be lowered, at this time, the wiper module is not contacted with the working surface, and the cleaning robot works under the support of the universal wheel and the driving wheels. The wiping module 81 is further provided with a lifting assembly 87 for lifting the floor 83. When suction is applied by suction assembly 75, or when mopping and sweeping is not desired, the wiping module (i.e., the floor 83 carrying the wipes) can be moved upward by lifting assembly 87 so that it can be positioned over drive wheel 77 and universal wheel 79. When it is desired to mop the floor, the drop can be controlled by the lift assembly 87 so that it can be positioned under the universal wheel 79. The wiping module is driven to work by the control driving wheel 77 to realize mopping, and of course, the lifting assembly can adopt a mode of combining a double connecting rod, a four connecting rod or a cam with a motor, which is not limited in the application.

In an embodiment of the present application, the base station includes: the rack is provided with a suction inlet, and when the cleaning robot is stopped at the base station, the suction inlet is pneumatically connected with the dust collection assembly; a recovery module mounted on the frame for recovering dust in the wiper and the dust suction assembly sucked through the suction inlet; the cleaning robot system further includes: and the recovery module is used for recovering dust in the wiping piece and the dust collection assembly under the control of the control module. In the present embodiment, the cleaning robot 107 is prevented from being manually managed by recovering the wiper 63 detached from the cleaning robot and the dust in the dust collection unit 75, so that the amount of manual intervention is reduced, and the labor intensity is reduced.

Specifically, the cleaning robot system may further include: an in-place detection module provided on a cleaning robot or a base station, the control module controlling the cleaning robot to perform, but not limited to, at least one of the following when the in-place detection module detects that the cleaning robot reaches a target position of the base station, including: stopping walking, separating the wiper module, or controlling the wiper module to descend. The in-place detection module can be used for detecting whether the cleaning robot reaches a position capable of collecting dust and paper through the base station, and can be a ranging sensor, a magnetic sensor, a photoelectric sensor or a communication module. When the cleaning robot reaches the above target position, the control module controls it to stop and controls the wiper (or wiping module) mounted thereon to drop or descend, so that when the base station detects that the wiper or wiping module drops or descends into contact with the frame, the base station can be controlled to start the operation of recovering the wiper and dust. The manner in which the base station detects that the wiper or the wiping module falls or descends to be in contact with the rack can be detected through a photoelectric sensor or a pressure sensor and the like which are arranged on the base station and used for detecting the wiper, and the sensor is positioned near the position of the fallen wiper so as to ensure that the sensor can timely sense the falling of the wiper or the wiping module. It is also possible to communicate with the base station by means of the cleaning robot, and when the cleaning robot detects that a wiper or a wiping module mounted thereon is dropped, a signal is sent to the base station, so that the base station can learn the state of the wiper or wiping module on the cleaning robot.

In this embodiment, the frame 15 includes a horizontally extending second portion 45 and a first portion 43 extending upwardly from the second portion 45. As shown in fig. 1, the second portion 45 is located on the right side of the frame 15. The first portion 43 is located on the left side of the frame 15, the first portion 43 being higher than the second portion 45. The second portion 45 and the first portion 43 are hollow structures and the second portion 45 has an upwardly facing first surface 69, the first surface 69 being adapted for docking of the cleaning robot 107. Further, the first surface 69 extends obliquely downward in a direction away from the first portion 43 and may be a ramp. This reduces the difficulty of the cleaning robot 107 moving towards the first surface 69, thereby facilitating the cleaning robot 107 to rest on the first surface 69.

Further, a dust suction passage 13 is provided in the chassis 15, and as shown in fig. 1, the dust suction passage 13 is provided in the second portion 45, and the dust suction passage 13 includes a first extension section 89 extending horizontally, and a second extension section 91 and a third extension section 93 extending upward from the first extension section 89. The second extension 91 and the third extension 93 are located at both ends of the first extension 89, respectively. As shown in fig. 1, the second extension 91 is located at the left end of the first extension 89, and the third extension 93 is located at the right end of the first extension 89. Further, the frame 15 is provided with a suction port 11 communicating with the suction passage 13. Specifically, as shown in fig. 1, the suction inlet 11 is disposed on the first surface 69, and the suction inlet 11 communicates with an end of the third extension 93 opposite to the first extension 89. I.e., the suction port 11 communicates with the upper end of the third extension 93.

In one embodiment, as shown in fig. 3, the recovery module may include a dust collection device, and in this embodiment, may include: the first dust extraction device, at which time the cleaning robot can recover dust from the wiper 63 and the dust extraction assembly 75 in the storage position only by the first dust extraction device 16.

In one embodiment of the present application, a storage location may be provided on the rack 15. The storage place is used for storing the wiper 63 or the wiper module separated from the cleaning robot 107. As shown in fig. 1, at least a portion of the first surface 69 forms a storage location. In one embodiment, the storage location is a first surface 69 located around the suction port 11 so that wipes 63 separated from the cleaning robot 107 can be stored on the suction port 11. In another embodiment, the storage location may be a portion of the first surface 69 that is offset from the suction inlet 11. Wherein the storage place is partially overlapped with the suction inlet 11, so that the wiper and dust falling on the cleaning robot can be sucked into the recovery module through the suction inlet. Specifically, the first dust suction device 16 is used to suck dust in the wiper 63 and the dust suction unit 75 in the storage position into the dust suction passage 13 through the suction port 11. At this time, the storage position is the first surface 69 located around the suction port 11, so that the wiper 63 separated from the cleaning robot 107 can drop on the suction port 11. When the cleaning robot 107 rests on the first surface 69 of the second part 45, the suction opening of the suction assembly 75 in the cleaning robot 107 needs to be in communication (pneumatically connected) with the suction opening 11 in the frame 15, and the wipes 63 on the floor 83 of the cleaning robot 107 are stored on the suction opening 11 after the paper clip 85 is released, so that dust in the cleaning robot 107 and the wipes 63 on the suction opening 11 can be sucked into the third extension 93 of the suction channel 13 shown in fig. 1 through the suction opening 11 by opening the first suction device 16 and moved from the third extension 93 through the first extension 89 towards the second extension 91.

Further, the first dust extraction device 16 may include a first dust extraction motor and a first dust extraction fan coupled thereto. When the first dust suction fan rotates, the first dust suction fan can discharge the air in the first cavity 71 outwards through the outlet 97, so that negative pressure is generated in the first cavity 71. Since the first cavity 71 is communicated with the dust collection channel 13, the air in the dust collection channel 13 flows towards the first cavity 71, and thus a dust collection air flow with negative pressure is formed. This allows dust in the cleaning robot 107 and the wiper 63 in the storage position to be sucked into the suction channel 13 through the suction port 11 when the first suction motor is turned on. The rotating shaft of the first dust collection fan is in transmission connection with the rotating shaft of the first dust collection motor, so that the first dust collection fan can be driven to rotate through the first dust collection motor. Thus, the manual intervention quantity is avoided, the working efficiency is improved, and the labor intensity is reduced.

In another embodiment, as shown in fig. 1 or 2, the recovery module may include: the dust collection device may include in this embodiment: the second dust collection device 18 and the transfer unit 19 allow the cleaning robot to collect dust from the wiper 63 and the dust collection unit 75 in the storage position by the second dust collection device 18 and the transfer unit 19. It should be noted that the first and second embodiments are used herein for convenience of description of two different opening positions of the dust collection device, and in the embodiments of the present application, the first dust collection device may be used for collecting dust and sucking paper, or the first dust collection device or the second dust collection device may be used whether the transfer unit is present or not, which is not limited in this application, and whether the transfer unit is present or not does not have a limiting effect on the selection of the dust collection device. Unlike the base station shown in fig. 3, in the embodiment shown in fig. 1 or 2, there is a transfer unit in the recovery module for transferring the wiper 63 on the storage location, and the storage location and the suction inlet may not overlap. The second dust suction device 18 is used for forming dust suction airflow with negative pressure so as to recover dust in the wiper 63 and the dust suction assembly 75 transferred by the transfer unit 19, thus avoiding manual management of the cleaning robot 107, reducing the amount of manual intervention and reducing labor intensity.

In the present embodiment, as shown in fig. 1 or 2, the transfer unit 19 is provided at the second portion 45, and a first groove 49 is provided on a side wall above the dust suction passage 13. The bottom wall of the first groove 49 is provided with an opening communicated with the dust collection channel 13, and the transfer unit 19 is arranged in the first groove 49. As shown in fig. 1, the first recess 49 is provided on the side wall above the first extension 89. The transfer unit 19 is located on the left side of the suction port 11.

The transfer unit 19 is used to transfer the wipes 63 on the storage location. In particular, as shown in fig. 1, the transfer unit 19 is configured to apply a frictional force to the wiper 63 so that the wiper 63 in the storage position can move toward the dust collection channel 13. That is, the wiper 63 in the storage position is transferred into the dust collection channel 13 by the transfer unit 19, so that the second dust collection device 18 can conveniently collect the wiper 63 transferred by the transfer unit 19.

The transfer unit 19 is located at a side of the suction port 11 facing the first portion 43. Specifically, as shown in fig. 1, the suction port 11 is located on the right side of the transfer unit 19. The storage position may be a portion of the first surface 69 offset from the suction inlet 11 such that when the cleaning robot 107 rests on the first surface 69 of the second section 45, the suction inlet of the suction assembly 75 on the cleaning robot 107 can interface with the suction inlet 11 of the second section 45 and the transfer unit 19 can apply a frictional force to the wipes 63 on the floor 83 to move the wipes 63 toward the suction path.

The transfer unit 19 causes the wipes 63 in the storage position to fold at least partially downwardly to transfer the wipes 63, i.e. when the transfer unit 19 transfers the wipes 63 in the storage position, a force can be applied to the wipes 63 such that the wipes 63 can fold at least partially downwardly under the force to enter the dust collection channel 13. Of course, when the transfer unit 19 transfers the wiper 63 in the storage position, the wiper 63 in the storage position is not limited to being folded at least partially downward into the dust collection channel 13, but may be moved directly downward into the dust collection channel 13 without being folded. This application is not intended to be limiting.

In one embodiment, the transfer unit 19 includes at least one slider that contacts the wiper 63 to transfer the wiper 63. In particular, the slide is movably arranged on the frame 15, by means of which the wiper can be moved to the recovery module. Specifically, the slider is in abutment with the wiper 63, and when the slider is moved, a static friction force can be applied to the wiper 63, thereby causing the wiper 63 to fold at least partially downward.

In another embodiment, as shown in fig. 1, the transfer unit 19 includes at least one roller that contacts the wiper 63 to transfer the wiper 63. The roller is rotatably disposed on the frame 15, and the roller can be abutted against the wiper 63, so that the roller can apply friction to the wiper 63 when rotating. In particular, the wiping module on the cleaning robot can be controlled to be in a raised state when the cleaning robot 107 rests in a storage position on the first surface 69 of the second section 45. When the wiper member is dropped to the storage position, the wiper module can be controlled to descend to the first surface and contact the wiper member with a preset pressure, so that the wiper member can be moved to the first storage module under the cooperation of the preset pressure, the transfer unit and the second dust collection device. The preset pressure may be a force preset by the user to facilitate movement of the wiper under the transfer unit. Alternatively, when the wiper member falls to the storage position, the wiper module can be controlled to remain in a lifted state, and the wiper member moves to the first storage module under the cooperation of the transfer unit and the second dust collection device. The wiper 63 is located above and against the roller so that the wiper 63 can move relative to the sole plate 83 under the influence of friction and thus disengage from the sole plate 83 and move towards the suction channel 13. Further, the frictional force applied by the roller to the wiper 63 is rolling frictional force. In order to increase the friction between the roller and the wiper 63, the roller may be, for example, a brush wheel. Of course, the roller is not limited to a brush wheel, but can be a roller with the periphery made of frosted materials. This application is not limited thereto. In another embodiment of the application, the base station can be provided with no storage position, and the cleaning robot can directly drop the wiping module onto the rack. When the wiping module is detected to be positioned on the frame, the base station can be controlled to start operations such as dust collection, paper collection and the like. Specifically, the manner of detecting whether the wiping module is located on the rack is the same as the manner of detecting that the wiping member is dropped by the base station in the above embodiment, which is not limited in this application.

Further, the roller is disposed in the first groove 49, and the roller extends out of the first groove 49 in the up-down direction. So that when the bottom plate 83 (wiping module) of the cleaning robot 107 is placed on the roller, the bottom plate 83 is deformed by gravity, thereby increasing the contact area between the wiper 63 and the roller and the friction of the roller against the wiper 63. Preferably, the difference in height between the highest point of the roller and the highest point of the inner wall of the first groove 49 satisfies 0.1mm or more and 0.5mm or less.

As shown in fig. 1 or 2, the transfer unit may include two or more numbers of rollers. The following description is made for the case where the transfer unit includes two rollers. Both rollers are located in the first recess 49, including a first roller 44 adjacent the first portion 43 and a second roller 46 on a side of the first roller 44 opposite the first portion 43. Specifically, as shown in fig. 1, the first roller 44 and the second roller 46 are juxtaposed in the horizontal direction. And the first roller 44 is located on the left side. The second roller 46 is located on the right side. Further, the axes of rotation of both rollers are parallel to the plane of the wiper 63. For example, as shown in fig. 1, the axes of rotation of the first roller 44 and the second roller 46 are each perpendicular to the plane of the sheet. While the plane of the wiper 63 is also perpendicular to the plane of the paper. Both rollers are located on the same side of the wiper 63. As shown in fig. 1, the first roller 44 and the second roller 46 are each located on the underside of the wiper 63. So that when the cleaning robot 107 rests on the first surface 69 of the second part 45, the wiper 63 can be placed over the first recess 49 and the wiper 63 can be brought into abutment with the first roller 44 and the second roller 46.

Further, each roller is rotatable relative to the frame 15 to allow the portion of the wipe 63 that abuts one roller to move toward the other roller, thereby allowing the wipe 63 to fold down and be clamped between the two rollers. The portion of the wiper 63 that abuts against one roller may be the wiper 63 located in a portion directly above one roller. Specifically, as shown in fig. 12, the first roller 44 can be rotated clockwise with respect to the frame 15, so that the first roller 44 can apply a rightward friction force to the wiper 63 to enable the wiper 63 located at a portion directly above the first roller 44 to move rightward. The second roller 46 can be rotated counterclockwise with respect to the frame 15 so that the second roller 46 can apply a leftward frictional force to the wiper 63 to enable the wiper 63 located at a portion directly above the second roller 46 to move leftward. So that the wiper 63 located between the first roller 44 and the second roller 46 can be bent, i.e., folded down, and the folded down wiper 63 can continue to move down and be sandwiched between the first roller 44 and the second roller 46. Since the bottom wall of the first groove 49 is provided with the opening communicating with the dust collection channel 13, when the wiper 63 is clamped between the first roller 44 and the second roller 46, and the first roller 44 and the second roller 46 continue to rotate, the wiper 63 can move towards the opening and enter the dust collection channel 13 through the opening. As shown in fig. 12, the wipe 63 is folded in half and passed through the aperture into the suction channel 13.

One of the two rollers is a driving roller, and the other is a driven roller. The driving roller is used for driving the driven roller to rotate. As shown in fig. 1, the second roller 46 is an active roller. The first roller 44 is a driven roller. Further, the driven roller is abutted against the driving roller, and the driven roller can rotate when the driving roller rotates. The driving roller is in transmission connection with a rotating shaft of the paper collecting motor, and the paper collecting motor is used for driving the driving roller to rotate, namely the driving roller drives the driven roller to rotate through the rotating shaft of the paper collecting motor. Thus avoiding manual intervention and reducing labor intensity.

Preferably, the base station 109 according to the embodiment of the present application further includes: and the force application module. The force application module is coupled to the first roller 44 for applying a force to the driven roller to urge the driven roller against the driving roller. The force application module may be, for example, a spring 47, or may be of other construction, such as rubber, not specified in this application. Further, as shown in fig. 1, the spring 47 is disposed in the first recess 49. The driven roller is rotatably provided at one end of the spring 47, and the other end of the spring 47 abuts against the frame 15. For example, as shown in fig. 1, the driven roller is provided at the right end of the spring 47. The left end of the spring 47 abuts against the inner wall of the first recess 49. The spring 47 is used to apply an elastic force against the driven roller and the driving roller. As shown in fig. 1, the spring 47 can be extended and contracted in the left-right direction, so that the spring 47 can apply a rightward elastic force to the driven roller, so that the driven roller can be abutted against the driving roller by the elastic force. The spring 47 may be a compression spring. Of course, the spring 47 is not limited to a compression spring, and may be a leaf spring or the like, and is not specified in this application.

Further, the second dust suction device 18 is used to suck the wiper 63 transferred by the transfer unit 19 and the dust in the cleaning robot 107 into the dust suction channel 13, and this storage position may be a portion of the first surface 69 offset from the suction inlet 11. For example, as shown in fig. 9, when the cleaning robot 107 rests on the first surface 69 of the second part 45, the suction opening of the suction unit 75 in the cleaning robot 107 needs to be in communication with the suction opening 11 of the frame 15, and the wiper 63 on the floor 83 is located on the first surface 69 on the left side of the suction opening 11, so that the wiper 63 can be transferred into the suction channel 13 by the transfer unit 19, and the second dust suction device 18 is turned on to suck dust in the cleaning robot 107 into the suction channel 13 through the suction opening 11 and to move the wiper in the suction channel 13. Thus avoiding manual dust cleaning on the cleaning robot 107, reducing manual intervention and labor intensity.

In one embodiment of the application, the cleaning robot may recover dust through the dust extraction device and recover the wiping module through other means than the dust extraction device. Wherein the wiping module may comprise a wiper and a base plate, the wiping module being detachably mounted to the cleaning robot, which may retrieve the wiping module by means other than dust collection. Specifically, a groove for placing the new wiping module and the old wiping module is formed above the base station, and the cleaning robot is used for disassembling the old wiping module and installing the new wiping module at the corresponding position of the base station. After the old wiping module is disassembled, the cleaning robot exits the base station, so that the base station can carry the lifting structure of the old wiping module to automatically recycle the old wiping module. Alternatively, the old wiping module separated by the cleaning robot can be dropped onto the carrier by mounting the movable carrier on the base station, the carrier will move the wiping module along the track to the base station, and the replacement of the new and old wiping elements is performed in the base station. Alternatively, the base station may be provided with a robot arm, and the base station may collect the wiper by the robot arm after the cleaning robot separates the wiper. Of course, other means than dust collection may be used to recover the wipes, as this application is not limited.

In another embodiment of the present application, the cleaning robot may recover dust and wipe the module through the dust suction device. Specifically, provided in the present application are two forms of dust suction apparatus, including: the first dust collection device and the second dust collection device. These two forms of suction apparatus are described below by way of two examples, respectively.

As shown in fig. 3, which is one of the dust collectors, the recovery module includes a first dust collector 16, and the first dust collector 16 is configured to form a dust collection air flow having a negative pressure so as to recover dust in the wiper 63 and the dust collection assembly 75. Specifically, the first dust collector 16 is disposed in the first portion 43, the first cavity 71 is disposed in the first portion 43, and the first dust collector 16 is accommodated in the first cavity 71. Further, an inlet 95 and an outlet 97 are provided on the inner wall of the first cavity 71, the inlet 95 being provided on the side wall of the upper portion of the first cavity 71. The inlet 95 communicates with the third extension 93 of the suction channel 13 such that the first cavity 71 communicates with the suction channel 13 via the inlet 95, and the outlet 97 is provided in a side wall of an upper portion of the first cavity 71. So that the first cavity 71 communicates with the outside through the outlet 97.

In one embodiment, the base station 109 further comprises a first storage module for storing dust and wipes 63 recovered by the recovery module. The first storage module can be, for example, a hollow box, i.e., dust and wipes can be recovered by only one first storage module. Further, the first storage module includes a first storage unit for storing the wiper 63; and a second storage unit for storing dust; the dust collection airflow sequentially passes through the first storage unit and the second storage unit. By providing two storage units for placing dust and wiper respectively, the purpose of automatically distinguishing the two is achieved. In particular, the first storage unit may be a hollow first dust bin. The second storage unit may be a hollow second dust box.

In one embodiment, as shown in FIG. 3, the first memory module is located within the first cavity 71. The first dust extraction device 16 is located above the first storage module. I.e. the first storage module is located below the first suction device 16. The first storage module communicates with the dust collection channel 13. Specifically, the first storage module communicates with the dust collection channel 13 through the inlet 95 of the first cavity 71, so that the wiper 63 and dust in the dust collection channel 13 can move into the first storage module under the suction force of the first dust collection device 16.

In one embodiment, as shown in fig. 3 to 4, the second dust box 23 is sleeved inside the first dust box 21. Specifically, the first dust box 21 and the second dust box 23 are both located in the first cavity 71, and the first dust box 21 and the second dust box 23 are both hollow structural boxes. The first dust extraction device 16 has a dust extraction cover 25, the dust extraction cover 25 being located below the first dust extraction motor and the first dust extraction fan. Further, a dust suction cover 25 is provided to cover the first dust box 21, and a dust suction inlet through which the second dust suction fan can discharge the air in the first dust box 21 is provided to the dust suction cover 25. An annular space 33 is formed between the second dust box 23 and the first dust box 21.

Further, the dust collection cover 25 is provided with a first opening 29. As shown in fig. 4, the dust collection cover 25 includes a top cover and a side peripheral wall surrounding the top cover and extending downward, the dust collection inlet is provided on the top cover, and the first opening 29 is provided on the side peripheral wall. The first dust box 21 includes a bottom wall surface and a side wall surface provided around the bottom wall surface. The side wall surface is in sealing contact with the side peripheral wall, so that the first dust box 21 is detachably connected with the dust collection cover 25. The first opening 29 communicates the annular space 33 with the suction channel 13.

Further, the second dust box 23 is provided with a second opening 31 communicating with the annular space 33. Specifically, as shown in fig. 3 and 4, the second opening 31 is provided in a side wall of the second dust box 23. The second dust box 23 is opened toward the dust collection cover 25 so that when the first dust collection fan rotates, the first dust collection fan can discharge the gas in the second dust box 23 to the outside through the opening through the outlet 97, thereby generating negative pressure in the second dust box 23. Since the annular space 33 communicates with the second dust box 23 through the second opening 31, the gas in the annular space 33 flows into the second dust box 23 through the second opening 31, and thus a negative pressure is also generated in the annular space 33. Since the annular space 33 is communicated with the dust collection channel 13 through the first opening 29 and the inlet 95, the air in the dust collection channel 13 flows into the annular space 33 through the inlet 95 and the first opening 29, and negative pressure is generated in the dust collection channel 13. Further, as indicated by the arrow in fig. 3, the direction of the air flow in the dust collection device, the dust in the cleaning robot 107 can enter the first dust box 21 from the dust collection channel 13 under the suction force of the first dust collection device 16, and enter the second dust box 23 from the first dust box 21; the wiper 63 in the dust collection channel 13 can be moved along the dust collection channel 13 to the first dust box 21 by the dust collection air flow, so that the wiper 63 can be accumulated in the first dust box 21 by the gravity and dust can be accumulated in the second dust box 23. The wiper 63 can drag dust possibly accumulated in the dust collection channel 13 again when moving along the dust collection channel 13, thus achieving the secondary cleaning effect.

A receiving member is detachably mounted in the first storage unit, and the receiving member is configured to receive the wiper 63. Specifically, the receptacle is disposed within the annular space 33 and may be a trash bag 35. The upper edge of the dust bag 35 is located between the dust cap 25 and the first dust bin 21 for collecting the wipes 63. When the waste bag 35 is full, the cleaning of the wiper 63 can be facilitated by separating the dust cap 25 from the first dust bin 21 to remove the waste bag 35, and replacing the unused waste bag 35. Of course, the receptacle is not limited to the garbage bag 35, and may be other structures, such as a garbage can, which are not specified in the present application.

As shown in fig. 3 and 4, the second dust box 23 is provided therein with a separating device 39 for separating dust in the dust-collecting airflow, and when the first dust-collecting fan rotates, the dust-collecting airflow entering the second dust box 23 from the annular space 33 can enter the separating device 39, thereby separating the dust from the dust-collecting airflow. Further, the dust falls to the second dust box 23 by gravity, and the dust is accumulated in the second dust box 23 by the separating device 39. The separating device 39 may be of a conventional construction, and is not specified in this application.

The dust collection cover 25 is provided with a hanging portion 37 for hanging the second dust box 23. As shown in fig. 4, the hooking portion 37 includes an annular protrusion 99 extending downward in the circumferential direction from the inner wall of the top cover and a stopper ring 103 extending inward in the circumferential direction from an end of the annular protrusion 99 facing away from the top cover. The stop ring 103 has an upward first stop surface.

Further, a convex ring 101 protruding outward is provided on a side wall of an upper end of the second dust box 23 in the circumferential direction. The collar 101 has a downward second stop surface. The second stop surface is used to abut against the first stop surface to prevent the second dust box 23 from falling down. This allows the second dust box 23 to be suspended from the hitching section 37 by the collar 101.

Further, a separating device 39 is also provided in the first storage module. The separating apparatus 39 is used to separate dust from the dust-laden air stream. Specifically, as shown in fig. 3, a separating device 39 for separating dust in the dust collection airflow is provided in the second dust box 23. So that when the first dust suction fan rotates, the dust suction air flow from the first dust box 21 into the second dust box 23 can enter the separating device 39, and further, the dust in the dust suction air flow can be separated from the dust suction air flow, and further, the dust falls into the second dust box 23 under the action of gravity. This enables dust to accumulate in the second dust bin 23 by the separating device 39. The separating device 39 may be of a conventional construction, and is not specified in this application.

Preferably, as shown in fig. 4, in order to improve the filtering effect on the dust-suction air flow, harmful substances in the dust-suction air flow are prevented from diffusing into the outside air; a filter device 41 is also provided in the first storage module. The filter device 41 is used for filtering the dust-absorbing airflow, i.e. filtering dust in the air separated by the separating device 39. The filter device 41 is located above the separating device 39 and the filter device 41 is located below the suction cap 25 of the first suction device 16 and directly opposite the suction inlet on the suction cap 25. Further, the dust-collecting air flow separated by the separating device 39 can enter the filtering device 41, and the dust-collecting air flow is filtered by the filtering device 41, so that the dust and various suspended matters in the dust-collecting air flow are filtered in the second dust box 23, and the harmful substances in the air are reduced, so that the dust-collecting air flow is prevented from polluting the air outside after being discharged out of the first cavity 71. The filter device 41 is a hepa filter device 41. The HEPA is a filter paper material. Can be used for trapping particle dust and various suspended matters below 0.5um, has remarkable effect on dust removal and reduces secondary pollution. The HEPA filter device 41 may be of conventional construction and is not specified in comparison with the present application.

In one embodiment, as shown in fig. 1, another dust extraction device (second dust extraction device 18) is also provided. The suction device differs from the suction device shown in fig. 3 or 4 in that the inlet 95 or the first opening shown in fig. 1 is located in the side wall of the lower part of the first cavity 71, so that dust in the cleaning robot 107 can enter the annular space 33 from the suction channel 13 and from the annular space 33 into the second dust bin 23 under suction from the second suction device 18. The wiper 63 in the dust collection channel 13 can move to the annular space 33 along the dust collection channel 13 under the action of dust collection air flow, so that the wiper 63 can be accumulated in the annular space 33 under the action of gravity, dust can be accumulated in the second dust box 23, and dust possibly accumulated in the dust collection channel 13 can be dragged down again when the wiper 63 moves along the dust collection channel 13, so that the secondary cleaning effect is achieved.

Specifically, as shown in fig. 1, the first storage module includes a first dust box 21 for storing the wiper 63 and a second dust box 23 for storing dust, and both the first dust box 21 and the second dust box 23 are located in the first cavity 71. The second dust box 23 is located above the first dust box 21, the second dust collection device 18 is located above the second dust box 23, and the first dust box 21 is communicated with the second dust box 23. The first dust box 21 and the second dust box 23 are both hollow boxes, and a first through hole is formed in a side wall above the first dust box 21. A second through hole is provided in a lower side wall of the second dust box 23. The inner peripheral wall of the first through hole and the inner peripheral wall of the second through hole are sealed and bonded. So that the first dust box 21 can communicate with the second dust box 23 through the first through hole and the second through hole, thereby enabling the dust suction air flow to pass through the first dust box 21, the second dust box 23 and the second dust suction device 18 in order.

The first dust box 21 is open to the dust collection passage 13. Specifically, as shown in fig. 1, a third through hole is provided in the right side wall of the first dust box 21. The inner peripheral wall of the third through hole is in sealing contact with the inner peripheral wall of the inlet 95 of the first cavity 71. The first dust box 21 can communicate with the dust suction passage 13 through the third through hole, the inlet 95.

Further, the second dust box 23 is opened toward the second dust collection device 18. Specifically, as shown in fig. 1, a fourth through hole that opens to the second dust collection device 18 is provided in a side wall above the second dust box 23, so that when the second dust collection fan rotates, the second dust collection fan can discharge the gas in the second dust box 23 to the outside through the outlet 97 through the fourth through hole, thereby generating negative pressure in the second dust box 23. Since the first dust box 21 communicates with the second dust box 23 through the first through hole and the second through hole, the gas in the first dust box 21 flows into the second dust box 23 through the first through hole and the second through hole, and a negative pressure is generated in the first dust box 21. Since the first dust box 21 is communicated with the dust collection channel 13 through the third through hole and the inlet 95, the air in the dust collection channel 13 flows into the first dust box 21 through the inlet 95 and the third through hole, and then dust collection air flow with negative pressure is formed. Further, as indicated by the arrow in fig. 17, the direction of the air flow in the dust collection device, the dust in the cleaning robot 107 can enter the annular space 33 from the dust collection channel 13 under the suction force of the second dust collection device 18, and enter the second dust box 23 from the annular space 33; the wiper 63 in the suction channel 13 is movable along the suction channel 13 to the annular space 33 under the influence of the suction air flow. So that the wipers 63 can accumulate in the annular space 33 under the force of gravity. Dust can accumulate in the second dust bin 23. And the wiper 63 can drag dust possibly accumulated in the dust collection channel 13 again when moving along the dust collection channel 13, thus achieving the secondary cleaning effect.

As shown in fig. 1, the second dust extraction device 18 is provided at the first portion 43. Further, a first cavity 71 is provided in the first portion 43. The suction device is accommodated in the first cavity 71. Further, an inlet 95 and an outlet 97 are provided on the inner wall of the first cavity 71. The inlet 95 is provided in a side wall of the lower portion of the first cavity 71, as shown in fig. 1, for example. The inlet 95 communicates with the third extension 93 of the suction channel 13 such that the first cavity 71 communicates with the suction channel 13 through the inlet 95. The outlet 97 is provided on a side wall of an upper portion of the first cavity 71 so that the first cavity 71 communicates with the outside through the outlet 97.

Further, the second dust extraction 18 may comprise a second dust extraction motor, a second dust extraction fan, similar to the first dust extraction. When the second dust collection fan rotates, the second dust collection fan can discharge the air in the first cavity 71 outwards through the outlet 97, and then negative pressure is generated in the first cavity 71. Since the first cavity 71 is communicated with the dust collection channel 13, the air in the dust collection channel 13 flows towards the first cavity 71, and thus a dust collection air flow with negative pressure is formed. When the second dust collection motor is started, dust in the cleaning robot 107 can be sucked into the dust collection channel 13 through the suction inlet 11, and the wiper in the dust collection channel 13 is driven to move. The rotating shaft of the second dust collection fan is in transmission connection with the rotating shaft of the second dust collection motor, so that the second dust collection fan can be driven to rotate through the second dust collection motor, manual intervention quantity is avoided, working efficiency is improved, and labor intensity is reduced.

In one embodiment, the base station 109 according to the embodiment of the present application further includes: a second memory module 51. The second storage module 51 is used for storing wipes 63 for installation by the cleaning robot 107. The second storage module 51 is disposed on the chassis 15. As shown in particular in fig. 1, a second cavity 73 is provided within the first portion 43 of the housing 15. The second memory module 51 is disposed within the second cavity 73.

Specifically, as shown in fig. 1, the second storage module 51 includes a drum 53 rotatably provided on the frame 15. Further, as shown in fig. 1, the drum 53 is located above the second dust collection device 18. The drum 53 is wound with a wiper 63. The wiper 63 can be delivered downwardly as the drum 53 rotates.

In one embodiment, the base station 109 further comprises a derivation module. The export module serves to export the wipes 63 in the second storage module 51. Specifically, the guiding-out module is a conveying wheel set 55 disposed below the roller 53. The transfer wheel set 55 is located on the side of the first storage module facing the second section 45. As shown in fig. 1, the transport wheel set 55 is located on the right side of the first storage module.

In another embodiment of the application, the cleaning robot can also introduce new wipes in other ways, corresponding to the other ways of retrieving wipes in the examples described above. Specifically, a groove for placing the new wiping module and the old wiping module is formed above the base station, and the cleaning robot is used for disassembling the old wiping module and installing the new wiping module at the corresponding position of the base station. In this way, the cleaning robot can walk to the position where the new wiping module falls to mount the new wiping member, and the like, which is not limited in this application.

Further, the conveyor wheel set 55 includes a first roller set 57 and a second roller set 59. The first roller set 57 is located above the second roller set 59. The first roller set 57 includes a first driving wheel and a first driven wheel. The second roller set 59 includes a second driving wheel and a second driven wheel. The wiper 63 wound on the drum 53 extends downward and is sequentially interposed between the first capstan and the first follower and between the second capstan and the second follower. So that the first roller set 57 can convey the wiper 63 toward the second roller set 59 when the roller 53 rotates. The second roller set 59 is capable of transporting the wipes 63 toward the second section 45.

Further, the rotation shaft of the drum 53 is in transmission connection with the rotation shaft of the paper feed motor. The paper feed motor is used to drive the drum 53 to rotate. So that the wiper 63 can be conveyed from the drum 53 toward the first roller set 57 by turning on the paper feed motor. Therefore, the need of manually replacing paper is avoided, the manual intervention amount is reduced, the labor intensity is reduced, and the working efficiency is improved.

In one embodiment, the base station 109 further includes an installation site. The mounting location is used to store the wipes 63 that are derived by the derivation module for mounting by the cleaning robot 107. For example, as shown, the first surface 69 forms a mounting location. So that the wiper 63 can be positioned on the first surface 69 when the transfer wheel set 55 transfers the wiper 63 downwardly. So that the wiper 63 can be mounted on the base plate 83 by the pickup unit when the cleaning robot 107 moves onto the wiper 63.

Further, the storage location and the mounting location are at least partially coincident. For example, as shown in fig. 1, the transfer unit 19 is located on an opposite side of the transport wheel set 55 from the drum 53. The suction port 11 is located on an side of the transfer unit 19 facing away from the transport wheel set 55. Specifically, the transfer unit 19 is located on the right side of the second roller group 59. The suction port 11 is located on the right side of the transfer unit 19. So that after the wipes 63 on the drum 53 have been transferred to the mounting location by the first roller set 57 and the second roller set 59, the cleaning robot 107 can again rest on the first surface 69 of the second section 45 after the wipes 63 thereon have been removed, i.e. as shown in fig. 1, the floor 83 of the cleaning robot 107 is positioned above the wipes 63 so that the sheets are held on the floor 83 by the paper clips 85 on the floor 83. The mounting of the cleaning robot 107 to the wiper 63 is thus completed.

In one embodiment, the base station 109 according to the embodiment of the present application includes: and a control module. The control module is electrically connected to the paper collecting motor of the transfer unit 19, the first dust collecting motor of the first dust collecting device 16 or the second dust collecting motor of the second dust collecting device 18, and the paper feeding motor of the second storage module 51. And the base station 109 further comprises a communication component in communication with the communication module of the cleaning robot 107. So that the controller can acquire the state of the cleaning robot 107 through the communication means and control the transfer unit 19, the first dust collection device 16 or the second dust collection device 18, and the second storage module 51 of the base station 109 according to the state of the cleaning robot 107. Therefore, manual operation is avoided, the manual intervention quantity is reduced, the labor intensity is reduced, and the working efficiency is improved.

The control method of the cleaning robot system provided by the embodiment of the application comprises the following steps: step S11: controlling the cleaning robot to be connected with a suction inlet in the base station when the cleaning robot stops at the base station; step S13: controlling the base station to recycle the cleaning robot wiper and dust in the cleaning robot dust collection assembly.

The technical scheme can be seen from the above: the cleaning robot system according to the embodiment of the application is provided with a suction inlet and a recovery module on a base station, and the cleaning robot system is pneumatically connected with a dust collection assembly in a cleaning robot through the suction inlet and collects wiping pieces and dust of the cleaning robot through the recovery module. Therefore, when the cleaning robot is a sweeping and mopping unit, dust and mop in the cleaning robot can be automatically recovered directly through the base station; when the cleaning robot is only a sweeping robot or a mopping robot, only dust or only a wiper in the above manner may be recovered by the base station selection. Further, when a plurality of cleaning robots are provided in a home, such as a cleaning robot for cleaning (dust collection), a cleaning robot for mopping (floor mopping), or a cleaning robot capable of cleaning (dust collection), the automatic recovery of dust and wiping pieces can be realized by adopting the above-mentioned manner, thereby avoiding the manual management of the cleaning robot and greatly reducing the workload of people.

In the present embodiment, as shown in fig. 8, the lifting assembly 87 of the cleaning robot 107 controls the wiping module 81 to be lifted upward so as to be positioned above the driving wheel 77 and the universal wheel 79, so that the robot moves toward the base station with the support of the driving wheel 77 and the universal wheel 79. In the present embodiment, taking an example that the robot rests on the first surface of the frame and there is a transfer unit, as shown in fig. 9, then when the cleaning robot 107 moves onto the first surface 69 of the second portion 45, an in-place detection module in the cleaning robot 107, such as a communication module, controls the cleaning robot 107 to stop moving according to the information detected by the sensor. The sensor includes a ranging sensor, or a magnetic detection sensor. Further, as shown in fig. 10, when the cleaning robot 107 stops moving, the lifting assembly 87 in the cleaning robot 107 drives the floor to move downward until the floor is lowered onto the transfer unit 19, so that the wiper 63, which has been used under the floor, can be covered on the transfer unit 19 and abutted against the transfer unit 19. As shown in fig. 11, when the wiper 63 abuts against the transfer unit 19, the paper clip 85 in the cleaning robot 107 is opened to release the wiper 63 on the lower surface of the floor, thereby storing the wiper 63 in the storage position of the base station 109. As shown in fig. 12, when the control module detects that the wiping module or the wiper is located on the frame, the control base station starts to recover the wiper on the cleaning robot and dust in the dust collection assembly of the cleaning robot (dust collection and paper collection work).

In one embodiment, step S13: controlling the base station to recycle the dust in the cleaning robot wiper and the cleaning robot dust collection assembly specifically comprises the following steps:

step S131: the transfer unit 19 transfers the wipes 63 on the storage location. As shown in fig. 12, after the wiper 63 on the lower surface of the bottom plate is released, the paper collecting motor on the transfer unit 19 is started to rotate the driving roller counterclockwise, and the driving roller can drive the driven roller to rotate clockwise, so that the wiper 63 can move from the outer sides of the driving roller and the driven roller to the inner sides, and thus the wiper 63 is folded down and clamped between the driving roller and the driven roller. As the driving roller and the driven roller continue to rotate, the folded wiper 63 can enter the dust collection channel 13 from the bottom wall of the first groove 49.

Step S133: the second dust suction device 18 forms a dust suction air flow having a negative pressure to recover dust in the dust suction assembly and the wiper 63 transferred by the transfer unit 19. Specifically, for example, as shown in fig. 14, after the wiper 63 on the lower surface of the base plate is released, the second suction motor on the second dust suction device 18 is activated to enable the second suction fan 28 to rotate, thereby generating negative pressure in the first dust box 21, the second dust box 23, and the suction passage 13, so that dust in the cleaning robot 107 can flow toward the suction passage 13 through the suction port 11.

In another embodiment, step S13: the recovery module recovers dust in the wiper 63 and the dust collection assembly of the cleaning robot 107 on the storage location, specifically including:

the first suction device 16 creates a suction air flow with a negative pressure to recover dust in the suction assembly 75 and the wipes 63 in the storage position. Specifically, as shown in fig. 3, after the wiper 63 on the lower surface of the base plate is loosened, the first suction motor on the first suction device 16 is started, so that the first suction fan 26 can rotate, and thus, a negative pressure is generated in the first dust box 21, the second dust box 23 and the suction passage 13, and a suction airflow having the negative pressure is formed. This allows dust in the cleaning robot 107 and the wiper 63 on the lower surface of the floor to flow toward the dust suction passage 13 through the suction port 11.

In one embodiment, the control method of the cleaning robot system of the embodiment further includes: step S15: the suction air flow enters the first storage module from the suction channel 13. This allows both the dust and the wiper 63 in the suction air stream to be moved to the first storage module so that the dust and the wiper 63 in the base station 109 can be stored by the first storage module.

Specifically, the dust suction air flow enters the first dust box 21 from the dust suction passage 13, and enters the second dust box 23 from the first dust box 21. As shown in fig. 14, after the dust suction airflow enters the first dust box 21 from the dust suction passage 13, the airflow flows from the first dust box 21 toward the second dust box 23. In the second dust box 23, dust in the dust-collecting airflow is separated by the separating device 39, the separated dust-collecting airflow is filtered by the filtering device 41, and the filtered dust-collecting airflow flows out through the outlet 97 on the first cavity 71.

Further, as shown in fig. 13, after the wiper 63 enters the dust collection passage 13 through the first groove 49, the wiper 63 moves toward the first dust box 21 by the thrust of the dust collection airflow in the dust collection passage 13, and finally the wiper 63 is positioned in the first dust box 21 under its own weight.

In one embodiment, the control method of the cleaning robot system of the embodiment further includes:

step S17: the export module exports the wiper 63 in the second storage module and stores the wiper 63 in the mounting location. Specifically, the paper feed motor on the base station 109 rotates to rotate the roller 53 so that the wipes 63 on the roller 53 can be transported toward the first surface 69 of the second section 45 by the first roller set 57 and the second roller set 59 and the wipes 63 stored in the mounting location.

Further, the cleaning robot 107 is separated from the base station 109 when the export module exports said wipes 63 in the second storage module. I.e. the cleaning robot 107 is located outside the first surface 69 of the base station 109. Specifically, after the wipers 63 in the cleaning robot 107 enter the dust collection path 13, the lifting assembly 87 on the wiping module 81 of the cleaning robot 107 lifts the floor upward so that the floor can be positioned above the driving wheels 77 and the universal wheels 79, thereby enabling the driving platform to move away from the first surface 69 of the second part 45 of the cleaning robot 107 under the driving of the driving wheels 77 and the universal wheels 79 to separate the cleaning robot 107 from the base station 109.

step S19: the acquisition unit removably mounts the wiper 63 on the mounting location to the base plate. Specifically, after the wiper 63 is overlaid on the first surface 69, the cleaning robot 107 is moved toward the first surface 69 of the second section 45 and onto the first surface 69 by the driving wheel 77 and the universal wheel 79. This allows the wiper 63 to be positioned under the floor. When the wiper 63 is positioned below the base plate, the paper clip 85 on the base plate is tensioned so that the paper on the first surface 69 can be clamped to the base plate by the paper clip 85, thus completing the installation of the wiper 63 to the base plate.

The technical scheme can be seen from the above: the cleaning robot system according to the embodiment of the present application is provided with a suction port and a recovery module on a base station, and is pneumatically connected to a dust collection unit in a cleaning robot through the suction port, and wipes and dust on the cleaning robot are collected by the recovery module. Therefore, when the cleaning robot is a sweeping and mopping unit, dust and mop in the cleaning robot can be automatically recovered directly through the base station; when the cleaning robot is only a sweeping robot or a mopping robot, only dust or only a wiper in the above manner may be recovered by the base station selection. Further, when a plurality of cleaning robots are provided in a home, such as a cleaning robot for cleaning (dust collection), a cleaning robot for mopping (floor mopping), or a cleaning robot capable of cleaning (dust collection), the automatic recovery of dust and wiping pieces can be realized by adopting the above-mentioned manner, thereby avoiding the manual management of the cleaning robot and greatly reducing the workload of people.

It should be noted that, in the description of the present invention, the terms "first," "second," and the like are used for descriptive purposes only and to distinguish between similar objects, and there is no order of preference between them, nor should they be construed as indicating or implying relative importance. Furthermore, in the description of the present invention, unless otherwise indicated, the meaning of "a plurality" is two or more.

The foregoing description of the embodiments has been provided for the purpose of illustrating the general principles of the invention, and is not meant to limit the scope of the invention, but to limit the invention to the particular embodiments, and any modifications, equivalents, improvements, etc. that fall within the spirit and principles of the invention are intended to be included within the scope of the invention.

Claims

1. A cleaning robot system; comprising a cleaning robot and a base station, said cleaning robot walking and/or working on a working surface, characterized in that,

the cleaning robot includes: a dust collection assembly and a wiping module, wherein,

the dust collection assembly is used for being installed on the cleaning robot and used for recycling dust on the working surface;

the wiping module is used for being installed on the cleaning robot and used for wiping the working surface, and wiping pieces can be installed on the wiping module;

the base station includes:

a frame having a suction port that receives the wiper separated from the cleaning robot when the cleaning robot is docked to the base station, and the suction port is pneumatically connected with the dust collection assembly;

A recovery module mounted on the frame for generating a dust suction airflow that acts on the suction inlet to recover dust from the wiper and the dust suction assembly through the suction inlet;

the cleaning robot system further includes: and the recovery module is used for recovering dust in the wiping piece and the dust collection assembly under the control of the control module.

2. The cleaning robot system of claim 1, wherein the frame further comprises: a first surface for docking the cleaning robot, the first surface being provided with the suction port.

3. The cleaning robot system of claim 1, wherein a storage location is provided on the frame for storing the wipes separated from the cleaning robot.

4. The cleaning robot system of claim 1, wherein the recovery module comprises a dust extraction device for creating a dust extraction airflow having a negative pressure to recover dust within the wiper and/or the dust extraction assembly.

5. The cleaning robot system of claim 1, wherein the recovery module comprises a transfer unit for transferring the wipes.

6. The cleaning robot system according to claim 5, wherein the recovery module further comprises a second dust suction device for forming a dust suction air flow having a negative pressure to recover dust in the wiper and/or the dust suction assembly transferred by the transfer unit.

7. The cleaning robot system of claim 5, wherein the transfer unit comprises at least one roller in contact with the wiper to transfer the wiper.

8. The cleaning robot system of claim 7, wherein there is a height difference between the highest point of the roller and the highest point of the wipe to be transferred.

9. The cleaning robot system of claim 7, wherein the rollers comprise at least two, at least two of the rollers comprising: the cleaning device comprises a driving roller and a driven roller, wherein the driving roller drives the driven roller to rotate, and the wiping piece is transferred in the process that the driving roller drives the driven roller to rotate.

10. The cleaning robot system of claim 1, further comprising: an in-place detection module that controls the cleaning robot to perform at least one of the following operations when the in-place detection module detects that the cleaning robot reaches a target position of the base station, including: stopping walking, separating the wiper module.

11. The cleaning robot system of claim 1, wherein the base station further comprises a first storage module for storing the dust and the wipes recovered by the recovery module.

12. The cleaning robot system of claim 11, wherein the recovery module generates a dust-laden air flow when recovering, and wherein a separation device is further disposed in the first storage module, the separation device being configured to separate dust from air in the dust-laden air flow.

13. The cleaning robot system of claim 12, wherein a filter device is further disposed in the first storage module, for filtering the gas separated by the separation device.

14. The cleaning robot system of claim 11, wherein the first storage module comprises a first storage unit for storing the wipe; and a second storage unit for storing the dust; and the recovery module generates dust absorption air flow when recovering, and the dust absorption air flow sequentially passes through the first storage unit and the second storage unit.

15. The cleaning robot system of claim 1, wherein the base station further comprises a second storage module for storing wipes for installation by the cleaning robot.

16. The cleaning robot system of claim 15, wherein the base station further comprises a export module for exporting the wipes within the second storage module.

17. The cleaning robot system of claim 16, wherein the base station further comprises a mounting location for storing the wipes exported by the export module for mounting by the cleaning robot.

18. The cleaning robot system of claim 17, wherein a storage location is provided on the frame for storing the wipes separated from the cleaning robot, the storage location and the mounting location at least partially coinciding.

19. A control method of a cleaning robot system, the cleaning robot system comprising: a cleaning robot and a base station, the cleaning robot comprising: a dust extraction assembly for recovering dust from a work surface and a wiper for wiping a work surface, comprising:

controlling a cleaning robot to separate the wiper from the cleaning robot while the cleaning robot is docked to a base station, and to connect with a suction port in the base station;

and controlling the base station to generate dust suction airflow so that the dust suction airflow acts on the suction inlet, and recovering the wiping piece of the cleaning robot and dust in the dust suction assembly through the suction inlet.

20. A base station for a cleaning robot, the cleaning robot comprising: a dust extraction assembly for recovering dust from a work surface, and a wiper for wiping the work surface, comprising:

the base station further includes: and the recovery module is used for recovering dust in the wiping piece and the dust collection assembly under the control of the control module.