CN114246509B - Base station of cleaning robot and cleaning robot system - Google Patents
Base station of cleaning robot and cleaning robot system Download PDFInfo
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- CN114246509B CN114246509B CN202011012172.2A CN202011012172A CN114246509B CN 114246509 B CN114246509 B CN 114246509B CN 202011012172 A CN202011012172 A CN 202011012172A CN 114246509 B CN114246509 B CN 114246509B
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- 238000004140 cleaning Methods 0.000 title claims abstract description 157
- 230000001960 triggered effect Effects 0.000 claims abstract description 9
- 238000004891 communication Methods 0.000 claims description 43
- 230000005611 electricity Effects 0.000 claims 1
- 238000000034 method Methods 0.000 abstract description 3
- 230000008569 process Effects 0.000 abstract description 3
- 239000004744 fabric Substances 0.000 description 7
- 230000008859 change Effects 0.000 description 4
- 238000007796 conventional method Methods 0.000 description 2
- 230000006698 induction Effects 0.000 description 2
- 238000012423 maintenance Methods 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000005674 electromagnetic induction Effects 0.000 description 1
- 230000007274 generation of a signal involved in cell-cell signaling Effects 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000003032 molecular docking Methods 0.000 description 1
- 230000008093 supporting effect Effects 0.000 description 1
- 238000010408 sweeping Methods 0.000 description 1
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Classifications
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/28—Floor-scrubbing machines, motor-driven
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4002—Installations of electric equipment
- A47L11/4005—Arrangements of batteries or cells; Electric power supply arrangements
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4091—Storing or parking devices, arrangements therefor; Means allowing transport of the machine when it is not being used
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
- A47L2201/02—Docking stations; Docking operations
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
- A47L2201/02—Docking stations; Docking operations
- A47L2201/022—Recharging of batteries
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
- A47L2201/04—Automatic control of the travelling movement; Automatic obstacle detection
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- Electric Vacuum Cleaner (AREA)
Abstract
The invention relates to a base station of a cleaning robot and a cleaning robot system, wherein a lifting frame is arranged on the base station, the lifting frame can drive a storage module to move from a second layer to a first layer, when the storage module moves to the first layer, a first sensing device is triggered, the first sensing device sends a first trigger signal to a control module, the control module can generate a first preparation signal according to the first trigger signal and send the first preparation signal to the cleaning robot, so that the cleaning robot can travel to the base station, and a new wiping unit is replaced by the storage module, thereby avoiding the process of manually participating in the replacement of the wiping unit.
Description
Technical Field
The invention relates to the field of intelligent robots, in particular to a base station of a cleaning robot and a cleaning robot system.
Background
As intelligent robots gradually go into households, the demands of people for the intelligent robots are more and more diversified, and the types of the intelligent robots are more and more, such as floor sweeping robots, floor mopping robots and the like. Floor mopping robots typically use a cleaning cloth to perform a mopping operation, where the cleaning cloth contacts the floor to wipe off dirt from the floor. With the increase of the mopping time, the dirt on the mopping rag is more and more, and the bottom supporting effect is poorer and worse. Often, the user is required to manually remove the soiled cleaning cloth and replace it with a cleaning cloth while changing the mopping cloth, and the intelligent robot is not automated to a high degree.
Disclosure of Invention
Accordingly, it is necessary to provide a base station of a cleaning robot and a cleaning robot system, which solve the problem that the intelligent robot needs to be engaged by a user when changing a floor cleaning cloth, and the degree of intelligence is not high.
A base station of a cleaning robot for replacing a wiping unit for the cleaning robot, the base station comprising a lifting frame, wherein a storage module is arranged on the lifting frame and used for storing the wiping unit, the base station comprises a first layer which contacts the ground and a second layer which is positioned above the first layer, and the lifting frame is used for driving the storage module to move between the first layer and the second layer;
the base station also comprises a control module and a first sensing device connected with the control module;
when the cleaning robot needs to replace the wiping unit, the control module controls the lifting frame to drive the storage module to move downwards, the first sensing device is triggered when the lifting frame moves to a first layer, and the control module generates a first preparation signal according to a first trigger signal sent by the first sensing device and sends the first preparation signal to the cleaning robot so that the cleaning robot can travel to the storage module and replace the wiping unit.
In one embodiment, the base station further comprises a charging device, which is disposed on the first layer and is used for charging the cleaning robot.
In one embodiment, the base station further comprises a second sensing device, and the second sensing device is connected with the control module;
when the cleaning robot needs to be charged, the control module controls the lifting frame to move upwards, the second sensing device is triggered when the lifting frame moves to the second layer, and the control module generates a second preparation signal according to the second triggering signal sent by the second sensing device and sends the second preparation signal to the cleaning robot so that the cleaning robot can travel to the base station according to the second preparation signal and charge.
In one embodiment, the cleaning robot further comprises a collecting module, wherein the collecting module is arranged on the lifting frame and is arranged side by side with the storage module, and the collecting module is arranged closer to the entering direction of the cleaning robot than the storage module.
In one embodiment, the first sensing device and the second sensing device each comprise any one of a micro switch, a contact sensor, a hall sensor, and a distance sensor.
Above-mentioned cleaning robot's basic station through setting up the crane on the basic station, and the crane can drive storage module and remove to first layer and trigger first induction system from the second floor, and first induction system sends first trigger signal to control module, and control module can be according to first trigger signal generation first standby signal and send cleaning robot to make cleaning robot travel to the basic station, for its new wiping unit of change by storage module, thereby avoid the artifical process of taking part in the change wiping unit.
A cleaning robot system comprising the aforementioned base station;
the cleaning robot system further includes a cleaning robot including a wiping unit detachably mounted thereon.
In one embodiment, the cleaning robot comprises a first communication unit, the base station comprises a second communication unit, and the second communication unit is connected with the control module;
when the cleaning robot detects that the wiping unit needs to be replaced, the cleaning robot sends a replacement instruction to the second communication unit through the first communication unit, and the control module controls the lifting frame to drive the storage module and the collecting module of the base station to move downwards according to the replacement instruction received by the second communication unit;
when the cleaning robot detects that charging is needed, the cleaning robot sends a charging instruction to the second communication unit through the first communication unit, and the control module controls the lifting frame to drive the storage module and the collecting module to move upwards according to the charging instruction received by the second communication unit.
In one embodiment, when the control module receives the first trigger signal, the control module sends the first preparation signal to the first communication unit through the second communication unit, the cleaning robot moves to the base station according to the first preparation signal received by the first communication unit, and moves to the storage module after the cleaning robot moves to the collection module;
when the control module receives the second trigger signal, the control module sends the second preparation signal to the first communication unit through the second communication unit, and the cleaning robot moves to the base station according to the second preparation signal received by the first communication unit.
In one embodiment, the cleaning robot includes a main control module and a timing unit connected to the main control module, where the main control module controls the timing unit to start timing when the wiping unit starts working, and generates the replacement instruction when the timing reaches a preset duration.
In one embodiment, the cleaning robot further comprises a battery pack, the battery pack is connected with the main control module, and the main control module is used for detecting the electric quantity of the battery pack and judging whether charging is needed or not, and generating the charging instruction when charging is needed.
The cleaning robot system provided by the embodiment comprises the base station and the cleaning robot, wherein the base station comprises the first sensing device and the second sensing device, when the lifting frame moves downwards and touches the first sensing device, the first sensing device sends a first trigger signal to the control module, and the control module judges that the condition of the base station for replacing the wiping unit is ready according to the received first trigger signal, and generates a first preparation signal and sends the first preparation signal to the cleaning robot. The cleaning robot is driven to the base station according to the first preparation signal so that the base station automatically replaces the wiping unit for the cleaning robot. When the lifting frame touches the second sensing device, the second sensing device sends a second trigger signal to the control module, the control module judges that the charging condition of the base station is ready according to the received second trigger signal, and generates a second preparation signal and sends the second preparation signal to the cleaning robot so that the cleaning robot drives to the base station and charges. By setting different triggering conditions, the base station can identify the requirements of the cleaning robot, so that the cleaning robot can be charged, and the wiping unit can be replaced for the cleaning robot.
Drawings
In order to more clearly illustrate the technical solutions of embodiments or conventional techniques of the present application, the drawings required for the descriptions of the embodiments or conventional techniques will be briefly described below, and it is apparent that the drawings in the following description are only some embodiments of the present application, and other drawings may be obtained according to these drawings without inventive effort for a person of ordinary skill in the art.
Fig. 1 is a schematic structural view of a base station of a cleaning robot according to an embodiment of the present application;
fig. 2 is a schematic view of a cleaning robot system module according to an embodiment of the present application.
Detailed Description
In order that the above objects, features and advantages of the invention will be readily understood, a more particular description of the invention will be rendered by reference to the appended drawings. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. The present invention may be embodied in many other forms than described herein and similarly modified by those skilled in the art without departing from the spirit of the invention, whereby the invention is not limited to the specific embodiments disclosed below.
It will be understood that when an element is referred to as being "disposed on" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "left," "right," and the like are used herein for illustrative purposes only and are not meant to be the only embodiment.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used herein in the description of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention.
The application provides a cleaning robot's basic station for save new wiping unit and change old wiping unit for cleaning robot, send the signal to the basic station when cleaning robot's wiping unit is dirty, the basic station is after preparing new wiping unit, cleaning robot is automatic to travel to the basic station for the basic station can change new wiping unit for cleaning robot.
As shown in fig. 1, the base station 100 includes a base station body for docking the cleaning robot and providing maintenance services for the cleaning robot, such as charging, replacing a wiping unit, and the like. The cleaning robot may be a mopping robot, on which a wiping unit is mounted for contacting the floor and wiping the dirt of the floor, wherein the wiping unit may be a mopping cloth. The base station body contacts the ground, and a lifting frame 120 capable of moving up and down is arranged on the base station body. The lifting frame 120 is provided with a storage module 130 for storing a new wiping unit. The base station includes a first layer contacting the ground and a second layer positioned above the first layer in a space. The lifting frame 120 can drive the storage module 130 to move up and down, i.e. from the first layer to the second layer or from the second layer to the first layer.
It should be noted that, the lifting frame 120 may be moved up and down under the cooperation of the conveyor belt and the gear, or may be moved up and down under the conveying action of the other conveying mechanisms, so long as the lifting frame 120 can be moved up and down, which is not particularly limited herein.
The base station 100 further includes a control module (not shown in fig. 1) and a first sensing device 140 (not shown in fig. 1, shown in fig. 2) coupled to the control module, the first sensing device 140 being mountable to a first layer of the base station 100. When the lifting frame 120 moves from the second layer to the first layer, the lifting frame 120 can drive the storage module 130 to move from the second layer to the first layer and contact with the first sensing device 140, so that the state of the first sensing device 140 can be changed, and a first trigger signal is sent to the control module.
Specifically, when the cleaning robot needs to replace the wiping unit, the control module controls the lifting frame 120 to drive the storage module 130 to move downwards according to the received cleaning robot need to replace the wiping unit, and when the lifting frame 120 moves to the first layer, the first sensing device 140 is triggered. The first sensing device 140 sends a first trigger signal to the control module, and the control module generates a first preparation signal according to the first trigger signal and sends the first preparation signal to the cleaning robot to inform the cleaning robot that the cleaning robot is ready, so that the cleaning robot can move onto the storage module 130 according to the received first preparation signal and replace a new wiping unit.
According to the base station of the cleaning robot provided by the embodiment, the lifting frame 120 is arranged on the base station 100, the lifting frame 120 can drive the storage module 130 to move from the second layer to the first layer and trigger the first sensing device 140, the first sensing device 140 sends a first trigger signal to the control module, and the control module can generate a first preparation signal according to the first trigger signal and send the first preparation signal to the cleaning robot so that the cleaning robot can travel to the base station 100, and the storage module 130 can replace a new wiping unit for the cleaning robot, so that the process of manually participating in replacing the wiping unit is avoided.
In one embodiment, as shown in fig. 1, the base station 100 further includes a collection module 150 mounted on the crane 120 and disposed side by side with the storage module 130. The collection module 150 serves to collect the old wiping unit detached from the cleaning robot. In this application, the collection module 150 is closer to the entering direction of the cleaning robot than the storage module 130, that is, when the cleaning robot enters the base station 100, the cleaning robot first travels to the collection module 150, and after the collection module 150 collects the old wiping unit from the cleaning robot, the cleaning robot travels to the storage module 130 again, so that the storage module 130 is replaced with a new wiping unit for the cleaning robot.
Further, the base station 100 further includes a cover disposed on top of the base station 100, one end of the cover is hinged to the base station body, and the other end of the cover is openable, so that a user can place a new wiping unit for the storage module 130 by opening the cover, and take an old wiping unit from the collection module 150.
In one embodiment, the base station 100 further comprises a charging device (not shown in fig. 1) mounted on the base station body and located on the first floor for charging the cleaning robot. In this embodiment, the charging device may be a wireless charging unit, and charges the cleaning robot through an electromagnetic induction principle. Specifically, the charging device can be a charging coil, the charging coil is connected with the mains supply, and a charging receiving coil is arranged on the cleaner. In another embodiment, the charging device may be a charging plug, the charging plug being connected at ten points, and the utility power may directly charge the cleaning robot through the charging plug when the cleaning robot is docked with the charging plug.
Further, the base station 100 further comprises a second sensing device 160 (not shown in fig. 1, shown in fig. 2). The second sensing device 160 may be a sensor of the same type as the first sensing device 140. When the lifting frame 120 moves up to the second floor, the second sensing device 160 is triggered, the second sensing device 160 sends a second trigger signal to the control module, and the control module can determine that the charging condition of the base station 100 is ready according to the second trigger signal, and can inform the cleaning robot that the cleaning robot can charge the cleaning robot through communication.
Specifically, when the cleaning robot needs to be charged, the control module controls the lifting frame 120 to move upwards according to the received charging requirement of the charging robot, and when the lifting frame 120 moves to the second floor, the second sensing device 160 is triggered. The second sensing device 160 sends a second trigger signal to the control module, and the control module determines that the charging condition of the base station 100 is ready according to the second trigger signal, generates a second preparation signal and sends the second preparation signal to the cleaning robot, so that the cleaning robot travels to the base station 100 and charges according to the received second preparation signal.
The base station 100 of the cleaning robot provided in the above embodiment includes both the first sensing device 140 and the second sensing device, when the lifting frame 120 moves down to the first layer, the first sensing device 140 triggers the first sensing device 140, the first sensing device 140 sends a first trigger signal to the control module, and the control module determines that the condition of the base station 100 for replacing the wiping unit is ready according to the received first trigger signal, and generates a first preparation signal and sends the first preparation signal to the cleaning robot. When the lifting frame 120 moves up to the second floor, the second sensing device 160 is triggered, the second sensing device 160 sends a second trigger signal to the control module, and the control module determines that the charging condition of the base station 100 is ready according to the received second trigger signal, and generates a second preparation signal and sends the second preparation signal to the cleaning robot. By setting different trigger conditions, the base station 100 can recognize the need of the cleaning robot, so that the cleaning robot can be charged and the wiping unit can be replaced.
In one embodiment, the first sensing device 140 and the second sensing device 160 may be the same type of sensor, such as a micro switch or a contact sensor, a hall sensor or a distance sensor, etc.
In one embodiment, a driving device is further arranged on the bracket of the base station, and is connected with the control module and the lifting frame 120. The driving device may drive the lifting frame 120 to move up and down under the control of the control module. In this embodiment, the driving device may be a micro motor.
As shown in fig. 2, a further embodiment of the present application provides a cleaning robot system including the aforementioned base station 100. The cleaning robot system further includes a cleaning robot 200, and the cleaning robot 200 may communicate with the base station 100 and return to the base station 100 when there is a maintenance need. The cleaning robot 200 further includes a wiping unit 210, and the wiping unit 210 is detachably mounted to the bottom of the cleaning robot for contacting the floor and wiping the floor dirt.
In the present embodiment, the cleaning robot 200 includes the first communication unit 220, the base station 100 includes the second communication unit 170, and the cleaning robot 200 and the base station 100 communicate through the first communication unit 220 and the second communication unit 170. The second communication unit 170 is connected to the control module 180 of the base station 100.
When the cleaning robot 200 detects that the wiping unit needs to be replaced, the cleaning robot 200 transmits a replacement instruction to the second communication unit 170 through the first communication unit 220. The control module 180 of the base station 100 controls the lifting frame 120 to drive the storage module 130 to move downwards according to the received replacement instruction, and when the lifting frame 120 triggers the first sensing device 140, the first sensing device 140 sends a first trigger signal to the control module 180. The control module 180 receives the first trigger signal to determine that the base station is ready, i.e., the storage module 130 is in place, and the control module 180 generates a first preparation signal and transmits the first preparation signal to the cleaning robot 200 through the second communication unit 170. The cleaning robot 200 moves toward the base station 100 after receiving the first preparation signal to replace the wiping unit with the storage module 130.
Further, the cleaning robot 200 may determine whether the wiping unit 210 needs to be replaced by determining the accumulated operating time of the wiping unit 210.
Specifically, the cleaning robot is provided with a main control module 230 and a timing unit 240 connected to the main control module 230, when the wiping unit 210 starts to work, the timing unit 240 starts to perform timing, and after the accumulated time reaches a preset time, the main control module 230 determines that the wiping unit 210 needs to be replaced, generates a replacement instruction, and sends the replacement instruction to the control module 180 of the base station 100. The control module 180 controls the lifting frame 120 to drive the storage module 130 to move downwards according to the received replacement instruction, and when the lifting frame 120 triggers the first sensing device 140, the first sensing device 140 sends a first trigger signal to the control module 180. The control module 180 receives the first trigger signal to determine that the base station is ready, i.e., the storage module 130 is in place, and the control module 180 generates a first preparation signal and transmits the first preparation signal to the cleaning robot 200 through the second communication unit 170. The cleaning robot 200 receives the first preparation signal and moves to the base station 100, and moves to the collection module 150 to cause the collection module 150 to collect the old wiping unit detached from the cleaning robot, and then moves to the storage module 130 to cause the storage module 130 to replace the new wiping unit.
When the cleaning robot 200 detects that charging is required, the cleaning robot 200 transmits a charging instruction to the second communication unit 170 through the first communication unit 220. The control module 180 of the base station 100 controls the lifting frame 120 to move upwards according to the received charging command, when the lifting frame 120 triggers the second sensing device 160, the second sensing device 160 sends a second trigger signal to the control module 180, and the control module 180 determines that the base station 100 is ready according to the second trigger signal, that is, the storage module 130 and the collection module 150 are lifted, generates a second preparation signal and sends the second preparation signal to the cleaning robot 200 through the second communication unit 170. The cleaning robot 200 travels toward the base station 100 according to the received second preparation signal to charge the charging device thereto.
Further, a battery pack 250 is further disposed in the cleaning robot 200, and the battery pack 250 is powered by the battery pack 250, and the battery pack 250 is connected to the main control module 230, so that the main control module 230 can determine whether charging is needed by detecting the electric quantity of the battery pack 250. When the voltage across the battery pack 250 is less than the preset voltage, the cleaning robot 200 determines that charging is required, generates a charging instruction, and transmits the charging instruction to the base station 100.
In one embodiment, the cleaning robot 200 further includes a traveling module connected to the main control module 230 and movable under the control of the main control module 230.
The cleaning robot system provided in the above embodiment includes the base station 100 and the cleaning robot 200, where the base station 100 includes both the first sensing device 140 and the second sensing device 160, when the lifting frame 120 moves downward and triggers the first sensing device 140, the first sensing device 140 sends a first trigger signal to the control module 180, and the control module 180 determines that the condition of replacing the wiping unit of the base station 100 is ready according to the received first trigger signal, and generates a first preparation signal and sends the first preparation signal to the cleaning robot 200. The cleaning robot 200 travels toward the base station 100 according to the first preparation signal to cause the base station 100 to automatically replace the wiping unit therefor. When the lifting frame 120 triggers the second sensing device 160, the second sensing device 160 sends a second trigger signal to the control module, and the control module determines that the charging condition of the base station 100 is ready according to the received second trigger signal, generates a second preparation signal and sends the second preparation signal to the cleaning robot 200, so that the cleaning robot 200 drives to the base station 100 and charges. By setting different trigger conditions, the base station 100 can recognize the need of the cleaning robot 200, so that the cleaning robot 200 can be charged, and the wiping unit can be replaced for the cleaning robot 200.
The technical features of the above-described embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above-described embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.
The above examples illustrate only a few embodiments of the invention, which are described in detail and are not to be construed as limiting the scope of the invention. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the invention, which are all within the scope of the invention. Accordingly, the scope of protection of the present invention is to be determined by the appended claims.
Claims (8)
1. A base station of a cleaning robot for replacing a wiping unit for the cleaning robot, characterized in that the base station comprises a lifting frame, a storage module is arranged on the lifting frame, the storage module is used for storing the wiping unit, the base station comprises a first layer which contacts the ground and a second layer which is positioned above the first layer, and the lifting frame is used for driving the storage module to move between the first layer and the second layer;
the base station also comprises a control module and a first sensing device connected with the control module;
when the cleaning robot needs to replace the wiping unit, the control module controls the lifting frame to drive the storage module to move downwards, the first sensing device is triggered when the lifting frame moves to the first layer, and the control module generates a first preparation signal according to a first trigger signal sent by the first sensing device and sends the first preparation signal to the cleaning robot so that the cleaning robot can travel onto the storage module and replace the wiping unit;
the base station further comprises a charging device and a second sensing device, wherein the charging device is arranged on the first layer and is used for charging the cleaning robot, and the second sensing device is connected with the control module; when the cleaning robot needs to be charged, the control module controls the lifting frame to move upwards, the second sensing device is triggered when the lifting frame moves to the second layer, and the control module generates a second preparation signal according to the second triggering signal sent by the second sensing device and sends the second preparation signal to the cleaning robot so that the cleaning robot can travel to the base station according to the second preparation signal and charge.
2. The base station of a cleaning robot of claim 1, further comprising a collection module disposed on the crane and disposed side-by-side with the storage module, and the collection module is disposed closer to an approach direction of the cleaning robot than the storage module.
3. The base station of a cleaning robot of claim 2, wherein the first sensing device and the second sensing device each comprise any one of a micro switch, a contact sensor, a hall sensor, and a distance sensor.
4. A cleaning robot system comprising the base station of any one of claims 1-3;
the cleaning robot system further includes a cleaning robot including a wiping unit detachably mounted thereon.
5. The cleaning robot system of claim 4, wherein the cleaning robot comprises a first communication unit, the base station comprises a second communication unit, and the second communication unit is connected to the control module;
when the cleaning robot detects that the wiping unit needs to be replaced, the cleaning robot sends a replacement instruction to the second communication unit through the first communication unit, and the control module controls the lifting frame to drive the storage module and the collecting module of the base station to move downwards according to the replacement instruction received by the second communication unit;
when the cleaning robot detects that charging is needed, the cleaning robot sends a charging instruction to the second communication unit through the first communication unit, and the control module controls the lifting frame to drive the storage module and the collecting module to move upwards according to the charging instruction received by the second communication unit.
6. The cleaning robot system according to claim 5, wherein when the control module receives the first trigger signal, the control module transmits the first preparation signal to the first communication unit through the second communication unit, the cleaning robot moves to the base station according to the first preparation signal received by the first communication unit, and moves to the storage module after the cleaning robot moves to the collection module;
when the control module receives the second trigger signal, the control module sends the second preparation signal to the first communication unit through the second communication unit, and the cleaning robot moves to the base station according to the second preparation signal received by the first communication unit.
7. The cleaning robot system of claim 6, wherein the cleaning robot comprises a main control module and a timing unit connected to the main control module, wherein the main control module controls the timing unit to start timing when the wiping unit starts working, and generates the replacement instruction when the timing reaches a preset duration.
8. The cleaning robot system of claim 7, further comprising a battery pack connected to the main control module, wherein the main control module is configured to detect an amount of electricity of the battery pack and determine whether charging is required, and generate the charging instruction when charging is required.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011012172.2A CN114246509B (en) | 2020-09-23 | 2020-09-23 | Base station of cleaning robot and cleaning robot system |
| CN202310626169.7A CN116570179A (en) | 2020-09-23 | 2020-09-23 | Base station of cleaning robot and cleaning robot system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011012172.2A CN114246509B (en) | 2020-09-23 | 2020-09-23 | Base station of cleaning robot and cleaning robot system |
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Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104586324A (en) * | 2015-01-16 | 2015-05-06 | 惠州市鑫沛科技有限公司 | Intelligent cleaning robot capable of realizing automatic navigation, floor mopping, charging and rag cleaning |
| CN207755219U (en) * | 2017-06-23 | 2018-08-24 | 杭州九阳小家电有限公司 | A kind of cleaning robot system |
| CN111345743A (en) * | 2018-12-21 | 2020-06-30 | 苏州宝时得电动工具有限公司 | Robot cleaning system, base station and control method |
| CN111565613A (en) * | 2018-06-08 | 2020-08-21 | 苏州宝时得电动工具有限公司 | Cleaning robot, control method thereof and cleaning robot system |
| CN111601534A (en) * | 2018-12-21 | 2020-08-28 | 苏州宝时得电动工具有限公司 | Cleaning robot, control method thereof and ground processing system |
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Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104586324A (en) * | 2015-01-16 | 2015-05-06 | 惠州市鑫沛科技有限公司 | Intelligent cleaning robot capable of realizing automatic navigation, floor mopping, charging and rag cleaning |
| CN207755219U (en) * | 2017-06-23 | 2018-08-24 | 杭州九阳小家电有限公司 | A kind of cleaning robot system |
| CN111565613A (en) * | 2018-06-08 | 2020-08-21 | 苏州宝时得电动工具有限公司 | Cleaning robot, control method thereof and cleaning robot system |
| CN111345743A (en) * | 2018-12-21 | 2020-06-30 | 苏州宝时得电动工具有限公司 | Robot cleaning system, base station and control method |
| CN111601534A (en) * | 2018-12-21 | 2020-08-28 | 苏州宝时得电动工具有限公司 | Cleaning robot, control method thereof and ground processing system |
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