CN114983274A

CN114983274A - Cleaning robot and cleaning system

Info

Publication number: CN114983274A
Application number: CN202210634135.8A
Authority: CN
Inventors: 刘念河
Original assignee: Shenzhen Silver Star Intelligent Group Co Ltd
Current assignee: Shenzhen Silver Star Intelligent Group Co Ltd
Priority date: 2022-06-06
Filing date: 2022-06-06
Publication date: 2022-09-02

Abstract

The embodiment of the application relates to the technical field of cleaning equipment, and discloses a cleaning robot and a cleaning system, the cleaning robot comprises a sub-robot and a mother robot, wherein the mother robot comprises a machine body, a driving device, a lifting device, a tray device and a control device, the driving device is arranged on the machine body, the driving device is used for driving the machine body to move, the lifting device is arranged on the machine body, the tray device is arranged on the lifting device, the tray device is used for stopping the sub-robot, the lifting device is used for driving the tray device to ascend or descend relative to the machine body so as to drive the sub-robot to ascend or descend, the control device is arranged on the machine body, the control device is respectively in communication connection with the driving device, the lifting device and the sub-robot, and through arranging the lifting device and the tray device on the machine body of the mother robot, the cleaning robot can perform cleaning tasks in areas with height differences such as steps, the cleaning capability of the cleaning robot is improved, and the user experience is improved.

Description

Cleaning robot and cleaning system

Technical Field

The embodiment of the application relates to the technical field of cleaning equipment, in particular to a cleaning robot and a cleaning system.

Background

Along with the development of intelligent household equipment technology, more and more intelligent household equipment replaces traditional equipment, brings very big facility for people's life, for example intelligent cleaning robot who is equipped with mop and dust collecting water tank has replaced traditional broom and mop, collects to sweep the floor and mops ground as an organic whole, has improved clean efficiency greatly.

In the process of implementing the embodiment of the present application, the inventors found that: at present, current cleaning robot can only carry out the cleaning task on the plane, in case meet the plane that there is certain difference in height such as step, cleaning robot then can not accomplish the cleaning task, needs the manual work to carry cleaning robot to the step on clean, greatly reduced user experience.

Disclosure of Invention

The technical problem that this application embodiment mainly solved provides a cleaning robot and cleaning system, can have the region of difference in height to clean the task like the step, has improved cleaning robot's cleaning performance, has improved user experience.

In order to solve the above technical problem, one technical solution adopted in the embodiments of the present application is: there is provided a cleaning robot including: son robot and mother robot, wherein mother robot includes organism, drive arrangement, elevating gear, tray device and controlling means, drive arrangement set up in the organism, drive arrangement is used for the drive the organism motion, elevating gear set up in the organism, tray device set up in elevating gear, tray device is used for supplying the son robot is berthhed, elevating gear is used for the drive tray device for the organism rises or descends, thereby drives the rising or the decline of son robot, controlling means set up in the organism, controlling means respectively with drive arrangement, elevating gear and son robot communication connection.

Optionally, the tray device includes a tray, the tray includes a bottom plate and a side plate, the side plate is connected with the bottom plate and encloses a first cavity, the first cavity is used for accommodating the sub-robot, the side plate is provided with a first opening communicated with the first cavity, and the first opening is used for the sub-robot to enter and exit the first cavity.

Optionally, the tray device further includes a baffle, one side of the baffle is rotatably disposed on the bottom plate, the baffle is configured to open or close the first opening, when the baffle is located at a first position, the baffle closes the first opening, and when the baffle is located at a second position, the baffle opens the first opening.

Optionally, a surface of the bottom plate facing the first cavity and/or a surface of the baffle facing the first cavity are both provided with anti-slip protrusions.

Optionally, the tray device further includes a first driving assembly, the first driving assembly is disposed on the tray and connected to the baffle, the first driving assembly is in communication with the control device, and the first driving assembly is configured to drive the baffle to rotate, so that the baffle opens the first opening or closes the first opening.

Optionally, the tray device further includes a first locking component and a second locking component, the first locking component is disposed on the side plate, the second locking component is disposed on the baffle plate, and the first locking component is used for being connected with the second locking component.

Optionally, the tray device further includes a fixing member, the fixing member is disposed on a surface of the side plate facing the first cavity, and the fixing member is configured to fix the sub-robot parked in the first cavity.

Optionally, the lifting device includes a second driving assembly and a folding support, the second driving assembly is disposed on the machine body, one end of the folding support is connected to the second driving assembly, the other end of the folding support is connected to the tray device, and the second driving assembly is used for driving the folding support to expand or contract.

Optionally, the machine body is provided with a second cavity, the second cavity is formed by sinking from the top of the machine body to the bottom of the machine body, and the second cavity is used for accommodating the lifting device and the tray device.

Optionally, a second opening is formed in a side wall of the body, and when the tray device is accommodated in the second cavity, the second opening is communicated with the first opening, and the second opening is used for the sub-robot to enter and exit the second cavity.

In order to solve the above technical problem, another technical solution adopted in the embodiment of the present application is: there is provided a cleaning system comprising a cleaning robot as described above.

The cleaning robot comprises a sub-robot and a parent robot, wherein the parent robot comprises a machine body, a driving device, a lifting device, a tray device and a control device, the driving device is arranged on the machine body, the driving device is used for driving the machine body to move, the lifting device is arranged on the machine body, the tray device is arranged on the lifting device, the tray device is used for the sub-robot to stop, the lifting device is used for driving the tray device to ascend or descend relative to the machine body, thereby driving the sub-robot to ascend or descend, the control device is arranged on the machine body and is respectively in communication connection with the driving device, the lifting device and the sub-robot, through set up elevating gear and tray device on the organism of female robot for cleaning machines people can be like there is the difference in height's region cleaning task like the step, has improved cleaning machines people's clean ability, has improved user experience.

Drawings

In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below. Throughout the drawings, like elements or portions are generally identified by like reference numerals. In the drawings, elements or portions are not necessarily drawn to scale.

Fig. 1 is a schematic view of a cleaning robot according to an embodiment of the present disclosure.

Fig. 2 is an exploded view of a parent robot of a cleaning robot according to an embodiment of the present application.

Fig. 3 is a schematic view of a tray device of a cleaning robot according to an embodiment of the present disclosure.

Fig. 4 is a schematic view of a cleaning robot according to another embodiment of the present disclosure from a perspective view.

Fig. 5 is a schematic view of another perspective of a cleaning robot according to an embodiment of the present application.

Detailed Description

To facilitate an understanding of the present application, the present application is described in more detail below with reference to the figures and the detailed description. It will be understood that when an element is referred to as being "secured to" 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 be present. As used herein, the terms "upper," "lower," "inner," "outer," "vertical," "horizontal," and the like are used in an orientation or positional relationship indicated based on the orientation or positional relationship as shown in the drawings for convenience in describing the present application and simplicity in description, and do not indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and thus should not be construed as limiting the present application. Furthermore, the terms "first," "second," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

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 application belongs. The terminology used in the description of the present application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items. In addition, the technical features mentioned in the different embodiments of the present application described below may be combined with each other as long as they do not conflict with each other.

Referring to fig. 1, the cleaning robot 100 includes a sub-robot 10 and a parent robot 20, the sub-robot 10 is accommodated in the parent robot 20, and a signal connection, such as a bluetooth connection, a wireless network connection, or the like, is possible between the sub-robot 10 and the parent robot 20. The parent robot 20 can carry the child robot 10 together to perform a cleaning task in a first cleaning region. When encountering a second cleaning area having a certain height difference from the first cleaning area, such as a podium, a staircase, etc., the parent robot 20 can lift the child robot 10 to the second cleaning area, so that the child robot 10 can leave the parent robot 20 and enter the second cleaning area to perform a cleaning task, the step of manually carrying the child robot 10 is eliminated, the cleaning range of the cleaning robot 100 is effectively increased, and the cleaning efficiency of the cleaning robot 100 is improved.

With the above-described sub robot 10, the sub robot 10 includes a machine main body and a cover. The machine main part can include epitheca and inferior valve, can set up modules such as fan subassembly, wind channel subassembly and control part between epitheca and inferior valve, can also set up the radar subassembly that upwards stretches out at the epitheca, the radar subassembly can set up the intracavity that holds at machine main part top is sunken, the epitheca still is equipped with uncovered, and this uncovered can also lay dirt box or/and water tank, can also set up the walking wheel subassembly and clean the subassembly on the inferior valve. In the driving process of the sub-robot, the cleaning assembly continuously rotates to clean the to-be-cleaned surface driven by the sub-robot, and sundries such as garbage on the to-be-cleaned surface are sucked into the dust box under the action of the air duct assembly and the fan assembly.

The lid can with the mode that opens and shuts with the cooperation of machine main part, in this embodiment, the lid sets up the top of machine main part to cover the uncovered of machine main part with the mode that opens and shuts, in order to cover this dust box or the water tank of placing in opening, work as when the lid is in the open mode, dust box or/and water tank can be taken out, works as when the lid is in the closed condition, the lid plays restriction and decoration effect to dust box or/and water tank, can reduce on the one hand and go the in-process at the sub-robot, the noise that rocks production of dust box or/and water tank, can shelter from in order to decorate dust box or/and water tank on the one hand, avoids dust box or/and water tank directly to expose the aesthetic property that influences the sub-robot. When the sub-robot needs to clear up rubbish or moisturizing, will the lid is turned up and can be provided dirt box or/and water tank, uses convenient operation. In other embodiments, the cover may be disposed at other positions of the machine main body, and may cover and restrict a part of the machine main body in an opening and closing manner, and achieve the same or similar effects.

Referring to fig. 1, the parent robot 20 includes a body 21, a driving device 22, a lifting device 23, a tray device 24, and a control device (not shown). The driving device 22 is disposed at the bottom of the body 21, and the driving device 22 is electrically connected or signal-connected to the control device, and the control device can control the driving device 22 to move, so as to drive the body 21 to move in the first cleaning region to perform the cleaning task. One end of the lifting device 23 is arranged on the machine body 21, the tray device 24 is arranged on the other end of the lifting device 23, the tray device 24 is used for accommodating the sub-robot 10, the lifting device 23 is electrically connected or in signal connection with the control device, and the sub-robot 10 is in signal connection with the control device.

When the master robot 20 recognizes the second cleaning area, the control means can control the lifting means 23 to make an ascending motion with respect to the body 21 to lift the tray means 24 to the second cleaning area so that the slave robot 10 can reach the second cleaning area to perform a cleaning task; after the sub-robot 10 returns to the tray means 24 after completing the cleaning task in the second cleaning region, the control means controls the elevating means 23 to make a descending motion with respect to the body 21 to retract the tray means 24 to the body 21.

Referring to fig. 2, the body 21 has a second cavity 211 and a second opening 212. The second cavity 211 is formed by being recessed from the top of the body 21 to the bottom of the body 21, and the second opening 212 is located on the sidewall of the body 21, and the second opening 212 connects the second cavity 211 with the outside. The second cavity 211 is used for accommodating the lifting device 23 and the tray device 24, and the second opening 212 is used for allowing the sub-robot 10 to enter or exit the second cavity 211, so that the sub-robot 10 can also perform a cleaning task in the first cleaning area simultaneously with the main robot 20, and the cleaning efficiency of the cleaning robot 100 is effectively improved. Meanwhile, since the volume of the sub-robot 10 is smaller than that of the parent robot 20, when a cleaning task is performed in a cleaning area where obstacles such as a classroom, an office, etc. are many, the sub-robot 10 is more flexible than the parent robot 20, greatly reducing the time required for cleaning.

With respect to the above-mentioned driving device 22, please continue to refer to fig. 2, the driving device 22 includes a universal wheel 221, a first driving wheel 222 and a second driving wheel 223. In the moving direction of the parent robot 20, the universal wheel 221 is disposed at the front end of the bottom of the body 21, the first driving wheel 222 and the second driving wheel 223 are disposed at the rear end of the bottom of the body 21, and both the first driving wheel 222 and the second driving wheel 223 are electrically connected or signal-connected to the control device. The universal wheel 221, the first driving wheel 222 and the second driving wheel 223 are distributed in a triangular shape, the first driving wheel 222 and the second driving wheel 223 are independent structures, and the control device can independently control the first driving wheel 222 to drive the machine body 21 to move and independently control the second driving wheel 223 to drive the machine body 21 to move. The universal wheel 221, the first driving wheel 222 and the second driving wheel 223 cooperate together to enable the body 21 to perform forward, backward and steering movements.

Referring to fig. 1 and 5, the lifting device 23 is disposed in the second cavity 211, the lifting device 23 includes a folding bracket 231 and a second driving assembly (not shown), the second driving assembly is disposed on the machine body 21, the second driving assembly is connected to one end of the folding bracket 231, the second driving assembly is electrically connected or signal-connected to the control device, the other end of the folding bracket 231 is connected to the tray device 24, when the control device controls the second driving assembly to drive the folding bracket 231 to unfold, the tray device 24 moves upward relative to the machine body 21, and when the control device controls the second driving assembly to drive the folding bracket 231 to retract, the tray device 24 moves downward relative to the machine body 21.

In this embodiment, the number of the folding brackets 231 is two, and the two folding brackets 231 are respectively disposed at two sides of the tray device 24, so that the second driving assembly can be more stable in the process of driving the tray device 24 to ascend or descend. The folding bracket 231 includes a first bracket 2311 and a second bracket 2312, and the first bracket 2311 and the second bracket 2312 are rotatably connected. In other embodiments, the number of the folding brackets 231 may be three, and the three folding brackets 231 are distributed in a triangular shape, so as to further enhance the stability of the tray device 24 in the lifting movement.

In some embodiments, the second driving assembly may be a worm gear, a gear motor, a stepping motor, or the like, and the driving parameter of the second driving assembly corresponds to the lifting height of the other end of the folding bracket 231, for example, the other end of the folding bracket 231 is lifted or lowered by one millimeter or the like for each rotation of the rotating shaft of the gear motor, so that the second driving assembly can accurately lift the tray device 24 to an accurate height so that the sub-robot can enter the second cleaning area to perform the cleaning task. Of course, it is within the scope of the present application to replace the folding bracket 231 with a telescopic rod like an antenna, etc., a splice link, a rail slide, etc.

Referring to fig. 3, the tray device 24 includes a tray 241, a baffle 242, and a first driving assembly (not shown). The tray 241 is connected with the other end of the folding bracket 231, the tray 241 is used for the sub-robot 10 to stop, one side of the baffle 242 is rotatably connected with the tray 241, the first driving component is arranged on the tray 241 and connected with the baffle 242, the first driving component is also electrically connected or in signal connection with a control device, and the control device is used for controlling the first driving component to move so as to drive the baffle 242 to open the tray 241, so that the sub-robot 10 stopped on the tray 241 can be driven away from the tray 241 to enter a second cleaning area; when the sub-robot 10 returns to the tray 241, the control means may also control the first driving component to move to drive the flap 242 to close the tray 241, preventing the sub-robot 10 from slipping out of the tray 241 and falling off during the lifting of the tray 241, and damaging the sub-robot 10.

With reference to the above-mentioned tray 241, please continue to refer to fig. 3, the tray 241 includes a bottom plate 2411 and a side plate 2412, the bottom plate 2411 and the side plate 2412 together enclose a first cavity 2413, and the first cavity 2413 is used for accommodating the sub-robot 10. The side plate 2412 is provided with a first opening 2414, and the first opening 2414 is used for the child robot 10 to enter or drive out of the first cavity 2413. The baffle 242 is disposed at the first opening 2414, one side of the baffle 242 is rotatably connected to the bottom plate 2411, the baffle 242 is configured to open or close the first opening 2414, specifically, when the first driving assembly drives the baffle 242 to move to the first position, the baffle 242 closes the first opening 2414, and the baffle 242 presses the sub-robot 10 parked in the first cavity 2413; when the first driving assembly drives the baffle 242 to move to the second position, the baffle 242 opens the first opening 2414, and the opened baffle 242 can be connected with the base plate 2411 to form a passage, i.e., the baffle 242 serves as a bridge and can connect the gap between the base plate 2411 and the second cleaning area, so that the sub-robot 10 can smoothly enter the second cleaning area from the first cavity 2413 or return the second cleaning area to the first cavity 2413. The surface of the bottom plate 2411 facing the first cavity 2413 is provided with anti-skid protrusions 2421 to increase the roughness of the surface of the bottom plate 2411, so that the sub-robot 10 can move on the bottom plate 2411 conveniently, and the slipping phenomenon of the sub-robot 10 during moving in the first cavity 2413 is prevented.

In some embodiments, the surface of the barrier 242 facing the first cavity 2413 is also provided with anti-slip protrusions 2421 to increase the roughness of the surface of the barrier 242 to facilitate the movement of the sub-robot 10 on the barrier 242 and prevent slippage of the sub-robot 10 on the barrier surface when moving from the second cleaning region to the first cavity 2413.

In some embodiments, the surface of the barrier 242 facing the first cavity 2413 is further provided with a protective layer (not shown) for abutting against the side wall of the sub-robot 10 entering the first cavity 2413 to protect the side wall of the sub-robot 10 and prevent the barrier 242 from pressing against the sub-robot 10 to damage the side wall of the sub-robot 10 when the first opening 2414 is closed. Wherein, the protective layer can be a sponge layer, a flexible cloth layer and the like.

Referring to fig. 3 and 5, the side plate 2412 is provided with a sliding groove 2415, an extending direction of the sliding groove 2415 is parallel to an extending direction of the bottom plate 2411, and the sliding groove 2415 is used for being connected with the other end of the first bracket 2311, so that the other end of the first bracket 2311 can slide in the sliding groove 2415 in a reciprocating manner. The other end of the second bracket 2312 is rotatably connected to the side plate 2412, and the other end of the second bracket 2312 is fixed relative to the side plate 2412. When the second driving assembly drives the first bracket 2311 and the second bracket 2312 to move in an unfolding mode, the other end of the first bracket 2311 slides in the sliding groove 2415 in a direction close to the other end of the second bracket 2312; when the second driving assembly drives the first bracket 2311 and the second bracket 2312 to move in a contracting manner, the other end of the first bracket 2311 slides in the sliding groove 2415 in a direction away from the other end of the second bracket 2312, so that the tray 241 is always kept parallel to the machine body 21 during the lifting movement.

In some embodiments, the first driving component can be a gear motor, a stepping motor, etc., and of course, in other embodiments, the tray device 24 can be provided without the first driving component, and the closing function of the flap 242 can be achieved by using the structural features of the parent robot 20 itself. Specifically, when the tray device 24 is lifted to the second cleaning area, the sub-robot 10 moves towards the first opening 2414 to open the baffle 242, the baffle 242 is opened to the second position to form a passage with the first opening 2414 (a corresponding limit structure can be arranged between the baffle 242 and the side plate 2412 to ensure that the baffle 242 can rotate to the second position after being opened), and the sub-robot 10 can move away from the first cavity 2413 to enter the second cleaning area to perform a cleaning task; after the sub-robot 10 returns to the first cavity 2413, the baffle 242 is still at the second position, the sub-robot 10 sends a signal to the parent robot 20, the control device controls the second driving assembly to drive the tray device 24 to descend until the baffle 242 abuts against the side wall of the second cavity 211 of the body 21 (the side wall of the second cavity 211 can be provided with corresponding guide bosses or guide pulleys), the second driving assembly continues to drive the tray device 24 to descend, the side wall of the second cavity 211 presses the baffle 242 to move to the first position until the baffle 242 returns to the first position, and then the action of closing the first opening 2414 by the baffle 242 is completed. The setting of first drive assembly has been reduced, can effectually reduce tray device 24's spare part, has simplified tray device 24's structure, effectively reduces female robot 20's energy consumption.

In some embodiments, with continued reference to fig. 3, the tray device 24 can further include a first locking element 243 and a second locking element 244. The first locking component 243 is arranged at one end of the side plate 2412 close to the first opening 2414, the second locking component 244 is arranged at the baffle 242, the first locking component 243 corresponds to the second locking component 244, when the first locking component 243 is connected with the second locking component 244, the baffle 242 closes the first opening 2414 and the baffle 242 is in a locking state; when the first locking assembly 243 is disengaged from the second locking assembly 244, the shutter 242 is in an unlocked state and is able to open the first opening 2414.

The first locking component 243 includes a first protrusion, the second locking component 244 includes a first slot, when the first protrusion is inserted into the first slot, the flap 242 closes the first opening 2414 and the flap 242 is fixed to the side plate 2412; when the first protrusion is separated from the first slot, the shutter 242 may open the first opening 2414. Of course, in some embodiments, the first locking component 243 includes a first slot, and the second locking component 244 includes a first protrusion, and the first protrusion and the first slot can be inserted into each other.

In other embodiments, the first locking member 243 and the second locking member 244 may be magnetic structures, such as the first locking member 243 and the second locking member 244 are made of a magnet on one side and a metal on the other side, or both magnets. Of course, the structure of the first and

second locking assemblies

243 and 244 using electromagnets is still within the scope of the present application.

In some embodiments, with continuing reference to fig. 3, the tray device 24 may further include a fixing member 245, the fixing member 245 is fixedly disposed on a surface of the side plate 2412 facing the first cavity 2413, the fixing member 245 is used for connecting with a side wall of the sub-robot 10 to fix the sub-robot 10 in the first cavity 2413, the sub-robot 10 is prevented from sliding out of the first cavity 2413, when the baffle 242 rotates from the second position to the first position after the sub-robot 10 enters the first cavity 2413, the baffle 242 provides a force to the sub-robot 10 to press the sub-robot 10, so that the sub-robot 10 fits tightly with the fixing member 245, the baffle 242 cooperates with the fixing member 245 to fix the sub-robot 10 in the first cavity 2413, and the sub-robot 10 is prevented from shaking in the first cavity 2413 and colliding with the tray device 24 during the movement of the parent robot 20.

In some embodiments, the fixing member 245 may be a flexible rubber, a flexible sponge, or an adhesive rubber, or an electromagnet, etc.

In some embodiments, referring to fig. 3 and 4, the tray device 24 includes a connecting rope 246, the fixing member 245 is slidably disposed on the side plate 2412, one end of the connecting rope 246 is connected to the fixing member 245, the other end of the connecting rope 246 is connected to the baffle 242, and a supporting pillar 2416 near the first opening 2414 is disposed on a surface of the side plate 2412 facing away from the first cavity 2413, the supporting pillar 2416 is used for supporting the connecting rope 246, and under the action of the connecting rope 246 and the fixing member 245, the tray 241 does not need to additionally provide a first driving assembly to drive the baffle 242 to move, and the baffle 242 can automatically open and close the first opening 2414. Specifically, when the tray device 24 reaches the second cleaning area and the sub-robot 10 receives the signal from the parent robot 20, the sub-robot 10 moves in the direction of the first opening 2414 to press the barrier 242, the first locking member 243 and the second locking member 244 are separated under the pressing force of the sub-robot 10, the barrier 242 is in the unlocked state and gradually rotates from the first position to the second position, and at this time, the barrier 242 moves the fixing member 245 in the direction of the first opening 2414 under the action of the connecting rope 246, and the sub-robot 10 can enter the second cleaning area to perform a cleaning task, and thus, the barrier 242 completes the step of opening the first opening 2414; when the sub robot 10 completes the cleaning task and returns to the first chamber 2413, after the sub robot 10 abuts against the fixing member 245, the sub robot 10 continues to move to push the fixing member 245 to slide on the side plate 2412 in a direction away from the first opening 2414, and under the action of the connecting rope 246 and the supporting column 2416, the barrier 242 is pulled by the connecting rope 246 and gradually moves from the second position to the first position until the first locking member 243 and the second locking member 244 are connected and the barrier 242 is in the locked state, and by this time, the barrier 242 completes the step of closing the first opening 2414. By providing the connecting rope 246 on the tray 24 and slidably disposing the fixing member 245 on the side plate 2412, the characteristics of the moving path of the sub-robot 10 can be fully utilized, so that the baffle 242 can automatically complete the step of opening or closing the first opening 2414 during the process of exiting or entering the first cavity 2413 of the sub-robot 10, thereby reducing the number of parts of the tray device 24 and reducing the energy consumption of the cleaning robot 100.

For the convenience of the reader to understand the inventive concept of the present application, the following describes the operation principle of the cleaning robot 100 according to the embodiment of the present application.

Referring to fig. 1 to 5, the cleaning robot 100 includes a parent robot 20 and a child robot 10, the parent robot 20 and the child robot 10 perform a cleaning task in a first cleaning area, when the parent robot 20 detects a second cleaning area having a certain height difference from the first cleaning area, the control device controls the second driving unit to drive the folding bracket 231 to unfold, and after the driving tray 241 rises to the height of the second cleaning area, the control device controls the first driving unit to drive the barrier 242 to open the first opening 2414, the parent robot 20 sends an exiting signal to the child robot 10, and the child robot 10 receives the exiting signal and moves from the first cavity 2413 to the second cleaning area to perform the cleaning task; when the sub-robot 10 returns to the first cavity 2413 after completing the cleaning task, the sub-robot 10 sends back a bin signal to the mother robot 20, after the mother robot 20 receives the bin signal, the control device controls the first driving assembly to drive the baffle 242 to close the first opening 2414, the baffle 242 cooperates with the fixing member 245 to fix the sub-robot 10 in the first cavity 2413, and the control device controls the second driving assembly to drive the folding bracket 231 to retract, so as to drive the tray 241 to descend to the second cavity 211.

The cleaning robot 100 of the embodiment of the present application includes a sub-robot 10 and a parent robot 20, wherein the parent robot 20 includes a body 21, a driving device 22, a lifting device 23, a tray device 24, and a control device, the driving device 22 is disposed on the body 21, the driving device 22 is used for driving the body 21 to move, the lifting device 23 is disposed on the body 21, the tray device 24 is disposed on the lifting device 23, the tray device 24 is used for the sub-robot 10 to stop, the lifting device 23 is used for driving the tray device 24 to ascend or descend relative to the body 21, so as to drive the sub-robot 10 to ascend or descend, the control device is disposed on the body 21, the control device is respectively in communication connection with the driving device 22, the lifting device 23, and the sub-robot 10, by disposing the lifting device 23 and the tray device 24 on the body 21 of the parent robot 20, so that the cleaning robot 100 can perform a cleaning task in an area with a height difference such as a step, the cleaning ability of the cleaning robot 100 is improved, and the user experience is improved.

The application also provides an embodiment of the cleaning system, the cleaning system comprises a base station and the cleaning robot 100, the base station is in signal connection with the cleaning robot 100, the base station is used for the cleaning robot 100 to stop, and the base station can at least provide services such as garbage recovery and cleaning liquid supply for the cleaning robot 100. For the structure and function of the cleaning robot 100, please refer to the above embodiments, which are not described herein.

The above description is only an example of the present application and is not intended to limit the scope of the present application, and all modifications of equivalent structures and equivalent processes, which are made by the contents of the specification and the drawings, or which are directly or indirectly applied to other related technical fields, are intended to be included within the scope of the present application.

Claims

1. A cleaning robot, characterized by comprising:

a sub-robot;

female robot, including organism, drive arrangement, elevating gear, tray device and controlling means, drive arrangement set up in the organism, drive arrangement is used for the drive the organism motion, elevating gear set up in the organism, tray device set up in elevating gear, tray device is used for supplying the sub-robot berths, elevating gear is used for the drive tray device for the organism rises or descends, thereby drives the sub-robot rises or descends, controlling means set up in the organism, controlling means respectively with drive arrangement, elevating gear and sub-robot communication connection.

2. The cleaning robot according to claim 1,

the tray device comprises a tray, the tray comprises a bottom plate and a side plate, the side plate is connected with the bottom plate and encloses a first cavity, the first cavity is used for accommodating the sub-robot, the side plate is provided with a first opening communicated with the first cavity, and the first opening is used for the sub-robot to enter and exit the first cavity.

3. The cleaning robot according to claim 2,

the tray device further comprises a baffle, one side of the baffle is rotatably arranged on the bottom plate, the baffle is used for opening or closing the first opening, when the baffle is located at a first position, the baffle closes the first opening, and when the baffle is located at a second position, the baffle opens the first opening.

4. The cleaning robot according to claim 3,

the bottom plate faces to one surface of the first cavity, and/or the baffle plate faces to one surface of the first cavity and is provided with anti-skidding protrusions.

5. The cleaning robot according to claim 3,

the tray device further comprises a first driving assembly, the first driving assembly is arranged on the tray and is connected with the baffle, the first driving assembly is in communication connection with the control device, and the first driving assembly is used for driving the baffle to rotate so that the baffle can open the first opening or close the first opening.

6. The cleaning robot of claim 3,

the tray device further comprises a first locking component and a second locking component, the first locking component is arranged on the side plate, the second locking component is arranged on the baffle plate, and the first locking component is used for being connected with the second locking component.

7. The cleaning robot according to claim 2,

the tray device further comprises a fixing piece, the fixing piece is arranged on the surface, facing the first cavity, of the side plate, and the fixing piece is used for fixing the sub-robot in the first cavity.

8. The cleaning robot according to claim 2,

the lifting device comprises a second driving assembly and a folding support, the second driving assembly is arranged on the machine body, one end of the folding support is connected with the second driving assembly, the other end of the folding support is connected with the tray device, and the second driving assembly is used for driving the folding support to be unfolded or folded.

9. The cleaning robot according to claim 8,

the machine body is provided with a second cavity, the second cavity is formed by sinking from the top of the machine body to the bottom of the machine body, and the second cavity is used for accommodating the lifting device and the tray device.

10. The cleaning robot according to claim 9,

the lateral wall of organism is equipped with the second opening, works as the tray device accept in when the second cavity, the second opening with first opening intercommunication, the second opening is used for supplying the business turn over of sub-robot the second cavity.

11. A cleaning system, characterized by comprising a cleaning robot according to any one of claims 1-10.