CN114983297A - Base station robot and intelligent machine system - Google Patents
Base station robot and intelligent machine system Download PDFInfo
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- CN114983297A CN114983297A CN202210460357.2A CN202210460357A CN114983297A CN 114983297 A CN114983297 A CN 114983297A CN 202210460357 A CN202210460357 A CN 202210460357A CN 114983297 A CN114983297 A CN 114983297A
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- maintenance
- base station
- robot
- housing
- station robot
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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
- A47L2201/02—Docking stations; Docking operations
- A47L2201/024—Emptying dust or waste liquid containers
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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
- A47L2201/028—Refurbishing floor engaging tools, e.g. cleaning of beating brushes
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
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- Manipulator (AREA)
Abstract
本发明公开了一种基站机器人以及智能机器系统，其中，该基站机器人包括：机器本体，具有维护腔以及连通维护腔与外部环境的出入口，出入口供自移动设备进出维护腔，维护腔内设有供至少两台自移动设备停靠的停靠位；维护装置，设置于机器本体，维护装置可同时对停靠在维护腔内的各自移动设备进行维护。通过上述技术方案，该基站机器人可以同时容纳至少两台自移动设备并同时对至少两台自移动设备进行维护，如此可提高基站机器人的维护效率。
The invention discloses a base station robot and an intelligent machine system, wherein the base station robot comprises: a machine body, a maintenance cavity and an entrance and exit connecting the maintenance cavity and the external environment, the entrance and exit are used for entering and exiting the maintenance cavity from a mobile device, and the maintenance cavity is provided with A parking space for at least two self-moving devices to park; a maintenance device is arranged on the machine body, and the maintenance device can simultaneously maintain the respective mobile devices parked in the maintenance cavity. Through the above technical solution, the base station robot can accommodate at least two self-moving devices and maintain at least two self-moving devices at the same time, so that the maintenance efficiency of the base station robot can be improved.
Description
Technical Field
The invention relates to the field of robot equipment, in particular to a base station robot and an intelligent machine system.
Background
The self-moving equipment such as a cleaning robot, a carrying robot, an express delivery robot, a detection robot and the like can automatically complete some cleaning, carrying and detection tasks by means of certain artificial intelligence, and provides convenience for life of people.
The base station is used as a component matched with the self-moving equipment and can provide maintenance service for the self-moving equipment; here with cleaning machines people example, when cleaning machines people carries out cleaning, the basic station can charge cleaning machines people, retrieves the rubbish on the cleaning machines people, washs, disinfects etc. to cleaning member such as mop, so can promote cleaning machines people's work efficiency.
The existing base station equipment can only be generally maintained by one self-moving equipment, and can not simultaneously maintain a plurality of self-moving equipment, so that the maintenance of a plurality of cleaning robots is required to be carried out one by one, the maintenance efficiency is low, and the improvement is needed urgently.
Disclosure of Invention
The embodiment provides a base station robot, and aims to solve the problem that a base station device cannot maintain multiple self-moving devices at the same time.
In order to achieve the above object, the present invention provides a base station robot, which is used in cooperation with a self-moving device, and includes: the machine body is provided with a maintenance cavity and an access port for communicating the maintenance cavity with an external environment, the access port is used for enabling mobile equipment to enter and exit the maintenance cavity, and at least two parking positions for parking the mobile equipment are arranged in the maintenance cavity; and the maintenance device is arranged on the machine body and can simultaneously maintain the mobile equipment stopped in the maintenance cavity.
In some embodiments of the present invention, the machine body is provided with at least two access ports for accessing from the mobile equipment, and each access port is communicated with the maintenance cavity.
In some embodiments of the present invention, the machine body includes a housing, a mounting seat, and a switching device, the mounting seat is movably connected with the housing, and the housing and the mounting seat cooperate to form the maintenance cavity; the maintenance device comprises a plurality of maintenance assemblies, and each maintenance assembly is arranged on the shell at intervals and is positioned above the mounting seat; the switching device is arranged on the shell, and the switching device works to drive the mounting base to move relative to the shell so as to enable the mobile equipment to move to the position below the corresponding maintenance component for maintenance, or the switching device works to drive the shell to move relative to the mounting base so as to enable the maintenance component to move to the position above the corresponding self-moving equipment for maintenance.
In some embodiments of the present invention, the mounting base is rotatably connected to the housing, the switching device includes a driving motor, the driving motor is mounted on the housing, the mounting base is fixedly connected to an output shaft of the driving motor, and the driving motor is operative to drive the mounting base to rotate relative to the housing.
In some embodiments of the present invention, the mounting seat is slidably connected to the housing, the switching device includes a motor, a lead screw, and a slider, the motor is mounted on the housing, the lead screw is fixedly connected to an output shaft of the motor, the housing is provided with a guide rail, the slider is slidably mounted on the guide rail and is in threaded connection with the lead screw, the slider is further fixedly connected to the mounting seat, and the motor drives the lead screw to rotate to drive the mounting seat to slide relative to the housing.
In some embodiments of the present invention, a mounting groove is formed in the bottom of the housing, the mounting seat is mounted in the mounting groove, and the outer sidewall of the housing is provided with the inlet and the outlet communicated with the mounting groove.
In some embodiments of the present invention, the base station robot further includes two walking modules and a universal wheel assembly, the two walking modules are installed at the bottom of the machine body in parallel, the universal wheel assembly is installed at the bottom of the machine body and is spaced apart from the two walking modules, and the two walking modules and the universal wheel assembly are used to drive the machine body to travel on the ground.
In some embodiments of the present invention, the base station robot further includes a detection device and a controller, the detection device and the controller are installed on the robot body, the detection device is configured to collect information about an environment around the base station robot and/or locate a position of each mobile device, and send a signal to the controller, and the controller is configured to control the two walking modules to work so that the robot body travels on the ground and/or performs a recycling work on each mobile device.
In some embodiments of the present invention, the machine body has a front end and a rear end which are oppositely arranged in a traveling direction of the base station robot, the front end portion of the machine body is recessed rearward to form a recessed portion, and the base station robot further includes two collision prevention devices which are respectively arranged at edges of both side ends of the recessed portion.
In some embodiments of the present invention, the maintenance device includes a maintenance component and at least one charging component, the maintenance component is mounted to the machine body for performing cleaning maintenance on the self-moving device parked in the maintenance cavity, and each charging component is mounted to the machine body for charging the corresponding self-moving device parked in the maintenance cavity.
In some embodiments of the invention, the maintenance assembly includes a cleaning assembly for cleaning the mobile device, a recycling assembly for recycling waste on the mobile device, and a water changing assembly for changing liquid in a tank on the mobile device.
In some embodiments of the invention, the bottom of the maintenance cavity is inclined to the ground adjacent to the entrance.
The invention also provides an intelligent machine system which comprises the base station robot and at least two self-moving devices, wherein the at least two self-moving devices can drive into the base station robot and carry out maintenance operation simultaneously.
According to the invention, the maintenance cavity and the access opening for communicating the maintenance cavity with the external environment are arranged on the machine body of the base station robot, the access opening can be used for the self-moving equipment to drive in, and the maintenance cavity can accommodate at least two self-moving equipment, so that the maintenance device arranged on the machine body can simultaneously maintain the at least two self-moving equipment, the maintenance efficiency of the base station robot on the respective mobile equipment is improved, and the maintenance time is saved.
Drawings
In order to more clearly illustrate the embodiments of the present invention 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, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the structures shown in the drawings without creative efforts.
FIG. 1 is a top view of an embodiment of an intelligent machine system of the present invention;
FIG. 2 is a schematic diagram of an embodiment of an intelligent machine system of the present invention;
FIG. 3 is a schematic structural diagram of a base station robot according to an embodiment of the present invention;
FIG. 4 is a cross-sectional view of an embodiment of the switching device of the present invention;
FIG. 5 is a cross-sectional view of an embodiment of the switching device of the present invention;
fig. 6 is a schematic structural diagram of a base station robot according to an embodiment of the present invention.
The reference numbers illustrate:
| reference numerals | Name (R) | Reference numerals | Name (R) | |
| 1000 | |
133 | |
|
| 100 | |
134 | |
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| | Maintenance cavity | 200 | |
|
| 100b | Entrance and |
210 | |
|
| 110 | |
211 | |
|
| 111 | |
212 | |
|
| 112 | |
220 | |
|
| 120 | |
300 | |
|
| 130 | |
310 | |
|
| 131 | |
400 | |
|
| 132 | |
2000 | Self-moving equipment |
The implementation, functional features and advantages of the present invention will be further described with reference to the accompanying drawings.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that all directional indicators (such as upper, lower, left, right, front and rear … …) in the embodiment of the present invention are only used to explain the relative position relationship between the components, the movement situation, etc. in a specific posture (as shown in the drawing), and if the specific posture is changed, the directional indicator is changed accordingly.
In addition, the descriptions related to "first", "second", etc. in the present invention are for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In addition, the technical solutions in the embodiments may be combined with each other, but it must be based on the realization of those skilled in the art, and when the technical solutions are contradictory or cannot be realized, such a combination should be considered to be absent and not within the protection scope of the present invention.
The invention provides a base station robot 1000, which is used together with a self-moving device 2000, wherein the base station robot 1000 is provided with a maintenance cavity 100a which can accommodate at least two self-moving devices 2000 and can simultaneously maintain the respective moving devices 2000 in the maintenance cavity 100 a.
The self-moving device 2000 may be a cleaning robot or a transfer robot traveling on the ground, the self-moving device 2000 may also be a flying drone flying in the air, the self-moving device 2000 may also be an unmanned ship traveling on the water, and the self-moving device 2000 is not particularly limited as long as it satisfies a machine having an autonomous moving capability.
Referring to fig. 1 to 3, the base station robot 1000 includes: the apparatus body 100 includes a maintenance chamber 100a and an entrance 100b communicating the maintenance chamber 100a with an external environment, the entrance 100b is used for allowing the mobile device 2000 to enter and exit the maintenance chamber 100a, and at least two parking positions for parking the mobile device 2000 are provided in the maintenance chamber 100 a.
The shape of the machine body 100 is various, and the machine body 100 may be disposed in a square shape, a cylindrical shape, or other shapes, and is not limited herein.
The maintenance cavity 100a may be formed by a cavity provided on the machine body 100, that is, a cavity reserved in the machine body 100 during production and manufacturing; the maintenance cavity 100a may also be formed by a box structure installed inside the machine body 100, and how the maintenance cavity 100a on the machine body 100 is formed is not particularly limited herein.
In addition, the position of the doorway 100b provided in the machine body 100 may be provided at the top of the machine body 100, may be provided at the bottom of the machine body 100, or may be provided at another position of the machine body 100, and preferably, the doorway 100b is provided according to a traveling route from the mobile device 2000, for example, when the mobile device 2000 is a machine traveling on the ground, the doorway 100b may be provided at the bottom of the side surface of the machine body 100 in order to facilitate the traveling from the mobile device 2000 into the maintenance chamber 100 a; for another example, when the self-moving device 2000 is an aircraft flying in the air, the doorway 100b may be provided at the top of the machine body 100 in order to facilitate the entry of the self-moving device 2000 into the maintenance cavity 100 a.
In addition, the shape of the doorway 100b may be various, and the shape of the doorway 100b may be square, trapezoidal, circular, or other shapes, which are not listed here.
It should be noted that the space of the maintenance chamber 100a provided in the machine body 100 should be large enough to allow the maintenance chamber 100a to accommodate at least two self-moving devices 2000 and have a parking place for at least two self-moving devices 2000 to park.
Further, the maintenance apparatus 200 is provided to the machine body 100, and the maintenance apparatus 200 can simultaneously perform maintenance on the respective mobile devices 2000 parked in the maintenance cavity 100 a.
It should be noted that the maintenance device 200 may be detachably connected to the machine body 100, such as a snap connection, a magnetic connection, a threaded connection, etc., and the maintenance device 200 may also be fixedly connected to the machine body 100, such as a welding connection, an adhesion connection, etc., preferably, the installation manner of the maintenance device 200 to the machine body 100 is a detachable installation manner, so as to facilitate subsequent maintenance and replacement of the maintenance device 200.
The maintenance apparatus 200 is mainly used to perform maintenance on the respective mobile devices 2000 docked in the maintenance chamber 100a at the same time, for example, the maintenance apparatus 200 may perform charging or battery replacement on the respective mobile devices 2000 in the maintenance chamber 100a at the same time, the maintenance apparatus 200 may perform cleaning and disinfection of the main body of the mobile devices in the maintenance chamber 100a at the same time, and the maintenance apparatus 200 may perform other maintenance operations on the mobile devices in the maintenance chamber 100a at the same time, which is not limited in this respect.
Through the above technical solution, the maintenance cavity 100a and the gateway 100b communicating the maintenance cavity 100a with the external environment are disposed on the robot body 100 of the base station robot 1000, the gateway 100b can be driven by the mobile device 2000, and the maintenance cavity 100a can accommodate at least two mobile devices 2000, so that the maintenance apparatus 200 disposed on the robot body 100 can simultaneously maintain at least two mobile devices 2000, thereby improving the maintenance efficiency of the base station robot 1000 on the respective mobile devices 2000 and saving the maintenance time.
Considering that a single gateway 100b is separately provided, when a plurality of self-moving devices 2000 are used, each self-moving device 2000 needs to enter the maintenance cavity 100a through one gateway 100b one by one, and after the maintenance operation is performed on each self-moving device 2000, each self-moving device 2000 needs to exit the maintenance cavity 100a through the gateway 100b one by one, so that it is not convenient for a plurality of self-moving devices 2000 to enter and exit the maintenance cavity 100a at the same time, in view of this, in order to facilitate each self-moving device 2000 to enter and exit the maintenance cavity 100a, please continue to refer to fig. 1 to 3, in an embodiment of the present invention, at least two gateways 100b for entering and exiting from the self-moving device 2000 are provided on the machine body 100, and each gateway 100b is provided in communication with the maintenance cavity 100 a.
It should be noted that, the entrances and exits 100b are arranged on the machine body 100 at intervals, the entrances and exits 100b may be linearly arranged on the machine body 100, the entrances and exits 100b may also be arranged at intervals along the circumferential direction of the machine body 100, and the entrances and exits 100b may also be arranged at two ends of the machine body 100 which are oppositely arranged, so that the respective mobile devices 2000 can directly exit from the maintenance cavity 100a from the other end of the machine body 100 after entering the maintenance cavity 100a from one end of the machine body 100 for maintenance, and do not need to bend in the maintenance cavity 100 a; the entrances and exits 100b may be disposed on the machine body 100 in other arrangements, which are not illustrated herein.
In order to facilitate the maintenance device 200 to simultaneously maintain the respective mobile devices 2000 in the maintenance cavity 100a, in an embodiment of the present invention, the machine body 100 includes a housing 110, a mounting seat 120, and a switching device 130, the mounting seat 120 is movably connected to the housing 110, and the housing 110 and the mounting seat 120 cooperate to form the maintenance cavity 100 a. The switching device 130 can move the mounting base 120 relative to the housing 110, or can move the housing 110 relative to the mounting base 120, so as to move the respective mobile devices 2000 docked in the service chamber 100a relative to the service device 200 and perform the service operation at different relative docking positions, thereby facilitating the service device 200 to simultaneously perform different service operations on the respective mobile devices 2000 in the service chamber 100 a.
Specifically, the housing 110 not only serves as a bearing structure for other components of the base station robot 1000, but also serves as an appearance structural member of the base station robot 1000, the housing 110 has various shapes, the housing 110 may be disposed in a cylindrical shape, the housing 110 may be disposed in a square column shape, and the housing 110 may be disposed in other shapes. Preferably, the housing 110 is disposed in a cylindrical shape, so as to enhance the overall aesthetic feeling of the base station robot 1000.
It should be noted that, there are many relative positions where the mounting seat 120 is connected to the housing 110, for example, the mounting seat 120 may be connected to the housing 110 in an up-down position, the mounting seat 120 is disposed on the top of the housing 110, and a side of the mounting seat 120 facing the housing 110 and a side of the housing 110 corresponding to the mounting seat 120 jointly enclose the maintenance cavity 100 a; in addition, the mounting seat 120 may be disposed at the bottom of the housing 110, the mounting seat 120 abuts against the ground to support the housing 110, and a side of the mounting seat 120 facing the housing 110 and a side of the housing 110 corresponding to the mounting seat 120 jointly enclose the maintenance cavity 100 a.
For another example, the mounting seat 120 may also be connected with the housing 110 in a front-back position, the mounting seat 120 is disposed at the front end of the housing 110, the mounting seat 120 is provided with a parking position for the mobile machine to park, and a side of the mounting seat 120 facing the housing 110 and a side of the housing 110 corresponding to the mounting seat 120 jointly enclose the maintenance cavity 100 a; the relative positions of the connection between the mounting base 120 and the housing 110 are many, and are not described in detail here.
It should be noted that there are various connection manners for movably connecting the mounting base 120 and the housing 110, the connection manner for movably connecting the mounting base 120 and the housing 110 may be a rotational connection, the connection manner for movably connecting the mounting base 120 and the housing 110 may also be a sliding connection, and the connection manner for movably connecting the mounting base 120 and the housing 110 may also be another connection manner for movably connecting, which is not limited herein.
Further, the maintenance apparatus 200 includes a plurality of maintenance assemblies 210, and each maintenance assembly 210 is installed at a space above the installation base 120 in the housing 110, so that the respective mobile devices 2000 can be parked at a space on the installation base 120, and correspond to each maintenance assembly 210 in a one-to-one manner, and the maintenance assemblies 210 can conveniently maintain the respective mobile devices 2000 parked on the installation base 120.
In addition, the switching device 130 may be disposed on the housing 110, and the switching device 130 operates to drive the mounting base 120 to move relative to the housing 110 so as to move the respective mobile device 2000 to a position below the corresponding maintenance component 210 for maintenance, or the switching device 130 may be disposed on the mounting base 120 and the switching device 130 operates to drive the housing 110 to move relative to the mounting base 120 so as to move the respective maintenance component 210 to a position above the corresponding mobile device 2000 for maintenance of the mobile device 2000.
With this arrangement, each mobile device 2000 can perform maintenance under the corresponding maintenance component 210, and under the driving of the switching device 130, each mobile device 2000 moves to the lower side of the corresponding maintenance component 210, or each maintenance component 210 moves to the upper side of the corresponding mobile device 2000, so that the base station robot 1000 can perform various maintenance operations on each mobile device 2000 at the same time.
Specifically, each maintenance component 210 is mounted on the housing 110 at an interval and located above the mounting seat 120, so that when the mounting seat 120 moves relative to the housing 110, or when the housing 110 moves relative to the mounting seat 120, the respective moving device resting on the resting position can be aligned with the corresponding maintenance component 210, so that the corresponding maintenance component 210 can maintain the self-moving device 2000 at the corresponding position.
It should be noted that, in order to facilitate the switching device 130 to drive the respective mobile device 2000 to align with the corresponding maintenance component 210, in this embodiment, the mounting base 120 moves relative to the housing 110, the respective mobile device 2000 rests on a side of the mounting base 120 facing the maintenance component 210, and the switching device 130 drives the mounting base 120 to move relative to the housing 110 so that the respective mobile device 2000 resting on the mounting base 120 can move to a position below the corresponding maintenance component 210 for maintenance.
In addition, there are many mechanisms for driving the mounting base 120 to move relative to the housing 110 by the switching device 130, and the switching device 130 can be configured according to different movable connection modes of the mounting base 120 and the housing 110.
For example, in an embodiment of the present invention, the movable connection between the mounting base 120 and the housing 110 is a rotational connection, the switching device 130 includes a driving motor 131, the driving motor 131 is mounted on the housing 110, the mounting base 120 is fixedly connected to an output shaft of the driving motor 131, and the driving motor 131 is operative to drive the mounting base 120 to rotate relative to the housing 110.
With this arrangement, the driving motor 131 can drive the mounting seat 120 to rotate relative to the housing 110, so that the respective moving device 2000 resting on the mounting seat 120 rotates relative to the respective maintenance assembly 210 and moves to a position below the corresponding maintenance assembly 210, so that the corresponding maintenance assembly 210 can perform maintenance operation on the corresponding self-moving device 2000.
Specifically, the mounting seat 120 and the housing 110 may be rotatably connected by a bearing seat and a transmission shaft, which is implemented as follows: the housing 110 is provided with a bearing seat, an inner hole central shaft of the bearing seat extends up and down, a transmission shaft is convexly arranged on the mounting seat 120, the transmission shaft penetrates through the bearing seat and is fixedly connected with an output shaft of a driving motor 131 arranged on the housing 110, and the driving motor 131 works to drive the transmission shaft to rotate so as to drive the mounting seat 120 to rotate.
In addition, since the mounting seat 120 bears the self-moving device 2000, a large torque is required when the driving motor 131 drives the mounting seat 120 to rotate, and at this time, in order to prevent the driving motor 131 from normally driving the mounting seat 120 to rotate, the switching device 130 may further include a reduction gearbox, an output shaft of the driving motor 131 is connected to an input end of the reduction gearbox, and an output end of the reduction gearbox is connected to the mounting seat 120, so that the output torque of the driving motor 131 can be increased, and the driving motor 131 can be prevented from driving the mounting seat 120 to rotate.
For another example, referring to fig. 4 to fig. 5, in another embodiment of the present invention, the mounting base 120 is slidably connected to the housing 110, the switching device 130 includes a motor 132, a lead screw 133 and a slider 134, the motor 132 is mounted on the housing 110, the lead screw 133 is fixedly connected to an output shaft of the motor 132, the housing 110 is provided with a guide rail 111, the slider 134 is slidably mounted on the guide rail 111 and is in threaded connection with the lead screw 133, the slider 134 is further fixedly connected to the mounting base 120, and the motor 132 drives the lead screw 133 to rotate to drive the mounting base 120 to slide relative to the housing 110.
So configured, the motor 132 can drive the mounting seat 120 to slide relative to the housing 110, so that the respective moving device 2000 resting on the mounting seat 120 slides relative to the respective maintenance assembly 210 and moves to a position below the corresponding maintenance assembly 210, so that the corresponding maintenance assembly 210 can perform maintenance operation on the corresponding self-moving device 2000.
Specifically, when the self-moving device 2000 needs to be maintained, the respective self-moving device 2000 enters the maintenance cavity 100a through the access opening 100b, at this time, the respective self-moving device 2000 stops at the upper surface of the mounting seat 120, the maintenance assemblies 210 on the housing 110 on the opposite side of the mounting seat 120 perform maintenance on the corresponding self-moving device 2000, when the maintenance assemblies 210 perform maintenance on the corresponding self-moving device 2000 and need to perform the next maintenance operation, the motor 132 can drive the screw 133 to rotate to drive the mounting seat 120 to slide relative to the housing 110, the respective self-moving device 2000 stopped at the mounting seat 120 slides relative to the housing 110 to the lower side of the next maintenance assembly 210, and then performs the next maintenance operation, after the maintenance operation of the self-moving device 2000 is completely completed, the motor 132 can drive the screw 133 to rotate again to drive the mounting seat 120 to slide relative to the housing 110 to the original position, and exits the maintenance cavity 100a through the doorway 100 b.
In order to ensure a simple appearance of the base station robot 1000, the mounting seat 120 may be installed in the housing 110, so that the mounting seat 120 can be covered by the housing 110, in view of this, in an embodiment of the present invention, a mounting groove is disposed at the bottom of the housing 110, the mounting seat 120 is installed in the mounting groove, and the outer side wall of the housing 110 is provided with an inlet 100b communicated with the mounting groove.
Specifically, the shape of this mounting groove has the multiple, and this mounting groove can be circular slot shape setting, also can be square slot shape setting, can also be other kinds of shape cell body settings, and is preferred, and the shape of this mounting groove is similar with the shape of mount pad 120 to have the space that supplies mount pad 120 relatively to move about.
Also, in the present embodiment, the respective mobile devices 2000 are cleaning robots traveling on the floor, and the doorway 100b is provided on an outer sidewall of the housing 110 to facilitate the entry and exit of the respective cleaning robots into and out of the maintenance chamber 100 a.
In order to facilitate the base station robot 1000 to recover and maintain the respective mobile devices 2000, please refer to fig. 6, in an embodiment of the present invention, the base station robot 1000 further includes two walking modules 300 and a universal wheel assembly 310, the two walking modules 300 are installed at the bottom of the machine body 100 in parallel, the universal wheel assembly 310 is installed at the bottom of the machine body 100 and spaced from the two walking modules 300, and the two walking modules 300 and the universal wheel assembly 310 are used to drive the machine body 100 to travel on the ground.
So configured, the base station robot 1000 may travel on the ground, facilitating retrieval of the self-moving device 2000 at different locations. For example, when the power of the self-moving device 2000 runs low, the base station robot 1000 may travel to the self-moving device 2000 with low power by the driving of the two traveling modules 300 and the universal wheel assembly 310, and at this time, the self-moving device 2000 may travel into the maintenance cavity 100a of the base station robot 1000 for charging or battery replacement before the power runs low.
Considering that the base station robot 1000 may collide with surrounding objects, such as walls, tables, and chairs, when traveling, in order to avoid the collision between the base station robot 1000 and the surrounding objects, in an embodiment of the present invention, the base station robot 1000 further includes a detection device and a controller, the detection device and the controller are installed on the robot body 100, the detection device is configured to collect surrounding environment information of the base station robot 1000 and/or locate the position of each mobile device 2000, and send a signal to the controller, and the controller is configured to control the two traveling modules 300 to operate so as to cause the robot body 100 to travel on the ground and/or perform recovery operation on each mobile device 2000.
Through the technical scheme, when the base station robot 1000 encounters an obstacle, the detection device can acquire the position of the obstacle and feed back the position to the controller, and the controller controls the universal wheel assembly 310 and the two walking modules 300 to work so as to avoid the obstacle to walk; when the mobile device 2000 needs to be recovered, the detection device may detect the position of the mobile device 2000, and feed the specific position back to the controller, and the controller controls the universal wheel assembly 310 and the two walking modules 300 to work so as to travel to the side of the mobile device 2000 to be recovered, and then recover the mobile device 2000.
In addition, the detecting device may be a laser navigation sensor, a visual navigation sensor, or other sensors with navigation positioning, and is not limited in this respect.
Considering that the base station robot 1000 inevitably collides with an obstacle due to an excessively fast speed or a steering avoidance action is not performed in time during the traveling process, and external parts of the robot body 100 are easily damaged, in order to prevent the base station robot 1000 from seriously colliding with other objects during the traveling process, in an embodiment of the present invention, the robot body 100 has a front end and a rear end which are oppositely arranged in the traveling direction of the base station, the front end portion of the robot body 100 is recessed rearward to form a recess, the base station robot 1000 further includes two collision prevention devices 400, and the two collision prevention devices 400 are respectively arranged at edges of two side ends of the recess.
Thus, each collision avoidance device 400 can play a certain role in buffering and protecting the base station robot 1000 from colliding with other objects and damaging the machine body 100.
Moreover, the anti-collision device 400 is generally configured to be in a ring shape or a semi-ring shape or a C-shape, so that the collision area between the anti-collision device 400 and an object can be increased, the contact area is large, the collision force received during collision can be dispersed, and the instantaneous impact force generated by collision can be reduced. Further, the anti-collision device 400 may be fixedly connected to the machine body 100, and the anti-collision device 400 may also be elastically connected to the machine body 100, so as to enhance the buffering effect on collision.
After the autonomous operation, the mobile device 2000 is usually charged or its battery is replaced to keep its charge sufficient for the next task, and when the self-moving apparatus 2000 is a cleaning apparatus, such as a cleaning robot like a sweeping robot, a mopping robot, etc., in order to ensure that the cleaning parts on the cleaning robot are clean when the next task is executed, the dust collecting box has the residual space for storing garbage and dust, the cleaning parts are generally required to be cleaned, the dust collecting box is emptied, therefore, in an embodiment of the present invention, the maintenance apparatus 200 includes a maintenance component 210 and at least one charging component 220, the maintenance component 210 is mounted to the machine body 100 for cleaning and maintaining the self-moving device 2000 parked in the maintenance cavity 100a, and each charging component 220 is mounted to the machine body 100 for charging the corresponding self-moving device 2000 parked in the maintenance cavity 100 a.
Further, the maintenance assembly 210 includes a cleaning assembly (not shown) for cleaning the mobile device 2000, a recycling assembly 211 for recycling the garbage on the mobile device 2000, and a water changing assembly 212 for changing the liquid in the water tank of the mobile device 2000.
For example, when the base station robot 1000 needs to maintain two cleaning robots, wherein the first cleaning robot can first enter the maintenance cavity 100a from the entrance 100b, the cleaning component, the recycling component 211 and the water changing component 212 on the robot body 100 simultaneously maintain the cleaning robots, the cleaning component cleans cleaning members of the cleaning robots, such as rolling brushes, side brushes or mops, the recycling component 211 starts to suck and recycle garbage in the dust collecting boxes of the cleaning robots, the water changing component 212 changes water in the water tanks of the cleaning robots, sewage is pumped to the sewage tanks on the base station robot 1000, water in the clean water tanks on the base station is guided into the water buckets on the cleaning robots, and then the switching device 130 operates to drive the mounting base 120 to rotate, so that the cleaning robots cleaned by the cleaning components rotate to the charging stations to be connected with the charging component 220 for charging, at this time, the second cleaning robot drives into the maintenance cavity 100a from the entrance 100b, each maintenance device 200 again maintains and cleans the cleaning robot, and then the switching device 130 operates to drive the mounting base 120 to rotate, so that the first cleaning robot is transferred from the original charging station to the next charging station for charging, and the second cleaning robot is driven by the mounting base 120 to the original charging station for charging, so that the base station robot 1000 can simultaneously maintain and clean the mobile device 2000.
In addition, in order to facilitate the driving of the respective mobile device 2000 into the maintenance cavity 100a, in an embodiment of the present invention, the bottom of the maintenance cavity 100a is disposed to be inclined toward the ground adjacent to the doorway 100 b. Thus configured, a guide slope 112 may be formed, the guide slope 112 facilitating the entry of the respective mobile device 2000 into the maintenance cavity 100 a.
The invention also provides an intelligent machine system, which comprises a base station robot 1000 and at least two self-moving devices 2000, wherein the at least two self-moving devices 2000 can drive into the base station robot 1000 and perform maintenance operation simultaneously.
The specific structure of the base station robot 1000 refers to the above embodiments, and since the base station robot 1000 adopts all technical solutions of all the above embodiments, at least all the beneficial effects brought by the technical solutions of the above embodiments are achieved, and are not described in detail herein.
The base station robot 1000 can accommodate two self-moving devices 2000, three self-moving devices 2000 or more self-moving devices 2000 for maintenance at the same time, and the specific number of self-moving devices 2000 that the base station robot 1000 can accommodate is not limited herein.
Further, the base station robot 1000 may track from the mobile device 2000 and travel to a fixed location to perform recovery maintenance from the mobile device 2000. For example, the mobile devices 2000 are cleaning robots, when a large area is cleaned, a plurality of cleaning robots may be used to clean the floor in different areas at the same time, and when each cleaning robot performs a cleaning task in a corresponding area, each cleaning robot does not need to travel back to the location of the base station robot 1000 by itself, and the base station robot 1000 may navigate and plan a recycling route according to the location of the different cleaning robots and travel to a location where each cleaning robot is convenient to recycle, so as to recycle the cleaning robot, perform maintenance, save maintenance, and improve cleaning efficiency.
The above description is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention, and all modifications and equivalents of the present invention, which are made by the contents of the present specification and the accompanying drawings, or directly/indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (13)
1. A base station robot for use with a self-moving device, the base station robot comprising:
the machine body is provided with a maintenance cavity and an access port for communicating the maintenance cavity with an external environment, the access port is used for enabling mobile equipment to enter and exit the maintenance cavity, and at least two parking positions for parking the mobile equipment are arranged in the maintenance cavity;
and the maintenance device is arranged on the machine body and can simultaneously maintain the mobile equipment stopped in the maintenance cavity.
2. The base station robot as claimed in claim 1, wherein the robot body is provided with at least two ports for access from the mobile device, each of the ports being provided in communication with the maintenance chamber.
3. The base station robot of claim 1, wherein the robot body comprises a housing, a mounting base, and a switching device, the mounting base is movably connected with the housing, and the housing and the mounting base cooperate to form the maintenance cavity;
the maintenance device comprises a plurality of maintenance assemblies, and each maintenance assembly is arranged on the shell at intervals and is positioned above the mounting seat;
the switching device is arranged on the shell, and the switching device works to drive the mounting base to move relative to the shell so as to enable the mobile equipment to move to the position below the corresponding maintenance component for maintenance, or the switching device works to drive the shell to move relative to the mounting base so as to enable the maintenance component to move to the position above the corresponding self-moving equipment for maintenance.
4. The base station robot of claim 3 wherein said mounting block is rotatably coupled to said housing, and wherein said switching device includes a drive motor mounted to said housing, said mounting block being fixedly coupled to an output shaft of said drive motor, said drive motor being operative to drive said mounting block for rotation relative to said housing.
5. The base station robot as claimed in claim 3, wherein the mounting base is slidably connected to the housing, the switching device includes a motor, a lead screw, and a slider, the motor is mounted on the housing, the lead screw is fixedly connected to an output shaft of the motor, the housing is provided with a guide rail, the slider is slidably mounted on the guide rail and is in threaded connection with the lead screw, the slider is further fixedly connected to the mounting base, and the motor drives the lead screw to rotate so as to drive the mounting base to slide relative to the housing.
6. The base station robot as claimed in claim 3, wherein a mounting groove is formed at a bottom of the housing, the mounting seat is mounted in the mounting groove, and the outer sidewall of the housing is penetrated with the inlet and the outlet communicated with the mounting groove.
7. The base station robot as claimed in claim 1, further comprising two walking modules and a universal wheel assembly, wherein the two walking modules are installed at the bottom of the robot body in parallel, the universal wheel assembly is installed at the bottom of the robot body and spaced apart from the two walking modules, and the two walking modules and the universal wheel assembly are used for driving the robot body to travel on the ground.
8. The base station robot as claimed in claim 7, further comprising a detection device and a controller, wherein the detection device and the controller are mounted on the robot body, the detection device is configured to collect the surrounding environment information of the base station robot and/or locate the position of the respective mobile device, and send a signal to the controller, and the controller is configured to control the two walking modules to work so as to enable the robot body to travel on the ground and/or to perform the recycling work on the respective mobile device.
9. The base station robot as claimed in claim 7, wherein the robot body has a front end and a rear end which are oppositely arranged in a traveling direction of the base station robot, the front end portion of the robot body is recessed rearward to form a recessed portion, and the base station robot further comprises two collision prevention devices which are respectively arranged at edges of both side ends of the recessed portion.
10. The base station robot as claimed in claim 1, wherein the maintenance device includes a maintenance component and at least one charging component, the maintenance component is mounted to the robot body for performing cleaning maintenance on the self-moving device parked in the maintenance cavity, and each charging component is mounted to the robot body for charging the corresponding self-moving device parked in the maintenance cavity.
11. The base station robot as recited in claim 10, wherein the maintenance component includes a cleaning component for cleaning the mobile device, a recycling component for recycling waste from the mobile device, and a water changing component for changing liquid in a tank on the mobile device.
12. The base station robot of claim 1, wherein a bottom of the maintenance cavity is disposed to be inclined to the ground adjacent to the entrance and the exit.
13. An intelligent machine system, comprising the base station robot according to any one of claims 1 to 12 and at least two self-moving devices that can be driven into the base station robot and perform maintenance work simultaneously.
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| CN202210460357.2A CN114983297B (en) | 2022-04-28 | 2022-04-28 | Base station robots and intelligent machine systems |
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| EP3494855A1 (en) * | 2017-12-06 | 2019-06-12 | BSH Hausgeräte GmbH | Method and device for exchange of functional modules of a domestic robot |
| CN217659663U (en) * | 2022-04-28 | 2022-10-28 | 深圳银星智能集团股份有限公司 | Base station robot and intelligent machine system |
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| US5959423A (en) * | 1995-06-08 | 1999-09-28 | Minolta Co., Ltd. | Mobile work robot system |
| EP1759965A1 (en) * | 2005-09-05 | 2007-03-07 | Samsung Gwangju Electronics Co., Ltd. | Mobile robot system having a pluriality of exchangeable work modules and method of controlling the same |
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| CN114983297B (en) | 2025-10-21 |
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