CN118078167A

CN118078167A - Cleaning system and base station

Info

Publication number: CN118078167A
Application number: CN202410411057.4A
Authority: CN
Inventors: 杨慧民; 杨文强; 徐远福; 蒋月红; 唐泽恒
Original assignee: Ecovacs Robotics Suzhou Co Ltd
Current assignee: Ecovacs Robotics Suzhou Co Ltd
Priority date: 2024-04-07
Filing date: 2024-04-07
Publication date: 2024-05-28

Abstract

The present disclosure relates to a cleaning system and a base station, comprising: the cleaning robot comprises a first robot, a second cleaning robot and a base station. Wherein the first robot and the second robot are each configured to sweep the work area; the base station comprises a machine body, wherein the machine body is provided with a containing cavity, and the containing cavity is used for alternatively stopping the first robot and the second robot. The present disclosure provides a cleaning system comprising two robots and a base station, wherein the first robot and the second robot share the same base station, and the two robots can enter into the accommodating cavity of the base station for maintenance at different times. The user does not need to spend twice the occupied space and sets a base station for each robot, and the two robots can be cooperatively maintained, so that the user experience is improved.

Description

Cleaning system and base station

Technical Field

The disclosure relates to the field of smart home, in particular to a cleaning system; the present disclosure also relates to a base station.

Background

Along with the development of economy, the living standard of people is gradually improved, intelligent household appliances gradually enter ordinary families, and cleaning robots are more and more favored by people. At present, the machine body of many cleaning robot products in the market is thick and wide, and the short and narrow areas under many furniture cannot be accessed, so that the coverage rate of the whole house is not high. There are also some ultra-thin cleaning robots on the market, which have a slim body and can enter a low area, but integrate the functions of the robot, and cannot meet the needs of users. How to consider the functional comprehensiveness and the full house coverage rate of the cleaning robot is a technical problem to be solved in the field.

Disclosure of Invention

The present disclosure provides a cleaning system and a base station in order to solve the problems existing in the prior art.

According to a first aspect of the present disclosure, there is provided a cleaning system comprising:

a first robot configured to clean a work area;

a second robot configured to sweep a work area;

the base station comprises a machine body, wherein the machine body is provided with a containing cavity, and the containing cavity is used for alternatively stopping the first robot and the second robot.

In one embodiment of the present disclosure, the first robot is a primary cleaning robot configured to sweep a primary work area; the second robot is an auxiliary cleaning robot configured to clean an auxiliary work area.

In one embodiment of the present disclosure, the main cleaning robot is provided with a first charging part thereon; a second charging part is arranged on the auxiliary cleaning robot; the machine body is provided with a first power supply part and a second power supply part at the position of the accommodating cavity;

Wherein the first power supply part is configured to dock the first charging part to charge the main cleaning robot when the main cleaning robot is docked in the accommodating chamber; the second power supply part is configured to dock the second charging part to charge the auxiliary cleaning robot when the auxiliary cleaning robot is docked in the accommodating chamber.

In one embodiment of the present disclosure, the second charging part is two charging ports provided at an interval on the auxiliary cleaning robot, and a charging terminal provided in the charging port; the second power supply part comprises a positioning part which extends outwards from the machine body and is used for being spliced with the charging port, and a power supply terminal which is arranged on the positioning part and is used for being communicated with the charging terminal.

In one embodiment of the disclosure, two positioning ports are arranged on the main cleaning robot at intervals; the positioning portion is configured to be inserted into the positioning opening when the main cleaning robot is docked in the accommodating chamber.

In one embodiment of the present disclosure, the charging port and/or locating port is configured as a flared structure, and the locating portion is configured to interface with the charging port or locating port via guidance of the flared structure.

In one embodiment of the disclosure, the main cleaning robot is further provided with a first dust outlet; the auxiliary cleaning robot is provided with a second dust outlet; the machine body is provided with a first dust collecting port and a second dust collecting port at the position of the accommodating cavity; the first dust collection port is configured to dock the first dust outlet when the main cleaning robot is docked in the receiving cavity; the second dust collection port is configured to dock with the second dust outlet port when the auxiliary cleaning robot is docked in the receiving cavity.

In one embodiment of the present disclosure, a dust collection chamber and a switching valve are provided in the machine body, and the first dust collection port and the second dust collection port are configured to communicate with the dust collection chamber through the switching valve.

In one embodiment of the present disclosure, the switching valve is configured to alternatively open a passage between the first dust collection port or the second dust collection port and the dust collection chamber to collect dust of the main cleaning robot when the main cleaning robot is parked in the accommodating chamber; or, to collect dust from the auxiliary cleaning robot when the auxiliary cleaning robot is stopped in the accommodating chamber.

In one embodiment of the disclosure, the base station comprises a base at the bottom of the body, the base comprising a ramp extending outwardly from the open end of the receiving cavity; two rows of guide mechanisms protruding out of the surface of the climbing piece are arranged on the climbing piece at intervals.

In one embodiment of the present disclosure, when the auxiliary cleaning robot walks on the climbing member, two rows of the guide mechanisms are located inside two walking wheels of the auxiliary cleaning robot and are configured to cooperate with the walking wheels of the corresponding sides to guide the auxiliary cleaning robot into the accommodation chamber.

In one embodiment of the present disclosure, the two rows of guide mechanisms are configured to extend obliquely on the climbing member in a mutually approaching manner from an end thereof adjacent to the accommodation chamber to an end thereof remote from the accommodation chamber.

In one embodiment of the disclosure, the walking direction of the main cleaning robot and the auxiliary cleaning robot on the climbing member is recorded as an X-axis direction; the guide mechanism comprises a rotating part which is rotationally connected to the climbing piece; the rotating part is configured to protrude from the surface of the climbing element;

When the auxiliary cleaning robot is deviated on the climbing member, the traveling wheel is configured to contact with the rotating part and drive the rotating part to rotate, so as to guide the auxiliary cleaning robot to enter the accommodating cavity.

In one embodiment of the present disclosure, each of the guide mechanisms includes at least two of the rotating portions sequentially arranged in the X-axis direction; the rotating portions adjacent to the accommodation chamber are configured to extend in the X-axis direction, and the other rotating portions are configured to extend obliquely toward the midline direction of the climbing member.

In one embodiment of the present disclosure, the inclination angle of the rotating portion becomes gradually larger from the vicinity of the accommodating chamber to the direction away from the accommodating chamber.

In one embodiment of the disclosure, the climbing member is provided with two first wheel grooves arranged at intervals, and the first wheel grooves are configured to stop at two traveling wheels of the main cleaning robot.

In one embodiment of the present disclosure, the base further comprises a cleaning portion at the bottom of the receiving cavity, the cleaning portion being configured for mating with a dishcloth tray of the primary cleaning robot; two second wheel grooves are arranged on the cleaning part at intervals, and the second wheel grooves are configured to accommodate two travelling wheels of the auxiliary cleaning robot.

In one embodiment of the disclosure, the cleaning part comprises a dirt holding tank and a filter screen detachably arranged above the dirt holding tank; the second wheel well is configured to be disposed on a filter screen.

In one embodiment of the present disclosure, the filter screen is provided with a primary dishcloth tray cleaning zone configured for cleaning a primary dishcloth tray of the primary cleaning robot; an auxiliary cleaning zone is provided on one side of the filter screen, the auxiliary cleaning zone being configured as an auxiliary dishcloth tray for cleaning the main cleaning robot.

In one embodiment of the present disclosure, a support part is provided on the climbing member, the support part being configured to support a universal wheel of the auxiliary cleaning robot when the auxiliary cleaning robot is docked in the receiving cavity.

In one embodiment of the present disclosure, the side wall of the support part is configured as an inclined surface.

In one embodiment of the present disclosure, the main cleaning robot is configured to acquire pose information of the auxiliary cleaning robot, and to control the auxiliary cleaning robot to walk;

The auxiliary cleaning robot has an identification area thereon, and the main cleaning robot is configured to acquire pose information of the auxiliary cleaning robot based on the identification area.

In one embodiment of the present disclosure, an outer contour of the auxiliary cleaning robot is configured to be circular arc-shaped; at least part of the side wall of the rear end of the auxiliary cleaning robot is constructed in a plane as the recognition area.

In one embodiment of the present disclosure, the identification zone is configured to be etched or painted to form a diffuse reflective area.

In one embodiment of the present disclosure, the second charging part is provided in an identification area of the auxiliary cleaning robot; and/or a second dust outlet is arranged in the identification area.

According to a second aspect of the present disclosure, there is provided a base station, including a body, the body being provided with a receiving cavity; the body is provided with a charging part at a position of the accommodating cavity, and the charging part is configured to be at least matched with the first robot so as to charge the first robot, or is configured to be at least docked with the second cleaning robot so as to charge the second robot.

The cleaning system comprises two robots and one base station, wherein the first robot and the second robot share the same base station, and the two robots can enter the accommodating cavity of the base station at different times for maintenance. The user does not need to spend twice the occupation of land space and sets up a basic station for every cleaning robot, and two robots can cooperate to maintain, have promoted user experience. Further, the first robot and the second robot may be cleaning robots of different sizes and different functions, for example: the first robot can have thicker size and comprehensive function, and the second robot can have ultra-thin size, can get into the low narrow region that main cleaning robot is difficult to clean, and two cleaning robots collaborative operation realizes the cleanness of the high coverage rate of full house.

Other features of the present disclosure and its advantages will become apparent from the following detailed description of exemplary embodiments of the disclosure, which proceeds with reference to the accompanying drawings.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments of the disclosure and together with the description, serve to explain the principles of the disclosure.

Fig. 1 is a schematic structural diagram of a base station in an embodiment of the present disclosure;

FIG. 2 is a schematic structural view of a main cleaning robot in an embodiment of the present disclosure;

FIG. 3 is a schematic view of a primary cleaning robot in a receiving cavity in an embodiment of the present disclosure;

FIG. 4 is a schematic view of the structure of an auxiliary cleaning robot in an embodiment of the present disclosure;

FIG. 5 is a schematic view of an auxiliary cleaning robot in a receiving cavity in an embodiment of the present disclosure;

Fig. 6 is a schematic diagram of an internal structure of a base station in an embodiment of the present disclosure;

Fig. 7 is a schematic diagram of a base station at another angle in an embodiment of the disclosure;

FIG. 8 is an enlarged view of a portion of FIG. 7 at A;

FIG. 9 is an exploded view of the structure of the base in an embodiment of the present disclosure;

FIG. 10 is a schematic view of the structure of the climbing member and the guide mechanism in an embodiment of the present disclosure;

FIG. 11 is a partial cross-sectional view of a base in an embodiment of the present disclosure;

FIG. 12 is a partial cross-sectional view of another position of the base in an embodiment of the present disclosure;

FIG. 13 is a bottom view of a main cleaning robot in an embodiment of the present disclosure;

FIG. 14 is a schematic view of an alternative angle of the auxiliary cleaning robot in an embodiment of the present disclosure;

FIG. 15 is a schematic view of an alternative angle of the auxiliary cleaning robot in an embodiment of the present disclosure;

Fig. 16 is a rear view of the auxiliary cleaning robot in an embodiment of the present disclosure.

The one-to-one correspondence between the component names and the reference numerals in fig. 1 to 16 is as follows:

1. A main cleaning robot; 11. a first charging unit; 12. a positioning port; 121. a first flare; 13. a first dust outlet; 14. a first traveling wheel; 15. a first universal wheel; 16. a first cleaning assembly; 161. a main dishcloth tray; 162. an auxiliary dishcloth tray; 163. a first suction opening; 164. a first side brush; 17. a first striker plate;

2. An auxiliary cleaning robot; 20. an identification area; 21. a second charging section; 211. a second flaring; 22. a second dust outlet; 23. a second travelling wheel; 24. a second universal wheel; 25. a second cleaning assembly; 251. a second suction port; 252. a second side brush; 253. a dust box; 26. a second striker plate; 261. a front window; 262. a side window; 27. a communication perspective window; 29. a light transmission region;

3. a base station; 31. a body; 311. a first power supply unit; 312. a second power supply unit; 3121. a positioning part; 3122. a power supply terminal; 313. a first dust collection port; 314. a second dust collection port; 315. a first dust collecting pipe; 316. a second dust collecting pipe; 317. a switching valve; 32. a receiving chamber; 33. a base; 331. climbing piece; 3311. a first wheel groove; 332. a guide mechanism; 3321. a rotating part; 333. a cleaning part; 3331. a second wheel groove; 3332. a dirt accommodating groove; 3333. a filter screen; 33331. a main dishcloth tray cleaning zone; 33332. an auxiliary cleaning area; 334. a support part; 335. a fixing seat.

Detailed Description

Various exemplary embodiments of the present disclosure will now be described in detail with reference to the accompanying drawings. It should be noted that: the relative arrangement of the components and steps, numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present disclosure unless it is specifically stated otherwise.

The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the disclosure, its application, or uses.

Techniques, methods, and apparatus known to one of ordinary skill in the relevant art may not be discussed in detail, but are intended to be part of the specification where appropriate.

It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further discussion thereof is necessary in subsequent figures.

In this document, "upper", "lower", "front", "rear", "left", "right", and the like are used merely to indicate relative positional relationships between the relevant portions, and do not limit the absolute positions of the relevant portions.

Herein, "first", "second", etc. are used only for distinguishing one another, and do not denote any order or importance, but rather denote a prerequisite of presence.

Herein, "equal," "same," etc. are not strictly mathematical and/or geometric limitations, but also include deviations that may be appreciated by those skilled in the art and allowed by fabrication or use, etc.

The present disclosure provides a cleaning system that may be used in a household or commercial cleaning setting. The cleaning system includes: the system comprises a first robot, a second robot and a base station. Wherein the first robot is configured to clean the working area, the second robot is configured to clean the working area, and the two robots can cooperatively work under program control while cleaning the working area. Specifically, the first robot and the second robot may be both self-moving cleaning robots, for example, a floor sweeping robot, a floor mopping robot, a floor sweeping and mopping robot, or the like. The present disclosure is not limited to a specific kind of self-moving robot. The base station may be fixedly arranged and the two robots may automatically return to the base station for charging and other maintenance work after the cleaning work of the work area is completed.

The base station comprises a machine body, wherein the machine body is provided with a containing cavity, and the containing cavity is used for alternatively stopping the first robot and the second robot. It should be noted that two robots cannot be accommodated in the accommodating chamber at the same time, and only one robot can be accommodated at a time. The first robot and the second robot can sequentially enter the accommodating cavity for charging and maintenance under program control. Specifically, when the first robot is cleaning the working area, the second robot can rest in the accommodating cavity for charging and maintenance; after the first robot is cleaned, the second robot which finishes maintenance can leave the base station and start cleaning work; at this point, the first robot may dock into the vacated receiving cavity for charging and maintenance. Or, the first robot and the second robot can clean the operation area together, when the cleaning is finished, the first robot can first drive into the accommodating cavity for maintenance, and when the maintenance is finished, the first robot can drive out, and at the moment, the second robot reenters the accommodating cavity for maintenance. Thus, the two robots are maintained in sequence and are not interfered with each other.

The present disclosure provides a cleaning system comprising two robots and a base station, wherein the first robot and the second robot share the same base station, and the two robots can enter into the accommodating cavity of the base station for maintenance at different times. The user does not need to spend twice the occupied space and sets a base station for each robot, and the two robots can be cooperatively maintained, so that the user experience is improved. Further, the first robot and the second robot may be cleaning robots of different sizes and different functions, for example: the first robot can have thicker size and comprehensive function, and the second robot can have ultra-thin size, can get into the low narrow region that main cleaning robot is difficult to clean, and two cleaning robots collaborative operation realizes the cleanness of the high coverage rate of full house.

Specific embodiments of the present disclosure are described below with reference to the accompanying drawings.

Referring to fig. 1 to 5, the cleaning system provided by the present disclosure includes: a first robot, a second robot base station 3. Wherein the first robot is configured to clean a work area and the second robot is configured to clean the work area. In one embodiment of the present disclosure, the first robot is the primary cleaning robot 1 shown in fig. 2, the second robot is the auxiliary cleaning robot 2 shown in fig. 4, and the base station 3 provided in the present embodiment is shown in fig. 1. The base station 3 may provide a plurality of maintenance works such as charging, dust collection, etc. for the two robots. The base station 3 may be fixedly provided and the two robots may automatically return to the base station 3 for maintenance after the cleaning work is completed, respectively.

In one embodiment of the present disclosure, referring to fig. 2, 3 and 13, the main cleaning robot 1 is configured to clean a main work area, for example, in a home scene, the main cleaning robot 1 is capable of cleaning an open floor in a room over a large area. As shown in fig. 2, the main cleaning robot 1 may have a large volume, and may integrate a relatively comprehensive function in its body, thereby satisfying the functional requirements of users on the cleaning robot. For example, the main cleaning robot 1 may be a sweeping and dragging robot, and is equipped with a precise navigation obstacle avoidance system, so that a cleaning route can be planned autonomously.

In a specific embodiment of the present disclosure, as shown in fig. 13, a first traveling wheel 14, a first universal wheel 15, and a first cleaning assembly 16 are provided at the bottom of the main cleaning robot 1. The first traveling wheels 14 are provided in two, and the two first traveling wheels 14 are respectively located at both sides of the chassis of the main cleaning robot 1, thereby stably driving the main cleaning robot 1 to travel on the floor. The first universal wheel 15 is located at the front side of the chassis of the main cleaning robot 1 and forms a triangle connection with the two first travelling wheels 14. The first universal wheel 15 can assist in supporting the main cleaning robot 1 while also assisting in steering it.

The first cleaning assembly 16 includes at least: a primary cloth tray 161, a secondary cloth tray 162, a first suction opening 163 and a first side brush 164. The main cleaning cloth trays 161 may be two discs disposed at the rear area of the main cleaning robot 1, and when the main cleaning robot 1 walks on the floor, the two main cleaning cloth trays 161 simultaneously rotate to drag the floor, and the two main cleaning cloth trays 161 may cover the walking path thereof in a large area. However, the two main dishcloth trays 161 still have a dead space for cleaning, for example, when the main cleaning robot 1 walks against a wall, the wall root area is hard to be covered with the main dishcloth tray 161 for cleaning. Therefore, in this embodiment, the auxiliary cleaning cloth tray 162 is disposed in the rotation dead angle area of the main cleaning cloth tray 161, and the auxiliary cleaning cloth tray 162 has a smaller volume and is configured to be located slightly beyond the side edge of the main cleaning robot 1, so that the adhesion to the wall root can be realized, and the cleaning coverage rate is improved.

The first suction port 163 is laterally provided in a front area of the main cleaning robot 1, and when the main cleaning robot 1 walks on the floor, the first suction port 163 can suck small-sized solid wastes such as dust, chips, hair, etc. on the floor into the body, and then the main cleaning cloth tray 161 and the auxiliary cleaning cloth tray 162 located at the rear can clean the floor. The first side brush 164 is disposed at the obliquely front side of the first suction opening 163 and is configured to be located slightly beyond the side of the main cleaning robot 1. The first side brush 164 can rotate in a contact manner, so that small-volume solid garbage can be swept into the working range of the first suction opening 163, and the cleaning coverage rate is further improved.

The head of the main cleaning robot 1 is provided in a rectangular structure, and the outside of the front end of the main cleaning robot 1 is provided with a first striking plate 17 for detecting an obstacle. The first striking plate 17 may be provided therein with a sensor and a buffer structure, and the buffer structure may reduce an impact force of striking when the main cleaning robot 1 strikes an obstacle, so as to protect the main cleaning robot 1. The sensor in the first striker 17 is triggered after detecting an obstacle, whereby the main cleaning robot 1 can be controlled to retreat to avoid the obstacle in front.

In one embodiment of the present disclosure, referring to fig. 4, 5 and 14, the auxiliary cleaning robot 2 is configured to clean an auxiliary work area, for example, in a home scene, the auxiliary cleaning robot 2 can clean a low, narrow area that the main cleaning robot 1 cannot enter, such as: under the bed, at corners, at the feet of the cabinet, at the bottom of the table and chair, etc. As shown in fig. 4, the auxiliary cleaning robot 2 may have an ultra-thin volume so as to facilitate access to a low area to assist the main cleaning robot 1 in performing sweeping of a full-house high coverage rate. However, the auxiliary cleaning robot 2 is not as functional as the main cleaning robot 1 corresponding to its ultra-thin volume, for example: the auxiliary cleaning robot 2 has no space for arranging a water tank, so that only the work of sweeping and sucking the floor can be performed, and the floor cannot be mopped; furthermore, it is difficult to configure a separate intelligent system in the auxiliary cleaning robot 2, and the auxiliary cleaning robot 2 needs to be controlled by the main cleaning robot 1.

In a specific embodiment of the present disclosure, as shown in fig. 14, a second traveling wheel 23, a second universal wheel 24, and a second cleaning assembly 25 are provided at the bottom of the auxiliary cleaning robot 2. The second traveling wheels 23 are provided in two, and the two second traveling wheels 23 are respectively located at both sides of the chassis of the auxiliary cleaning robot 2, thereby stably driving the auxiliary cleaning robot 2 to travel on the ground. The second universal wheel 24 is positioned at the front side of the chassis of the auxiliary cleaning robot 2 and forms a triangle connection line with the two second travelling wheels 23. The second universal wheel 24 can assist in supporting the auxiliary cleaning robot 2 while also assisting in steering it.

The second cleaning assembly 25 includes: a second suction opening 251, a second side brush 252 and a dust box 253. The second suction port 251 is laterally provided in a central region of the auxiliary cleaning robot 2, and the second suction port 251 can suck small-volume solid wastes such as dust, chips, hair, etc. on the floor into the dust box 253 when the auxiliary cleaning robot 2 walks on the floor. The dust box 253 is detachably provided at the top of the auxiliary cleaning robot 2, and a user can detach the dust box 253 to manually clean. The second side brush 252 is provided at the obliquely front side of the second suction opening 251 and is configured to be located slightly beyond the side of the auxiliary cleaning robot 2. The second side brush 252 can rotate in a sticking manner, so that small-volume solid garbage is swept into the working range of the second suction opening 251, and the cleaning coverage rate is further improved.

The head of the auxiliary cleaning robot 2 is provided in an arc-shaped structure, and a second striking plate 26 for detecting an obstacle is provided at the outer side of the front end of the auxiliary cleaning robot 2. The second striking plate 26 may be provided therein with a sensor and a buffer structure, and the buffer structure may reduce an impact force of striking when the auxiliary cleaning robot 2 strikes an obstacle, so as to protect the auxiliary cleaning robot 2. The sensor in the second striker 26 is triggered after detecting an obstacle, thereby controlling the auxiliary cleaning robot 2 to retreat so as to avoid the obstacle in front; alternatively, a signal of detecting an obstacle may be transmitted to the main cleaning robot 1, and the auxiliary cleaning robot 2 may be controlled by the main cleaning robot 1 to avoid the obstacle.

Referring to fig. 1, the base station 3 includes a body 31, and the body 31 is provided with a receiving chamber 32, and the receiving chamber 32 is configured to alternatively park the first robot and the second robot. The accommodating chamber 32 is opened at a lower position of the body 31 so as to facilitate the robot to be driven into the accommodating chamber 32. It should be noted that the accommodating chamber 32 cannot accommodate two robots at the same time, and only one robot can be accommodated at a time. Specifically, the main cleaning robot 1 and the auxiliary cleaning robot 2 may sequentially enter the accommodating chamber 32 under program control for charging and maintenance. For example, when the main cleaning robot 1 is performing a cleaning work, the auxiliary cleaning robot 2 may rest in the accommodating chamber 32 for charging and maintenance; when the main cleaning robot 1 completes the cleaning work, the auxiliary cleaning robot 2 ending the maintenance can be driven out of the base station 3 and start the cleaning work; at this time, the main cleaning robot 1 may dock into the empty accommodation chamber 32 for charging and maintenance. Alternatively, the main cleaning robot 1 and the auxiliary cleaning robot 2 may clean the working area together, and when the cleaning is completed, the main cleaning robot 1 may first enter the accommodating chamber 32 for maintenance, and when the maintenance is completed, the auxiliary cleaning robot 2 may exit, and at this time, the auxiliary cleaning robot 2 reenters the accommodating chamber 32 for maintenance. Thus, the two robots are maintained in sequence and are not interfered with each other.

The cleaning system comprising two cleaning robots is provided, so that the functional comprehensiveness and the cleaning coverage rate of the cleaning robots are considered. Specifically, the main cleaning robot 1 may have a thicker size and overall functions, the auxiliary cleaning robot 2 may have an ultra-thin size, be able to enter a low and narrow area where the main cleaning robot 1 is difficult to clean, and the two cleaning robots cooperatively work to achieve cleaning of a full-house high coverage rate. Furthermore, both cleaning robots share the same base station 3, and both cleaning robots can enter the accommodating chamber 32 of the base station 3 at different times for maintenance. The user does not need to spend twice the occupation of land space and sets up a basic station 3 for every cleaning robot, and two cleaning robots can cooperate the maintenance, have promoted user experience.

In one embodiment of the present disclosure, referring to fig. 2, the main cleaning robot 1 is provided with a first charging part 11, and the first charging part 11 may be provided on a rear elevation of the main cleaning robot 1. Specifically, the first charging portion 11 may be two charging ports provided at an interval. As shown in fig. 3, when the main cleaning robot 1 completes the cleaning work, it may be driven back into the base station 3 to perform charging.

Referring to fig. 4, the auxiliary cleaning robot 2 is provided with a second charging part 21, and the second charging part 21 may be provided on a rear elevation of the auxiliary cleaning robot 2. Specifically, the second charging portion 21 may be two charging ports provided at an interval. As shown in fig. 5, when the auxiliary cleaning robot 2 completes the cleaning work, it may be driven back into the base station 3 to perform charging.

As shown in fig. 1, the housing 31 is provided with a first power supply portion 311 and a second power supply portion 312 on a side wall located in the housing 32. Wherein the first power supply part 311 is configured to dock the first charging part 11 to charge the main cleaning robot 1 when the main cleaning robot 1 is docked in the accommodating chamber; the second power supply part 312 is configured to dock the second charging part 21 to charge the auxiliary cleaning robot 2 when the auxiliary cleaning robot 2 is docked in the accommodating chamber 32. The first power supply part 311 is located higher than the second power supply part 312 so as to respectively accommodate the heights of the main cleaning robot 1 and the auxiliary cleaning robot 2 to facilitate docking charging.

In one embodiment of the present disclosure, as shown in fig. 4, the second charging part 21 is two charging ports provided at intervals on the auxiliary cleaning robot 2, and a charging terminal provided in the charging port, wherein the charging ports are for guiding docking, and the charging terminal is for communicating with a circuit. As shown in fig. 1, the second power supply portion 312 includes a positioning portion 3121 extending from the body 31 and configured to be plugged into the charging port, and a power supply terminal 3122 disposed on the positioning portion 3121 and configured to be electrically connected to the charging terminal, wherein the positioning portion 3121 may have a columnar structure for guiding and abutting, and the power supply terminal 3122 is configured to be electrically connected to a circuit. When the auxiliary cleaning robot 2 is driven into the accommodating chamber 32, the positioning portion 3121 can be inserted into the charging port, so that the charging terminal in the charging port is connected to the power supply terminal 3122 on the positioning portion 3121, the circuit is conducted, and the base station 3 can charge the auxiliary cleaning robot 2.

In one embodiment of the present disclosure, as shown in fig. 2, two positioning ports 12 are provided at intervals on the main cleaning robot 1. When the main cleaning robot 1 rests in the accommodating chamber 32, the positioning portion 3121 is configured to be inserted into the positioning port 12. Since the first charging part 11 of the main cleaning robot 1 has no guide structure thereon, it may be difficult to align the first power supply part 311 when driving into the accommodating chamber 32 in reverse, and thus the positioning port 12 is provided on the main cleaning robot 1. The positioning opening 12 can form a guiding fit with the positioning portion 3121 on the second power supply portion 312, thereby ensuring that the first charging portion 11 can be accurately docked to the first power supply portion 311. Since the auxiliary cleaning robot 2 has a smaller height than the main cleaning robot 1, there is also a difference in height between the first power supply portion 311 and the second power supply portion 312 corresponding to the two. As shown in fig. 1, the first power supply portion 311 is significantly higher than the second power supply portion 312. Accordingly, the two positioning ports 12 of the main cleaning robot 1 are provided at positions lower than the first charging part 11 on the rear elevation of the main cleaning robot 1, that is, at a height consistent with the positioning part 3121 of the second power supply part 312. The second power supply portion 312 in the present disclosure has two functions, that is, is capable of charging the auxiliary cleaning robot 2 and is also capable of guiding and positioning the main cleaning robot 1.

In one embodiment of the present disclosure, referring to fig. 2 and 4, the charging port and/or the positioning port 12 is configured as a flared structure, and the positioning portion 3121 is configured to interface with the charging port or positioning port 12 via the guidance of the flared structure. As shown in fig. 2, the inner wall of the positioning port 12 is configured as a slope, thereby forming a first flare 121, and the columnar positioning portion 3121 on the second power supply portion 312 can be easily inserted into the positioning port 12 under the guide of the first flare 121, thereby positioning the main cleaning robot 1. As shown in fig. 4, the inner wall of the second charging portion 21 is configured as a slope so as to form a second flare 211, and the columnar positioning portion 3121 on the second power supply portion 312 can be easily inserted into the charging port of the second charging portion 21 under the guide of the second flare 211, thereby communicating the charging terminal to the power supply terminal 3122 to charge the auxiliary cleaning robot 2.

In one embodiment of the present disclosure, the base station 3 is also capable of automatically collecting dust from the main cleaning robot 1 and the auxiliary cleaning robot 2. The dust collecting function and the charging function are independent of each other, and the base station 3 may charge and collect dust on the cleaning robot stopped in the accommodating chamber 32 at the same time, or may charge and collect dust first, or collect dust first and charge then, which is not limited in this disclosure.

As shown in fig. 2, the main cleaning robot 1 is further provided with a first dust outlet 13, and the first dust outlet 13 may be provided on a vertical surface obliquely rearward of the main cleaning robot 1. As shown in fig. 4, the auxiliary cleaning robot 2 is provided with a second dust outlet 22, and the second dust outlet 22 may be provided on a rear elevation of the auxiliary cleaning robot 2. As shown in fig. 1, the body 31 of the base station 3 is provided with a first dust collecting port 313 and a second dust collecting port 314 at a position of the accommodating chamber 32. Wherein the first dust collection port 313 is configured to dock the first dust outlet port 13 when the main cleaning robot 1 is docked in the receiving cavity 32; the second dust collection port 314 is configured to dock with the second dust outlet port 22 when the auxiliary cleaning robot 2 is docked in the receiving cavity 32.

Specifically, a cover plate may be disposed on each of the first dust outlet 13 and the second dust outlet 22, so that the first dust outlet 13 and the second dust outlet 22 are blocked during the floor walking cleaning process of the main cleaning robot 1 and the auxiliary cleaning robot 2, and the garbage is prevented from overflowing. When the base station 3 collects dust, the first dust collecting port 313 can be abutted against the first dust outlet 13, the second dust collecting port 314 can be abutted against the second dust outlet 22, and after the abutting is finished, the machine body 31 can start the negative pressure function, so that suction force towards the machine body 31 is formed. Under the action of the suction force, the cover plate covering the first dust outlet 13 or the second dust outlet 22 is opened toward the machine body, thereby collecting dust.

In one embodiment of the present disclosure, referring to fig. 6, a dust collection chamber, a switching valve 317 is provided in the body 31, and the first dust collection port 313, the second dust collection port 314 are configured to communicate with the dust collection chamber through the switching valve 317. Wherein the switching valve 317 is configured to selectively open a passage between the first dust collection port 313 or the second dust collection port 314 and the dust collection chamber to collect dust of the main cleaning robot 1 when the main cleaning robot 1 is stopped in the accommodating chamber 32; or, to collect dust from the auxiliary cleaning robot 2 when the auxiliary cleaning robot 2 is stopped in the accommodating chamber 32.

Specifically, the body 31 is further provided with a first dust collecting pipe 315 and a second dust collecting pipe 316, one end of the first dust collecting pipe 315 is connected to the first dust collecting port 313, and the other end is connected to the dust collecting cavity through a switching valve 317; one end of the second dust collecting pipe 316 is connected to the second dust collecting port 314, and the other end is connected to the dust collecting chamber through a switching valve 317. The switching valve 317 may be a three-way valve connected to the dust collection chamber, the first dust collection pipe 315, and the second dust collection pipe, respectively.

When the main cleaning robot 1 is stopped in the accommodating chamber 32, the switching valve 317 is rotated to a position to communicate the dust collection chamber with the first dust collection pipe 315, thereby opening a passage between the first dust collection port 313 and the dust collection chamber. The first dust outlet 13 is in butt joint with the first dust collecting opening 313, and the garbage in the first dust outlet 13 is sucked into the first dust collecting opening 313 under the negative pressure in the dust collecting cavity and enters the dust collecting cavity along the first dust collecting pipe 315, so that the dust collection of the main cleaning robot 1 is realized.

When the auxiliary cleaning robot 2 is stopped in the accommodating chamber 32, the switching valve 317 is rotated to a position to communicate the dust collection chamber with the second dust collection pipe 316, thereby opening a passage between the second dust collection port 314 and the dust collection chamber. The second dust outlet 22 is in butt joint with the second dust collecting opening 314, and the garbage in the second dust outlet 22 is sucked into the second dust collecting opening 314 under the negative pressure effect in the dust collecting cavity and enters the dust collecting cavity along the second dust collecting pipe 316, so that the dust collection of the auxiliary cleaning robot 2 is realized.

In one embodiment of the present disclosure, referring to fig. 1 and 7, the base station 3 includes a base 33 at the bottom of the body 31, the body 31 and the base 33 together enclose a receiving chamber 32, and the main cleaning robot 1 or the auxiliary cleaning robot 2 can be supported on the base 33 so as to rest into the receiving chamber 32. The base 33 includes a climbing member 331 extending outwardly from an open end of the accommodating chamber 32, an outer end of the climbing member 331 extending to the ground, a surface of which is configured as a slope, and the main cleaning robot 1 or the auxiliary cleaning robot 2 can travel on the climbing member 331 so as to enter the accommodating chamber 32.

Wherein the main cleaning robot 1 has a large volume, as shown in fig. 3, when it is docked to the base station 3, only the tail end portion is located in the receiving chamber 32, so that the main cleaning robot 1 can be in place only by traveling a small distance on the climbing member 331. And the function of the main cleaning robot 1 is complete, and the pose can be automatically and intelligently corrected, so that an additional structure is not required to guide the main cleaning robot 1. Unlike the auxiliary cleaning robot 2, as shown in fig. 3, when the small-sized auxiliary cleaning robot 2 is stopped at the base station 3, it almost completely enters the accommodating chamber 32, and thus the auxiliary cleaning robot 2 travels a long distance on the climbing member 331 to be in place. Moreover, the auxiliary cleaning robot 2 has poor control accuracy and relatively low intelligence, so that it is necessary to provide a structure for guiding its travel path in order to avoid its skew during an uphill slope.

Referring to fig. 7 and 10, two rows of guide mechanisms 332 protruding from the surface of the climbing member 331 are provided at intervals on the climbing member 331. When the auxiliary cleaning robot 2 walks on the climbing member 331, the two-row guide mechanism 332 is located at the inner sides of the two traveling wheels of the auxiliary cleaning robot 2 and is configured to be engaged with the traveling wheels of the corresponding sides to guide the auxiliary cleaning robot 2 into the accommodating chamber 32. The width of the two rows of guide mechanisms 332 is adapted to the distance between the two second travelling wheels 23 of the auxiliary cleaning robot 2. A row of guide mechanisms 332 on the left may be engaged with the second traveling wheel 23 on the left, and a row of guide mechanisms 332 on the right may be engaged with the second traveling wheel 23 on the right, thereby guiding the auxiliary cleaning robot 2 to travel into the accommodating chamber 32.

In one particular embodiment of the present disclosure, as shown in fig. 10, two rows of guide mechanisms 332 are configured to extend obliquely on the ramp 331 in a mutually approaching manner from an end thereof adjacent to the accommodation chamber 32 to an end thereof remote from the accommodation chamber 32. It will be appreciated that the closer the auxiliary cleaning robot 2 is to the receiving chamber 32, the more positive its pose, thereby ensuring that the second charging part 21 can be accurately docked to the second power supply part 312, and that the second dust outlet 22 can be accurately docked to the second dust collecting opening 314. When the auxiliary cleaning robot 2 is far away from the accommodating cavity 32, the uncertainty of the pose is larger, so that a certain tolerance space needs to be reserved at one end of the guiding mechanism 332 far away from the accommodating cavity 32, so that the auxiliary cleaning robot 2 can travel to a position matched with the guiding mechanism 332, and the pose is gradually guided to be corrected by the guiding mechanism 332. The ends of the two rows of guide mechanisms 332, which are far from the accommodating chamber 32, are close to each other and the auxiliary cleaning robot 2 can easily travel to a position where the two second traveling wheels 23 are located outside the two rows of guide mechanisms 332, respectively, so as to enter the accommodating chamber 32 under the guiding action of the guide mechanisms 332.

In a specific embodiment of the present disclosure, as shown in fig. 7, the traveling direction of the main cleaning robot 1 and the auxiliary cleaning robot 2 on the climbing member 331 is referred to as the X-axis direction. As shown in fig. 10, the guide mechanism 332 includes a rotating portion 3321 rotatably connected to the climbing member 331, and the rotating portion 3321 is configured to protrude from the surface of the climbing member 331. When the auxiliary cleaning robot 2 is deviated on the climbing member 331, the traveling wheel is configured to contact the rotating part 3321 and rotate the rotating part 3321 to guide the auxiliary cleaning robot 2 into the accommodating chamber 32. Further, each of the guide mechanisms 332 includes at least two rotating portions 3321 arranged in order in the X-axis direction, the rotating portions 3321 adjacent to the accommodating chambers 32 being configured to extend in the X-axis direction, and the other rotating portions 3321 being configured to extend obliquely toward the center line direction of the climbing member 331.

For example, referring to fig. 9, in one embodiment of the present disclosure, each column of guide mechanisms 332 may include four rotating portions 3321, wherein the rotating portion 3321 closest to the accommodating chamber 32 rotates about the X-axis direction; the other rotating portion 3321 extends obliquely toward the center line of the climbing member 331. Referring to the view direction of fig. 10, taking an example in which the rear end of the auxiliary cleaning robot 2 is skewed toward the left side: when the auxiliary cleaning robot 2 is reversed towards the accommodating cavity 32, the second travelling wheel 23 on the right side of the auxiliary cleaning robot contacts a certain rotating part 3321 far away from the accommodating cavity 32, and the rotating part 3321 rotates, so that the second travelling wheel 23 on the right side is pushed outwards to lead the pose of the auxiliary cleaning robot to be right and right; the auxiliary cleaning robot 2 keeps a reversing state all the time, so that the second travelling wheel 23 on the right side of the auxiliary cleaning robot may contact with the same rotating part 3321 for a plurality of times, after each contact, the rotating part 3321 can push the auxiliary cleaning robot 2 to the right side a little, and after repeated times, the pose of the auxiliary cleaning robot 2 is basically corrected, so that reversing is continued; if the posture of the vehicle is not completely retracted, the second traveling wheel 23 on the right side of the vehicle will still contact the next rotating portion 3321, and the above-mentioned retraction process is repeated until the vehicle is completely retracted under the pushing action of the rotating portion 3321 closest to the accommodating chamber 32.

In a specific embodiment of the present disclosure, the inclination angle of the rotating portion 3321 becomes gradually larger from the direction adjacent to the accommodating chamber 32 to the direction away from the accommodating chamber 32. The rotation portion 3321 closest to the accommodating chamber 32 rotates about the X-axis direction, and the rotation axis of the rotation portion 3321 is inclined toward the center line position of the climbing member 331 as it is farther from the accommodating chamber 32. It should be noted that, the angle between the rotation axis of the rotation portion 3321 farthest from the accommodating chamber 32 and the X axis should not be greater than 45 °, otherwise the guiding effect of the guiding mechanism 332 may be reduced, which is not beneficial to the climbing of the auxiliary cleaning robot 2.

In one embodiment of the present disclosure, referring to fig. 7, two first wheel grooves 3311 arranged at intervals are provided on the climbing member 331, and the first wheel grooves 3311 are configured to rest on two traveling wheels of the main cleaning robot 1. The two first traveling wheels 14 of the main cleaning robot 1 can dock in the first wheel groove 3311 on the climbing member 331, at this time, the main cleaning robot 1 is docked in place, the first charging section 11 can dock to the first power supply section 311, the positioning port 12 can dock to the positioning section 3121 of the second power supply section 312, and the first dust outlet 13 can dock to the first dust collection port 313. The first wheel groove 3311 is two grooves recessed downward on the climbing member 331, and if too much recess would cause difficulty in climbing the auxiliary cleaning robot 2, so the first wheel groove 3311 may be set as a shallower wheel groove. Thus, the auxiliary cleaning robot 2 can not climb to a slope to cause obstacle, and the first travelling wheel 14 can also have a certain limiting effect. It should be noted that the main cleaning robot 1 does not need to rely on the first wheel groove 3311 to perform limiting, because the size of the accommodating cavity 32 is basically adapted to the housing thereof, so long as the main cleaning robot 1 can normally drive into the accommodating cavity 32, it means that the pose of the main cleaning robot 1 is correct.

In one embodiment of the present disclosure, referring to fig. 7, 9 and 12, the base 33 further includes a washing portion 333 at the bottom of the accommodating cavity 32, the washing portion 333 being configured for cooperation with a dishcloth tray of the main cleaning robot 1. Two second wheel grooves 3331 are provided at intervals on the washing part 333, and the second wheel grooves 3331 are configured to accommodate two traveling wheels of the auxiliary cleaning robot 2. As shown in fig. 12, two second wheel grooves 3331 are provided on the cleaning part 333 near the outside for accommodating the two second traveling wheels 23. The auxiliary cleaning robot 2 needs to travel onto the washing part 333 via the climbing member 331 until the second traveling wheel 23 enters the second wheel groove 3331. The second wheel groove 3331 is located inside the first wheel groove 3311, whereby it can be seen that the auxiliary cleaning robot 2 is driven to a position deeper into the accommodating chamber 32 than the main cleaning robot 1 when it is located at the rest position. The second wheel groove 3331 can help to assist the cleaning robot 2 to be positioned to a parking position, thereby ensuring stable docking with the base station 3.

In one embodiment of the present disclosure, referring to fig. 9, the cleaning part 333 includes a dirt holding tank 3332 and a filter screen 3333 detachably disposed above the dirt holding tank 3332, and the second wheel groove 3331 is configured to be disposed on the filter screen 3333. When the main cleaning robot 1 travels to the parked position, there is a residue of dirty water on the main and auxiliary wiper trays 161 and 162. The sewage flows onto the filter screen 3333 and flows down into the sewage receiving tank 3332 from the plurality of filter holes on the filter screen 3333. Solid waste, such as hair or debris, may also remain on the primary 161, secondary 162, first suction 163 and first side brush 164, which may not pass through the filter apertures, but may remain above the filter screen 3333. When the auxiliary cleaning robot 2 travels to the rest position, the above solid garbage may remain on the second suction port 251 and the second side brush 252, and they may remain above the filter screen 3333. The design of filter screen 3333 and dirt holding groove 3332 has realized the separation of dirty dry and wet, and the user of being convenient for clear up.

As shown in fig. 9, the base 33 further includes a fixing base 335, and the fixing base 335 is disposed below the dirt container 3332. The fixing base 335 is fixed at the bottom of the base station 3, the dirt containing groove 3332 is detachably arranged in the fixing base 335, and the filter screen 3333 is detachably arranged on the dirt containing groove 3332. When the solid garbage on the filter screen 3333 needs to be cleaned, the user can detach the filter screen 3333 for cleaning. When the dirt container 3332 needs to be cleaned, the user can detach the filter screen 3333 first, then detach the dirt container 3332 to pour out the sewage therein, and wash the sewage clean.

In one specific embodiment of the present disclosure, as shown in fig. 9, the bottom of the dirt holding groove 3332 is configured as two inclined surfaces inclined toward the center direction. When sewage flows into the sewage containing groove 3332 from the filter screen 3333, the sewage can be concentrated towards the middle along the inclined plane, thereby facilitating the subsequent cleaning. A sewage draining mechanism can be arranged in the base station 3 and can be connected with the sewage containing groove 3332, so that sewage in the sewage containing groove 3332 can be automatically discharged. Therefore, frequent manual cleaning of a user is not needed, and user experience is improved.

In one embodiment of the present disclosure, referring to fig. 8 and 9, a main dishcloth tray cleaning zone 33331 is provided on the filter screen 3333, the main dishcloth tray cleaning zone 33331 being configured for cleaning the main dishcloth tray 161 of the main cleaning robot 1; an auxiliary cleaning area 33332 is provided on one side of the filter mesh 3333, and the auxiliary cleaning area 33332 is configured for cleaning the auxiliary cloth tray 162 of the main cleaning robot 1. As described above, the bottom of the main cleaning robot 1 is provided with two main cleaning cloth trays 161 and one auxiliary cleaning cloth tray 162, and the filter screen 3333 is provided with cleaning areas for cleaning the two cleaning cloth trays, respectively.

As shown in fig. 9, two main dishcloth cleaning areas 33331 are provided on the filter screen 3333 on the side close to the accommodation chamber 32 for cleaning the two main dishcloth trays 161, respectively. A plurality of small bulge structures are arranged on the cleaning area 33331 of the main rag pan, and when the main cleaning robot 1 is stopped in the accommodating cavity 32, the main rag pan 161 can be rotated so that the main rag pan 161 actively scrapes the small bulge structures. This allows residual liquid or solid dirt on the main tray 161 to break away from the main tray 161 and fall onto the filter screen 3333 under a scratch action, wherein liquid dirt, such as sewage, can be filtered into the dirt holding tank 3332.

As shown in fig. 8, an auxiliary cleaning area 33332 is provided on one side of the filter screen 3333 for cleaning the auxiliary dishcloth tray 162. A plurality of small convex structures are arranged on the auxiliary cleaning area 33332, and when the main cleaning robot 1 is stopped in the accommodating cavity 32, the auxiliary cleaning cloth tray 162 can be rotated, so that the auxiliary cleaning cloth tray 162 actively scrapes the small convex structures. This allows residual liquid or solid dirt on the auxiliary dishcloth tray 162 to break away from the auxiliary dishcloth tray 162 and fall onto the filter screen 3333 under a scratch action, wherein liquid dirt, such as sewage, can be filtered into the dirt holding tank 3332.

The present disclosure achieves automated cleaning of the primary 161 and secondary 162 wipe trays of the primary cleaning robot 1 by providing a primary 33331 and secondary 33332 wipe tray cleaning region. The cleaning cloth tray can be self-cleaned in the base station 3 after each use, so that the cleaning cloth tray is in a clean state when the floor is cleaned again next time. The self-cleaning of the main cleaning robot 1 is completely controlled by the program, and the user does not need to manually clean the main cleaning robot, so that the use experience of the user is improved.

In one embodiment of the present disclosure, referring to fig. 10 and 11, a support portion 334 is provided on the climbing member 331, the support portion 334 being configured to support a universal wheel of the auxiliary cleaning robot 2 when the auxiliary cleaning robot 2 is stopped in the accommodating chamber 32. Since the auxiliary cleaning robot 2 has a small volume, as shown in fig. 12, when it is stopped inside the accommodating chamber 32, a front end portion thereof exposed to the accommodating chamber 32 may be inclined downward with respect to a rear end. In order to enable the auxiliary cleaning robot 2 to be supported on the base 33 in a balanced manner, the present embodiment provides the supporting portion 334 on the climbing member 331. The support part 334 is provided at a position corresponding to the second universal wheel 24 of the auxiliary cleaning robot 2, and when the two second traveling wheels 23 are located in the second wheel groove 3331, the second universal wheel 24 can be exactly supported on the support part 334, thereby enhancing the stability of the support.

In one embodiment of the present disclosure, the sidewall of the supporting part 334 is configured as an inclined surface. The inclined surface can enable the second universal wheel 24 to climb up the supporting portion 334 more easily, the second universal wheel 24 is prevented from being clamped on the side wall of the supporting portion 334, and the parking difficulty of the auxiliary cleaning robot 2 is further reduced.

Further, the height of the supporting part 334 should be lower than the chassis height of the main cleaning robot 1. When the main cleaning robot 1 rests in the receiving cavity 32, its chassis will be located above the support 334. In order to prevent the support portion 334 from rubbing the chassis of the main cleaning robot 1, and to prevent the main cleaning robot 1 from stopping, it is necessary to set the height of the support portion 334 to be lower than the chassis height of the main cleaning robot 1.

In one embodiment of the present disclosure, the auxiliary cleaning robot 2 is entirely controlled by the main cleaning robot 1, and in particular, the main cleaning robot 1 is configured to acquire pose information of the auxiliary cleaning robot 2 and to control the auxiliary cleaning robot 2 to walk. There are various ways in which the main cleaning robot 1 acquires the pose information of the auxiliary cleaning robot 2, for example, an image pickup device may be provided on the main cleaning robot 1, and the position of the auxiliary cleaning robot 2 is photographed at all times, thereby acquiring the pose information thereof; alternatively, the pose information of the auxiliary cleaning robot 2 may be acquired by infrared sensing and/or laser sensing, etc.

The pose information that the main cleaning robot 1 needs to acquire at least includes: the direction of the auxiliary cleaning robot 2 and its position information. The position information may be a specific coordinate position of the auxiliary cleaning robot 2 in the working area, or a relative position thereof from the main cleaning robot 1. The main cleaning robot 1 can plan a travel route for the auxiliary cleaning robot 2 according to pose information thereof and control traveling or steering thereof, thereby enabling the auxiliary cleaning robot 2 to travel into an auxiliary work area for cleaning work.

In addition to the above pose information, in a specific embodiment of the present disclosure, a plurality of sensing windows are provided on the body of the auxiliary cleaning robot 2, which can be used to avoid the obstacle in real time during the driving process, and can also be used to communicate with the main cleaning robot 1, so as to avoid the obstacle with the assistance of the main cleaning robot 1.

Referring to fig. 4, a side window 262 is provided at a side position of the second striker 26 of the auxiliary cleaning robot 2; referring to fig. 14, a front window 261 is provided at a front position of the second striker 26 of the auxiliary cleaning robot 2. The front window 261 and the side window 262 may be internally provided with an infrared sensor, and when an obstacle appears in front or side of the second striker plate 26, the sensors in the front window 261 and the side window 262 can be timely found and obstacle avoidance is performed before the collision occurs.

Referring to fig. 15, a communication perspective window 27 is provided at an inclined rear side position of the auxiliary cleaning robot 2, and a sensor built in the communication perspective window 27 can communicate with the main cleaning robot 1 in real time, so that information detected by other sensors on the auxiliary cleaning robot 2, and parameter information such as the self-power of the auxiliary cleaning robot 2, the capacity of the dust box 253, etc. can be timely transmitted to the main cleaning robot 1. The main cleaning robot 1 can adjust the travel route of the auxiliary cleaning robot 2 in time or recall the auxiliary cleaning robot 2 in time based on the received information.

In one embodiment of the present disclosure, referring to fig. 16, the auxiliary cleaning robot 2 has an identification area 20 thereon, and the main cleaning robot 1 is configured to acquire pose information of the auxiliary cleaning robot 2 based on the identification area 20. The recognition area 20 is not limited to the area marked in fig. 16, and may be any area on the auxiliary cleaning robot 2, and may even be the entire area of the body of the auxiliary cleaning robot 2. The main cleaning robot 1 recognizes the traveling direction and the position of the auxiliary cleaning robot 2 by sensing the recognition area 20.

In a specific embodiment of the present disclosure, the outer contour of the auxiliary cleaning robot 2 is configured to be circular arc-shaped, and at least part of the sidewall of the rear end of the auxiliary cleaning robot 2 is configured to be planar as the recognition area 20. The recognition area 20 is configured as a plane, and in particular, may be a vertical plane of various shapes such as a rectangular vertical plane, a trapezoidal vertical plane, a triangular vertical plane, etc., to which the present disclosure is not limited in particular. The recognition areas 20 of various shapes can be designed on different cleaning robots according to the appearance requirements. As shown in fig. 16, the present embodiment uses a rectangular elevation of the rear end of the auxiliary cleaning robot 2 as the recognition area 20. Compared with the arc-shaped vertical surface at the front end, the adoption of the plane vertical surface as the identification area 20 can enable the acquired pose information to be more accurate, and reduces the identification error.

In the present embodiment, the vertical surface is selected as the recognition area 20, and the top surface is not selected as the recognition area 20, because the main cleaning robot 1 is higher than the auxiliary cleaning robot 2, but cannot be completely overlooked, and the recognition area 20 cannot be perceived by the main cleaning robot 1 when the auxiliary cleaning robot 2 is far from the main cleaning robot 1 by a certain distance or when the auxiliary cleaning robot 2 is driven under a low bed or a table or a chair. By selecting the facade for recognition, it is meant that the main cleaning robot 1 can continuously perceive the recognition area 20 as long as the auxiliary cleaning robot 2 is still within the visual range of the main cleaning robot 1 even when the auxiliary cleaning robot 2 travels to a position far from the main cleaning robot 1, thereby better controlling the auxiliary cleaning robot 2.

In one particular embodiment of the present disclosure, the identification zone 20 is configured to be etched or painted to form a diffuse reflective area. In this embodiment, the main cleaning robot 1 continuously transmits an infrared signal to the auxiliary cleaning robot 2 by using an infrared recognition method, and when the infrared signal reaches the recognition area 20, diffuse reflection occurs. The reflected infrared signal is returned to the main cleaning robot 1, and the main cleaning robot 1 can determine the traveling direction and the position of the auxiliary cleaning robot 2 according to whether the signal is returned or not and the time of the signal return. Since the auxiliary cleaning robot 2 is provided with the diffuse reflection recognition area 20 only in the elevation of the tail, when the main cleaning robot 1 can determine the head and the tail of the auxiliary cleaning robot 2 based on whether the square area is recognized, thereby realizing judgment of the traveling direction. When the auxiliary cleaning robot 2 is further from the main cleaning robot 1, the time required for the infrared signal to return is longer, so the main cleaning robot 1 can determine the relative positional relationship of the auxiliary cleaning robot 2 and itself based on the time for the infrared signal to return, thereby realizing judgment of the specific position of the auxiliary cleaning robot 2.

In a specific embodiment of the present disclosure, the second charging part 21 is provided in the recognition area 20 of the auxiliary cleaning robot 2; and/or a second dust outlet 22 is provided in the identification zone 20. As shown in fig. 16, the second charging section 21 and the second dust outlet 22 are both provided on the rear elevation of the auxiliary cleaning robot 2, that is, in the recognition area 20. When the identification area 20 is set by diffuse reflection, diffuse reflection materials which are the same as those of other positions are required to be formed on the inclined surface of the second flaring 211 of the second charging part 21 and the cover plate of the second dust outlet 22 through etching or paint spraying processes, so that the identification area 20 is completely formed.

In one embodiment of the present disclosure, referring to fig. 16, a light-transmitting area 29 may be further provided on the rear elevation of the auxiliary cleaning robot 2, and the light-transmitting area 29 may be located above the middle of the recognition area 20, and the partial area is configured to be made of a material that can transmit infrared light without being diffusely reflected. The light-transmitting zone 29 may be used to receive a recharging signal from the base station 3 to initially align the auxiliary cleaning robot 2 when it returns to the base station 3. After the auxiliary cleaning robot 2 travels near the base station 3, it will travel into the accommodating cavity 32 in a reverse manner, at this time, the base station 3 will transmit a recharging signal, the light-transmitting area 29 of the auxiliary cleaning robot 2 travels to a substantially aligned position through the received recharging signal, and then the reverse is continued, and stopping is completed under the guiding action of the guiding mechanism 332.

According to a second aspect of the present disclosure, there is provided a base station, in particular, referring to fig. 1, a base station 3 includes a body 31, the body 31 is provided with a housing cavity 32, and a robot having completed a cleaning work can dock into the housing cavity for maintenance and charging. Specifically, only one robot at a time can be accommodated in the accommodating chamber 32, and when there are a plurality of robots in the cleaning system, the plurality of robots need to be sequentially driven into the accommodating chamber 32 for maintenance.

A charging portion is provided on the body 31 at a position of the accommodating chamber 32, and is configured to be adapted to at least the first robot to charge the first robot, or is configured to be docked to at least the second cleaning robot to charge the second robot. The charging portion may be a charging structure of different forms such as a charging terminal, a charging plug, a charging port, etc., and a charging structure adapted to the charging portion is provided on the robot that enters the accommodating chamber 32 for maintenance. For example: when the charging part is a charging terminal, a charging port matched with the charging terminal is arranged on the robot.

In one embodiment of the present disclosure, the charging portion is a pair of charging terminals that can simultaneously adapt the charging ports on the first robot and the second robot. Since the first robot and the second robot have different sizes, the charging ports of the first robot and the second robot are arranged at different height positions. The charging portion in the present embodiment is configured to be movably provided on the body 31 at a position of the accommodating chamber 32. When the first robot is located in the accommodating cavity, the charging part is located at a first position to be matched with a charging port on the first robot and charge the first robot. When the second robot is located in the accommodating cavity, the charging part moves to a second position to be matched with a charging port on the second robot and charge the second robot.

In another embodiment of the present disclosure, the charging part is a pair of charging terminals fixedly provided on the body 31, which can be simultaneously fitted to the charging ports on the first robot and the second robot. The first robot and the second robot have different sizes, and the charging ports of the first robot and the second robot are arranged at the same height position so as to realize the butt joint charging with the two robots respectively.

In one embodiment of the present disclosure, the charging portion is two pairs of charging terminals, one pair of charging terminals being used for charging the first robot and the other pair of charging terminals being used for charging the second robot. The two pairs of charging terminals may be provided at different positions on the body 31, respectively, for example: one pair of charging terminals is provided at a middle position of the rear wall of the housing chamber 32, and the other pair of charging terminals is provided at a middle lower position of the rear wall of the housing chamber 32. The charging ports used for being matched with the pair of charging terminals are respectively arranged on the first robot and the second robot, and when the first robot or the second robot is located in the accommodating cavity, the charging ports on the robots can be in butt joint with the pair of charging terminals corresponding to the charging ports, so that charging is performed.

Application scenario

In a household cleaning scenario, the present disclosure provides a cleaning system comprising: a main cleaning robot 1, an auxiliary cleaning robot 2 and a base station 3. The main cleaning robot 1 is an intelligent sweeping and mopping integrated robot, and the auxiliary cleaning robot 2 is an ultrathin sweeping robot. The base station 3 may provide a plurality of maintenance works such as charging, dust collection, cleaning, etc. for the two cleaning robots. The base station 3 may be fixedly provided, and the two cleaning robots may automatically return to the base station 3 after completing the cleaning work, to perform maintenance, respectively.

The main cleaning robot 1 is configured to clean a main work area, for example, it can clean a large area of open floor without putting excessive furniture in a room. The main cleaning robot 1 may have a large volume, and may integrate a relatively comprehensive function in its body, such as: the floor sweeping and mopping can be performed simultaneously, so that the functional requirements of users on the cleaning robot are met. The main cleaning robot 1 can be provided with a precise navigation obstacle avoidance system, can autonomously plan a cleaning route, and can also control the auxiliary cleaning robot 2 to work.

The main cleaning robot 1 is provided with a first charging part 11, and the first charging part 11 may be provided on a rear elevation of the main cleaning robot 1. Specifically, the first charging portion 11 may be two charging ports provided at an interval. When the main cleaning robot 1 has completed the cleaning work, it can be driven back into the base station 3 for charging and other maintenance work.

The auxiliary cleaning robot 2 is configured to clean an auxiliary work area, which is capable of cleaning a short, narrow area that the main cleaning robot 1 cannot enter, such as: under the bed, at corners, at the feet of the cabinet, at the bottom of the table and chair, etc. The auxiliary cleaning robot 2 may have an ultra-thin volume so as to facilitate access to a low area to assist the main cleaning robot 1 in achieving sweeping of a full house high coverage rate. However, the auxiliary cleaning robot 2 is not as functional as the main cleaning robot 1 corresponding to its ultra-thin volume, for example: the auxiliary cleaning robot 2 has no space for arranging a water tank, so that only the work of sweeping and sucking the floor can be performed, and the floor cannot be mopped; furthermore, it is difficult to configure a separate intelligent system in the auxiliary cleaning robot 2, and the auxiliary cleaning robot 2 needs to be controlled by the main cleaning robot 1.

When the main cleaning robot 1 judges that the auxiliary cleaning robot 2 has completed cleaning work on the auxiliary work area, or judges that the auxiliary cleaning robot 2 is out of electric quantity, or judges that the capacity of the dust box 253 of the auxiliary cleaning robot 2 is full, the auxiliary cleaning robot 2 is called back to the base station 3 for maintenance. The auxiliary cleaning robot 2 is provided with a second charging part 21, and the second charging part 21 may be provided on a rear elevation of the auxiliary cleaning robot 2. Specifically, the second charging portion 21 may be two charging ports provided at an interval. When the auxiliary cleaning robot 2 has completed the cleaning work, it can be driven back into the base station 3 for charging and other maintenance work.

The base station 3 comprises a body 31, the body 31 being provided with a receiving cavity 32 for at least partially docking the main cleaning robot 1 or the auxiliary cleaning robot 2. The accommodating chamber 32 is opened at a lower position of the body 31, thereby facilitating the cleaning robot to be driven into the accommodating chamber 32. It should be noted that the accommodating chamber 32 cannot accommodate two robots at the same time, and only one robot can be accommodated at a time. The main cleaning robot 1 and the auxiliary cleaning robot 2 may sequentially enter the accommodating chamber 32 under program control for charging and maintenance. The housing 31 is provided with a first power supply portion 311 and a second power supply portion 312 at a position of the housing chamber 32. Wherein the first power supply part 311 is configured to dock the first charging part 11 to charge the main cleaning robot 1 when the main cleaning robot 1 is docked in the accommodating chamber; the second power supply part 312 is configured to dock the second charging part 21 to charge the auxiliary cleaning robot 2 when the auxiliary cleaning robot 2 is docked in the accommodating chamber 32.

The cleaning system comprising two cleaning robots is provided, so that the functional comprehensiveness and the cleaning coverage rate of the cleaning robots are considered. Specifically, the main cleaning robot 1 may have a thicker size and overall functions, the auxiliary cleaning robot 2 may have an ultra-thin size, be able to enter a low and narrow area where the main cleaning robot 1 is difficult to clean, and the two cleaning robots cooperatively work to achieve cleaning of a full-house high coverage rate. Furthermore, both cleaning robots share the same base station 3, and both cleaning robots can enter the accommodating chamber 32 of the base station 3 at different times for charging. The user need not to spend twice occupation of land space and all sets up a basic station 3 for every cleaning machines people, and two cleaning machines people can charge in coordination, have promoted user experience.

The foregoing description of the embodiments of the present disclosure has been presented for purposes of illustration and description, and is not intended to be exhaustive or limited to the embodiments disclosed. Many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the various embodiments described. The terminology used herein was chosen in order to best explain the principles of the embodiments, the practical application, or the technical improvements in the marketplace, or to enable others of ordinary skill in the art to understand the embodiments disclosed herein. The scope of the present disclosure is defined by the appended claims.

Claims

1. A cleaning system, comprising:

a first robot configured to clean a work area;

a second robot configured to sweep a work area;

the base station (3), the base station (3) includes organism (31), organism (31) have seted up and hold chamber (32), hold chamber (32) and be constructed and be used for alternatively berthing first robot, second robot.

2. The cleaning system according to claim 1, characterized in that the first robot is a main cleaning robot (1), the main cleaning robot (1) being configured to sweep a main work area; the second robot is an auxiliary cleaning robot (2), the auxiliary cleaning robot (2) being configured to clean an auxiliary work area.

3. Cleaning system according to claim 2, characterized in that the primary cleaning robot (1) is provided with a first charging section (11); a second charging part (21) is arranged on the auxiliary cleaning robot (2); a first power supply part (311) and a second power supply part (312) are arranged on the machine body (31) at the position of the accommodating cavity (32);

Wherein the first power supply part (311) is configured to dock the first charging part (11) to charge the main cleaning robot (1) when the main cleaning robot (1) is docked in the accommodation chamber (32); the second power supply part (312) is configured to dock the second charging part (21) to charge the auxiliary cleaning robot (2) when the auxiliary cleaning robot (2) is docked in the accommodating chamber (32).

4. A cleaning system according to claim 3, characterized in that the second charging section (21) is two charging ports provided at intervals on the auxiliary cleaning robot (2), and a charging terminal provided in the charging port; the second power supply part (312) comprises a positioning part (3121) which extends outwards from the machine body (31) and is used for being spliced with the charging port, and a power supply terminal (3122) which is arranged on the positioning part (3121) and is used for being communicated with the charging terminal.

5. The cleaning system according to claim 4, characterized in that two positioning ports (12) are arranged on the main cleaning robot (1) at intervals; when the main cleaning robot (1) rests in the receiving cavity (32), the positioning part (3121) is configured to be inserted into the positioning opening (12).

6. The cleaning system according to claim 5, characterized in that the charging port and/or positioning port (12) is configured as a flared structure, the positioning portion (3121) being configured to interface with the charging port or positioning port (12) via guidance of the flared structure.

7. A cleaning system according to claim 2, characterized in that the main cleaning robot (1) is further provided with a first dust outlet (13); a second dust outlet (22) is formed in the auxiliary cleaning robot (2); a first dust collecting port (313) and a second dust collecting port (314) are arranged on the machine body (31) and positioned in the accommodating cavity (32); the first dust collection port (313) is configured to dock the first dust outlet port (13) when the main cleaning robot (1) is docked in the receiving cavity (32); the second dust collection port (314) is configured to dock with the second dust outlet port (22) when the auxiliary cleaning robot (2) is docked in the receiving cavity (32).

8. The cleaning system of claim 7, wherein a dust collection chamber, a switching valve (317) is disposed within the body (31), the first dust collection port (313), the second dust collection port (314) being configured to communicate with the dust collection chamber through the switching valve (317).

9. The cleaning system according to claim 8, characterized in that the changeover valve (317) is configured to alternatively open a passage between the first dust collection port (313) or the second dust collection port (314) and the dust collection chamber for collecting dust of the main cleaning robot (1) when the main cleaning robot (1) rests in the accommodation chamber (32); or, to collect dust from the auxiliary cleaning robot (2) when the auxiliary cleaning robot (2) is stopped in the accommodating chamber (32).

10. A cleaning system according to claim 2, characterized in that the base station (3) comprises a base (33) at the bottom of the body (31), the base (33) comprising a ramp (331) extending outwards from the open end of the receiving cavity (32); two rows of guide mechanisms (332) protruding out of the surface of the climbing piece (331) are arranged on the climbing piece (331) at intervals.

11. The cleaning system according to claim 10, characterized in that when the auxiliary cleaning robot (2) walks on the climbing member (331), two rows of the guide mechanisms (332) are located inside two walking wheels of the auxiliary cleaning robot (2) and are configured for cooperation with the walking wheels of the corresponding side to guide the auxiliary cleaning robot (2) into the accommodation chamber (32).

12. The cleaning system according to claim 10, characterized in that two rows of guide means (332) extend obliquely on the ramp (331) from their end adjacent to the accommodation chamber (32) to the end remote from the accommodation chamber (32) in a manner configured to approach each other.

13. The cleaning system according to claim 10, characterized in that the direction of travel of the main cleaning robot (1), the auxiliary cleaning robot (2) on the climbing member (331) is denoted as X-axis direction; the guide mechanism (332) comprises a rotating part (3321) rotatably connected to the climbing element (331); the rotating part (3321) is configured to protrude from the surface of the climbing element (331);

When the auxiliary cleaning robot (2) is deviated on the climbing member (331), the travelling wheel is configured to contact with the rotating part (3321) and drive the rotating part (3321) to rotate so as to guide the auxiliary cleaning robot (2) into the accommodating cavity (32).

14. The cleaning system according to claim 13, wherein each column of the guide mechanism (332) includes at least two of the rotating portions (3321) arranged in sequence in the X-axis direction; the rotating portions (3321) adjacent to the accommodation chamber (32) are configured to extend in the X-axis direction, and the other rotating portions (3321) are configured to extend obliquely toward the center line direction of the climbing member (331).

15. The cleaning system according to claim 14, wherein the inclination angle of the rotating portion (3321) becomes gradually larger from the vicinity of the accommodating chamber (32) to the direction away from the accommodating chamber (32).

16. The cleaning system according to claim 10, characterized in that the climbing member (331) is provided with two first wheel grooves (3311) arranged at intervals, the first wheel grooves (3311) being configured for docking with two travelling wheels of the main cleaning robot (1).

17. The cleaning system according to claim 10, characterized in that the base (33) further comprises a washing portion (333) at the bottom of the receiving cavity (32), the washing portion (333) being configured for cooperation with a dishcloth tray of the main cleaning robot (1); two second wheel grooves (3331) are arranged on the cleaning part (333) at intervals, and the second wheel grooves (3331) are used for accommodating two travelling wheels of the auxiliary cleaning robot (2).

18. The cleaning system of claim 17, wherein the washing section (333) comprises a dirt holding tank (3332) and a filter screen (3333) removably disposed above the dirt holding tank (3332); the second wheel well (3331) is configured to be disposed on the filter screen (3333).

19. The cleaning system according to claim 18, characterized in that a main dishcloth disc cleaning zone (33331) is provided on the filter screen (3333), the main dishcloth disc cleaning zone (33331) being configured for cleaning a main dishcloth disc (161) of the main cleaning robot (1); an auxiliary cleaning zone (33332) is provided on one side of the filter screen (3333), the auxiliary cleaning zone (33332) being configured as an auxiliary dishcloth tray (162) for cleaning the main cleaning robot (1).

20. The cleaning system according to claim 17, characterized in that the climbing member (331) is provided with a support portion (334), the support portion (334) being configured to support a castor of the auxiliary cleaning robot (2) when the auxiliary cleaning robot (2) rests in the accommodation chamber (32).

21. The cleaning system of claim 20, wherein a sidewall of the support (334) is configured as an inclined surface.

22. The cleaning system according to claim 2, characterized in that the main cleaning robot (1) is configured to acquire pose information of the auxiliary cleaning robot (2) and to control the auxiliary cleaning robot (2) to walk;

the auxiliary cleaning robot (2) is provided with an identification area (20), and the main cleaning robot (1) is configured to acquire pose information of the auxiliary cleaning robot (2) based on the identification area (20).

23. The cleaning system according to claim 22, characterized in that the outer contour of the auxiliary cleaning robot (2) is configured as a circular arc; at least part of the side wall of the rear end of the auxiliary cleaning robot (2) is configured to be planar as the recognition area (20).

24. The cleaning system according to claim 23, wherein the identification zone (20) is configured to be etched or painted to form a diffusely reflective area.

25. The cleaning system according to claim 23, characterized in that the second charging section (21) is arranged in an identification zone (20) of the auxiliary cleaning robot (2); and/or a second dust outlet (22) is provided in the identification zone (20).

26. A base station, characterized by comprising a machine body (31), wherein the machine body (31) is provided with a containing cavity (32); a charging part is arranged on the machine body (31) at a position of the accommodating cavity (32), and is configured to be at least matched with the first robot so as to charge the first robot or at least docked with the second cleaning robot so as to charge the second robot.