CN212118053U

CN212118053U - Docking station and robot system

Info

Publication number: CN212118053U
Application number: CN202020332248.9U
Authority: CN
Inventors: 毋宏兵; 王彪
Original assignee: Positec Power Tools Suzhou Co Ltd
Current assignee: Positec Power Tools Suzhou Co Ltd
Priority date: 2020-03-17
Filing date: 2020-03-17
Publication date: 2020-12-11
Anticipated expiration: 2030-03-17

Abstract

The utility model relates to the technical field of household appliances, a docking station and robot system is disclosed. Wherein, the stop includes stop body and elevating gear, elevating gear and this body coupling of stop, along direction of height displacement under the drive power effect, the elevating gear surface is provided with the light identification district. The robot system comprises a robot body and the stop station, wherein a signal scanning device is arranged above the robot body, a signal scanning light path emitted by the signal scanning device is parallel to the horizontal plane, and the height of the light path is the same as one of the heights which can be reached by the light identification area. From this the height in light identification district is adjusted to the height of accessible regulation elevating gear, when the stop was applied to in the robot, the height-adjustable of light identification district extremely with the equal height of the light path of the signal scanning device transmission in the robot body, promptly for signal scanning device can accurately shine to the light identification district, and then confirms the position of stop.

Description

Docking station and robot system

Technical Field

The utility model relates to the technical field of household appliances, especially, relate to a docking station and robot system.

Background

A floor sweeping robot is also called as an automatic sweeper, an intelligent dust collector, a robot dust collector and the like, belongs to one type of intelligent household appliances, and can automatically complete the floor cleaning work in a room by means of certain artificial intelligence. With the improvement of living standard of people, the sweeping robot has gradually replaced manpower and has become one of the mainstream products of the current society.

The robot of sweeping the floor at present all adopts automatic technique of filling that returns, promptly, sets up infrared receiving device on the robot body, through the stop transmission array infrared signal, infrared receiving device receives infrared signal after, judges the stop position according to the signal, and then automatic movement charges to stop department. Or the position of the stop station is judged by scanning the peripheral characteristic points through an LDS (Laser Direct Structuring) arranged on the robot body. With the latter method, it is necessary to require that the feature points and the LDS are located at the same height, otherwise the LDS cannot scan the feature points and cannot determine the location of the docking station. However, the existing docking stations are generally provided with infrared emitters, and the infrared emitters are located at a height close to the LDS on the robot body, so that a proper position setting feature point cannot be found on the current docking station.

SUMMERY OF THE UTILITY MODEL

Based on this, it is necessary to provide a docking station and a robot system for solving the problem that the feature points cannot be arranged reasonably.

A docking station, comprising:

a docking station body;

the lifting device is connected with the parking station body, and an optical identification area is arranged on the outer surface of the lifting device;

and the first control device is connected with the lifting device and used for controlling the lifting device to lift so as to adjust the height of the optical identification area.

In one embodiment, the lifting device comprises a lifting frame, a transmission mechanism and a driving mechanism, the light identification area is arranged on the outer surface of the lifting frame, the lifting frame is connected with the transmission mechanism, the transmission mechanism is connected with the driving mechanism, and the driving mechanism provides driving force for the transmission mechanism so that the transmission mechanism drives the lifting frame to move.

In one embodiment, the docking station body comprises a charging bin, a charging interface is arranged in the charging bin, and the lifting device is arranged outside the charging bin.

In one embodiment, the docking station body includes a charging bin, a charging interface is disposed in the charging bin, an accommodating space is disposed at the top of the charging bin, the lifting device is of a telescopic structure, one end of the lifting device is fixed in the accommodating space, and the other end of the lifting device can extend out of the accommodating space and retract into the accommodating space.

In one embodiment, the docking station body includes:

the charging bin is internally provided with a charging interface;

the first mop bin is arranged above the charging bin and used for storing mops to be replaced;

the second mop bin is arranged side by side with the first mop bin, is positioned on one side of the first mop bin, which is far away from the charging bin, and is used for storing replaced mops;

the lifting frame comprises a first lifting frame and a second lifting frame, and the first lifting frame and the second lifting frame are respectively arranged below the first mop bin and the second mop bin and used for conveying mops in the height direction.

In one embodiment, the light identification area comprises a plurality of concave-convex structures arranged at intervals;

or the light identification area comprises a plurality of blocks arranged at black and white intervals;

or, the light identification area comprises a plurality of blocks arranged at intervals, and the surface of one block in two adjacent blocks is an inclined plane.

A robot system comprises a robot body and the parking station which is independent of the robot body, wherein the robot body is provided with a signal scanning device, a signal scanning light path emitted by the signal scanning device is parallel to a horizontal plane and is used for scanning an optical identification area, and a first control device is used for controlling a lifting device to lift so that the height of the optical identification area is the same as that of the signal scanning light path.

In one embodiment, the signal scanning device is a lidar scanning apparatus.

In one embodiment, the method further comprises the following steps:

the second control device is arranged in the robot body and used for sending a control command to the stop station;

the first control device is used for receiving a control instruction of the second control device and controlling the lifting device to lift according to the control instruction.

In one embodiment, the method further comprises the following steps:

the first communication module is arranged in the docking station and is connected with the first control module;

and the second communication module is arranged in the robot body and connected with the second control module, and the second communication module is in communication connection with the first communication module.

The application provides an above-mentioned stop, including stop body and elevating gear, and set up the light identification district on elevating gear, the height in light identification district is adjusted to the height that highly comes of accessible regulation elevating gear from this, when the stop was applied to in the robot, the height-adjustable of light identification district extremely with the equal height of signal scanning light path of the signal scanning device transmission in the robot body, promptly, make scanning signal can accurately shine to the light identification district, and then confirm the position of stop.

Drawings

Fig. 1 is a schematic structural view of a docking station provided in embodiment 1 of the present invention;

fig. 2 is a schematic top view of a docking station provided in embodiment 1 of the present invention;

fig. 3 is a schematic structural diagram of a robot system provided in embodiment 2 of the present invention;

fig. 4 is a schematic structural diagram of a robot system provided in embodiment 2 of the present invention;

fig. 5 is a schematic structural diagram of a robot system provided in embodiment 2 of the present invention;

FIG. 6 is a schematic diagram of one embodiment of an optical identification area;

fig. 7 is a schematic structural diagram of another embodiment of the optical identification area.

Reference numerals:

11-a docking station body; 111-a charging bin; 112-a first mop bin; 113-a second mop bin; 114-mop holder; 115-mop;

12-a lifting device; 121-a lifting frame; 1211 — a first crane; 1212-a second crane; 122-a transmission mechanism; 1221-synchronous belt; 1222-a synchronizing wheel; 1223-locking; 123-a drive mechanism;

13-a light-recognition zone; 131-a relief structure; 132-a bevel;

2-a robot body; 21-signal scanning means.

Detailed Description

In order to facilitate understanding of the present invention, the present invention will be described more fully hereinafter with reference to the accompanying drawings. The preferred embodiments of the present invention are shown in the drawings. The invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.

It will be understood that when an element is referred to as being "secured to" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" or "coupled" to another element, it can be directly connected to the other element or intervening elements may also be present, and are also to be broadly construed, e.g., as being fixedly connected, detachably connected, or integrally connected; either mechanically or electrically. The specific meaning of the above terms in the present invention can be understood in specific cases to those of ordinary skill in the art.

As used herein, the terms "vertical," "horizontal," "left," "right," "upper," "lower," "front," "rear," "circumferential," and the like are based on the orientation or positional relationship shown in the drawings and are intended to facilitate the description of the invention and to simplify the description, but do not indicate or imply that the device or element so referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus should not be construed as limiting the invention.

Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.

Example one

The embodiment of the present invention provides a docking station, which can be applied to a home service robot or a business service robot, such as a sweeping robot or a mopping robot, that needs to dock or automatically refill or replace a mop.

As shown in fig. 1 and 2, the docking station includes a docking station body 11 and a lifting device 12, the lifting device 12 is connected to the docking station body 11 and is displaced in a height direction by a driving force, and a light recognition area 13 is provided on an outer surface of the lifting device 12.

Specifically, as an optional embodiment, the docking station body 11 includes a charging bin 111, the charging bin 111 may accommodate the robot body 2, and a charging interface is provided in the charging bin 111, and the charging interface may be provided in a socket form or a charging terminal form. When the charging interface is in a socket form, the charging interface of the robot body 2 should also be set as a plug matched with the socket; when the interface that charges is the terminal form that charges, the interface that charges of robot body 2 should also set up to supporting charging terminal. It should be noted that there may be various forms of the charging interface, and the charging interface is not limited herein as long as the charging function can be realized.

The charging interface can be arranged on the inner side bin wall of the charging bin 111, and can also be arranged on the base of the charging bin 111. The position setting of the charging interface is related to the charging interface position setting of the robot body 2 used in cooperation, and therefore, no limitation is made here.

In this embodiment, the lifting device 12 may be directly disposed outside the charging bin 111. That is, the elevating device 12 is directly connected to the charging bin 111 and is disposed outside the charging bin 111 (door), and does not occupy the space inside the charging bin 111. In practical use, as shown in fig. 3, when the robot body 2 performs a cleaning work outside, the lifting device 12 may be lowered to a certain height, that is, the light recognition area 13 on the outer surface thereof is brought to a suitable height, so that the light source emitted from the robot body 2 can recognize the light recognition area 13. When the robot body 2 is about to return to the charging bin 111 for charging, as shown in fig. 4, the lifting device 12 is lifted so that the robot body 2 can enter the bin.

It should be understood by those skilled in the art that the lifting device may also be indirectly disposed outside the charging bin, i.e., there may be other intermediate elements between the charging bin and the lifting device, which do not affect the implementation of the objective of the present invention.

As a modification, the top of the charging bin 111 may be provided with an accommodating space, the lifting device 12 is a telescopic structure, one end of the lifting device is fixed in the accommodating space, and the other end of the lifting device may extend out of the accommodating space or contract into the accommodating space. When the robot body 2 is charged in the charging bin 111, the lifting device 12 is retracted into the accommodating space, and when the robot body 2 is cleaned outside, the lifting device 12 extends out from the accommodating space, and rises or falls to a certain height, so that the light identification area 13 reaches a position corresponding to a light source emitted from the robot body 2. Thereby reducing the overall size of the docking station.

In this embodiment, as shown in fig. 1, 3, 4, and 5, the lifting device 12 may include a lifting frame 121, a transmission mechanism 122, and a driving mechanism 123, and the optical recognition area 13 is disposed on an outer surface of the lifting frame 121. The lifting frame 121 is connected with the transmission mechanism 122, the transmission mechanism 122 is connected with the driving mechanism 123, and the driving mechanism 123 provides driving force for the transmission mechanism 122, so that the transmission mechanism 122 drives the lifting frame 121 to transmit, and further the lifting frame 121 displaces along the height direction, and meanwhile, the light recognition area 13 on the lifting frame 121 can also displace along the height direction. Wherein, the transmission mechanism 122 is preferably a matching structure of a synchronous belt 1221 and a synchronous wheel 1222, and the driving mechanism 123 is preferably a driving motor.

As a modification, the driving mechanism 123 may also drive the transmission mechanism 122, so that the transmission mechanism 122 drives the lifting frame 121 to displace along the horizontal direction, and the light recognition area 13 is then displaced along the horizontal direction, so as to adapt to the actual requirement.

As another variation, the lifting device may be a mechanical device that swings left and right or some other device that can achieve displacement in the height direction of the optical recognition area, and the purpose of the present application can be achieved.

As an alternative embodiment, the docking station body 11 includes a charging bin 111, a first mop bin 112 and a second mop bin 113, and the lifting device 12 is respectively disposed corresponding to the first mop bin 112 and the second mop bin 113 for transferring the mops in the height direction.

The charging interface is disposed in the charging bin 111, and for the charging interface, reference may be made to the foregoing description, which is not repeated herein. The first mop magazine 112 is arranged above the charging magazine 111 for storing mops 115 to be replaced, i.e. clean mops, and the mops 115 to be replaced can be stacked in the first mop magazine 112 in a vertical direction. The second mop magazine 113 is arranged side by side with the first mop magazine 112 and on the side of the first mop magazine 112 remote from the charging magazine 111 for storing replaced mops 115, i.e. dirty mops, the replaced mops 115 may be stacked in the second mop magazine 113 in a vertical direction, and in addition, in order to ensure that the replaced mops 115 are arranged neatly, a mop rack 114 is provided, and one end of the replaced mops 115 may be fixed on the mop rack 114.

The first mop bin 112 may be a bin body with an opening on one side, and when in use, the mop 115 can be taken and placed through the opening, or may be only a carrying platform, and the mops 115 are all stacked on the carrying platform, or may have other structures as long as the mops 115 can be carried, and the limitation is not limited herein. Similarly, the second mop bin 113 is the same as the first mop bin 112, and the description thereof is omitted here.

In this embodiment, the lifting frame 121 includes a first lifting frame 1211 and a second lifting frame 1212, the first lifting frame 1211 and the second lifting frame 1212 are respectively and correspondingly disposed under the first mop bin 112 and the second mop bin 113, in practical application, the first lifting frame 1211 is used for conveying the mop 115 from the first mop bin 112 to the lower side for the robot body 2 to use, and the second lifting frame 1212 is used for conveying the mop 115 replaced by the robot body 2 to the second mop bin 113 above.

As an alternative embodiment, the first crane 1211 and the second crane 1212 are connected together in an unlimited manner, preferably detachably, and not limited herein. When the robot body 2 needs to replace the mop, the driving mechanism 123 drives the transmission mechanism 122 to drive the first lifting frame 1211 and the second lifting frame 1212 to descend, and at the same time, the first lifting frame 1211 can take away a mop to be replaced in the first mop bin 112, the manner of taking the mop is not limited, the first lifting frame 112 can automatically open the mop, the mop 115 automatically falls into the first lifting frame 1211, and an automatic grabbing part can be arranged on the first lifting frame 1211, and the grabbing part can grab the mop onto the first lifting frame 1211 without limitation. When the robot body 2 enters the second crane 1212, the used mop can be removed and moved forward to the first crane 1211 to be replaced. Finally, the first lifting frame 1211 and the second lifting frame 1212 are driven by the transmission mechanism 122 to lift, and the mops placed on the second lifting frame 1212 are stacked into the second mopping bin 113, and the whole process of changing the mops is finished.

As a variation, the first crane 1211 and the second crane 1212 may be separately provided, and the object of the present invention may be achieved.

In this embodiment, the light recognition area 13 is disposed on the outer surface of the second crane 1212, and specifically, the light recognition area 13 is disposed on the surface of the second crane 1212 facing the robot body 2, so that the light recognition area 13 can be irradiated more frequently when the robot body 2 emits a light source, and the position of the docking station can be determined quickly. When the driving mechanism 123 drives the transmission mechanism 122 to transmit, and further drives the lifting frame 121 to move up and down, the light identification area 13 on the second lifting frame 1212 also moves up and down, that is, the horizontal height of the light identification area 13 is variable, and in practical application, the height of the light identification area 13 can be adjusted to a height corresponding to the height of the light source emitted by the robot body 2, so that the light source can irradiate the light identification area 13 to identify and confirm the position of the stop station.

Because traditional parking station that has the rag and change the function, parking station upper portion is provided with the rag storehouse, and the door opening that the lower part was for supplying the robot host computer to get into consequently further leads to not having suitable place to set up the light identification district. The above-mentioned elevating gear that will have the light recognition district of this application is applied to the scheme that has the stop station of rag change function, when not hindering the stop station to change the rag, can adjust the height in light recognition district in a flexible way, makes the light source height of the high adaptation robot body transmission in light recognition district, does benefit to the position that the robot body discernment was confirmed the stop station.

In this embodiment, the transmission mechanism 122 is the hold-in range 1221 and the synchronizing wheel 1222 that cooperate mutually and use, and actuating mechanism 123 is driving motor, and driving motor's output is connected with synchronizing wheel 1222, and through driving motor's drive power, it is rotatory to drive synchronizing wheel 1222, and then drives the hold-in range 1221 transmission of locating on synchronizing wheel 1222, is connected through hasp 1223 between hold-in range 1221 and the crane 121, drives the crane 121 transmission of being connected with hold-in range 1221 promptly. As a variant, other structures that can be lifted and lowered may be used, and the object of the present invention is not limited to this.

As an alternative embodiment, as shown in fig. 2 and 6, the optical identification area 13 includes a plurality of concave-convex structures 131 arranged at intervals. When the light source emitted by the robot body 2 irradiates the concave-convex structure 131, the distances from the light source to the convex surface and the concave surface are different, so that the distance signals reflected by the light identification area 13 received by the light source are regularly different, and the position of the light identification area 13, namely the position of a stop station, can be identified.

As a variation, the light recognition area 13 includes several blocks arranged at black and white intervals. When the black and white interval is set, the signal received by the light source will be existed or not, so that the position of the light identification area 13, namely the position of the stop station can be judged.

As a further variation, as shown in fig. 7, the optical identification area 13 includes a plurality of blocks disposed at intervals, and a surface of one of two adjacent blocks is an inclined surface 132. When the light source irradiates the inclined plane 132, the reflected light of the block where the inclined plane 13 is located does not return to the light source, and therefore the light source cannot receive the reflected light signal, that is, the signal received by the light source is intermittent, so that the position of the light recognition area 13, that is, the position of the stop station, can be determined.

It should be noted that the blocks in the above three embodiments are all arranged at intervals along the horizontal direction, because the light beams emitted by the robot body 2 are generally distributed in the horizontal direction, the blocks in the optical recognition area 13 are also arranged in the horizontal direction, which is beneficial for optical recognition. In addition, the distance between the three above embodiments is not limited, and the purpose of the present invention can be achieved as long as the whole light identification area is within the light beam irradiation range.

It should be noted that the arrangement manner of the light identification area 13 is not limited to the above three embodiments, and any other manner capable of being identified by the light source may be adopted, and is not limited herein.

The docking station provided by the embodiment further comprises a first control device, wherein the first control device is connected with the lifting device and used for controlling the lifting device to lift, and then the height of the light identification area is adjusted. Therefore, the automation degree of the stop station can be improved, and the convenience of height adjustment of the light identification area is improved.

Example two

The present embodiment provides a robot system, as shown in fig. 3 to 5, including a robot body 2 and a docking station provided in the first embodiment, the robot body 2 and the docking station being provided independently. The robot body 2 is provided with a signal scanning device 21, and a signal scanning optical path emitted by the signal scanning device 21 is parallel to the horizontal plane and is used for scanning the optical identification area 13. The signal scanning device 21 may be a laser radar scanning device.

Wherein, signal scanning device 21 can set up in the top of robot body 2, also can set up in the side of robot body 2 to do not limit to signal scanning device 21's quantity, can be one, also can be two or more, do not all influence the utility model discloses embodiment's implementation.

When the robot body 2 is cleaned outside, the height of the optical identification area 13 can be adjusted to be equal to the height of a laser light path emitted by the signal scanning device 21 in the robot body 2, that is, a scanning signal can be accurately irradiated to the optical identification area 13, and then the position of a stop is determined.

As an alternative implementation, the robot system provided in this embodiment further includes a second control device. The second control device is arranged in the robot body 2 and used for sending a control command to the stop station; the first control device arranged at the stop is used for receiving the control instruction of the second control device and controlling the lifting device 12 to lift according to the control instruction of the second control device so as to adjust the height of the light identification area 13.

That is, the height of the light recognition area 13 can be adjusted according to the actual requirement of the robot body 2, when the robot body 2 is cleaned outside, the height of the light recognition area 13 can be adjusted to the height of the signal scanning optical path, and when the robot body 2 needs to be charged or parked or a mop needs to be replaced, the lifting device 12 can be controlled to ascend or descend.

As an optional implementation manner, the robot system provided in this embodiment further includes a first communication module and a second communication module, the first communication module is disposed inside the docking station and electrically connected to the first control module, the second communication module is disposed inside the robot body and electrically connected to the second control module, and the first communication module and the second communication module are in communication connection, that is, the first communication module and the second communication module are mainly used for transmitting a control command between the docking station and the robot body 2. The first communication module and the second communication module are both near field communication modules, such as Bluetooth, Wi-Fi, NFC, ZigBee and the like.

EXAMPLE III

The embodiment provides a control method of a robot system, which is applied to a docking station provided in the first embodiment and the robot system provided in the second embodiment, and is executed by a docking station end, and the method includes the following steps:

step S31 is a step of receiving a control command for the robot main body 2. Wherein, the control command of the robot body 2 mainly comprises charging, stopping, mop changing, outing cleaning and the like.

And step S32, adjusting the height of the lifting device 12 according to the control command of the robot body 2.

Specifically, step S32 includes:

when the stop detects that the robot main body is separated from the stop for cleaning, the lifting device 12 is adjusted to make the height of the optical identification area 13 on the lifting device 12 be the same as the height of the signal scanning optical path emitted by the signal scanning device 21 on the robot main body.

When the docking station receives a charging command or a docking command of the robot main body, the lifting device 12 is adjusted so that the robot main body can enter the docking station body 11 to be charged or docked. In this embodiment, the lifting device 12 is specifically raised to indicate that the robot main body can enter the charging bin 111.

When the docking station receives a mop change command from the robot body, the lifting device 12 is adjusted, specifically the lifting device 12 is lowered, which is specifically described in the first embodiment with respect to the mop change and is not described herein.

As an alternative embodiment, before step S31, the method further includes:

and step S30, setting a mapping relation between the control command of the robot body 2 and the stroke of the lifting device 12, and storing the mapping relation. For example, three strokes, i.e., a high stroke, a medium stroke, and a low stroke are provided, the high stroke corresponds to a position to which the lifting device 12 needs to be reached when the robot body 2 needs to be charged, the medium stroke corresponds to a position to which the lifting device 12 needs to be reached when the robot body 2 goes out for cleaning, and the low stroke corresponds to a position to which the lifting device 12 needs to be reached when the robot body 2 needs to change the mop. Therefore, when the stop station receives the control command of the robot body 2, the position of the lifting device 12 can be quickly adjusted, and the working efficiency of the robot is improved.

The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.

The above-mentioned embodiments only represent some embodiments of the present invention, and the description thereof is specific and detailed, but not to be construed as limiting the scope of the present invention. It should be noted that, for those skilled in the art, without departing from the spirit of the present invention, several variations and modifications can be made, which are within the scope of the present invention. Therefore, the protection scope of the present invention should be subject to the appended claims.

Claims

1. A docking station, comprising:

a docking station body;

2. The docking station of claim 1, wherein the lifting device comprises a lifting frame, a transmission mechanism and a driving mechanism, the light recognition area is arranged on the outer surface of the lifting frame, the lifting frame is connected with the transmission mechanism, the transmission mechanism is connected with the driving mechanism, and the driving mechanism provides driving force for the transmission mechanism so that the transmission mechanism drives the lifting frame to move.

3. The docking station of claim 1, wherein the docking station body comprises a charging chamber, a charging interface is arranged in the charging chamber, and the lifting device is arranged outside the charging chamber.

4. The docking station of claim 1, wherein the docking station body comprises a charging chamber, a charging port is arranged in the charging chamber, an accommodating space is arranged at the top of the charging chamber, the lifting device is of a telescopic structure, one end of the lifting device is fixed in the accommodating space, and the other end of the lifting device can extend out of the accommodating space and retract into the accommodating space.

5. The docking station of claim 2, wherein the docking station body comprises:

the charging bin is internally provided with a charging interface;

6. The docking station of claim 1, wherein the light recognition area comprises a plurality of concave-convex structures arranged at intervals;

7. A robot system, characterized in that, comprising a robot body and the docking station of any one of claims 1 to 6 provided independently of the robot body, the robot body is provided with a signal scanning device, a signal scanning light path emitted by the signal scanning device is parallel to a horizontal plane for scanning the optical identification area, and the first control device is used for controlling the lifting device to lift so that the height of the optical identification area is the same as the height of the signal scanning light path.

8. The robotic system as claimed in claim 7, wherein the signal scanning device is a lidar scanning apparatus.

9. The robotic system as claimed in claim 7, further comprising:

10. The robotic system as claimed in claim 9, further comprising:

the first communication module is arranged in the docking station and is connected with the first control device;

and the second communication module is arranged in the robot body and connected with the second control device, and the second communication module is in communication connection with the first communication module.