CN212698726U - Base station of cleaning robot and system thereof - Google Patents

Abstract

The base station of the cleaning robot comprises a base, a functional module, an accommodating cavity, a signal transmitter and an operating part, wherein the functional module is located above the base and used for executing preset functions, the accommodating cavity is surrounded by the functional module and the base and used for accommodating the cleaning robot, the signal transmitter is at least used for transmitting a driving-out command signal for driving out of the accommodating cavity to the cleaning robot, and the operating part is electrically connected with the signal transmitter and at least controls the signal transmitter to transmit the driving-out command signal.

Description

Base station of cleaning robot and system thereof

Technical Field

The utility model relates to a cleaning machines people's basic station and system thereof.

Background

With the development of science and technology, robots play an increasingly important role in the life of people, especially household robots, which help people to release from heavy household tasks, wherein cleaning robots are widely favored by users due to their wider applicability.

The existing cleaning robot can automatically walk, does not need manual direct control and operation when executing work, and also has the functions of path planning, automatic obstacle avoidance, human-computer interaction, regression charging and the like. The cleaning robot can meet the requirement that people clean garbage on the ground daily, but the existing cleaning robot does not have the function of mopping the ground generally, and a plurality of users hope that the cleaning robot can mop the ground besides the requirement of cleaning the garbage on the ground, so that the ground is kept in a tidier state. On the function of mopping the floor by the cleaning robot, some companies at home and abroad make attempts in a lot, but the cleaning cloth is easily dirtied in the working process, and if the cleaning cloth is not replaced in time, the cleaning effect is greatly reduced, and even the originally clean floor is dirtied. Correspondingly, the base station of the existing cleaning robot only has a charging function, when the cleaning robot returns to the charging station for charging, the outer surface of the cleaning robot is basically exposed, and in the charging process, when an emergency occurs, a user can directly operate a button on the cleaning robot to execute corresponding operation. However, the existing cleaning robots cannot automatically replace the floor mopping module of the cleaning robot in time, and usually adopt a mode of manually replacing the floor mopping module, so that a user needs to continuously pay attention to the cleaning work process, which causes low intelligence degree of the robot, and if the user replaces the floor mopping module in time, the user can pollute the cleaned floor, which is especially obvious for users with large indoor area.

Therefore, it is necessary to design a new technical solution to solve the above technical problems.

SUMMERY OF THE UTILITY MODEL

In order to overcome the defects, the utility model discloses following technical scheme can be adopted: a base station of a cleaning robot, comprising:

a base;

the functional module is positioned above the base and used for executing a preset function;

the accommodating cavity is defined by the functional module and the base and used for accommodating the cleaning robot, and the functional module is positioned above the accommodating cavity;

a signal transmitter at least for transmitting a driving-out command signal for driving out of the accommodating cavity to the cleaning robot;

and the operating part is electrically connected with the signal transmitter so as to at least control the signal transmitter to send the exit instruction signal.

Furthermore, the signal emitter can be further used for sending a driving-in instruction signal for driving into the accommodating cavity, and the operating part is electrically connected with the signal emitter so as to at least control the signal emitter to send the driving-in instruction signal.

Further, the signal emitter is arranged in the accommodating cavity.

Further, the accommodating cavity is provided with an opening communicated with the outside for the cleaning robot to exit and/or enter, the base comprises a supporting part facing the opening, and the signal emitter is arranged on the supporting part.

Further, the operating portion is exposed to an outer surface of the base station.

Further, the operation portion is provided on an upper surface of the base station.

Further, the functional module comprises a storage space for accommodating a storage substance.

Further, the storage space is located above the accommodating cavity, the functional module comprises a communication port which can be opened and closed, the storage space is communicated with the accommodating cavity up and down in the state that the communication port is opened, and the storage space is not communicated with the accommodating cavity up and down in the state that the communication port is closed.

Further, the storage space is used for storing the floor mopping module of the cleaning robot, the storage space comprises a first storage space used for storing the dirty floor mopping module and a second storage space used for storing the clean floor mopping module, and the communication port comprises a first communication port and a second communication port which are respectively positioned below the first storage space and the second storage space and can be opened and closed.

Furthermore, the first storage space and the second storage space are arranged above the accommodating cavity side by side in the horizontal direction.

Further, the base comprises a bottom plate and a supporting portion for connecting the bottom plate and the functional module, and the bottom plate comprises a containing groove for containing the storage substance.

Further, the base station further comprises a charging module for charging the cleaning robot, and the charging module comprises a charging terminal for docking and charging with the cleaning robot.

The utility model discloses still can adopt following technical scheme:

a cleaning robot system comprises the base station and a cleaning robot corresponding to the base station, wherein the cleaning robot comprises a signal receiver for receiving command signals transmitted by the signal transmitter.

Further, the signal receiver is located in front of the moving direction of the cleaning robot.

Further, the cleaning robot includes a floor mopping module for cleaning a floor.

Compared with the prior art, the beneficial effects of the utility model are that: the base station is provided with the key which can at least control the cleaning robot to exit, so that the cleaning robot is prevented from being clamped in the accommodating cavity of the base station and a user cannot exit the cleaning robot.

Drawings

Fig. 1 is a perspective view of a cleaning robot system according to an embodiment of the present invention.

Fig. 2 is a perspective view of the cleaning robot according to an embodiment of the present invention.

Fig. 3 is a bottom view of the cleaning robot of fig. 2.

Fig. 4 is a schematic diagram of a mopping module according to an embodiment of the present invention.

Fig. 5 is a schematic view illustrating an embodiment of the present invention in which the floor mopping module is not installed on the cleaning robot.

Fig. 6 is a schematic view of an embodiment of the invention in which the cleaning robot has an installed mopping module.

Fig. 7 and 8 are schematic views of a connection assembly of the cleaning robot according to an embodiment of the present invention.

Fig. 9 is a schematic diagram of an operation unit in a base station according to an embodiment of the present invention.

Fig. 10 is a schematic diagram illustrating an opening of a communication port in a base station according to an embodiment of the present invention.

Fig. 11 is a schematic view of the communication port closing in the base station shown in fig. 10.

Detailed Description

The following detailed description and technical contents of the present invention are described with reference to the accompanying drawings, however, the accompanying drawings only provide references and descriptions, and do not limit the present invention.

As shown in fig. 1, the present invention provides a cleaning robot system 300 including a cleaning robot 100 for performing a cleaning work on an indoor work surface and a base station 200 of the cleaning robot 100. The base station 200 is a docking station of the cleaning robot, which may be used to perform a preset operation to the cleaning robot 100, such as charging the cleaning robot 100, replacing or washing a mopping module, replacing or adding accessories, or performing other preset operations to the cleaning robot 100.

As shown in fig. 2 to 3, the cleaning robot 100 includes a main body, a moving module for moving the main body on a working surface, a cleaning mechanism for performing cleaning work on the working surface, a power mechanism for providing power to the cleaning robot 100, an energy module for providing energy, and a control unit for controlling the cleaning robot 100 to autonomously work on the working surface. The mobile module includes road wheels 110, and in other embodiments, the mobile module may also include a track structure or other conventional means of movement. In this embodiment, the cleaning robot 100 is a mopping robot and the cleaning mechanism is a mopping module 310 that performs mopping operations on a work surface. In other embodiments, the cleaning robot 100 may also be a floor sweeping robot, a floor washing robot, etc., and correspondingly, the cleaning mechanism may include a rolling brush, an edge brush, etc. The power mechanism comprises a motor and a transmission mechanism connected with the motor, the transmission mechanism is connected with the mobile module, the motor drives the transmission mechanism to work, the mobile module moves under the transmission action of the transmission mechanism, and the transmission mechanism can be a worm and gear mechanism, a bevel gear mechanism and the like.

The base station 200 is a charging station for charging the cleaning robot 100 or a docking station for performing a preset operation on the cleaning robot. In this embodiment, the base station 200 may charge the cleaning robot 100 and may perform other predetermined operations, and functions of charging and performing other operations are integrated into the same base station 200 to reduce costs and reduce docking stations, thereby facilitating a user to operate or observe the cleaning robot 100.

In this embodiment, the base station 200 is a floor module replacement station for replacing a floor module of the cleaning robot 100; in other embodiments, the base station 200 may also be an optional module addition/subtraction station for adding/subtracting an optional module (e.g., an air purification module, etc.) to/from the cleaning robot 100; in another embodiment, the base station 200 may also be a cleaning station or the like for cleaning a mopping module. Meanwhile, the base station 200 also integrates a charging function, and when the cleaning robot 100 is short of power, the cleaning robot 100 can automatically return to the base station 200 to be charged, so as to supplement power.

The base station 200 includes a base 253, a function module disposed above the base 253 for performing a predetermined function, a housing cavity 258 defined by the function module and the base 253 for housing the cleaning robot, and a charging module for charging the cleaning robot. Wherein the functional module is located above the accommodating cavity 258. The charging module includes a charging terminal for docking charging with the cleaning robot 100. The base 235 includes a bottom plate 2531 and a support portion connecting the bottom plate 2532 and the function module. The preset functions performed by the function modules correspond to preset operations predefined by the base station 200. In this embodiment, the base station 200 is a floor module replacing station for automatically replacing the floor module, and correspondingly, the functional module is a structure or a substance required in the process of replacing the floor module.

In this embodiment, the functional module is at least used for performing a storage function, and the functional module includes a storage space 215 for accommodating a storage substance. The stored substance is a substance required during a preset operation performed by the base station 200. For example, in the present embodiment, the base station 200 is a floor module replacement station for automatically replacing a floor module, and when the floor module is replaced, a new (clean) floor module is required, and a dirty floor module is also generated, and at this time, a storage space for receiving the floor modules is required, and thus, the functional module is a storage module 210 for receiving the floor modules. In other embodiments, the functional module may also be a storage module for storing other substances, for example, for storing an air purification module, water or other cleaning media, etc. In other embodiments, the functional module may also be used to perform other functions, such as dust prevention, cleaning, charging, and the like.

As shown in fig. 10 to 11, the storage space 215 is located above the housing cavity 258, the functional module includes a communication port 2150 that can be opened and closed, the storage space 215 and the housing cavity 258 communicate with each other in the vertical direction when the communication port 2150 is opened, and the storage space 215 and the housing cavity 258 do not communicate with each other in the vertical direction when the communication port 2150 is closed. The stored substance may be directly transferred up and down between the storage space 215 and the receiving cavity 258 through the communication port to automatically mount the substance stored on the base station 200 to the cleaning robot or automatically store the substance detached from the cleaning robot 100 in the storage space 215 in the base 200. The bottom plate 2531 includes a receptacle for receiving the contents to prevent or reduce the contents from protruding above the surface of the bottom plate 2531 as the contents are moved from the storage space 215 into the receptacle 258.

In this embodiment, the cleaning robot 100 has a function of automatically replacing the floor mopping module 310 by the returning base station 200, in this case, the storage space 215 is used for storing the floor mopping module 310, the storage space 215 includes a first storage space 2153 for storing the dirty floor mopping module and a second storage space 2154 for storing the clean floor mopping module, and the communication port 2150 includes a first communication port 2151 and a second communication port 2152 which are respectively located below the first storage space 2153 and the second storage space 2154 and can be opened and closed. The first storage space 2151 and the second storage space 2152 are horizontally arranged above the receiving cavity 258. The corresponding bottom plate 2531 has a receiving groove for receiving a dirty mopping module and a receiving groove for receiving a clean mopping module, so that the mopping module can be limited, and the mopping module can be prevented from protruding too far out of the bottom plate 2531 to block the movement of the cleaning robot 100.

The cleaning robot 100 generally has a control panel, and a user can control the operation of the cleaning robot 100 by operating the control panel of the cleaning robot 100, and the operation panel of the cleaning robot 100 is generally provided on the upper surface of the cleaning robot 100. Because the base station 200 is integrated with other functions besides charging, the functional module is disposed above the base and above the accommodating cavity 258, so as to save the floor space. However, when the function module is disposed above the accommodating cavity 258, when the cleaning robot 100 returns to the base station 200, the cleaning robot 100 is accommodated in the accommodating cavity 258, the upper surface of the cleaning robot 100 is shielded by the function module, and the user cannot directly operate the operation panel on the cleaning robot 100, and at this time, if the user wants to operate the operation panel on the cleaning robot 100 to execute a corresponding instruction, or wants to directly execute some other operations on the cleaning robot 100, the user can only manually forcibly pull out the cleaning robot 100, and thus, the user's hand is contaminated, the user experience satisfaction is reduced, and the forced action may also cause structural damage or program disorder of the cleaning robot 100.

In this embodiment, the base station 200 further includes a signal transmitter 259 at least for transmitting an exiting command signal exiting the accommodating cavity 258 to the cleaning robot 100, and an operation portion 340 electrically connected to the signal transmitter 259 for controlling at least the signal transmitter to transmit the exiting command signal. When the cleaning robot 100 enters the receiving cavity 258 of the base station 200, the operation part 340 can be directly operated to enable the cleaning robot to exit the base station, and then the related operation is performed.

In one embodiment, the cleaning robot 100 is provided with a detachable battery pack, and when a user needs to remove the battery pack, if the cleaning robot 100 is located in the base station 100, the operating part 340 on the base station is operated, so that the cleaning robot 100 exits from the base station and stops working, thereby facilitating the user to remove the battery pack. In one embodiment, the cleaning robot 100 is installed with a water tank capable of providing water to the mopping module 310 to wet mopping on the ground, when the water stored in the water tank is low, a user needs to add water to the water tank, and at this time, if the cleaning robot 100 is located in the base station, the user can operate the operation part 340 of the base station to enable the cleaning robot to exit the base station 200 and stop outside the base station, which is convenient for the user to remove the water tank and install the water tank.

Of course, the signal emitter 259 and the operation part 340 may also integrate other functions, so that the user can control the cleaning robot 100 to execute other instructions by operating the operation part 340 on the base station 200, for example, the signal emitter 259 may not only be limited to sending out the exit instruction signal, but also the signal emitter 259 may be used to send in the entry instruction signal of the entry housing cavity 258, correspondingly, the operation part 340 is electrically connected with the signal emitter 259, and the signal emitter 259 may be controlled to send in the entry instruction signal, so that the cleaning robot 100 is controlled to execute the instruction of entering the housing cavity 258 by operating the operation part 340. Of course, the signal transmitter 259 may also be used to transmit a guiding signal for guiding the cleaning robot 100 to return or transmit other signals, and correspondingly, the operating unit 340 is electrically connected to the signal transmitter 259 and can control the signal transmitter 259 to transmit the corresponding guiding signal or other signals so as to control the cleaning robot 100 to execute other instructions.

The operating part 340 is operable by a user to control the signal emitter 259 to emit a corresponding signal, so as to control the cleaning robot 100 to execute a corresponding instruction. For example, a user can operate the operation portion 340 to control the signal emitter 259 to emit an exit signal command, so as to control the cleaning robot 100 to execute the command of exiting the accommodating cavity, so that when the cleaning robot 100 is accommodated in the accommodating cavity 258, the user can directly operate the operation portion 340 to control the cleaning robot 100 to exit the accommodating cavity 258, thereby avoiding manual interference with the cleaning robot 100, and effectively improving the user experience. Similarly, when the signal transmitter 259 further integrally transmits the drive-in command, when the cleaning robot 100 is located outside the base station 200, the user can also quickly recall (e.g., one-touch recall) the cleaning robot 100 by operating the operation part 340, thereby avoiding searching for the cleaning robot 100 everywhere.

The operation part 340 may be a physical operation element or a virtual operation element on the screen, and the operation element may be a button or a pedal. When the signal transmitter 259 can transmit different signals, the operating part 340 may have only one operating element as shown in fig. 1, and control the signal transmitter 259 to transmit different signals by different operating methods, such as operating duration or operating number; a plurality of operating elements may also be provided, each operating element corresponding to a different signal. For example, the operation portion 340 includes an entry operation element to which the control signal transmitter 259 transmits an entry instruction signal and an exit operation element to which the control signal transmitter 259 transmits an exit instruction signal, which are provided separately. Further alternatively, as shown in fig. 9, two kinds of exit operating elements are provided on the base station 200, specifically, the operating part 340 of the base station 200 includes a first operating element 320 and a second operating element 330, and when the cleaning robot 100 needs to exit the base station, when the first operating element 320 on the base station 200 is pressed, the cleaning robot 100 exits the base station and continues to perform a cleaning work in the work area; when the second operating member 330 on the base station 200 is pressed, the cleaning robot 100 exits the base station 200 and stops outside the base station, enabling a user to conveniently remove/install a battery pack, remove/install a water tank, and the like.

The operation unit 340 is provided on the outer surface of the base station 200 to facilitate user operation. As shown in fig. 1, the operation portion 340 may be a key disposed on the upper surface of the base station 200 for the user to press. Of course, the operation unit 340 may be a foot key disposed at the side of the base station 200 for the convenience of the user. In other embodiments, the operation portion 340 may also be disposed on other external surfaces of the base station 200, such as the front and back surfaces, etc., as long as the operation is convenient for the user.

The cleaning robot 100 includes a signal receiver for receiving a signal transmitted from the signal transmitter 259. The signal transmitter 259 may be an infrared signal transmitter, a bluetooth signal transmitter, or a wifi signal transmitter, etc. In this embodiment, the signal emitter 259 is an infrared signal emitter. The signal emitter 259 is disposed in the receiving cavity 258, the receiving cavity 258 has an opening 255 communicated with the outside for the cleaning robot 100 to exit and/or enter, and the support portion 2532 is disposed on the side of the base station 200 opposite to the opening 255, so that when the cleaning robot 100 stops, the projections of the cleaning robot 100 and the function modules in the horizontal plane are approximately overlapped, the structure of the base station 200 in the horizontal direction is more compact, and the overall floor area of the cleaning robot system 300 is reduced. The signal emitter 259 is disposed on the support portion 2532 and emits a signal toward the opening 255. Since the cleaning robot 100 is located at a side of the supporting portion 2532 facing the opening 255 when the cleaning robot 100 is docked with the base 200, the signal emitter 259 emits towards the opening 255 and directly faces the cleaning robot 100 to emit a signal, which facilitates the signal reception on the cleaning robot 100. When the cleaning robot 100 is not docked with the base 200, the signal emitter 259 emits a signal to the outside of the base station 200 through the opening 255, so as to prevent the signal from being blocked by other components on the base station 200, and facilitate the cleaning robot 100 to receive the signal. The signal receiver is located in front of the moving direction of the cleaning robot 100 in order to more easily receive the signal transmitted from the signal transmitter 259.

The signal transmitter 259 may also be used to transmit a guide signal guiding the cleaning robot 100 to move toward the base station 200. After detecting that the electric quantity of the cleaning robot 100 is smaller than the threshold value, the cleaning robot walks towards the base station 200 according to the preset path, continuously detects a signal sent by the charging module in the walking process, judges the position of the base station 200 according to the signal and completes charging butt joint. In the present embodiment, the charging terminal is located on the support portion 2532 or the bottom plate 2531, but of course, in some embodiments, the charging terminal may also be located at the bottom of the storage module 210, or the like, so that the top of the cleaning robot 100 contacts with the charging terminal for charging. After the cleaning robot 100 enters the base station 200 and the docking is completed, the charging is started, and after the charging is completed, the cleaning robot 100 exits the base station 200. In other embodiments, the cleaning robot 100 may further include a wireless charging mode, the charging module includes a transmitting coil, the cleaning robot 100 includes a receiving coil, and the cleaning robot 100 is charged by electromagnetic induction of the transmitting coil and the receiving coil. Through setting up the module of charging on basic station 200, its beneficial effect lies in: the integration of the functions of the base station 200 enables the base station 200 to have the functions of multiplexing and a compact structure.

In this embodiment, the cleaning robot 100 can automatically replace the floor mopping module at the base station 200. As shown in fig. 5 to 6, the floor module 310 is detachably mounted to the cleaning robot 100, fig. 5 illustrates a state where the cleaning robot 100 is not mounted with the floor module 310, and fig. 6 illustrates a state where the cleaning robot 100 is mounted with the floor module 310, and the cleaning robot 100 mounted with the floor module 310 can walk in a work area and perform a cleaning work. In the present embodiment, the cleaning robot 100 further includes a connection assembly 120, and the cleaning robot 100 can automatically mount the floor mopping module 310 to the cleaning robot 100 through the connection assembly 120 and control the connection assembly 120 through the control unit to separate the floor mopping module 310 from the body of the cleaning robot 100. In the present embodiment, referring to fig. 7 to 8, the connection assembly 120 includes a frame 121, the frame 121 being connected with the main body of the cleaning robot 100; and a partition 122 connecting the mopping module 310 to the main body of the cleaning robot 100 through the partition 122. In the present embodiment, the connecting assembly 120 includes a magnetic element, which connects the mopping module 310 to the cleaning robot 100 body by magnetic action. In this embodiment, the connecting assembly 120 can adjust the height of the mopping module 310 from the ground in response to a control signal of the control unit. In the present embodiment, when the cleaning robot 100 needs to install the mopping module 310, the control unit controls the connecting assembly 120 to be lowered to approach the mopping module 310, the magnetic element on the connecting assembly 120 and the magnetic element 314 on the mopping module 310 approach to be attracted to each other, and the mopping module 310 is thus connected to the cleaning robot 100 main body. In this embodiment, when the mopping module 310 needs to be separated from the cleaning robot 100 body, the control unit controls the connecting assembly 120 to be lifted, the connecting assembly 120 further includes the ejector 123, and the ejector 123 generates downward pressure on the mopping module 310, so that the mopping module 310 is separated from the cleaning robot 100 body. In the present embodiment, while performing the cleaning work, the mopping module 310 contacts the ground to perform the cleaning work on the surface, and in a scenario where the cleaning work is not performed, such as a scenario of returning to charge, returning to replace the mopping module, etc., the mopping module 310 is lifted to avoid the mopping module 310 contacting the ground to prevent the mopping module 310 that has become dirty from contaminating the cleaned work surface. By providing the connection assembly 120, there is an advantageous effect in that the floor mopping module 310 is automatically connected to the main body of the cleaning robot 100 and the floor mopping module 310 is automatically separated from the main body of the cleaning robot 100, which can effectively reduce the manual involvement in the operation of the cleaning robot 100.

The base station 200 includes a transfer module capable of moving the mopping module 310 to transfer the mopping module 310 in the storage module 210 to the cleaning robot 100 for installation, or to transfer the mopping module 310 separated from the main body of the cleaning robot 100 to the storage module for storage. The robot cleaning system further includes a control unit controlling the operation of the transfer module of the base station and the operation of the sensor on the base station, and optionally, the control unit is located on at least one of the base station 200 and the cleaning robot 100. And, the robot cleaning system 300 further comprises a mopping module 310 adapted to cooperate with the base station 200 and the cleaning robot 100, fig. 4 is a design of the mopping module 310 of the present embodiment, the mopping module 310 comprises a back plate 311, the back plate 311 is adapted to connect with a mop cloth 312, a notch 313 is provided on the mopping module 310, wherein the mop cloth 312 can be a common mop cloth or can be replaced by a common means such as a wet towel, a sponge wiper, etc., the back plate 311 comprises a suction element, specifically, the suction element comprises a magnetic element, which can be magnetically connected with the cleaning robot 100 and received by the base station 200. In this embodiment, the mop cloth 312 is attached to the back plate 311 with the edge slightly beyond the back plate 311, that is, the size of the mop cloth 312 is slightly larger than that of the back plate 311, so that when the cleaning robot 100 needs to clean corner areas, such as cracks, the mop module 310 can better contact with the cleaning surface, especially the vertical surface of the wall, thereby ensuring better cleaning effect for the corner areas. In other embodiments, the floor module 310 may be mounted by a groove clamping, adhering, or other means commonly used in the art, and the design of the floor module for the cleaning robot 100 and the design of the base station 200 for receiving the floor module may be changed accordingly.

The transfer module of the base station 200 includes a mopping module collecting unit for collecting the mopping module 310 separated from the main body of the cleaning robot 100, and a mopping module providing unit for providing the mopping module 310 to the cleaning robot 100 for replacement of the cleaning robot 100. And, the storage module of the base station 200 includes a first storage unit 211, and a second storage unit 212. The first storage unit 211 and the second storage unit 212 include a first storage space 2153 for storing dirty floor modules and a second storage space 2154 for storing clean floor modules, respectively. Wherein the first storage unit 211 is engaged with the mopping module collecting unit to collect the mopping module 310 separated from the main body of the cleaning robot 100 to the first storage unit 211; the second storage unit 212 cooperates with the floor module supply unit to transfer the floor module 310 stored in the second storage unit 212 to the cleaning robot 100 through the floor module supply unit for installation. The base station 200 includes an operating position 250 for the cleaning robot 100 to place the separated mopping module 310 and for the robot to install the mopping module 310, and further, the operating position 250 includes a first operating position 251 for the cleaning robot 100 to place the separated mopping module 310 and a second operating position 252 for the cleaning robot 100 to install the mopping module 310. Specifically, the cleaning robot 100 reaches an operation position after driving into the base station, and a portion of the cleaning robot 100 where the floor mopping module is mounted corresponds to the operation position on the base station 200, specifically, when the cleaning robot 100 reaches the first operation position 251, the cleaning robot 100 separates the floor mopping module 310 mounted to the main body and places it at the first operation position 251, and when the cleaning robot reaches the second operation position 252, the cleaning robot 100 mounts the floor mopping module 310 placed at the second operation position 252 to the main body of the cleaning robot 100. Specifically, the operation position 250 includes an operation area, which may be used to place the mopping module 310, and which may be used to detach the mopping module from the cleaning robot 100 and/or mount the mopping module on the cleaning robot 100, specifically, the first operation position 251 includes a first operation area, which separates and places the mopping module 310 mounted on the robot body on the first operation area after the robot 100 drives into the base station to reach the first operation area, which may stack one or more mopping modules, and the second operation position 252 includes a second operation area, which mounts the mopping module 310 mounted on the second operation area on the cleaning robot body after the robot drives into the base station to reach the second operation area, which may place one or more mopping modules 310, specifically, that is, the operation position of the base station 200 includes an operation area, the mopping module 310 may be placed in the area and the cleaning robot 100 may be able to complete the replacement of the mopping module of the cleaning robot 100 in the area. In the present embodiment, the first storage unit 211 and the second storage unit 212 are disposed in parallel, and specifically, the bottom surfaces of the first storage unit 211 and the second storage unit 212 are substantially located on the same plane, referring to fig. 10. Specifically, the first storage unit 211 is used to store dirty mopping modules 310 separated from the cleaning robot 100 that have been used, and the second storage unit 212 stores clean mopping modules 310 for the cleaning robot 100 to install. Specifically, referring to fig. 10, the first storage unit 211 and the second storage unit 212 may store a plurality of mopping modules 310, respectively, and the plurality of mopping modules 310 are stacked. Specifically, the first storage unit 211 and the second storage unit 212 have substantially the same capacity, and the number of mopping modules that can be accommodated is substantially the same. In the present embodiment, the storage module 210 is disposed in the vertical direction of the operation position 250, and specifically, the storage module 210 is disposed above the operation position, such that the projection of the storage module on the horizontal plane substantially covers the projection of the operation area on the horizontal plane, and when the cleaning robot 100 drives into the base station 200, the distance between the top of the cleaning robot 100 and the bottom of the storage module of the base station 200 in the vertical direction is less than or equal to 50 MM. In the present embodiment, the first storage unit 211 is disposed corresponding to the first operation position 251 of the cleaning robot 100 of the base station floor, and specifically, the first storage unit 211 is disposed in a vertical direction of the first operation position 251, and more specifically, the first storage unit 211 is disposed above the vertical direction of the first operation position 251, so that a projection of the first storage module on a horizontal plane substantially covers the projection of the first operation position on the horizontal plane. In the present embodiment, the second storage unit 212 is disposed at a position corresponding to the second operation position 252 of the cleaning robot 100 of the base station chassis, specifically, the second storage unit 212 is disposed in a vertical direction of the second operation position 252, and more specifically, the second storage unit 212 is disposed above the vertical direction of the second operation position 252. In other embodiments, the storage module 210 may be located below the operation position, the transfer module collects the mopping module 310 separated from the cleaning robot body to the storage module through a top-down motion when the cleaning robot 100 travels to the operation position to separate the mopping module, and transfers the mopping module to the cleaning robot for installation through a bottom-up motion when the cleaning robot needs to install the mopping module. In this embodiment, when the cleaning robot 100 returns to the base station 200 to replace the mopping module 310, the cleaning robot enters the base station 200 to reach the first operation position 251, and the control unit controls the mopping module 310 to be separated from the cleaning robot 100; the second operating position 252 is located forward of the first operating position 251 with respect to the arrival direction of the cleaning robot 100, continues to travel forward when the cleaning robot 100 reaches the first operating position 251, and reaches the second operating position 252 where the cleaning robot 100 mounts the mopping module 310. In the present embodiment, the second storage unit 212 is disposed in front of the first storage unit 211 with respect to the direction in which the cleaning robot 100 approaches the station, and thus the cleaning robot 100 can approach the first storage unit 211 first and then approach the second storage unit 212 when approaching the station. The advantage of this embodiment is that the transfer module comprises a collection unit of the mopping module, the cleaning robot 100 performs cleaning work on the working surface, the mopping module 310 is continuously contacted with the working surface, after a period of work, the mopping module 310 becomes dirty and needs to be replaced, and by providing the collection unit of the mopping module to the base station 200, the mopping module of the cleaning robot 100 can return to the base station 200 for replacement after being dirty, so as to prevent the mopping module 310 that has become dirty from continuously polluting the working surface. After the cleaning robot 100 automatically separates the mopping module 310 from the main body of the cleaning robot 100, the separated dirty mopping module is automatically picked up by the mopping module collecting unit and collected to the first storage unit 211 of the storage module 210, so that the dirty mopping module is stored, and the working surface is tidy and ordered by storing the dirty mopping module. Further, the transfer module includes a floor mopping module providing unit, and by providing the floor mopping module providing unit, the floor mopping module 310 becomes dirty after the cleaning robot 100 works for a period of time, a new floor mopping module can be obtained in time for replacement, and manual work is reduced. By providing the floor mopping module providing unit, when the cleaning robot 100 separates the used dirty floor mopping module 310, and the clean floor mopping module 310 needs to be installed to continue the cleaning work, the base station 200 can automatically take out the clean floor mopping module 310 stored in the storage module 210 for the cleaning robot 100 to install, so that the cleaning robot 100 can automatically acquire the clean floor mopping module 310 through the base station 200 all the time to automatically and continuously perform the cleaning work on the work surface. Further, the base station 200 can automatically collect used dirty mopping modules separated from the main body of the cleaning robot 100 by providing the mopping module collecting unit, and can provide at least one clean mopping module to the cleaning robot 100 for installation by providing the mopping module providing unit, such that the base station 200 can simultaneously achieve the functions of collecting the dirty mopping modules 310 separated from the cleaning robot 100 for storage and providing the clean mopping modules 310 to the cleaning robot 100 for installation, when the cleaning robot 100 needs to replace the mopping modules 310, the mopping modules 310 connected to the main body of the robot are separated by the connecting assembly, and the mopping module collecting unit of the base station 200 collects the mopping modules and stores the same to the first storage unit; after the cleaning robot 100 has separated the used dirty mopping module 310, it is required to install a clean mopping module, and the clean mopping module is automatically taken out from the second storage unit by the mopping module providing unit for the cleaning robot 100 to install, so that the cleaning robot 100 can automatically separate the dirty mopping module and orderly receive the dirty mopping module, and automatically install the clean mopping module 310 to continuously perform cleaning work on the work surface. Meanwhile, when the floor mopping module 310 is replaced by the cleaning robot 100, the operating position of the cleaning robot 100 corresponds to the storage module 210 of the base station 200 in the vertical direction, and when the floor mopping module 310 is replaced by the cleaning robot 100 in cooperation with the base station 200, the floor mopping module 310 moves in the vertical plane due to the transfer module, so that the base station 200 has a compact structure, and the movement path of the floor mopping module 310 is short.

The storage module 210 can store a plurality of mopping modules 310, and in particular, in the present embodiment, the storage module 210 can store about 10 mopping modules 310. Generally, the mopping module 310 includes a disposable mop and a washable mop, the cleaning robot system 300 in this embodiment is compatible with the disposable mop and the washable mop, and the storage module 210 is capable of storing the disposable mop and the washable mop. In order to make the storage module 210 compatible with both disposable mops and washable mops, some modifications in the design of the storage module 210 itself are required in one embodiment, so that the storage module 210 can still ensure good operational stability while achieving compatibility with mops. Specifically, the gaps in the length direction and the width direction of the storage module 210 are increased, so that the mopping module with a larger size can be matched with the storage module 210, and when a plurality of mopping modules 310 are placed in the storage unit 210, the edges of the mopping modules 310 may be folded, and the capacity of the storage module 210 for storing the mopping modules 310 is ensured by increasing the internal gaps of the storage unit 210. When there is a gap between the two sides of the storage module 210, it means that the inner space of the storage module 210 is larger than the actual size of the mopping module 310, and generally speaking, the central area of the storage module 210 is exactly aligned with the operating position, so that the mopping module can be accurately placed at the corresponding operating position, and therefore, when the mopping module 310 is stored in the storage module, the mopping module 310 is placed in the central area of the storage module 210 as much as possible. Specifically, the second storage unit 212 stores therein the floor mopping module 310 to be replaced, and when the cleaning robot 100 needs to replace the floor mopping module, the second storage unit 212 provides one floor mopping module 310 to the second operating position 252 for the cleaning robot to install, and specifically, if the floor mopping module 310 is to be accurately placed at the second operating position, the floor mopping module 310 in the second storage unit 212 needs to be dropped from the middle area. Specifically, the contact part of the baffle telescopic mechanism and the mopping module 310 is designed to be an inclined plane, the part of the mopping module 310 in contact with the contact part is also designed to be an inclined plane corresponding to the inclined plane, and the inclined plane contact part can apply a force to the mopping module to move towards the middle area of the second storage unit 212, so that the mopping module 310 moves towards the middle as much as possible under the action of the telescopic mechanisms at the two sides and is located in the middle area of the second storage unit 212 as much as possible. In other embodiments, the contact portion of the retractable barrier mechanism may be designed in other shapes, as long as the floor mopping module 310 is subjected to a force that moves the floor mopping module to the central area of the second storage unit 212, and it can be understood that the contact position on the floor mopping module 310 is changed accordingly.

In this embodiment, the cleaning robot 100 further includes a position detection sensor, when the position detection sensor determines that the cleaning robot 100 reaches the first operation position 251, the control unit controls the connection assembly 120 to move such that the mopping module 310 is separated from the cleaning robot 100 main body, and the mopping module 310 moves by the mopping module collecting unit to collect the mopping module 310 to the first storage unit 211; the floor module providing unit takes out the floor module 310 from the second storage unit 212, the floor module 310 moves by the floor module providing unit to provide the floor module 310 to the cleaning robot 100 for installation, and when the position sensor judges that the cleaning robot 100 reaches the second operating position 252, the control unit controls the connecting assembly 120 to move to install the floor module 310. In an embodiment, taking the position detection sensor as a magnetic detection sensor, such as a hall sensor, the cleaning robot 100 determines the relative position between the base station 200 and the position detection sensor by detecting a magnetic element disposed on the base station 200. For example, when the cleaning robot 100 detects a first magnet provided on the base station 200, it is determined that the cleaning robot 100 reaches the first operation position 251; when the cleaning robot 100 detects the second magnet provided on the base station 200, it is determined that the cleaning robot 100 reaches the second operation position 252.

The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as 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 (15)

1. A base station of a cleaning robot, the base station comprising:

a base;

the functional module is positioned above the base and used for executing a preset function;

the accommodating cavity is defined by the functional module and the base and used for accommodating the cleaning robot, and the functional module is positioned above the accommodating cavity;

a signal transmitter at least for transmitting a driving-out command signal for driving out of the accommodating cavity to the cleaning robot;

and the operating part is electrically connected with the signal transmitter so as to at least control the signal transmitter to send the exit instruction signal.

2. The base station of claim 1, wherein the signal transmitter is further configured to send a driving-in command signal for driving into the receiving cavity, and the operation portion is electrically connected to the signal transmitter to control at least the signal transmitter to send the driving-in command signal.

3. The base station of claim 1, wherein the signal transmitter is disposed within the receiving cavity.

4. The base station as claimed in claim 3, wherein the receiving cavity has an opening communicating with the outside for the cleaning robot to exit and/or enter, and the base includes a supporting portion facing the opening, and the signal emitter is disposed on the supporting portion.

5. The base station of claim 1, wherein the operating portion is exposed to an outer surface of the base station.

6. The base station of claim 5, wherein the operating portion is disposed on an upper surface of the base station.

7. The base station of claim 1, wherein the functional module comprises a storage space for receiving a storage substance.

8. The base station according to claim 7, wherein the storage space is located above the receiving cavity, the functional module includes a communication port that can be opened and closed, the storage space and the receiving cavity are vertically communicated with each other in a state where the communication port is opened, and the storage space and the receiving cavity are not vertically communicated with each other in a state where the communication port is closed.

9. The base station of claim 8, wherein the storage space is for storing a floor mopping module of the cleaning robot, the storage space includes a first storage space for storing a dirty floor mopping module and a second storage space for storing a clean floor mopping module, and the communication port includes a first communication port and a second communication port that are respectively located below the first storage space and the second storage space and are openable and closable.

10. The base station of claim 9, wherein the first storage space and the second storage space are horizontally arranged side by side above the receiving cavity.

11. The base station of claim 7, wherein the base comprises a bottom plate and a support portion for connecting the bottom plate and the functional module, the bottom plate comprising a receiving slot for receiving the storage material.

12. The base station of claim 1, further comprising a charging module for charging the cleaning robot, the charging module comprising a charging terminal for docking with the cleaning robot for charging.

13. A cleaning robot system comprising the base station according to any one of claims 1 to 12 and a cleaning robot corresponding to the base station, the cleaning robot comprising a signal receiver for receiving the command signal transmitted by the signal transmitter.

14. The cleaning robot system of claim 13, wherein the signal receiver is located forward of a direction of movement of the cleaning robot.

15. The cleaning robot system of claim 13, wherein the cleaning robot comprises a floor mopping module for cleaning a floor.

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