CN217524937U - Cleaning system, self-moving device and base station - Google Patents

Abstract

The utility model discloses a clean system, from mobile device and basic station, clean system, include: the base station is provided with a first guide structure; the self-moving equipment is provided with a second guide structure matched with the first guide structure, the base station is provided with a placing area for the self-moving equipment to stay, and the self-moving equipment can move to a preset position of the placing area under the guide effect of sliding fit of the first guide structure and the second guide structure when entering the placing area; the base station or the self-moving equipment is also provided with a feedback piece, the feedback piece is triggered by the driving force of the second guide structure or the first guide structure when the self-moving equipment moves to a preset position, and the feedback piece outputs a trigger signal.

Description

Cleaning system, self-moving device and base station

Technical Field

The utility model belongs to the technical field of cleaning device, concretely relates to clean system, from mobile device and basic station.

Background

The cleaning robot can automatically finish floor cleaning work in a room by means of certain artificial intelligence. The cleaning robot is internally provided with a dust collecting box and a water tank, but the dust collecting box and the water tank are small in size, so that dirt in the dust collecting box needs to be poured frequently and water is supplemented to the water tank, and the defect of inconvenient use exists.

Therefore, the base station matched with the cleaning robot for use is born in the market, the base station not only has the traditional charging function, but also can automatically recover dirt in the dust collecting box, supplement water to the water tank and even wash rag, and the base station has higher requirements on the butt joint precision of the cleaning robot and the base station. But the prior art has the defect of poor butt joint precision of the cleaning robot and the base station. Accordingly, there is a need for improvements in the art that overcome the deficiencies in the prior art.

SUMMERY OF THE UTILITY MODEL

Therefore, the utility model aims to solve the technical problem that a clean system, from mobile device and basic station that the butt joint precision is high are provided.

In order to solve the technical problem, the utility model provides a cleaning system, include: the mobile terminal comprises a base station and self-moving equipment, wherein the base station is provided with a first guide structure and a placing area for the self-moving equipment to stay; the base station is provided with a placing area for the self-moving equipment to stay, and the self-moving equipment can move to a preset position of the placing area under the guiding action of sliding fit of the first guiding structure and the second guiding structure when entering the placing area; the base station or the self-moving equipment is further provided with a feedback piece, the feedback piece is triggered by the driving force of the second guide structure or the first guide structure when the self-moving equipment moves to the preset position, and the feedback piece outputs a trigger signal.

Preferably, in the cleaning system, one of the first guide structure and the second guide structure is a guide channel, and the other is a guide protrusion; the guide projection is slidably inserted into or withdrawn from the guide passage.

Preferably, in the cleaning system, the guide channel is a guide groove, and the feedback member is disposed on a groove bottom of the guide groove, wherein when the self-moving device is located at a preset position, the feedback member is triggered by a driving force of abutment of the guide protrusion; or alternatively

The guide channel is a guide hole, the feedback piece is arranged at a hole position close to the guide hole, and when the self-moving equipment is located at a preset position, the guide protrusion penetrates through the guide hole and then abuts against the feedback piece to trigger the feedback piece.

Preferably, the cleaning system is characterized in that the guide channel is flared along the moving direction of the self-moving device entering the placing area, and the guide protrusion is tapered to match with the guide channel.

Preferably, in the cleaning system, the feedback member is a microswitch; or, the feedback piece is an optical coupling sensor.

Preferably, when the feedback member is an optical coupling sensor, the optical coupling sensor includes a light emitter, a light receiver and a trigger component which are distributed oppositely, an accommodation area is formed between the light emitter and the light receiver,

the trigger assembly comprises a sliding part which is slidably arranged on the base station or the self-moving device, a shading part fixedly connected with the sliding part and a biasing part; the shading part has a first state and a second state, and is driven by the sliding part to move and can be switched between the first state and the second state;

when in the first state, the shading part extends into the containing area to shade the light between the light receiver and the light emitter;

when in the second state, the shading part exits the accommodating area;

the biasing member is used for exerting biasing force on the sliding part to force the light shielding part to tend to be kept in the first state;

when the self-moving device is located at the preset position, the sliding portion) slides under the driving force to drive the shading portion to be switched to the second state.

Preferably, in the cleaning system, the light shielding part is bent relative to the sliding part so as to be matched with the accommodating area; further, the sliding part and the shading part form a movable body of the optical coupling sensor, and at least one group of guide assemblies are arranged between the movable body and the base station or the self-moving equipment; the guide assembly comprises a guide sliding chute arranged on the base station or the self-moving equipment and a guide convex part arranged on the movable body, the guide sliding chute extends along the sliding direction of the sliding part, and the guide sliding chute is matched with the guide convex part; and/or the light shielding part is bent relative to the sliding part so as to be matched with the accommodating area.

Preferably, in the cleaning system, the number of the first guide structures and the number of the second guide structures are at least two, and the first guide structures and the second guide structures correspond to each other one by one; the number of the feedback pieces corresponds to that of the first guide structures or the second guide structures; when the self-moving equipment is located at the preset position, the plurality of feedback pieces are triggered simultaneously.

Preferably, in the cleaning system, the self-moving device is further provided with a functional joint, and the base station is provided with a matching head corresponding to the functional joint; wherein the two second guide structures are distributed on two sides of the functional joint; when the self-moving equipment is located at a preset position, the functional joint is connected or communicated with the matching head.

The utility model also provides a from mobile device, with the basic station cooperation, the basic station has the confession place the district from what mobile device stopped, still be equipped with first guide structure on the basic station, include: a body; the second guide structure is arranged on the shell wall of the machine body and matched with the first guide structure; the feedback piece is arranged at the second guide structure; when the self-moving equipment enters the placing area, the self-moving equipment can move to a preset position of the placing area under the guiding action of sliding fit of the first guiding structure and the second guiding structure; when the self-moving equipment moves to the preset position, the feedback piece is triggered by the driving force of the first guide structure, and the feedback piece outputs a trigger signal.

Preferably, in the self-moving device, the second guiding structure is a guiding channel recessed on the housing wall, and the feedback element is disposed at an end of the guiding channel far from the housing wall.

Preferably, in the self-moving device, the feedback member is a microswitch; or, the feedback piece is an optical coupling sensor.

The utility model provides a basic station again for with from the mobile device cooperation, be equipped with second guide structure from the mobile device, include: a base station main body having a placement area where the self-moving device stays; the first guide structure is arranged on the base station main body and matched with the second guide structure; the feedback piece is arranged at the first guide structure; when the self-moving equipment enters the placing area, the self-moving equipment can move to a preset position of the placing area under the guiding action of sliding fit of the first guiding structure and the second guiding structure; when the self-moving equipment moves to the preset position, the feedback piece is triggered by the driving force of the second guide structure, and the feedback piece outputs a trigger signal.

Preferably, in the base station, the first guiding structure is a guiding channel recessed in a wall of the base station main body, and the feedback member is disposed at an end of the guiding channel far from the wall of the base station main body.

Preferably, in the base station, the feedback element is a microswitch; or, the feedback piece is an optical coupling sensor.

The technical scheme provided by the utility model, following advantage has:

the feedback piece can be triggered by the driving force of the second guide structure or the first guide structure when the mobile device moves to the preset position, and then the trigger signal is output, so that accurate butt joint and signal feedback of the mobile device and the base station are achieved, and the butt joint precision of the mobile device and the base station is effectively improved.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.

FIG. 1 is a schematic view of a cleaning system provided by the present invention employing a micro-switch as a feedback member;

FIG. 2 is a schematic diagram of the self-moving apparatus in FIG. 1;

FIG. 3 is a schematic view of the microswitch of FIG. 1;

FIG. 4 is an exploded view of FIG. 3;

fig. 5 is a schematic view of the cleaning system provided by the present invention when the opto-coupler sensor is used as a feedback member;

FIG. 6 is a schematic diagram of the self-moving device shown in FIG. 5;

FIG. 7 is an exploded view of the optical coupling sensor of FIG. 5;

fig. 8 is a schematic diagram of an internal structure of the optical coupling sensor in fig. 5.

Detailed Description

The technical solution of the present invention will be described clearly and completely with reference to the accompanying drawings, and obviously, the described embodiments are some, but not all embodiments of the present invention. The present invention will be described in detail below with reference to the accompanying drawings in conjunction with embodiments. It should be noted that, in the present invention, the embodiments and features of the embodiments may be combined with each other without conflict.

It should be noted that the terms "first," "second," and the like in the description and claims of the present invention and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order.

In the present application, where the contrary is not intended, the use of directional terms such as "upper, lower, top, bottom" generally refer to the orientation as shown in the drawings, or to the component itself being oriented in a vertical, perpendicular, or gravitational direction; similarly, "inner and outer" refer to the inner and outer relative to the contours of the components themselves for ease of understanding and description, but the above directional terms are not intended to limit the invention.

The base station of the existing cleaning system and the mobile equipment are both provided with guide structures, and the guide structures are used for improving the butt joint precision of the base station and the mobile equipment. However, after the self-mobile device is docked with the base station, no feedback is output, so that whether the base station and the self-mobile device are docked in place or not cannot be known, and whether accurate docking is realized or not cannot be known.

To solve the problems in the prior art, please refer to fig. 1 to 8, the present invention provides a cleaning system, which comprises: a base station 100 and a self-moving device 200, the self-moving device 200 cooperating with the base station 100. In an exemplary scenario, the self-moving device 200 is a sweeping robot, and the base station 100 is used to provide charging, liquid adding, dust collecting, and the like to the self-moving device 200. It can be understood that the sweeping robot may be a sweeping robot with only dry sweeping function, or a robot with both dry sweeping and wet sweeping functions.

It should be noted that the self-moving device 200 of the cleaning system in the above example is a sweeping robot, which is only a feasible application scenario. In other possible and not explicitly excluded scenarios, the self-moving device 200 may also be a scrubber, a meal delivery robot, or the like.

The following will be primarily described with respect to the self-moving apparatus 200 the sweeping robot is taken as an example for explanation. However, as can be seen from the above description, the scope of the embodiments of the present invention is not limited thereby.

In this embodiment, please refer to fig. 1 and fig. 2, the base station 100 includes a base station main body 120, and the base station main body 120 is provided with a first guiding structure 110 for guiding the movement of the sweeping robot and a placing area for the self-moving device 200 to stay. The sweeping robot comprises a body 230, and a second guide structure 210 matched with the first guide structure 110 is arranged on the body 230. The base station main body 120 further has a placement area where the sweeping robot stays, wherein when the sweeping robot enters the placement area, the sweeping robot can move to a preset position of the placement area under the guiding action of the sliding fit of the first guiding structure 110 and the second guiding structure 210.

The "preset position" mentioned above can be understood as: when the sweeping robot is precisely docked with the base station 100, the sweeping robot is located in the placement area.

The first guiding structure 110 is disposed on a wall of the base station body 120. The second guiding structure 210 is disposed on the wall of the body 230 and located at the front end of the running direction of the sweeping robot, so that the sweeping robot can be conveniently docked with the base station 100.

Regarding the specific structure of the first guide structure 110 and the second guide structure 210, in the present embodiment, one of the first guide structure 110 and the second guide structure 210 is a guide channel, and the other is a guide protrusion, and the guide protrusion is slidably inserted into or withdrawn from the guide channel.

In a preferred embodiment, the second guiding structure 210 is a guiding channel and the first guiding structure 110 is a guiding protrusion. Of course, there are also cases where the second guide structure 210 is a guide projection and the first guide structure 110 is a guide channel.

In the present embodiment, the second guiding structure 210 is preferably a guiding channel, and the first guiding structure 110 is preferably a guiding protrusion. The reason is as follows: when the second guiding structure 210 is a guiding protrusion, the sweeping robot cannot further close to the wall edge to sweep under the action of the guiding protrusion, so that the cleaning coverage of the sweeping robot is reduced. Thus, preferably, the second guide structure 210 is a guide channel and the first guide structure 110 is a guide projection. The following description will mainly use the second guiding structure 210 as a guiding channel and the first guiding structure 110 as a guiding protrusion.

In this embodiment, the sweeping robot is provided with a functional joint 220, and the base station 100 is provided with a matching head 130 corresponding to the functional joint 220. The functional joint 220 may be a fluid infusion joint of a clean water tank, a fluid drainage joint of a sewage tank, or a cleaning joint of a sewage tank. Of course, the functional connector 220 may also be a charging terminal of the cleaning robot. When the sweeping robot moves to the preset position, the functional joint 220 and the fitting head 130 can be precisely connected or conducted.

In order to enable the sweeping robot to know whether the sweeping robot moves to the preset position, it is further determined whether the functional joint 220 and the fitting head 130 are in butt joint in place. In this embodiment, the base station 100 or the mobile device 200 is further provided with a feedback component 310. When the sweeping robot moves to the preset position, the feedback element 310 is triggered by the driving force of the second guiding structure 210 or the first guiding structure 110, and then outputs a trigger signal.

The above-mentioned "the feedback member 310 is triggered by the driving force of the second guiding structure 210 or the first guiding structure 110" means: the feedback member 310 is triggered after abutting against the second guiding structure 210 or the first guiding structure 110. When the feedback member 310 is disposed on the guide projection of the base station 100, the driving force is from the sweeping robot; when the feedback member 310 is disposed in the guide channel of the sweeping robot, the driving force comes from the base station 100.

In this embodiment, the feedback member 310 is preferably disposed in the guide channel of the sweeping robot, and compared with the case that the feedback member 310 is disposed in the guide protrusion of the base station 100, the feedback member 310 is located in the guide channel and is not easily contacted by the user or the external environment, so that the feedback member 310 can be better protected.

The sweeping robot is provided with a control unit (not shown) connected with the feedback member 310, and the feedback member 310 is connected with the control unit through a line. When the control unit receives the trigger signal of the feedback member 310, the control unit controls the functional connector 220 or the mating connector 130 to operate.

Specifically, taking the functional joint 220 as a fluid infusion joint of the clean water tank as an example for explanation, after the control unit receives the trigger signal of the feedback member 310, at this time, the fluid infusion joint on the sweeping robot is in butt joint with the fitting head 130 on the base station 100, and the control unit drives the water pump inside the sweeping robot to work, so that the fluid in the base station 100 is pumped into the clean water tank of the sweeping robot, and the fluid infusion operation is completed.

In the above example, the water pump may also be disposed in the base station 100, and a base station control board (not shown) connected to the water pump is disposed in the base station 100, and the base station control board is in communication connection with the control unit on the sweeping robot. After the control unit receives the trigger signal of the feedback part 310, the control unit controls the water pump to work through the base station control board, so that the liquid supplementing operation of the clean water tank of the sweeping robot is completed.

Certainly, the water pumps can be arranged in the sweeping robot and the base station 100 at the same time, when the feedback member 310 sends a trigger signal, the liquid supplementing joint of the clean water tank is in butt joint with the matching head 130 of the base station 100, and the sweeping robot and the water pumps in the base station 100 work at the same time, so that the liquid in the base station 100 is conveyed into the clean water tank of the sweeping robot.

Referring to fig. 2, the forward direction of the sweeping robot is forward, the backward direction of the sweeping robot is backward, and the guide channels are distributed along the front-back direction of the sweeping robot. In the present specification, the term "substantially" or "substantially" may be understood as being close to, approximate to, or different from a target value within a predetermined range.

The guide channel is arranged in the following two cases: in the first case, the guide channel is a guide groove; in the second case, the guide passage is a guide hole.

Specifically, in the first case, the feedback element 310 is disposed on the bottom of the guide slot, which is the end of the guide slot away from the wall of the sweeping robot. When the self-moving device is located at the preset position, the feedback member 310 is triggered by the driving force of the abutment of the guide protrusion.

In the second case, the feedback member 310 is provided at an aperture near the guide hole, and the guide projection abuts against the feedback member 310 after passing through the guide hole to trigger the feedback member 310 when the self-moving apparatus is located at the preset position. As can be seen from the above, the feedback member 310 is disposed at the opening of the guiding hole far from the wall of the sweeping robot.

In this embodiment, along the direction of motion that the robot of sweeping the floor got into the district of placing, the direction passageway is the flaring type. Wherein, along the direction of motion that the robot that sweeps the floor got into the district of placing, the internal diameter of guide channel is the situation of crescent, that is to say, guide channel is the toper. The guide protrusion is in a conical shape matched with the guide channel. The above "the guide channel is substantially distributed along the front-back direction of the sweeping robot" can be understood as that the central axis of the guide channel is distributed along the front-back direction of the sweeping robot.

In the process of butt joint of the sweeping robot and the base station 100, the guide protrusion can touch the conical surface of the guide channel, the conical surface on the guide channel is matched with the conical surface on the guide protrusion, the deviation of the sweeping robot in the advancing process can be corrected, the sweeping robot can realize position adjustment, accurate butt joint is realized, and when the sweeping robot runs to a preset position, the guide protrusion abuts against the feedback piece 310 to trigger the feedback piece 310.

Regarding the number and the arrangement positions of the first guide structures 110 and the second guide structures 210, in the present embodiment, the number of the first guide structures 110 and the second guide structures 210 is at least two, and there is a one-to-one correspondence. The number of the feedback members 310 is at least two, and the number of the feedback members 310 corresponds to the number of the first guide structures 110 or the second guide structures 210.

In this embodiment, if the sweeping robot is located at the predetermined position and the individual feedback element 310 is not triggered, the sweeping robot adjusts the position and continues to move toward the base station 100 until the plurality of feedback elements 310 are triggered, and the sweeping robot stops moving. That is, when the sweeping robot is located at the preset position, the plurality of feedback members 310 are triggered simultaneously. Therefore, the butting precision between the sweeping robot and the base station 100 can be effectively improved.

In a preferred embodiment, please refer to fig. 1 and 2, a fluid infusion joint for infusing fluid into the clean water tank is disposed on the sweeping robot. The base station 100 is provided with a fitting head 130 for fitting with the fluid infusion connector. The number of the second guide structures 210 and the first guide structures 110 is two, respectively. The two second guiding structures 210 are distributed on two sides of the fluid infusion joint, and the two first guiding structures 110 are distributed on two sides of the fitting head 130. Preferably, the two second guide structures 210 and the two first guide structures 110 are disposed at the same height.

In this embodiment, the feedback member 310 may be a micro switch or an optical coupler sensor. In the following description, the feedback member 310 is provided in a guide passage, which is a guide hole.

When the feedback member 310 is a micro switch, please refer to fig. 3 and 4, the micro switch is provided with a key 301, and the key 301 is located at an aperture of the guiding channel far from the housing wall of the body 230. Specifically, the micro switch is disposed on a wall of the body 230 through the switch bracket 320, and the micro switch is located inside the body 230. The switch bracket 320 is detachably disposed on the wall of the body 230 and has the above-mentioned guide passage formed therein. When the sweeping robot runs to the preset position of the placing area, the guide bulge on the base station 100 abuts against the key 301 on the microswitch, and the guide bulge on the base station 100 exerts driving force on the key 301, so that the microswitch is triggered.

When the feedback element 310 is an optical coupler sensor, as shown in fig. 5 to 8, the optical coupler sensor includes a light emitter 311, a light receiver 312 and a trigger component, which are oppositely distributed, and a receiving area 313 is formed between the light emitter 311 and the light receiver 312.

Further, the trigger assembly 300 includes a slider 314, a light blocking portion 315 fixedly coupled to the slider 314, and a biasing member 316. The sliding part 314 is slidably disposed on the base station main body 120 of the base station 100 or the body 230 of the sweeping robot, and preferably, the sliding part 314 is slidably disposed on the body 230 in the front-back direction of the sweeping robot.

The light shielding part 315 has a first state and a second state, and the light shielding part 315 is moved by the sliding part 314 and can be switched between the first state and the second state; in the first state, the light shielding portion 315 extends into the accommodating region 313 to shield the light between the light receiver 312 and the light emitter 311; in the second state of the device, the device is in a first state, the light shielding portion 315 exits the receiving area 313. Further, the light shielding portion 315 is bent with respect to the sliding portion 314 to be engaged with the accommodation region 313. In the present embodiment, the light shielding portion 315 and the sliding portion 314 form an angle of substantially 90 °.

The biasing member 316 is a spring or a compression spring for applying a biasing force to the sliding portion 314 to urge the light shielding portion 315 to be held in the first state, i.e., the non-activated state. When the robot of sweeping the floor is in the preset position, sliding part 314 receives the drive power effect of basic station and slides to drive shading portion 315 and switch to the second state, at this moment, opto-coupler sensor is triggered.

In the present embodiment, the sliding portion 314 and the light shielding portion 315 form a movable body of the photo-coupler sensor. When the sliding part 314 and the light shielding part 315 are provided on the base station main body 120, at least one set of guide members is provided between the movable body and the base station main body 120; when the sliding portion 314 and the light shielding portion 315 are provided on the body 230, at least one set of guide members is provided between the movable body and the body 230. Preferably, the at least one set of guide assemblies is disposed between the movable body and the body 230.

Further, the guide assembly includes a guide sliding groove formed on the base station main body 120 or the body 230 and a guide protrusion formed on the movable body, the guide sliding groove extends along the sliding direction of the sliding portion, and the guide sliding groove is engaged with the guide protrusion. Preferably, the guide assembly includes a guide sliding groove formed on the body 230 and a guide protrusion formed on the movable body. Preferably, the light shielding portion 315 is bent with respect to the sliding portion 314 to be engaged with the receiving area 313.

In the present embodiment, the guide member includes a first guide member 330 for guiding the sliding portion 314 and a second guide member 340 for guiding the light shielding portion 315. The first guiding assembly 330 includes a first guiding sliding slot 331 disposed on the body 230, and a first guiding protrusion 332 fixedly connected to the sliding portion 314, wherein the first guiding protrusion 332 is slidably disposed in the first guiding sliding slot 331. Similarly, the second guiding assembly 340 includes a second guiding sliding groove 341 disposed on the body 230 and a second guiding protrusion 342 fixedly connected to the light shielding portion 315, and the second guiding protrusion 342 is slidably disposed in the second guiding sliding groove 341.

In this embodiment, the photo-coupler sensor further includes a front frame 350 and a rear frame 360, and the front frame 350 and the rear frame 360 are fixedly connected to form a photo-coupler bracket. The optical receiver 312 and the optical transmitter 311 are disposed on the opto-coupler bracket through the circuit board 370. One end of the biasing member 316 abuts the sliding portion 314, and the other end abuts the rear side frame 360. The sliding portion 314 and the light shielding portion 315 are slidably provided between the front frame 350 and the rear frame 360. Wherein the content of the first and second substances,

the second guide structure 210 is disposed on the front frame 350, a front end surface of the front frame 350 is substantially flush with a wall of the housing 230, and the second guide structure 210 is recessed on the front end surface of the front frame 350. The rear side frame 360 is provided with a first guide chute 331 and a second guide chute 341.

Example 2

Referring to fig. 1 to 8, the present invention further provides a self-moving device 200, wherein the self-moving device 200 is cooperated with the base station 100. In an exemplary scenario, the self-moving device 200 is a sweeping robot, and the base station 100 is used to provide charging, liquid adding, dust collecting, and the like to the self-moving device 200. It can be understood that the sweeping robot may be a sweeping robot with only dry sweeping function, or a robot with both dry sweeping and wet sweeping functions.

It should be noted that the self-moving device 200 of the cleaning system in the above example is a sweeping robot, which is only a feasible application scenario. In other possible and not explicitly excluded scenarios, the self-moving device 200 may also be a scrubber, a food delivery robot, or the like.

The following description will mainly use the self-moving device 200 as a sweeping robot. However, as can be seen from the above description, the scope of the embodiments of the present invention is not limited thereto.

The base station 100 has a placement area for the sweeping robot to stay, and the base station 100 is further provided with a first guiding structure 110. The robot of sweeping the floor includes: a body 230; the second guiding structure 210 is disposed on the wall of the body 230 and is matched with the first guiding structure 110; a feedback member 310 provided at the second guide structure 210; when the sweeping robot enters the placing area, the sweeping robot can move to a preset position of the placing area under the guiding action of sliding fit of the first guiding structure 110 and the second guiding structure 210; when the sweeping robot moves to the preset position, the feedback part 310 is triggered by the driving force of the first guiding structure 110, and the feedback part 310 outputs a trigger signal. The second guiding structure 210 is a guiding channel recessed in a wall of the body 230, and the feedback member 310 is disposed at an end of the guiding channel away from the wall of the body 230. The feedback member 310 may be a micro switch and may also be an opto-coupler sensor.

As can be seen from the above, the self-moving apparatus 200 is the self-moving apparatus 200 described in embodiment 1.

Example 3

Referring to fig. 1 to 8, the present invention provides a base station 100, wherein the base station 100 is used for cooperating with a self-moving device 200, and the self-moving device 200 is provided with a second guiding structure 210. In an exemplary scenario, the self-moving device 200 is a sweeping robot, and the base station 100 is used to provide charging, liquid adding, dust collecting, and the like to the self-moving device 200. It can be understood that the sweeping robot may be a sweeping robot with only dry sweeping function, or a robot with both dry sweeping and wet sweeping functions.

It should be noted that the self-moving device 200 of the cleaning system in the above example is a sweeping robot, which is only a feasible application scenario. In other possible and not explicitly excluded scenarios, the self-moving device 200 may also be a scrubber, a food delivery robot, or the like.

The following description will mainly use the self-moving device 200 as a sweeping robot. However, as can be seen from the above description, the scope of the embodiments of the present invention is not limited thereby.

The base station 100 includes a base station main body 120 having a placement area where the mobile device 200 stays; a first guide structure 110 disposed on the base station body 120 and cooperating with the second guide structure 210; a feedback member 310 provided at the first guide structure 110; when the mobile device 200 enters the placement area, the mobile device can move to a preset position of the placement area under the guiding action of the sliding fit of the first guiding structure 110 and the second guiding structure 210; when the mobile device 200 moves to the predetermined position, the feedback member 310 is triggered by the driving force of the second guiding structure 210, and the feedback member 310 outputs a trigger signal. The first guiding structure 110 is a guiding channel recessed in the wall of the base station body 120, and the feedback element 310 is disposed at an end of the guiding channel far from the wall of the base station body 120. The feedback member 310 may be a micro switch or an opto-coupler sensor.

As can be seen from the above, the base station 100 is the base station 100 described in embodiment 1.

It is to be understood that the above-described embodiments are only some of the embodiments of the present invention, and not all of the embodiments. Based on the embodiments in the present invention, a person skilled in the art can make changes or changes in other different forms without creative work, and all should belong to the protection scope of the present invention.

Claims (15)

1. A cleaning system, comprising: a base station (100) and a self-moving device (200);

the base station (100) is provided with a first guide structure (110) and a placing area for the self-moving equipment (200) to stay;

the self-moving device (200) is provided with a second guide structure (210) matched with the first guide structure (110), wherein when the self-moving device (200) enters the placing area, the self-moving device can move to a preset position of the placing area under the guiding action of sliding fit of the first guide structure (110) and the second guide structure (210);

the base station (100) or the self-moving device (200) is further provided with a feedback piece (310), when the self-moving device (200) moves to the preset position, the feedback piece (310) is triggered by the driving force of the second guide structure (210) or the first guide structure (110), and the feedback piece (310) outputs a trigger signal.

2. The cleaning system of claim 1, wherein one of the first guide structure (110) and the second guide structure (210) is a guide channel and the other is a guide projection; the guide projection is slidably inserted into or withdrawn from the guide passage.

3. The cleaning system according to claim 2, wherein the guide channel is a guide groove, and the feedback member (310) is provided on a groove bottom of the guide groove, wherein the feedback member (310) is triggered by a driving force of abutment of the guide protrusion when the self-moving apparatus moves to the preset position; or alternatively

The guide channel is a guide hole, the feedback piece (310) is arranged at a hole close to the guide hole, and when the self-moving equipment moves to the preset position, the guide protrusion penetrates through the guide hole and then abuts against the feedback piece (310) to trigger the feedback piece (310).

4. The cleaning system of claim 3,

along the moving direction of entering the placing area from the mobile device (200), the guide channel is in an expanded shape, and the guide protrusion is in a conical shape matched with the guide channel.

5. The cleaning system of claim 3 or 4,

the feedback piece (310) is a microswitch; alternatively, the first and second liquid crystal display panels may be,

the feedback member (310) is an optical coupling sensor.

6. The cleaning system of claim 5,

when the feedback piece (310) is an optical coupling sensor, the optical coupling sensor comprises a light emitter (311), a light receiver (312) and a trigger component which are oppositely distributed, a containing area (313) is formed between the light emitter (311) and the light receiver (312),

wherein the trigger assembly comprises a sliding part (314) which is slidably arranged on the base station (100) or the self-moving device (200), a shading part (315) fixedly connected with the sliding part (314), and a biasing member (316); the shading part (315) has a first state and a second state, and the shading part (315) is driven by the sliding part (314) to move and can be switched between the first state and the second state;

in the first state, the shading part (315) extends into the accommodating area (313) to shade the light between the light receiver (312) and the light emitter (311);

in a second state, the light shielding portion (315) exits the accommodating area (313);

the biasing member (316) is used for applying a biasing force to the sliding part (314) to force the light shielding part (315) to tend to be kept in the first state;

when the self-moving device is located at the preset position, the sliding portion (314) slides under the driving force to drive the shading portion (315) to be switched to the second state.

7. The cleaning system according to claim 6, wherein the sliding portion (314) and the light blocking portion (315) form a movable body of the light coupling sensor, and at least one set of guiding components is arranged between the movable body and the base station (100) or the self-moving device (200);

the guide assembly comprises a guide sliding groove and a guide convex part, the guide sliding groove is arranged on the base station (100) or the self-moving equipment (200), the guide convex part is arranged on the movable body, the guide sliding groove extends along the sliding direction of the sliding part, and the guide sliding groove is matched with the guide convex part; and/or

The light shielding portion (315) is bent with respect to the sliding portion (314) to be engaged with the receiving area (313).

8. The cleaning system defined in any one of claims 1-4,

the number of the first guide structures (110) and the second guide structures (210) is at least two, and the first guide structures and the second guide structures correspond to each other one by one;

the number of the feedback pieces (310) is at least two, and the number of the feedback pieces (310) corresponds to the number of the first guide structures (110) or the second guide structures (210);

when the self-moving device (200) is located at the preset position, a plurality of the feedback pieces (310) are triggered simultaneously.

9. The cleaning system of claim 8,

the self-moving equipment (200) is also provided with a functional joint (220), and the base station (100) is provided with a matching head (130) corresponding to the functional joint (220); wherein two of the second guiding structures (210) are distributed on both sides of the functional joint (220);

when the self-moving equipment is located at the preset position, the functional joint (220) is connected or conducted with the matching head (130).

10. A self-moving device for cooperating with a base station (100), said base station (100) having a placement area for said self-moving device (200) to rest on, said base station (100) further having a first guide structure (110) disposed thereon, comprising:

a body (230);

the second guide structure (210) is arranged on the wall of the machine body (230) and is matched with the first guide structure (110);

a feedback member (310) provided at the second guide structure (210);

wherein, when the self-moving device (200) enters the placing area, the self-moving device can move to a preset position of the placing area under the guiding action of the sliding fit of the first guiding structure (110) and the second guiding structure (210);

the feedback member (310) is triggered by the driving force of the first guide structure (110) when the self-moving device (200) moves to the preset position, and the feedback member (310) outputs a trigger signal.

11. The self-moving device of claim 10,

the second guiding structure (210) is a guiding channel recessed on the wall of the machine body (230), and the feedback piece (310) is arranged at the end of the guiding channel far away from the wall of the machine body (230).

12. The self-moving device of claim 10 or 11,

the feedback piece (310) is a microswitch; alternatively, the first and second electrodes may be,

the feedback member (310) is an optical coupling sensor.

13. A base station for cooperating with a self-moving device (200), said self-moving device (200) being provided with a second guiding structure (210), comprising:

a base station main body (120) having a placement area where the self-moving apparatus (200) stays;

a first guide structure (110) provided on the base station body (120) and cooperating with the second guide structure (210);

a feedback member (310) provided at the first guide structure (110);

wherein, when the self-moving device (200) enters the placing area, the self-moving device can move to a preset position of the placing area under the guiding action of the sliding fit of the first guiding structure (110) and the second guiding structure (210);

the feedback member (310) is triggered by the driving force of the second guiding structure (210) when the self-moving device (200) moves to the preset position, and the feedback member (310) outputs a trigger signal.

14. The base station of claim 13,

the first guide structure (110) is a guide channel recessed in a wall of the base station body (120), and the feedback member (310) is provided at an end of the guide channel away from the wall of the base station body (120).

15. The base station of claim 13 or 14,

the feedback piece (310) is a microswitch; alternatively, the first and second electrodes may be,

the feedback member (310) is an optical coupling sensor.

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