RU2777408C1 - Robotic cleaning system, base station, and method for control thereof - Google Patents

Abstract

FIELD: robotics.

SUBSTANCE: robotic cleaning system including: a cleaning robot, a floor washing unit connected with the cleaning robot, and a base station intended to park the cleaning robot; the cleaning robot includes: the main body; a mobile unit; a connection component used for removable installation of the floor cleaning unit on the body of the robot, and the base station includes: a storage unit intended to store at least one floor washing unit; working positions intended for parking the cleaning robot in order to replace the floor washing unit; a transfer unit designed to transfer the floor washing unit between the storage unit and the working position; the robotic cleaning system also includes a control unit.

EFFECT: cleaning robot is smarter, and associated base station is structurally compact and occupies a small area.

20 cl, 56 dwg

Description

Robotic cleaning system, base station and method for its control

Technical field

The present invention relates to a robotic cleaning system, a base station and a method for controlling the same, in particular, a robotic cleaning system capable of automatically replacing a mopping unit, and a corresponding base station and a method for controlling it.

State of the art

With the development of science and technology, robots are playing an increasingly important role in people's lives, especially household robots that help people get rid of the hard work of housework. Among them, the cleaning robot is very popular with users because of its wide application.

A cleaning robot is known that can walk autonomously without direct artificial control and manipulation when performing work, and also performs the functions of path planning, automatic obstacle avoidance, human-machine interaction, return for charging, and so on. It can meet people's daily floor cleaning needs, but the well-known cleaning robot usually does not have a floor cleaning function. Many users hope that the cleaning robot can mop the floor, in addition to cleaning up debris on the floor, to keep the floor relatively clean. Some companies at home and abroad are also trying to realize the function of mopping with robotic cleaners. For example, US-based irobot has filed patent application CN108378786A which discloses a cleaning pad designed for mobile robots that can absorb and maintain cleaning fluid and is suitable for use in combination with more than one tool; the Cobos Robot Company filed a patent application CN107788913A, which stated that the floor cleaning robot uses rags to determine the type of floor during operation to avoid carpets; etc. Since the rag is easily dirty during operation, if it is not replaced in time, this will not only greatly reduce the cleaning effect, but even make the initially clean floor dirty. The existing cleaning robot cannot automatically replace the cleaning robot's floor cleaning unit in time. Replace the block for mopping usually manually. Users must constantly pay close attention to the cleaning process, which leads to a low intellectual level of robots. If users do not replace the floor washing unit in time, they will pollute the cleaned floor. This problem is especially evident for users with a large internal area of the room.

Therefore, to solve these technical problems, it is necessary to develop a new technical scheme.

The essence of the invention

It is an object of the present invention to provide a robotic cleaning system capable of automatically replacing a mopping unit.

To solve the problem, the present invention provides the following technical solution: a cleaning robot system, including: a cleaning robot, a floor cleaning unit removably connected to the cleaning robot, and a base station for parking the cleaning robot; characterized in that: the cleaning robot includes: the main body; a movable block located on the main body and driving the cleaning robot along the working surface; a connection component used to detachably mount the mopping unit on the robot body, and the base station includes: a storage unit for storing at least one mopping unit; operating positions formed at the base station and forming an interval space with the storage unit for parking the cleaning robot to replace the mopping unit; a transfer unit for transferring the mopping unit between the storage unit and the operating position; the robotic cleaning system also includes a control unit that controls a connection component to install and/or remove a corresponding floor washing unit in a working position so that the robot replaces the floor washing unit;

In one embodiment, the storage unit is located above the working position.

In one embodiment, the storage unit includes a first storage module and a second storage module, the first storage module stores a mopping unit detached from the cleaning robot, and the second storage module stores a mopping unit for installation on the cleaning robot.

In one embodiment, the operating positions include a first operating position for detaching the floor cleaning unit from the robot and a second operating position for mounting the floor washing unit on the robot.

In one embodiment, the first storage module is located above the first working position, and the second storage module is located above the second working position.

In one embodiment, the base station includes a bottom plate on which work stations are formed, the bottom plate being less than 20 mm thick.

In one embodiment, the transfer unit causes the floor washing unit to move at least partially in the vertical direction.

In one embodiment, the transmission unit includes a drive part and a boot part; the loading part is connected to the floor washing unit and causes the floor washing unit to move under the action of the driving part.

In one embodiment, the boot portion includes a support component for supporting the floor scrubber in the storage unit and preventing it from falling.

In one embodiment, the loading portion includes a floor block collection module and a floor block supply module, and the floor block collection module moves the floor block detached from the cleaning robot from the first operating position to the first storage module. , the floor block supply module receives the floor block from the second storage module and moves it to the second operating position for installation on the cleaning robot.

In one embodiment, the support component includes a first support component for supporting the floor cleaning unit in the first storage module and a second support component for supporting the floor washing unit in the second storage module.

In one embodiment, the floor cleaning block collection module includes a lifting mechanism that moves in a vertical direction, and the lifting mechanism includes a collection unit, with which the lifting mechanism lifts the floor cleaning block from the first working position and moves it to the first storage module. .

In one embodiment, the floor cleaning block collection module includes a rotary structure rotating at least partially in a vertical plane and capable of causing the floor washing block to rotate at least partially in a vertical plane, while moving the floor cleaning block from the first working positions in the first storage module.

In one embodiment, the transmission unit causes the floor cleaning unit to move in a direction approximately perpendicular to the direction the robot enters the station.

In one embodiment, the floor cleaning block collection module transfers the floor washing block to the first storage module by lifting the floor washing block.

In one embodiment, the lifting mechanism includes a telescoping two-stage movable structure.

In one embodiment, the collection unit includes an adsorption unit for adsorbing the floor washing unit.

In one embodiment, the adsorption unit includes a magnetic element.

In one embodiment, the floor cleaning block collection module includes a first floor washing block lifting frame lifted under the action of the driving part, thereby carrying the floor cleaning block and moving it from the first operating position to the first storage module.

In one embodiment, when the first floor washing unit lift frame is raised, the floor washing unit carried by it may pass through the first support component; and when the first floor washing unit lifting frame is lowered, the first supporting component may support the washing unit so that it does not follow the first washing unit lifting frame down.

In one embodiment, the first support component includes a restrictive piece capable of rotating; a reset part that resets the restrictive part, the restrictive part has at least two states, the mopping block passes through the first support component when the restrictive part is in the first state, and the mopping block is supported when the restrictive part is in the second condition.

In one embodiment, the restrictive part rotates in a vertical plane.

In one embodiment, the reset member is a torsion spring or spring.

In one embodiment, the floor block supply module includes a second floor block lifting frame that can be lowered under the action of the driving part, thereby carrying the floor block and moving it from the second storage module to the second working position.

In one embodiment, when the second floor unit lift frame is lowered, it may cause at least one floor unit to be lowered from the second storage module, and the second support component may support the floor unit in the second storage unit and lower along at least one floor washing unit from the second storage module to the second floor washing unit lifting frame.

In one embodiment, the second support component includes a clamp connector and a bias element, wherein the clamp connector has a first position where it is under pressure from the bias element and a second position where it is located after overcoming pressure from the bias element, and when the clamp connector is in in the first position, the second floor washing unit lifting frame, when lowered, can lower at least one floor washing unit from the second storage module onto the second floor washing unit lifting frame; and when the clip connector is in the second position, the clip connector can support the floor scrubber in the second storage module.

In one embodiment, the clamp connector rotates in the horizontal direction.

In one embodiment, the second support component further includes: a guide member disposed on the second floor scrubber lift frame and having a guide surface, when the second scrubber lift frame moves in a vertical direction, the guide surface abuts against the bias member to the clamp connector rotated to support/release the mopping block in the second storage module.

In one embodiment, the first floor washing unit lifting frame and the second floor washing unit lifting frame move synchronously in a vertical direction.

In one embodiment, when the first floor scrubber lift frame and the second scrubber lift frame move in the vertical direction, there is no relative motion between the first scrubber lift frame and the second scrubber lift frame.

In one embodiment, the first floor washing unit lifting frame and the second floor washing unit lifting frame move in synchronism.

In one embodiment, the transfer unit includes at least one guide bar, and the first mopping box lift frame and the second mopping box lift frame are located on the bar and can slide on the guide bar to raise and lower.

In one embodiment, the first lifting frame of the floor washing unit has a first hole, the second lifting frame of the floor washing unit has a second opening, the drive part includes: a rotating part, one end of which is built into the first hole and can slide in it, and the other end of the rotating part is embedded in the second hole and can slide in it; engine; the motor is used to drive the rotating part so that the rotating part rotates around the point between the two ends.

In one embodiment, the drive portion includes: a rotating belt extending in a vertical direction; the motor driving the rotating belt, the first lifting frame of the floor washing unit and the second lifting frame of the washing unit are connected with the rotating belt, so that the rotating belt can drive the first lifting frame of the washing unit and the second lifting frame of the unit to raise and lower for mopping.

In one embodiment, the vertically extending rotating belt is located between the first floor scrubber lifting frame and the second scrubber lifting frame, and the motor is located at the distal end of the vertically extending rotating belt against the base station bottom plate.

In one embodiment, the drive portion further includes: a transversely extending rotating belt connected to the vertically extending rotating belt, and a motor located at a distal end of the transversely extending rotating belt away from the storage unit.

In one embodiment, the floor washing block supply module is able to reach the first state for fixing the washing block and the second state for releasing the washing block, and transfer at least one floor washing block from the second storage module to the second operating position upon releasing the block. for mopping.

In one embodiment, the floor block delivery module includes a slider and a transmission mechanism driving the slider to move the slider between a first position to lock the floor block and a second position to release the floor block.

In one embodiment, the slider includes a protruding structure, and the protrusion secures the mopping unit when the slider is in the first position.

In one embodiment, the floor block supply module includes more than two sliders.

In one embodiment, the second support component includes: a first support mechanism and a second support mechanism, which are located at the top and bottom, respectively, and alternately support the floor washing unit in the second storage module, so that at least one floor washing unit from the second storage module moved to the second working position.

In one embodiment, the second support mechanism includes a plurality of buffer portions that form a stepped buffer structure.

In one embodiment, the second support component further includes: a guide member disposed on the second floor scrubber lift frame and having a guide surface, when the second scrubber lift frame is lowered, the guide surface abuts against one end of the clamp connector so that the clamp the connector rotated separating the clamp connector from the second mopping unit.

In one embodiment, when the second floor washer lift frame is lowered and after one end of the clip connector is released from the guide surface, the clip connector rotates under the action of the biasing member so that the other end of the clip connector approaches the floor cleaner in the second storage module, supporting block for mopping in the second storage module.

In one embodiment, the bias element is a torsion spring or a spring mounted on a clamp connector; The cleaning robot base station also includes: a fixed frame on which a clamp connector and a displacement element are installed.

In one embodiment, there is a predetermined angle between the guide surface and the vertical direction that is greater than 0 degrees but less than 90 degrees.

In one embodiment, there are a plurality of clamp connectors and bias members, and the plurality of clamp connectors can support different positions along the edges of the floor scrubber.

A cleaning robot system, including: a cleaning robot base station as described above; the cleaning robot on which the cleaning elements can be installed, the cleaning robot can separate and/or install the cleaning elements on the base station of the cleaning robot, the cleaning elements being a mopping unit.

In one embodiment, the operating position is provided with a stop structure for stopping a floor cleaning unit detached from the cleaning robot and/or a floor cleaning unit intended to be mounted on the cleaning robot.

In one embodiment, the abutment structure includes a slot and/or baffle for storing mopping blocks.

In one embodiment, the first operating position is provided with a first stop structure and/or the second operating position is provided with a second stop structure, wherein the first stop structure is used to stop the floor cleaning unit detached from the cleaning robot and/or the second stop structure is used to stop block for mopping, designed to be installed on the robot.

In one embodiment, the first abutment structure includes a first slot for storing a mopping unit detached from the robot cleaner and/or the second abutment structure includes a second slot for storing a mopping unit intended to be mounted on the robot.

In one embodiment, the edge of the sidewall of the first slot and/or the second slot is provided with a baffle to block the detachment of the mopping unit detached from the robot cleaner and/or the detachment of the mopping unit intended to be mounted on the robot from the first slot and/ or second groove.

In one embodiment, the robot cleaner returns to the base station upon detecting a replacement instruction indicating that the robot cleaner should return to the base station to replace the floor scrubber.

In one embodiment, the cleaning robot includes a floor cleaning block soiling degree sensor when it is determined that the degree of soiling of the floor washing block currently mounted on the robot has reached a threshold, and/or when the cleaning robot detects that at least one of the specified conditions for the working area, working hours and work schedule is satisfied, a replacement instruction is generated.

In one embodiment, the base station and the robot cleaner are respectively provided with communication units, when the robot cleaner needs to return to the base station and change the floor unit, the robot cleaner and the base station communicate through the communication units so that the floor unit supply unit moved at least one mopping unit to the second working position before the cleaning robot enters the base station.

In one embodiment, the robot cleaner includes a position detection sensor, when it is detected that the robot cleaner has reached the first working position, the robot cleaner under control separates the mopping unit; and when it is detected that the cleaning robot has reached the second operating position, the cleaning robot sets the floor cleaning unit under control.

In one embodiment, the storage unit is releasably positioned relative to the base station.

In one embodiment, the base station includes a charging unit that charges the cleaning robot when it is docked to the base station.

In one embodiment, the cleaning robot is a household and/or home service robot.

A method for controlling a robotic cleaning system, wherein the robotic cleaning system includes: a cleaning robot, a floor washing unit removably connected to the cleaning robot, and a base station designed for parking the cleaning robot, the cleaning robot including : main body; a movable block located on the main body and driving the cleaning robot along the working surface; connection component used for removable installation of the mopping unit on the robot body; wherein the base station includes: a storage unit for storing at least one mopping unit; operating positions formed at the base station and forming an interval space with a storage unit for parking the cleaning robot to replace the floor washing unit, the operating positions including a first operating position for detaching the floor washing unit from the robot and a second operating position for installation of a block for mopping on the robot; a transfer unit for transferring the mopping unit between the storage unit and the operating position; the robotic cleaning system also includes: a control unit that controls a connection component to install and/or remove a corresponding floor washing unit in a working position so that the robot replaces the floor washing unit; characterized in that the method includes the following steps: when the robot cleaner reaches the first working position, the control unit controls the connection component to separate the floor mopping unit from the cleaning robot, and when the robot cleaner reaches the second working position, the control unit controls the connection component to install the mopping unit.

In one embodiment, before the robot cleaner reaches the second operating position, the transfer unit transfers the mopping unit stored in the storage unit to the robot cleaner for installation.

In one embodiment, after disconnecting the floor cleaning unit, the robot cleaner continues to move until it reaches the second working position, while the control unit controls the connection component to install the floor cleaning unit, and after installation is completed, the robot cleaner moves away from the base stations; or after detaching the mopping unit, the robot cleaner moves away from the base station and then moves to the second working position, while the control unit controls the connection component to install the mopping unit.

In one embodiment, after the cleaning robot departs from the base station, the transfer unit retrieves the floor cleaning unit detached from the cleaning robot and places it in the storage unit.

A cleaning robot base station for parking a cleaning robot removably connected to a floor cleaning unit of the cleaning robot, characterized in that: the base station includes: a storage unit for storing at least one floor cleaning unit ; operating positions formed at the base station and forming an interval space with the storage unit for parking the cleaning robot to replace the mopping unit; a transfer unit designed to transfer the mopping unit between the storage unit and the working position.

In one embodiment, the storage unit is located above the working position.

In one embodiment, the storage unit includes a first storage module and a second storage module, the first storage module stores a floor washing unit detached from the cleaning robot, and the second storage module stores a floor washing unit designed to be installed on the cleaning robot.

In one embodiment, the operating positions include a first operating position for detaching the floor cleaning unit from the robot and a second operating position for mounting the floor washing unit on the robot.

In one embodiment, the first storage module is located above the first working position, and the second storage module is located above the second working position.

In one embodiment, the first storage module and the second storage module are located side by side in a direction parallel to the work surface.

In one embodiment, the bottoms of the first storage module and the second storage module are located approximately in the same plane.

In one embodiment, the second storage module is placed in front of the first storage module with respect to the incoming direction of the cleaning robot.

In one embodiment, the second operating position is located in front of the first operating position relative to the incoming direction of the cleaning robot.

In one embodiment, the base station includes a bottom plate on which work stations are formed, the bottom plate being less than 20 mm thick.

In one embodiment, the transmission unit includes a drive part and a boot part; the loading part is connected to the floor washing unit and causes the floor washing unit to move under the action of the driving part.

In one embodiment, the boot portion includes a support component for supporting the floor scrubber in the storage unit and preventing it from falling.

In one embodiment, the loading portion includes a floor block collection module and a floor block supply module, and the floor block collection module moves the floor block detached from the cleaning robot from the first operating position to the first storage module. ; the floor block supply module receives the floor block from the second storage module and moves it to the second operating position for installation on the cleaning robot.

In one embodiment, the base station further includes a charging unit for providing power to the robot when docked to the base station.

In one embodiment, when the cleaning robot reaches the operating position of the base station, the height from the top of the cleaning robot to the bottom of the storage unit in the vertical direction is less than or equal to 50 mm.

In one embodiment, the base station is provided with auxiliary guide structures on either side of the incoming direction of the robot, used to guide the robot into a work position.

In one embodiment, the auxiliary guide structure is an auxiliary guide wheel.

In one embodiment, the height of the secondary rail structure is 1/3-1/2 the height of the cleaning robot.

In one embodiment, the base station includes a bottom plate receiving the robot, and the base station includes a base portion connecting the base station bottom plate and the storage unit.

In one embodiment, the support portion is located on the side of the base station so that the horizontal plane projections of the housing and the storage unit approximately coincide when the cleaning robot is parked.

The above technical scheme of the invention has the following obvious positive effects:

When the floor washing unit used by the cleaning robot reaches a certain level or a certain time and needs to be replaced, the robot goes to the cleaning robot base station. At this time, the first lifting frame of the floor washing unit is at the bottom, the robot goes to the base station and reaches the working position, the floor washing unit of the robot aligns with the first lifting frame of the floor washing unit, and then the floor washing unit is detached from the robot, and the detached the floor washing unit is lowered onto the first lifting frame of the floor washing unit. Under the action of the driving part, the first lifting frame of the mopping unit rises, supporting the mopping unit and lifting it up to the first supporting component that supports this mopping unit, so that it does not fall with the first lifting frame of the mopping unit. The first lifting frame of the mopping unit can lower under the action of the driving part to prepare for the next arrival of the robot. A plurality of replacement second mopping units are pre-stacked on the second support component. When the second floor washing unit lifting frame is lowered, at least one floor washing unit is lowered from the second support component onto the second washing unit lifting frame. As the second mopping unit lifting frame continues to descend, the second mopping unit lifting frame and at least one mopping unit descended on it sink to the bottom. At this time, the robot can move above the second floor washing unit lifting frame and automatically set the floor washing unit located on the second floor washing unit lifting frame to the bottom of the robot. The automatic replacement of the mopping unit used by the cleaning robot is carried out according to the above process. When the newly installed mopping unit becomes dirty, you can repeat the above steps. The first support component may support a plurality of mopping units.

In one embodiment, the second support component includes: a first support mechanism having a support state in which it supports the mopping unit and a folded state in which it does not support the mopping unit; a second support mechanism having a rest state in which it supports the floor washing unit in the second storage unit, and an open state in which it releases at least one floor washing unit into an operating position; when the second support mechanism is in the support state, the first support mechanism is in the folded state; when the second support mechanism is in the open state, the first support mechanism is in the support state to support the floor washing unit in the second storage unit.

In one embodiment, the second support mechanism is fired in conjunction with the first support mechanism.

In one embodiment, the first support mechanism may rotate about the first axis of rotation; the first support mechanism is switched between the support state and the folded state by rotation; the second support mechanism is rotatable about the second axis of rotation; the second holding mechanism is switched between the reference state and the open state by rotation; the first axis of rotation is parallel to the second axis of rotation.

In one embodiment, when the second carrier rotates about the second axis of rotation, it causes the first carrier to rotate about the first axis of rotation.

In one embodiment, at least two second support components are respectively mounted on both sides of the storage unit along the first direction; the first direction is perpendicular to the vertical direction.

In one embodiment, the second support components located on both sides of the storage unit are offset from each other.

In one embodiment, the number of second support components is greater than three.

In one embodiment, the second support mechanism includes a base plate; one end of the base plate is the connecting end to connect with the rotary shaft, and the other end is the free end; the rotary shaft rotates the base plate about the first axis of rotation; the first support mechanism includes a pivoting baffle that rotates about a second pivot; a support rod is installed on the rotary partition; the support rod is outside the storage unit when folded and enters the storage unit when supported.

In one embodiment, when folded, the outer end of the support rod is positioned above the lowest mopping unit in the storage unit.

In one embodiment, an intermediate gap is provided between the edges of two adjacent stacked mopping blocks; in the support state, the outer ends of the support bars are opposite the intermediate gaps along the first direction.

In one embodiment, the pivoting baffle is also provided with a switch lever; the pivoting baffle is disposed on the side of the base plate along the axial direction of the first axis of rotation; on the side surface of the connecting end of the base plate, a first limiting protrusion and a second limiting protrusion are provided; the switching lever is located between the first restrictive ledge and the second restrictive ledge and is limited in rotation by the first restrictive ledge and the second restrictive ledge.

In one embodiment, the base plate is further provided with a buffer portion; the buffer part includes a buffer inclined plane; the height of the projection of the buffer inclined plane gradually increases in the direction from the connecting end to the free end.

In one embodiment, the buffer portion also has a sliding ramp; compared to the buffer inclined plane, the sliding inclined plane is closer to the connecting end; in the direction from the connecting end to the free end, the height of the protrusion of the sliding inclined plane gradually decreases.

In one embodiment, the base plate has a plurality of buffer portions; a plurality of buffer portions are arranged along the direction from the connecting end to the free end, forming a stepped buffer structure.

In one embodiment, the base plate also has a curved receiving surface on the side of the stepped buffer structure away from the free end; when the base plate rotates no more than 30 degrees from the support state to the open state, the receiving curved surface continuously supports the floor washing unit.

In one embodiment, the length of the base plate, located in the storage unit at rest, is greater than 1/2 of the width of the storage unit in the first direction.

In one embodiment, the length of the support rod located in the storage unit at support is less than the length of the support plate located in the storage unit at rest.

In one embodiment, the width of the support rod gradually decreases as it moves towards its outer end; the width direction of the support rod is approximately parallel to the periphery about the second axis of rotation.

In one embodiment, the shell is further provided with a drive motor, a first drive shaft and a second drive shaft; the first drive shaft and the second drive shaft are located on both sides of the storage unit in the first direction; the first drive shaft and the second drive shaft are arranged parallel to the first rotation axis and respectively drive the rotation shafts located on both sides of the storage unit; the drive motor drives the first drive shaft and the second drive shaft.

In one embodiment, the drive motor and the first drive shaft are located on one side of the storage unit in the first direction, and the second drive shaft is located on the other side of the storage unit in the first direction; a chain is provided on one side of the storage unit in the second direction; the drive motor through the chain drives the second drive shaft.

In one embodiment, the working position has a slot for receiving blocks for mopping; the minimum distance between the second support mechanism and the bottom of the groove is greater than the thickness of one mopping block.

The loading part provided in this diagram is provided with a floor washing block supply unit, a floor washing block collecting unit and supporting components, wherein the supporting components include a first supporting component and a second supporting component, the first supporting component is for supporting the washing block. floors in the first storage module, and the second support component is designed to support the floor cleaning unit in the second storage module, in particular by installing in the second support component the first support mechanism and the second support mechanism that are consistent when the cleaning robot needs to replace the washing block floors, the second support mechanism switches to the open state, lowering at least one floor washing unit, and the cleaning robot can enter the base station to replace the floor washing unit. Accordingly, the remaining mopping units in the storage unit are supported by the first supporting mechanism to avoid falling until the second supporting mechanism goes into the support state and supports the mopping unit again, waiting for the cleaning robot to replace the new mopping unit next. Thus, when used in a rag changing scenario, the floor washing unit supply device provided in this embodiment can realize automatic rag supply to realize automatic rag replacement, reducing user intervention in changing the rag and improving user experience. In one embodiment, the second support component includes a first support mechanism and a second support mechanism, in particular, the first support mechanism includes a first set of baffle telescopic mechanisms, while the second support mechanism includes a second set of telescoping baffle mechanisms, a first set of telescoping baffle mechanisms and a second set of telescoping baffle mechanisms positioned below the first set of telescoping baffles, the transfer unit also includes a drive portion that drives the first set of telescoping baffle mechanisms to switch between an extended position and a collapsed position to lock and release the unit mopping unit, the drive part also drives a second set of baffle telescoping mechanisms to switch between an extended position and a collapsed position to fix the mopping unit, releasing from the first set of telescopic baffle mechanisms and release at least one of the mopping units, thus realizing the gradual release of the mopping units.

In one embodiment, the driving part drives the first set of telescoping baffle mechanisms to move from the extended position to the collapsed position, and the second set of telescoping baffle mechanisms from the compressed position to the extended position, realizing the release in the first degree of the floor washing unit, the driving part drives into movement of the second set of telescoping baffle mechanisms to move from the extended position to the collapsed position, and the first set of telescoping baffle mechanisms from the compressed to the extended position, realizing the release in the second degree of at least one floor washing unit.

In one embodiment, when the first set of telescoping baffle mechanisms is moved from a collapsed position to an extended position, the first set of telescoping baffle mechanisms may block the floor units above the at least one floor unit released in the second stage.

In one embodiment, the drive portion synchronously drives the first set of telescoping baffle mechanisms and the second set of telescoping baffle mechanisms.

In one embodiment, the relationship between the vertical distance d from the first set of telescoping baffle mechanisms to the second set of telescoping baffle mechanisms and the thickness n of each mopping unit satisfies that n<d<2n.

In one embodiment, the first set of telescoping baffle mechanisms and the second set of telescoping baffle mechanisms, respectively, comprise a plurality of telescoping baffles located on at least two side walls of the second storage module.

In one embodiment, at least two side walls include two opposite side walls.

In one embodiment, the at least two side walls include a front wall and a back wall of the cleaning robot.

In one embodiment, the transmission mechanism consists of a gear train and a rack and pinion structure.

In one embodiment, when the robot cleaner needs to replace the mopping unit, under the control of the control unit, the robot enters the base station and the connection component disconnects the mopping unit, and the mopping unit collection module collects the mopping unit disconnected from robot body into the first storage module.

In one embodiment, when the robot cleaner replaces the mopping block, the mopping block supply module transfers the mopping block from the second storage module to the robot for installation, and under the control of the control unit, the connection component installs the mopping block.

In one embodiment, the first storage module includes a storage status monitoring unit, when the condition of the floor unit in the first storage unit satisfies predetermined conditions, a command is sent to the user to clean the floor unit.

In one embodiment, the predetermined conditions include the case where the first storage module is fully loaded with mopping units.

In one embodiment, the predetermined conditions include the case where the floor units have been stored in the first storage module for a certain time.

In one embodiment, the second storage module includes a storage status monitoring unit, when the number of mopping units in the second storage module is found to be less than or equal to a predetermined value, the user is commanded to increase the number of mopping units.

In one embodiment, the robot cleaner includes a mopping unit installed sensor, giving a fault instruction to the user when it is detected that no mopping unit is installed on the robot.

In one embodiment, the base station includes a fault detection sensor that issues a fault instruction to the user when a fault in the transmission unit is detected.

In one embodiment, the robot cleaner includes a position sensor, when it is detected that the position between the robot and the base station satisfies the first condition, under control, the connection component disconnects the mopping unit; and when it is found that the position between the robot and the base station satisfies the second condition, under the control of the connection component, installs the mopping unit.

In one embodiment, the position sensor includes a distance measurement sensor, the first condition is that the distance between the robot and the base station reaches the first predetermined value, and the second condition is that the distance between the robot and the base station reaches the second value.

In one embodiment, the position sensor includes at least one of an infrared sensor, a laser sensor, and an ultrasonic sensor.

In one embodiment, the position sensor includes a magnetic field monitoring sensor, and the first condition is to control the first magnet in the base station, and the second condition is to control the second magnet in the base station.

In one embodiment, the connection component includes an elastic element so that the mopping block is in interference contact with the work surface during operation.

In one embodiment, the elastic member includes at least one of a spring, a leaf spring, and a compression spring.

In one embodiment, the robot cleaner includes a vibration motor connected to the connection component to provide vibratory contact of the mopping unit with the work surface, and the connection component includes a damping element to reduce vibration transmitted from the vibration motor to the body of the robot cleaner through the component connections.

In one embodiment, the damping element includes a rubber strut.

In one embodiment, the cleaning robot is a household and/or home service robot.

Compared with the prior art, the present invention has the following positive effects: in the robotic cleaning system of the invention, the cleaning robot can automatically determine the replacement conditions for the floor cleaning unit, and automatically change the floor cleaning unit for the cleaning robot by setting the transmission unit and the storage unit to base station, which improves the user's automation experience, while the replacement method is simple and the replacement process is fast. The embodiment of the base station according to the invention makes it possible to realize the multifunctional multiplexing of the base station, has a compact structure, and reduces the footprint.

In one embodiment, a base station is provided: including a functional block that is located above the base station and is used to perform preset functions; a receiving cavity that is surrounded by a functional unit and a base station and is used to house the cleaning robot, and the functional unit is located above the receiving cavity; a signal transmitter that is at least used to signal to the cleaning robot an instruction to leave the receiving cavity; an operating part electrically connected to the signal transmitter to at least control the signal transmitter to send a signal to the exit instruction.

In one embodiment, a signal transmitter may also be used to signal an entry instruction to a receiving cavity, and the operating part is electrically coupled to the signal transmitter to at least control the signal transmitter to send an exit instruction signal.

In one embodiment, the signal transmitter is placed in the receiving cavity.

In one embodiment, the receiving cavity has an opening communicating with the outside for the exit and/or entry of the cleaning robot, and the base station includes a base portion facing the opening, and a signal transmitter located on the base portion.

In one embodiment, the operating part is located openly on the outer surface of the base station.

In one embodiment, the operating part is located on the top surface of the base station.

In one embodiment, the functional unit includes a storage unit for accommodating stored substances.

In one embodiment, the storage block is positioned above the receiving cavity and the functional block includes a communicating opening that can be opened and closed. When the communicating opening is in the open state, the storage block communicates with the receiving cavity from above and below, and when the communicating opening is in the closed state, the storage block does not communicate with the receiving cavity from above and below.

In one embodiment, the storage unit is used to store the floor cleaning unit of the cleaning robot, includes a first storage module for storing a dirty floor unit and a second storage unit for storing a clean floor unit, and the communicating opening includes a first communicating an opening and a second communicating opening disposed under the first storage module and the second storage module, respectively, and capable of being opened and closed.

In one embodiment, the first storage module and the second storage module are located above the receiving cavity next to each other in a horizontal direction.

In one embodiment, the base station includes a bottom plate and a support portion connecting the bottom plate to the functional unit, and the bottom plate includes a groove for accommodating stored substances.

In one embodiment, the base station further includes a charging box for charging the cleaning robot, and the charging box includes a charging terminal for docking with the cleaning robot for charging.

The present invention may also have the following technical scheme:

The cleaning robot system including the above base station and the cleaning robot corresponding to the base station, and the cleaning robot includes a signal receiver for receiving a command signal transmitted by the signal transmitter.

In one embodiment, the signal receiver is located in front of the direction of movement of the cleaning robot.

In one embodiment, the robot cleaner includes a floor scrubber for cleaning floors.

Compared with the prior art, the circuit of the present invention has the following positive effects: by installing a button on the base station that can at least control the output of the robot cleaner, the case where the robot cleaner gets stuck in the receiving cavity of the base station and the user cannot output the cleaning robot.

In one embodiment, there is provided: a cleaning robot base station, including: a charging unit located in the base station and used to charge the cleaning robot; a storage unit provided with a storage unit for storing the floor cleaning unit of the cleaning robot; a storage state monitoring unit for determining whether a storage state in the storage unit is in a predetermined state; a reminder unit for sending reminder information indicating that a storage state in the storage unit is in a predetermined state; a control unit under whose control the reminder unit outputs the reminder information according to the result of the control carried out by the storage state control unit.

In one embodiment, the base station further includes a transmission unit driving the floor cleaning unit, the control unit is also used to control the transmission unit to autonomously drive the floor cleaning unit to automatically change the floor cleaning unit.

In one embodiment, the storage state monitoring unit includes a detection element, and a movable element at least partially movably placed in the storage unit for actuating the detection element.

In one embodiment, the storage state control unit further includes a resilient element providing a restoring force to the movable element.

In one embodiment, the movable element is located on the inner wall of the storage unit so that the floor unit can be touched when it is placed in the storage unit.

In one embodiment, the storage state monitoring unit includes a photoelectric sensor including a transmitting end and a receiving end, and a connecting line between the transmitting end and the receiving end passes through the storage unit.

In one embodiment, the storage status monitoring unit includes at least one of a Hall sensor, an infrared sensor, a reed switch, a photoelectric switch, and a microswitch.

In one embodiment, the reminder unit includes at least one of a light alarm device, an audible alarm device, and a wireless transmission unit for outputting reminder information to the outside.

In one embodiment, the storage unit is located above the base station, which includes a bottom plate and a base connecting the bottom plate to the storage unit, and the storage unit, the base part, and the base station form a receiving cavity for receiving a cleaning robot, the storage unit is located above receiving cavity and includes a communicating opening that can open and close. When the communicating opening is open, the storage block communicates with the receiving cavity from above and below, and when the communicating opening is closed, the storage block does not communicate with the receiving cavity from above and below .

In one embodiment, the storage unit includes a first storage unit for storing a dirty mopping unit and a second storage unit for storing a clean mopping unit, and the first storage unit and the second storage unit include a condition monitoring unit. storage respectively.

Compared with the prior art, the scheme of the present invention has the following positive effects: by installing a storage unit for storing the floor washing unit and a storage status monitoring unit for controlling the floor washing unit at the base station, the base station can inform the user of the storage status of the storage unit in a timely manner when the cloth is automatically replaced, while avoiding the case where automatic replacement cannot be continued due to insufficient supply of clean mopping pads or full load of dirty mopping pads.

Description of drawings

The above objects, technical solutions and positive effects of the present invention can be achieved using the following drawings:

Rice. 1 is an exploded view of a robotic cleaning system according to one embodiment of the present invention.

Rice. 2 is an exploded view of a cleaning robot according to one embodiment of the present invention.

Rice. 3 is a bottom view of the cleaning robot shown in fig. 2.

Rice. 4 is a schematic diagram of a floor washing unit according to one embodiment of the present invention.

Rice. 5 is a schematic diagram of a cleaning robot without a mopping unit according to one embodiment of the present invention.

Rice. 6 is a schematic diagram of a cleaning robot with a mopping unit installed according to one embodiment of the present invention.

Rice. 7 and Fig. 8 are schematic diagrams of a connection component of a cleaning robot according to one embodiment of the present invention.

Rice. 9 is a schematic diagram of a base station according to one embodiment of the present invention.

Rice. 10 is a sectional view of a base station according to one embodiment of the present invention.

Rice. 11 is a schematic diagram of the assembly of a mopping unit at a base station according to one embodiment of the present invention.

Rice. 12 is a schematic diagram of a floor cleaning block collection module according to one embodiment of the present invention.

Rice. 13, 14 and 15 are schematic diagrams of a lifting mechanism according to one embodiment of the present invention.

Rice. 16 is a schematic diagram of the supply of a floor scrubber at a base station according to one embodiment of the present invention.

Rice. 17, 18 are schematic diagrams of a floor washing block supply unit according to one embodiment of the present invention.

Rice. 19, 20 and 21 are schematic diagrams of a process for replacing a floor washing unit by a robot according to one embodiment of the present invention.

Rice. 22 is a schematic diagram of detaching a second storage module from a base station according to one embodiment of the present invention.

Rice. 23 is a schematic diagram of a base station in a first position according to another embodiment of the present invention.

Rice. 24 is a schematic diagram of a base station in a second position according to another embodiment of the present invention.

Rice. 25 is a block diagram of the replacement of the mopping block in the robotic cleaning system according to the present invention.

Rice. 26 is a schematic representation of the blocks of the robotic cleaning system of the present invention.

Rice. 27 is a schematic diagram of a base station bottom plate according to one embodiment of the present invention.

Rice. 28 is a schematic diagram of a setting of a mopping block supply unit in a base station according to one embodiment of the present invention.

Rice. 29 is a schematic diagram of a floor block supply unit according to one embodiment of the present invention.

Rice. 30 is a side view of a mopping block supply module according to one embodiment of the present invention.

Rice. 31 is a schematic diagram of a first set of telescoping baffle mechanisms in an extended position according to one embodiment of the present invention.

Rice. 32 is a schematic diagram of a first set of telescopic baffle mechanisms releasing a first degree mopping unit according to one embodiment of the present invention.

Rice. 33 is a schematic diagram of a first set of telescoping baffle mechanisms releasing a second degree mopping unit according to one embodiment of the present invention.

Rice. 34 is a schematic diagram of the installation of an auxiliary guide structure in a base station according to one embodiment of the present invention.

Rice. 35 is a side view of an auxiliary rail structure at a base station according to one embodiment of the present invention.

Rice. 36 is a schematic diagram of an operation part at a base station according to one embodiment of the present invention.

Rice. 37 is a schematic diagram of a first storage module according to one embodiment of the present invention.

Rice. 38 is a schematic diagram of a fault detection sensor in a base station according to one embodiment of the present invention.

Rice. 39 is a schematic diagram of a persistence control unit in a base station according to one embodiment of the present invention.

Rice. 40 is a schematic diagram of the structure of a base station provided according to one embodiment of the present application;

Rice. 41 is a schematic diagram of the drive structure of the floor washing block feeder shown in fig. 40;

Rice. 42 is a schematic diagram of the initial state of the block supply unit for mopping floors shown in fig. 40;

Rice. 43-47 are schematic diagrams of the process of lowering the mopping block from the mopping block supply module.

Rice. 48 is a plan view of one embodiment of the robot cleaner base station of the present invention;

Rice. 49 is a front view of extracting the mopping unit in one embodiment of the robot cleaner base station according to the present invention;

Rice. 50 is a front view of the release of the mopping unit in one embodiment of the robot cleaner base station according to the present invention;

Rice. 51 is a front view of a driving portion in one embodiment of a base station of a cleaning robot according to the present invention in another embodiment;

Rice. 52 is a schematic diagram of a second support component in one embodiment of a cleaning robot base station according to the present invention;

Rice. 53 is a schematic diagram of an open communicating hole in a base station in one embodiment of the present invention;

Rice. 54 is a schematic diagram of a closed communicating opening in the base station shown in fig. 53;

Rice. 55 is a schematic diagram of a movable element that is not energized by a mopping block in one embodiment of the present invention;

Rice. 56 is a schematic diagram of the movable element excited by the mopping block shown in fig. 55.

Embodiments of the invention

The following is a detailed description and technical content of the present invention in conjunction with the drawings, however, the drawings are provided for reference and description only and are not used to limit the present invention.

On fig. 1 depicts a robotic cleaning system 300 according to one embodiment of the present invention. Referring to Fig. 26, in fig. 26 is a block diagram of the robotic cleaning system in this embodiment. This robotic cleaning system 300 includes a cleaning robot 100, a floor cleaning unit 310 removably connected to the cleaning robot 100, and a base station 200 for parking the cleaning robot 100. The cleaning robot 100 includes: a main frame; a movable unit located on the main body and driving the robot cleaner 100 along the working surface; connection component used to detach the floor cleaning unit on the robot body. The base station 200 includes: a storage unit 210 for storing at least one mopping unit 310; operating positions formed at the base station 200 and forming an interval space with the storage unit 210 for parking the cleaning robot to replace the mopping unit; a transfer unit for transferring the mopping unit 310 between the storage unit 210 and the operating position; the robotic cleaning system 300 also includes a control unit that controls the connection component 120 to install and/or remove the corresponding floor washing unit 310 in the operating position so that the robot cleaner 100 replaces the floor washing unit. In particular, selectively, the control unit is located at least one of the base station 200 and the cleaning robot 100. In addition, the robotic cleaning system 300 also includes a floor washing unit 310 suitable for use in conjunction with the base station 200 and the robot -cleaner 100. In fig. 4 shows the performance of the floor washing unit 310 in this embodiment. This mopping block 310 includes a back plate 311 suitable for connection with a rag 312. A recess 313 is formed in the mopping block 310, while the rag 312 can be used as a regular rag, wet wipe, sponge wipe , degradable mop and other common tools. The back plate 311 includes adsorption members, in particular, the adsorption members include magnetic members that can be connected to the cleaning robot 100 and placed on the base station 200 by magnetic action. Specifically, the floor cleaning unit 310 includes a groove, the rag 312 includes a disposable floor cleaning paper, and the like. The surface area of the rag 312 is larger than that of the back plate 311, which is provided with a groove so that the rag 312 wraps around the back plate and is fixed through the groove on the back plate, thus forming a complete floor cleaning unit 310, which can be installed on the cleaning robot 100 to work . When the mopping block 310 becomes dirty, the robot cleaner 100 detaches the mopping block 310 and places it on the base station 200. The user can detach the rag 312 connected to the back plate 311 and replace it with a new rag 312 to obtain a clean block. for mopping 310 and transfer it to the base station 200 for installation on the robot cleaner 100. In this embodiment, the rag 312 is connected to the back plate 311 and extends slightly beyond the back plate 311 at the edges, that is, the dimensions of the rag 312 are larger than the dimensions of the back plate. plate 311. Because the dimensions of the cloth 312 are slightly larger than the dimensions of the back plate 311, when the robot cleaner 100 needs to clean corner areas such as wall cracks, the floor cleaning unit 310 can better contact the surface being cleaned, giving a good cleaning effect on vertical surfaces. in the corners of the wall, providing higher cleanliness in the corner areas. In other embodiments, slot clamp, adhesive, and other common means in the art can also be used as a method of installing the floor scrubber 310. At the same time, the corresponding design of the installation of the floor washing unit on the cleaning robot 100 and the placement of the floor washing unit on the base station 200 are changed accordingly.

In this embodiment, the robot cleaner 100, as shown in FIG. 2 and fig. 3 includes a main body, and a movable block for driving the main body on a work surface, and the movable block includes travel wheels 110. It will be understood that the movable block may also include a crawler structure or other conventional structures for movement. The cleaning robot 100 also includes cleaning mechanisms that can be shaped in various forms. In this embodiment, the cleaning mechanism is the floor cleaning unit 310, and the cleaning robot 100 performs the task of cleaning the floors on the work surface using the floor cleaning unit 310. In other embodiments, the cleaning mechanism of the cleaning robot 100 may also include a roller brush and a side brush, which are used to clean debris such as dust on the floor, in corners, etc. For example, the side brush sweeps fine dirt to the roller brush, which removes all dirt into the dust bin. The cleaning robot 100 also includes a power mechanism, a power unit, and a sensor system. The power mechanism includes a motor and a transmission mechanism connected to it, which is connected to a movable block. The motor drives the transmission mechanism, under the action of the transmission mechanism, the movable unit moves, and the transmission mechanism may be a worm gear, bevel gear, etc. And the power unit of the robot cleaner 100 is configured to provide power to the robot cleaner 100 and power the power mechanism so that the cleaning robot 100 was able to move and perform work. A battery pack is usually used as the power pack. When the power consumption of the battery pack reaches the threshold value, the robot cleaner 100 automatically returns to the charging station to replenish power, and continues to work after charging. The sensor system of the cleaning robot 100 includes a cliff sensor, when detecting the edge of the abyss, you can change the route of movement; side sensor, when a side edge of the working area is detected, commands can be generated to move along the edge; tilt sensor, when a machine tilt is detected, you can change the operation strategy and issue instructions to the user; and other common sensors, they will not be repeated here. In addition, the cleaning robot 100 also includes a control unit that may include a Digital Signal Processor (DSP), a Micro Processor Unit (MPU), an Application Specific Integrated Circuit (ASIC) , System on Chip (SOC) of a Programmable Logic Device (PLD), Central Processing Unit (CPU) or Field Programmable Gate Array (FPGA), etc. The control unit may control the cleaning robot 100 in accordance with predetermined conditions or a command received by the cleaning robot 100. In particular, the control unit may control the movement of the movable unit in the working area of the cleaning robot 100 in accordance with a predetermined path, at the time of driving the movable by the cleaning robot unit 100, the cleaning mechanism is activated, thereby removing stains and dust from the surface of the working area. The movable block drives the cleaning robot 100 along a predetermined path. When the cleaning mechanism has finished cleaning, under the control of the control unit of the cleaning mechanism, the operation stops and the movable unit moves so that the movable unit leads the cleaning robot 100 out of the working area. The path of the robot cleaner 100 may be predetermined in the control unit and executed by the movable unit under the control of the control unit.

According to fig. 5 and fig. 6, in this embodiment, the mopping unit 310 can be removably mounted on the cleaning robot 100. On fig. 5 shows the robot cleaner 100 without the floor scrubber 310, and FIG. 6 shows the robot cleaner 100 with the mopping unit 310 installed, the robot cleaner 100 with the mopping unit 310 installed can move in the work area and perform cleaning operations. In this embodiment, the robot cleaner 100 also includes a connection component 120. The robot cleaner 100 can automatically install the mopping unit 310 on the robot cleaner 100 through the connection component 120, and control the connection component 120 with the control unit to detach the unit for mopping 310 from the cleaning robot 120. In this embodiment, as shown in FIG. 7 and fig. 8, the connection component 120 includes a frame 121 connected to the main body of the robot cleaner 100, a baffle 122 through which the floor cleaning unit 310 is connected to the main body of the robot cleaner 100. In this embodiment, the connection component 120 includes magnetic elements by which the mopping unit 310 is connected to the main body of the robot cleaner 100. In this embodiment, the connection component 120 can adjust the height of the mopping unit 310 from the floor in response to a control signal from the control unit. In this embodiment, when the robot cleaner 100 is to install the mopping unit 310, under the control of the control unit, the connection component 120 descends to approach the mopping unit 310, and the magnetic element on the connection component 120 and the magnetic element 314 on the mopping unit floors 310 approach each other by attracting each other, so the floor cleaning unit 310 is connected to the main body of the robot cleaner 100. In this embodiment, when it is necessary to detach the floor cleaning unit 310 from the body of the robot cleaner 100, under the control of the unit connection component 120 rises, and connection component 120 also includes an ejector rod 123 that exerts downward pressure on the floor cleaning unit 310 to detach the floor cleaning unit 310 from the main body of the cleaning robot 100. In this embodiment, the cleaning unit floors 310 is in contact with the floor to clean the surface during the cleaning operation, and when no cleaning operation is performed, such as when returning for charging or replacing the floor washing unit, raise the floor washing unit 310 so that the floor washing unit 310 does not come into contact with the floor, while preventing the dirty floor washing unit 310 from becoming contaminated with the cleaned working surface. By installing the connection component 120, which has the advantages that the floor cleaning unit 310 is automatically connected to the main body of the robot cleaner 100, and the floor cleaning unit 310 is automatically disconnected from the main body of the robot cleaner 100. Such a structure can effectively reduce manual involvement in the work of the cleaning robot 100.

The cleaning robot 100 is generally used to clean various areas in a house to completely clean a room. However, different areas of the home often have different levels of soiling, especially some areas can have stubborn stains that are difficult to clean. In one embodiment, the connection component 120 of the cleaning robot 100 also includes an elastic member 124, as shown in FIG. 7, such as spring, leaf spring, etc. The elastic member 124 is located between the frame 121 and the baffle 122 of the robot cleaner 100. When the floor mopping unit 310 is connected to the baffle 122 of the robot cleaner 100, the user can apply downward pressure on the frame 121 by adjusting the frame 121 manually or using artificial intelligence, and the spring responds to the pressure transmitted through the frame 121 to exert pressure on the baffle 122, since the baffle 122 is connected to the floor washing unit 310, the floor washing unit 310 thus exerts pressure on the floor. In particular, the robot cleaner 100 also includes a detection element such as a vision sensor that detects the cleanliness of the current work surface and adjusts the spring pressure based on the cleanliness of the current surface. In particular, when the robot cleaner 100 detects that the current work surface is dirty and needs thorough cleaning, and there are substances on the current work surface that are difficult to clean, it automatically adjusts the elastic member 124 to increase the pressure applied to the floor cleaning unit 310. , thus providing a better cleaning effect. When the robot cleaner 100 determines that the current work surface is relatively clean, it automatically reduces the pressure of the elastic member 124 on the floor cleaning unit 310, thereby reducing the power consumption of the robot cleaner 100. mopping 310 to the floor, and at the same time provide a better floor cleaning effect, which can effectively remove stubborn stains in the house.

In one embodiment, the robot cleaner 100 also includes a vibration motor (not shown in the drawing) that is connected to the connection component 120 and is used to apply a vibration force to the floor cleaner 310 so that the floor cleaner 310 can make vibratory contact with work surface, providing a better cleaning effect. By installing the vibration motor, the floor cleaning unit 310 vibrates, but if the floor cleaning unit 310 continues to vibrate during operation, the vibration will be transmitted to other components of the cleaning robot 100, which may affect the stability of the cleaning robot 100 and the service life of the robot components. cleaner 100. In one embodiment, the connection component 120 of cleaner robot 100 also includes a buffer device 125, as shown in FIG. 8, for example, a rubber strut that is located between the frame 121 and the baffle 122 to cushion and reduce vibration.

Referring to Fig. 1 and fig. 9, the robot cleaner 100 includes a storage unit 210 and work stations, wherein the storage unit is located above the work stations, and the storage unit 210 includes a first storage module 211 and a second storage module 212, wherein the first storage module for storing blocks for mopping units 310 detached from the robot cleaner, the second storage module is used to store the mopping units 310 to be installed on the robot cleaner 100. The operating positions include the first operating position 251 and the second operating position 252, with the first operating the position is used to detach the floor cleaning unit 310 from the cleaning robot 100, the second operating position 252 is used to install the floor cleaning unit 310 on the cleaning robot. In particular, the first storage unit 211 is located above the first operating position, the second storage unit 212 is located above the second operating position 252. By installing the storage unit 210 above the operating positions, the floor cleaning unit can be transferred while moving in the vertical direction, which makes the base station structure compact. By installing two storage modules and two docking positions, the cleaning robot 100 can detach and install the floor cleaning unit 310 in different positions, thereby realizing the robot cleaning robot 310 to replace the floor cleaning unit 310 automatically.

Specifically, the base station 200 includes a transmission unit for transferring the floor scrubber between the storage unit and the work station. Specifically, the transmission unit includes a driving part and a loading part, the loading part is connected to the mopping unit and drives the floor washing unit to move under the action of the driving part. The loading portion includes a floor cleaning block collection module 231 and a floor cleaning block supply module 236, and the floor cleaning block collection module 231 moves the floor cleaning block 310 detached from the cleaning robot 100 from the first working position 251 to the first storage module 211; the floor block supply module 236 receives the floor block 310 from the second storage module 212 and moves it to the second operating position 252 for installation on the cleaning robot 100. And also, the loading part includes a support component for supporting the block for washing the floors in the storage unit and preventing it from falling. Specifically, the supporting component includes a first supporting component for supporting the floor washing unit in the first storage module and a second supporting component for supporting the floor washing unit in the second storage module. Specifically, the floor cleaning block collection module includes a first support component, and the floor cleaning block supply module includes a second support component, that is, the support component includes a first support component of the floor cleaning block collection module and a second support component. block supply module for mopping. In particular, the floor cleaning block collection module 231 is used to collect the floor cleaning blocks 310 detached from the main body of the robot cleaner 100, the floor cleaning block supply module 236 is used to transfer the cleaning robot 100 floor cleaning blocks 310 to the robot -cleaner 100 replaced the floor mopping unit. By cooperating with the mopping block collecting unit, the first storage unit 211 collects the mopping unit 310 detached from the main body of the cleaning robot 100 into the first storage unit 211; cooperating with the floor block supply unit, the second storage unit 212 transmits the floor block 310 stored in the second storage unit 212 to the cleaning robot 100 for installation through the floor block supply unit. In particular, the robot cleaner 100 enters the base station and reaches the work position, the place where the floor cleaning unit will be installed on the robot cleaner 100 corresponds to the work position in the base station 200. In particular, when the robot cleaner 100 reaches the first work position. position 251, the robot cleaner 100 detaches the mopping unit 310 mounted on the main body and places it in the first working position 251, and when the robot cleaner reaches the second working position 252, the robot cleaner 100 sets the mopping unit 310, placed in the second operating position 252 on the main body of the cleaning robot 100. Specifically, the operating position includes an operating area that can be used to accommodate the floor cleaning unit 310, and this area can also be used to detach the floor cleaning unit from the cleaning robot 100 and/or to install the floor cleaning unit on the cleaning robot 100. In particular, the first operating position 251 includes the first operating area, after the robot 100 arrives at the base station and reaches the first work area, the floor washing unit 310 installed on the main body of the robot is detached and placed in the first work area, where more than one floor washing unit can be laid, and the second working position 252 includes a second work area, after the robot arrives at the base station and reaches the second work area, the floor cleaning unit 310 placed in the second work area is installed on the main body of the cleaning robot. In particular, one or more floor cleaning units 310 can be placed in the second work area, that is, the operating position of the base station 200 includes the work area where the floor washing unit 310 can be placed, and the cleaning robot 100 can replace the unit. mopping robot cleaner 100 in this area. In this embodiment, the first storage module 211 and the second storage module 212 are arranged in parallel as shown in FIG. 10. In particular, the bottoms of the first storage module 211 and the second storage module 212 are located approximately in the same plane. In particular, the first storage module 211 is used to store the used dirty floor cleaner 310 detached from the cleaning robot 100, and the second storage module 212 is used to store the clean floor cleaner 310 to be installed on the cleaning robot 100. Specifically, as shown in fig. 10, the first storage unit 211 and the second storage unit 212 can store multiple mopping units 310, and multiple mopping units 310 are stacked on top of each other. In particular, the first storage unit 211 and the second storage unit 212 have approximately the same capacity, and the number of floor washing units that can be placed is approximately the same. In this embodiment, the storage unit 210 is located in the vertical direction of the working position, in particular, the storage unit 210 is located above the working position, so that the projection of the storage unit on the horizontal plane approximately covers the projection of the work area on the horizontal plane. When the robot cleaner 100 enters the base station 200, the distance from the top of the robot cleaner 100 to the bottom of the storage unit of the base station 200 in the vertical direction is less than or equal to 50 mm. In this embodiment, the position of the first storage module 211 is set in accordance with the first working position 251 of the cleaning robot 100 on the bottom plate of the base station, in particular, the first storage module 211 is installed in the vertical direction of the first working position 251, even more in particular, the first module storage 211 is mounted above the first working position 251 in the vertical direction, so that the projection of the first storage module on the horizontal plane approximately covers the projection of the first working position on the horizontal plane. In this embodiment, the position of the second storage module 212 is set in accordance with the second operating position 252 of the cleaning robot 100 on the bottom plate of the base station. In particular, the second storage module 212 is installed in the vertical direction of the second operating position 252, even more specifically, the second storage module 212 is installed above the second operating position 252 in the vertical direction. In other embodiments, the storage unit 210 may also be located under the operating position, when the robot cleaner 100 moves to the operating position to detach the mopping unit, the transfer unit assembles the mopping unit 310 detached from the main body of the robot cleaner into a unit storage by moving from top to bottom, and when the cleaning robot needs to install the floor cleaning unit, the transmission unit transfers the floor cleaning unit to the cleaning robot from bottom to top for installation. In this embodiment, when the robot cleaner 100 returns to the base station 200 to replace the floor mopping unit 310, it enters the base station 200 and reaches the first operating position 251, under the control of the control unit, the floor mopping unit 310 is detached from the cleaning robot. 100; the second operating position 252 is located in front of the first operating position 251 with respect to the direction of movement of the robot cleaner 100 to the station, when the robot cleaner 100 reaches the first working position 251, it continues forward to the second working position 252, where the robot cleaner 100 sets the washing unit floors 310. In this embodiment, the second storage module 212 is installed in front of the first storage module 211 relative to the direction of movement of the cleaning robot 100 to the station. Therefore, the robot cleaner 100 may first approach the first storage unit 211 and then the second storage unit 212 when entering the station. The advantage of this embodiment is that the transfer unit includes a floor cleaning block collection module, and the robot cleaner 100 performs cleaning operations on the work surface, the floor cleaning unit 310 continues to contact the work surface, and after a certain period of operation , the floor washing unit 310 is dirty and needs to be replaced. By installing the floor cleaning block collection module 231 in the base station 200, the cleaning robot 100 can autonomously return to the base station 200 to replace the dirty floor cleaning block 310 to prevent dirty floor cleaning block 310 from contaminating the work surface. After the cleaning robot 100 automatically detaches the floor cleaning unit 310 from the main body of the cleaning robot 100, the detached dirty floor cleaning block is automatically collected by the floor cleaning block collecting unit and placed in the first storage module 211 of the storage unit 210, thus realizing the placement of a dirty mopping block, thereby ensuring the cleanliness and order of the work surface. In one embodiment, the transfer unit includes a floor block supply module, by installing which the robot cleaner 100 can receive a new floor block to replace when the floor block 310 has become dirty after the robot cleaner 100 has been operating for a certain period of time, which reduces the amount of manual work. By installing the mopping block feeding module, after the cleaning robot 100 detaches the used dirty mopping block 310, it must install the clean mopping block 310 to continue cleaning, the base station 200 can automatically retrieve the clean mopping block 310 stored in the storage unit 210 to be installed on the cleaning robot 100. In this way, the cleaning robot 100 can always automatically obtain the clean floor cleaning unit 310 through the base station 200 to automatically and continuously perform the work surface cleaning work. In one embodiment, by installing a floor block collection module 231, the base station 200 can automatically collect a used dirty floor block detached from the main body of the robot cleaner 100, and by installing a floor block supply module, the base station can provide the cleaning robot 100 with at least one clean mopping block to install, this design allows the base station 200 to collect the dirty floor washing block 310 detached from the cleaning robot 100 for storage, and provide the cleaning robot 100 with a clean block for mopping 310 to install. When the cleaning robot 100 needs to replace the floor cleaning unit 310, it first disconnects the floor cleaning unit 310 connected to the main body of the robot through the connection component, the floor cleaning unit collecting unit of the base station 200 collects this floor cleaning unit and places it to the first storage module; after the robot cleaner 100 has detached the used dirty mopping block 310 and needs to install a clean mopping block, the clean floor washing block is automatically retrieved from the second storage module to be installed on the robot using the floor block supply module. cleaner 100, so the robot cleaner 100 can automatically detach the dirty floor cleaner and clean it up, and automatically install the clean floor cleaner 310 and continue cleaning operations on the work surface. At the same time, when the robot cleaner 100 replaces the mopping unit 310, the working position of the robot cleaner 100 corresponds to the storage unit 210 of the base station 200 in the vertical direction, when the robot cleaner 100 cooperates with the base station 200, replacing the mopping unit 310, the transmission unit drives the mopping unit 310 into motion in the vertical plane, resulting in the base station 200 having a compact structure and the movement sequence of the floor washing unit 310 will become shorter.

As shown in fig. 27, which shows the operating position of the base station 200, the operating position is provided with a stop structure delimiting the floor washing unit 310 placed in the operating position. By installing the abutment structure, it is prevented that when the robot cleaner at the base station 200 moves, the floor cleaning unit placed at the working position is driven by the running wheels of the cleaning robot, the position of the floor cleaning unit changes, which affects the operation effect of the unit. for mopping. Specifically, the base station 200 includes a bottom plate 250, and an operating position is formed on the bottom plate 250 of the base station. In one embodiment, the first operating position 251 is provided with a first stop structure 260 that is used to stop the dirty floor unit 310 detached from the cleaning robot to prevent the detached dirty floor unit 310 from falling into the first operating position 251 and moving dirty mopping block 310 after it falls into the first working position 251 and other cases. Specifically, the first thrust structure 260 includes the first slot 261, that is, the bottom plate 250 is provided with a slot structure that is below the plane of the bottom plate. When the cleaning robot needs to replace the mopping block, it returns to the first working position 251 and the robot connection component 100 disconnects the dirty mopping block from the robot, which falls into the first slot 261, i.e. the first slot 261 is used to store the dirty block. for mopping 310, detached from the main body of the robot. The first groove 261 has a certain depth and can store at least one dirty mopping block. When it is necessary to collect the dirty floor block, the base station 200 automatically starts the floor block collecting unit to collect the dirty floor block from the first slot 261 to the first storage unit 211. It is understood that when several dirty blocks are stored in the first slot 261 for mopping, they can be stacked in the first slot 261, the first slot 261 has a certain capacity, when the number of dirty mopping blocks exceeds a certain value, the robot will automatically start the mopping block collecting module to collect the dirty mopping blocks stored in the first slot 261, into the first storage module. Finally, when the dirty floor blocks are stored in the first slot 261, the highest point of the dirty floor blocks will not exceed the height of the side wall of the first groove 261, that is, the highest point of the dirty floor blocks will not be higher than the horizontal plane of the bottom plate, so that the robot's movable block, such as the running wheels, will not fall into the slot structure when passing through the slot, thus, the dirty mopping blocks stored in the slot structure will not be crushed by the robot's running wheels and be pushed out of the first slot 261. For example, when the robot detaches the dirty floor cleaner 310 and continues forward to the second operating position 252 to install a new floor cleaner, the robot's running wheels pass through the first slot 261, i.e., passes through the detached dirty floor cleaner. When the dirty floor blocks accumulated in the first groove 261 are lower than the horizontal plane of the bottom plate, it can be avoided that the running wheels of the robot crush the detached dirty floor block, which may cause the dirty floor block to be pulled out of the first groove 261 due to friction. between the running wheels and the dirty mopping block, affecting the normal collection of the dirty mopping block. Still for example, when the robot exits the base station 200, it avoids the case that the robot's running wheels crush the dirty mop block and the dirty mop block is pulled out of the first slot 261. As shown in FIG. 27, at the edge of the side wall of the first slot 261, a baffle structure 262 is further provided to prevent the floor cleaning unit detached from the robot cleaner from being pulled out. In one particular embodiment, this baffle structure 262 is located at least on the edges of two side walls of the first slot 261, and may also be located on the edges of three or four side walls, preferably, in this embodiment, is located on the edges of two opposite side walls. The baffle structure 262 protrudes from the horizontal plane of the bottom plate. When dirty mopping blocks are stored in the first groove 261, the baffle structure 262 can prevent the dirty mopping block from being pulled out by the running wheels. At the same time, when the dirty floor cleaner falls off the robot, the baffle structure 262 can also play a role by guiding the dirty floor cleaner exactly into the first groove 261, preventing the detached dirty floor cleaner from falling out of the first groove 261, thereby influence on the normal collection of the dirty mopping block. At the same time, the shape and number of structures of partitions 262 are not limited, and which include structures that protrude from the horizontal plane of the bottom plate and can play a blocking role, such as a partition strip and an abutment. As shown in fig. 27, in addition, in the embodiment of the present invention, at the second operating station 252, a second stop structure 263 is also provided for stopping the floor washing unit 310 mounted on the robot, and the second stop structure 263 includes a second slot 264 for storing the floor washing unit. designed to be mounted on the robot, in particular, the second slot 264 is used to store a new floor washing unit detached from the second storage module 212. A baffle structure 265 is also provided at the edge of the side wall of the second slot 264 to prevent crushing of the floor washing unit intended to be mounted on the robot, the wheels of the robot and to move it out of the second slot 264, while successfully guiding the floor cleaning unit detached from the second storage module 212 to fall into the second slot 264 to be mounted on the robot. The specific principle and design of the second thrust structure 263 is approximately the same as that of the first thrust structure 260, which will not be repeated here. It is understood that the first thrust structure 260 and the second thrust structure 263 are arranged in parallel, corresponding to the first storage unit 211 and the second storage unit 212, respectively, while the capacity of the first slot 261 and the second slot 264 is approximately the same, the number of floor washing units that can be are placed approximately equally, and a plurality of placeable mopping blocks are stacked on top of each other.

In this embodiment, the cleaning robot 100 enters the base station to replace the floor washing unit 310, in particular, the bottom plate of the base station 200 protrudes beyond the surface to be cleaned, and the cleaning robot must drive to the bottom plate before entering the base station 200, to The bottom plate of the base station is provided with a first groove, a second groove, and a first thrust structure, a second thrust structure, so the bottom plate must have a certain thickness. In particular, the robot cleaner 100 has a certain climbing ability which affects the thickness setting of the bottom plate and is affected by the height of the running wheel of the cleaning robot, generally speaking, the higher the height of the running wheel, the better the climbing ability. In this embodiment, the bottom plate is smaller than 20 mm, so that the climbing ability of the cleaning robot can allow the cleaning robot 100 to enter the base station. In this way, the stability of the robotic cleaning system can be guaranteed.

In one embodiment, the floor mopping unit 310 moves more accurately from the second storage module 212 to the second operating position 252, if the floor mopping unit 310 is relatively accurately placed in the second operating position, the positioning accuracy of the floor mopping unit 310 on the robot cleaner 100 could be improved. In particular, the second operating station 252 is provided with a positioning magnet, and a magnetic member is installed on the floor cleaning unit, when the floor cleaning unit falls from the second storage unit 212, the position of the floor cleaning unit 310 after falling will be corrected by the adsorption action of the positioning magnet. In particular, the second operating station 252 is provided with four positioning magnets, and the floor scrubber 310 is provided with four magnetic elements, and their positions correspond to each other. In particular, the floor cleaning unit 310 is also provided with magnetic members for mounting the floor cleaning unit on the robot cleaner 100. In particular, as the alignment magnetic members and the installation magnetic members, one set of magnetic members can be used to realize dual functions, or two sets of magnetic elements for alignment and installation respectively. In particular, when two sets of magnetic elements are used, the magnetic elements used for alignment are weaker than those used for installation. In particular, when the floor cleaning unit 310 includes two or more sets of magnetic elements, anti-interference structures exist between the sets of magnetic elements.

In this embodiment, the carrier includes a mopping block collecting module 231, a mopping block collecting module 231 also includes a first support component (see Fig. 11 to Fig. 15), a mopping block collecting module 231 picks up floor cleaning unit 310 and assembles it into the first storage unit 211. In this embodiment, the floor cleaning unit collecting unit is installed in accordance with the first operation 251 of the base station, the cleaning robot 100 detaches the floor washing unit 310 and places it in the first work station 251, the floor block collecting module 231 picks up the floor block 310 from the first working position 251 and places it in the first storage module 211. The floor block collecting module 231 includes a lifting mechanism 232 that moves in two steps in the vertical direction. On fig. 12 shows an example of a module for collecting blocks for washing floors in this embodiment, and in fig. 13, 14 and 15 show examples of the hoist 232. The hoist 232 can move in two steps and thus has three states of movement, in fig. 13, 14 and 15 respectively show three states of movement of the hoist 232, namely, a compressed state, a first stretched state, and a second stretched state. In particular, referring to Fig. 13 is the state where the lifting mechanism 232 is not stretched, the lifting mechanism is in a compressed state at this time; in fig. 14 shows the partially extended state of the hoist 232, at this time the hoist is in the first extended state; and when the lifting mechanism 232 is fully extended, see fig. 15, at this time, the lifting mechanism is in the second stretched state. When the lift mechanism 232 is stretched, it moves in two stages in one direction of movement. In particular, the lifting mechanism 232 is in the initial state when it is not in operation, and the initial state is the first stretched state. When the lift mechanism 232 is in a compressed state, the lift mechanism 232 has a minimum length. When the mopping block collection unit is to assemble the mopping block 310, the lift mechanism 232 is extended to the second stretched state, with the lift mechanism 232 at its maximum length. When the lifter 232 is extended to the second stretched state, the floor washing unit 310 can be picked up. Referring to FIG. 11, when the mopping block collecting unit operates to collect the mopping block 310, the lifting mechanism 232 is extended to the second stretched state to pick up the mopping block 310. After the lifting mechanism 232 picks up the mopping block 310, first shorten the stretched state of the lifter 232 from the second stretched state to the first stretched state, and then from the first stretched state to the compressed state, when the lifter 232 is shortened to the compressed state, under its action, the mopping unit 310 is assembled into the first storage unit 211. In this embodiment, when the mopping block collecting unit assembles the mopping block 310, the mopping block collecting unit 231 causes the mopping unit 310 to move in the vertical direction to transfer the mopping unit 310 detached from the main body cleaning robot 100 into the first storage module 211. In this embodiment, of the phenomenon, the direction of movement of the floor cleaning unit 310 is perpendicular to the direction of movement of the robot cleaner 100 to the base station 200. Specifically, when the lifting mechanism 232 moves vertically downward, the floor cleaning unit 310 can be picked up; and when the lift mechanism 232 moves vertically upwards, the floor cleaning unit 310 is collected into the first storage unit 211. Due to the design of the floor cleaning unit collecting unit, the floor cleaning unit collecting unit causes the floor washing unit 310 to move in the vertical direction to assemble the floor washing unit 310 into the first storage module. By assembling the floor cleaner 310 by vertically moving the floor cleaner 310, the base station 200 has become compact and occupies a small area. At the same time, due to the design of the lifting mechanism 232 capable of moving in two steps, the height of the base station 200 in the vertical direction is reduced, and the overall dimensions of the base station have become smaller.

In this embodiment, the lifting mechanism 232 also includes a collection assembly. In this embodiment, the pick-up unit includes an adsorption unit 233, which is located at the end of the lifting mechanism and lifts the floor unit 310 with the adsorption unit 233. In this embodiment, the sorption unit 233 includes a magnetic element for adsorbing the floor unit 310 by interacting with the magnetic member 314 of the back plate 311 of the mopping unit. Specifically, in this embodiment, the magnetic element includes a magnet. Specifically, the adsorption unit 233 is located in combination with the lift mechanism 232, when the floor washing block collecting unit is to collect the floor washing block 310, the lifting mechanism is extended to the second stretched state, the adsorption unit 233 located at the end of the lifting device approaches the block the floor washing unit 310 with lifting mechanism stretching, adsorbing the floor washing unit 310 under the action of the magnetic field, or the adsorption unit 233 contacts the floor washing unit 310, adsorbing the floor washing unit 310 under the magnetic field. In this embodiment, the floor washing block 310 is provided with four magnetic elements 314, and the floor washing block collecting module is provided with four lifting mechanisms 232, one magnetic element is provided on each lifting mechanism 232, and four lifting mechanisms 232 in the floor washing block collecting module expand and contract simultaneously. The magnetic member on the lifter 232 corresponds to the magnetic member 314 in the mopping block 310 to lift the mopping block 310. When the mopping block collecting module needs to collect the mopping block, the lifting mechanism 232 is extended to adsorb the mopping block 310 with the adsorption unit 233, and the adsorbed floor washing unit 310 is the dirty floor washing unit 310 detached from the main body of the robot cleaner 100 after a certain period of operation. The cleaning robot 100 moves to the first operation position 251 of the base station 200, detaches the dirty floor cleaning unit 310 from the main body of the cleaning robot 100. However, when the cleaning robot 100 detaches the floor cleaning unit 310, it cannot ensure that the floor cleaning unit floor cleaner 310 will always be exactly aligned with the floor cleaner assembly module, so the location of the magnetic element in the floor cleaner assembly module does not always exactly match the magnetic element 314 on the floor cleaner 310, as previously mentioned, that in in other embodiments, the connection method and assembly method of the floor washing unit 310 may be common methods. In this embodiment, magnetic elements are provided, due to the mutual attraction of the magnetic elements, even if the position of the floor scrubber 310 is not completely aligned, the magnetic elements have a calibration function. The positive effect of this design is that due to the adsorption of the magnetic elements, the collection process of the floor block 310 can be calibrated, providing increased stability of the floor block collection module.

In this embodiment, according to Fig. 12, the floor cleaning unit 231 includes an abutment 234, in particular, the first supporting component includes an abutment 234 for supporting the floor washing unit 310 in the first storage unit 211, as shown by the arrow in FIG. 12, the stopper 234 can rotate counterclockwise in a vertical plane when the stopper is subjected to an upward compressive force, when the stopper is not subjected to a compressive force, the stopper is restored to its original position, and when the stopper 234 is in its original position, it supports the floor washing unit. in the first storage unit 211. In particular, the end of the elevator 232 can be raised and lowered in the vertical direction with the expansion/compression of the elevator 232. When the elevator 232 is continuously extended, the end of the elevator descends in the vertical direction, so that the adsorption unit located in end of the hoist approaches the floor cleaner 310 to be assembled, and when the hoist 232 is compressed, the end of the hoist rises in the vertical direction. In particular, the end of the lifting mechanism 232 can also be rotated, as shown by the arrow in Fig. 12, the end of the lift mechanism 232 can rotate counterclockwise and upward when it is compressed and recover to its original state when it is not compressed. When the floor block collection module is to collect the floor block 310, the lift mechanism 232 is extended downward so that the absorbent component located at the end of the lift mechanism adsorbs the floor block, the lift mechanism drives the floor block upwards, and the abutment 234 is compressed by the mopping block 310 and rotates upward counterclockwise so that the mopping block is placed in the first storage unit 211. When the abutment is no longer compressed, it will be reset to support the mopping block. When the lifting mechanism 232 reassembles the floor washing block 310, the lifting mechanism is stretched, its end is compressed by the washing block in the first storage module 211 and rotates upward, and then recovers after passing through the hole in the first storage module. When the lift mechanism is extended to the second stretched state, it is connected to the floor unit 310, and the lift mechanism is compressed upward again and thereby compresses the stop, so that the floor unit is again placed in the first storage module 211.

In this embodiment, referring to Fig. 16-18, the floor block supply module 236 cooperates with the second storage module 212, picking up the floor block 310 from the second storage module 212 and transferring it to the base station in the second operating position 252 for installation on the cleaning robot 100, in the second operating 252, the cleaning robot 100 sets the floor block 310 transmitted from the floor block supply unit. Figures 16-18 show the design of the mopping block supply module and the motion of the mopping block 310 in this embodiment. Figures 17-18 show the design of the mopping block supply module in this embodiment. In particular, the floor block supply module can drive the floor block 310 to achieve a first floor block lock state 310 and a second floor block release state 310. The floor block supply module includes a second supporting component , which is used to support the mopping unit in the second storage module, in particular, the second supporting component includes a slider, the transfer unit also includes a transmission mechanism 244, which is driven by a motor, the slider 242 is located on the transmission mechanism 244 and moves in response to the movement of the transmission mechanism 244. The transmission mechanism 244 causes the slider 242 to move from the first position to the second position, while when the slider 242 is in the first position, the floor washing unit 310 is stored in the second storage module 212; and when the slider 242 is in the second position, the mopping unit 310 is released from the second storage unit 212. In this embodiment, the transmission mechanism 244 includes a synchronous belt that reciprocates in a predetermined direction in response to motor action. In this embodiment, according to Fig. 17-18, the slider 242 includes a lug 243, when the slider 242 is in the first position, the mopping block 310 is supported by the lug 243 to lock the floor washing unit 310 in the second storage unit 212. when the slider 242 is in the second position, the lug 243 on the slider 242 engages with a recess 313 on the mopping block 310 so that the mopping block 310 is released from the second storage module 212. In particular, a recess 313 is provided on both sides of the mopping block 310 when the transmission assembly drives the slider 242 in motion, the protrusion 243 on the slider 242 moves with the slider 242. When the protrusion 243 on the slider 242 just reaches the recess 313 on the floor unit 310, the floor unit 310 drops out through the second supporting component of the floor unit supply module. In particular, the second supporting component of the floor washing block supply module includes several sliders 242, and the number of sliders 242 is related to the number of recesses 313 on the floor washing block 310. In particular, two sliders 242 are provided on each side of the synchronous pulley, respectively. , two recesses 313 are provided on each edge on both sides of the floor cleaning block 310, and one protrusion 243 is provided on each slider 242, when each protrusion 243 coincides with each recess 313, the floor washing block 310 is released. In particular, in order to ensure that the projection 243 on the slider 242 exactly matches the notch 313 on the mopping block 310, when installing the sliders 242, it is necessary to ensure a constant distance between two sliders 242, as well as a constant distance between two adjacent notches 313 on the mopping block 310, while the distance between the sliders 242 is equal to the distance between two adjacent recesses 313 on the mopping block 310. When the protrusions 243 on the two sliders 242 on each side of the second floor block supply module support component align with the recesses 313 on each side of the floor block 310, the floor block 310 is released. When the second floor block supply module support component releases floor cleaning unit, the cleaning robot 100 can only install one floor cleaning unit 310 each time, while the second storage unit 212 needs to store several floor cleaning units 310 to provide the cleaning robot 100 with a replacement floor washing unit at different times, therefore, it must be ensured that the floor block supply module provides the cleaning robot 100 with only one floor block 310 each time. In order for the floor block supply module to provide the cleaning robot 100 with only one block for mopping every time, in this embodiment, the second storage module 212 can store sets about the floor washing units 310, so that the base station 200 can stably provide the cleaning robot with the floor washing unit 310 for a long time. If the position of the notch 313 on each mopping block is exactly the same, then when the slider 242 moves to the notch 313, the mopping block supply module can release multiple mopping blocks 310 at the same time. Therefore, in this embodiment, the position of the recess 313 on each mopping unit 310 is not exactly the same, because the position of the recess 313 on each mopping unit 310 is not exactly the same, when the slider 242 reaches the recess 313 of one mopping unit 310, this the mopping block 310 is released through the second supporting component of the mopping block supply module while the adjacent other mopping block 310 is secured by the protrusion 243 of the slider 242 and will not be released when the previous mopping block 310 is released.

As shown in fig. 28-30, in another specific embodiment, the second support component of the floor washing block delivery module includes a first set of baffle telescoping mechanisms 270 and a second set of baffle telescoping mechanisms 280 located below the first set of baffle telescoping mechanisms 270, and the transfer unit also includes a transmission mechanism that drives the first set of telescopic baffle mechanisms 270 and the second set of telescopic baffle mechanisms 280, and the transmission mechanism is connected to a motor that drives the transmission mechanism. Under the action of the transmission mechanism, the first set of baffle telescoping mechanisms 270 switches between an extended position and a compressed position for fixing and releasing the floor washing unit, and the transmission mechanism operates the second set of baffle telescoping mechanisms 280 for switching between an extended position and a compressed position for fixing the block for mopping block 310 released from the first set of baffle telescoping mechanisms 270 and releasing at least one floor washing block, thus realizing the gradual release of the floor washing block, and in this embodiment of the present invention, the concept of "release of at least one mopping block" includes releasing the first mopping block closest to the bottom plate, i.e. the mopping block falling first, in other embodiments, it is also possible to release a plurality of mopping blocks as needed. Gradual release includes a first stage release and a second stage release, which will be described in detail below. In this embodiment, the transmission mechanism consists of a gear train and a rack and pinion structure, and in other embodiments, the implementation may also be a worm structure.

As shown in fig. 31, in this embodiment, the first set of baffle telescoping mechanisms 270 is located above the second set of baffle telescoping mechanisms 280, in particular, both sets are parallel to the floor, so that the floor washing unit 310 can be stably fixed without slipping, and the floor washing unit 310 can be stably released into the second slot 264 on the base station 200 when the floor cleaning unit 310 is released, of course, both sets of baffle telescoping mechanisms may not be parallel to each other if the floor cleaning unit 310 can be effectively secured and released. It is understood that when the first set of baffle telescoping mechanism 270 is in the extended position, it can fix a plurality of mopping units 310 stored in the second storage unit 212. As shown in FIG. 31, when the transmission mechanism brings the first set of telescopic baffle mechanisms 270 to the extended position, the plurality of floor washing units 310 are stacked above the extended position, that is, due to the supporting effect of the first set of telescopic baffle mechanisms 270, the first set of telescopic baffle mechanisms 270 can fix the plurality of mopping block 310 in the extended position, the plurality of mopping blocks includes at least one. As shown in fig. 32, when the transmission mechanism causes the first set of telescoping baffle mechanisms 270 to move from the extended position to the collapsed position, the floor scrubber 310 fixed above the extended position is released and lowered, at which time the second set of baffle telescoping mechanisms 280 moves to the extended position for fixation. the mopping block 310 descended from above, thus completing the release of the mopping block 310 in the first stage. As shown in fig. 33, when the second set of baffle telescoping mechanisms 280 moves from the extended position to the collapsed position, a plurality of mopping block units 310 fixed above the second set of baffle telescoping mechanisms 280 are lowered, while the first set of baffle telescoping mechanisms 270 moves from the compressed position to the extended position. position. During the extension process, the first set of baffle telescopic mechanisms 270 can be inserted into the space between the first mopping unit descended first and the second mopping unit to block the mopping unit positioned above the first mopping unit, so that only the first mopping unit is released into the second slot 264 of the base station 200, the remaining mopping units are still fixed above the first set of baffle telescoping mechanism 270, at this time, the release of the mopping unit in the second degree is completed, and this cycle is repeated, realizing gradual release of the mopping unit 310 so that the second storage module 212 of the base station 200 releases only one mopping unit 310 each time for installation on the cleaning robot. It is understood that the relationship between the distance d from the first set of telescopic baffle mechanisms 270 to the second set of telescopic baffle mechanisms 280 in the vertical direction and the thickness n of each mopping unit satisfies the conditions that n<d<2n, while satisfying such a ratio that the first unit is released from the second set of baffle telescoping mechanisms 280, the first set of telescoping baffle mechanism 270 is extended and inserted into the gap between the first mopping unit and the second mopping unit, thus blocking the mopping unit located above the first mopping unit floors to fix the remaining mopping units above the telescoping position of the first set of baffle telescoping mechanisms 270, and finally to realize the release of one mopping unit 310 one by one. baffles 270 to the second set of baffle telescoping mechanisms 280 in the vertical direction and thickness n of each mopping block satisfies the conditions that 0.2n<d<2n, while satisfying this ratio, only one block can fall out of the second storage module 212 each time for washing floors.

The transmission mechanism can either drive the first set of telescopic baffle mechanisms 270 and the second set of telescopic baffle mechanisms 280 separately, or drive the first set of telescopic baffle mechanisms 270 and the second set of telescopic baffle mechanisms 280 synchronously. The specific shape is not limited. In this embodiment of the present invention, the transmission mechanism engages simultaneously with the first set of telescoping baffle mechanisms 270 and the second set of telescoping baffle mechanisms 280 via a gear and rack structure. When the transmission mechanism moves, the first set of telescopic baffle mechanisms 270 and the second set of telescopic baffle mechanisms 280 move in synchrony, and switching between the extended position and the collapsed position is performed by forward and reverse rotation of the motor. This arrangement makes it possible to ensure a strict and stable release process of the mopping block at each stage, and avoid the situation where the first set of baffle telescoping mechanisms 270 moves, but the second set of baffle telescoping mechanisms 280 does not work, resulting in multiple mopping blocks being released at the same time. to the bottom plate.

As shown in fig. 29, the first set of telescopic baffle mechanisms 270 and the second set of telescopic baffle mechanisms 280 respectively contain a plurality of telescopic baffles located on the side walls of the second storage module, that is, the first set of telescopic baffles 271 and the second set of telescopic baffles 281 each contain a plurality of telescopic baffles, it is understood that a plurality of telescopic baffles are located on at least two side walls of the second storage module 212, only the installation of telescopic baffles on at least two side walls will be able to fix the floor washing unit 310, in a specific embodiment, the concept of "at least two side walls" includes two opposite side walls, for example, in fig. 29 telescoping baffles are provided on the front and rear walls of the base station 200. Of course, in other modified embodiments, telescoping baffles can also be placed on the left and right walls of the base station 200, or to increase the stability of attaching the floor cleaning unit to the telescopic structure, telescoping baffles may also be located on three or four side walls of the second storage module. In this embodiment, the first set of telescopic baffle mechanisms 270 includes four telescopic baffles 271, and the second set of telescopic baffle mechanisms 280 also includes four telescopic baffles 281, of course, the number of first sets of telescopic baffles 271 and second sets of telescopic baffles 281 can also be be different. In this embodiment, four telescopic baffles 271 of the first set of telescopic baffle mechanisms and four telescopic baffles 281 of the second set of telescopic baffle mechanisms are arranged symmetrically in the vertical direction, and several baffles of each set of telescopic baffles are on the same horizontal plane to improve structural stability.

On fig. 48 is a top view of the cleaning robot base station in the embodiment, FIG. 49 is a front view of the extraction of the first mopping unit in the robot cleaner base station embodiment of the present invention, FIG. 50 is a front view of releasing the second mopping unit in the base station embodiment of the robot cleaner of the present invention, as shown in FIG. 48-50, in one embodiment, referring to FIG. 48 to 50, the base station of the cleaning robot may include: a floor cleaning block collection module including: a first floor washing block lifting frame that can be lifted by a driving part, thereby carrying and moving the floor washing block. from the first operating position to the first storage module, when the first floor washing unit lifting frame is lifted, the floor washing unit carried by it can pass through the first supporting component; and when the first floor washing unit lifting frame is lowered, the first supporting component may support the washing unit not to be lowered together with the first washing unit lifting frame; and, a floor washing block supply module including a second floor washing block lifting frame, the second floor washing block lifting frame can be lowered under the action of the driving part, thereby carrying and moving the floor washing block from the second storage module to the second working position, when the second floor block lifting frame is lowered, it may guide down at least one floor block from the second storage module, and the second support component may support the floor block in the second storage module and lower at least one block for mopping from the second storage module to the second lifting frame of the mopping unit.

When the mopping unit 310 used by the mopping robot 100 undergoes replacement, reaching a certain degree or a certain time, the robot moves to the base station 200. At this time, the first lifting frame of the mopping unit 1 is at the bottom, the robot moves to operating position of the base station 200, the floor cleaning unit 310 of the robot aligns with the first lifting frame of the floor cleaning unit 1, and then the floor cleaning unit 310 is released from the robot detached from the cleaning robot, and the released floor cleaning unit 310 detached from cleaning robot, descends into the first lifting frame of the floor washing unit 1. After that, the robot leaves the first lifting frame of the floor washing unit 1 or the base station, in particular, the robot drives into the first working position of the base station, disconnects the floor washing unit 310 and places the floor washing unit 310 on the first lifting frame of the floor washing unit 1. Then, under the action of the driving part 5, the first lifting the second frame of the mopping unit 1 is raised, the first lifting frame of the mopping unit 1 supports the mopping unit 310 detached from the cleaning robot, and lifting it up to the first supporting component 2 that supports the mopping unit 310 detached from cleaning robot so that the mopping unit does not descend with the first lifting frame of the mopping unit 1. The first lifting frame of the mopping unit 1 can be lowered by the action of the driving part 5 to prepare for the next arrival of the robot. The second storage module is pre-stacked with a plurality of floor washers 310 in case of replacement, which are supported by the second support component 4. mopping 3 from the second supporting component 4 of the storage unit. As the second floor washing unit lifting frame 3 continues to descend, the second floor washing unit lifting frame 3 and at least one floor washing unit 310 descended on it descend to the bottom. At this time, the robot can move above the second lifting frame of the floor washing unit and automatically set the floor washing unit 310 located on the second lifting frame of the floor washing unit to its bottom. Specifically, when the floor cleaning unit 310 is installed, the robot cleaner 100 drives into the second operating position of the base station and installs the floor cleaning unit located on the second lifting frame of the floor cleaning unit 3 onto the cleaning robot 100. floors used by the floor cleaning robot is carried out in accordance with the process described above. When the newly installed floor washing unit 310 becomes dirty, the above steps can be repeated. The first support component 2 may support a plurality of mopping units 310.

In order to better understand the cleaning robot base station 200 set forth in the present application, further interpretation and explanation is given below. As shown in fig. 48 to 50, the cleaning robot base station 200 may include: a mopping block collecting module, a mopping block feeding module, and a driving part 5. Wherein, the mopping block collecting module includes a first mopping block lifting frame. floors 1, and the first supporting component 2.

The first lifting frame of the floor washing unit 1 can be raised and lowered in the vertical direction, the first lifting frame of the floor washing unit 1 can carry the floor washing unit 310 detached from the cleaning robot, and lift the floor washing unit 310 detached from cleaning robot.

In one of the possible embodiments, the transmission unit at the base station includes at least one guide rod, where the first lifting frame of the floor washing unit 1 and the second lifting frame of the floor washing unit 3 are located on the guide rod and can slide on the guide rod for ascent and descent. In particular, the guide rod at least includes a first guide rod and a second guide rod. Specifically, the floor cleaning block collection module may include at least one first guide bar 6 that extends in the vertical direction, and the lifting frame of the floor washing block 310 detached from the cleaning robot is located on the first guide bar 6 and can slide on the first guide rod 6 for lifting and lowering. Specifically, in order to fix the first guide bar 6, the base station of the robot cleaner may include a bottom plate 250, and the first guide bar 6 is connected to the bottom plate 250. The first lifting frame of the floor cleaning unit 1 is provided with through holes through which the first lifting the frame of the mopping block 1 is put on the first guide bar 6 and can slide on the first guide bar 6 for lifting and lowering.

In one preferred embodiment, there are a plurality of first guide rods 6, and a plurality of through holes are provided at various locations on the first lifting frame of the floor washing unit 1. For example, when the first lifting frame of the floor washing unit 1 has an approximately rectangular shape in the horizontal plane, it is possible to have four through holes which are respectively formed at the corners of the rectangle. Thus, when the first lifting frame of the floor washing unit 1 slides on the first guide bar 6, the entire first lifting frame of the floor washing unit 1 is stabilised, while at the same time ensuring smooth lifting and lowering.

When the first lifting frame of the floor washing unit 1 descends to the bottom along the first guide bar 6, that is, descends to the bottom plate 250, the robot that is to replace the floor washing unit drives up to the first lifting frame of the floor washing unit 1. The robot automatically detaches its dirty mopping unit from below, and the detached mopping unit descends to the bottom plate, in particular, the cleaning robot comes to the first working position 251, detaches the mopping unit, and places it on the first working position on the bottom plate, then there is a mopping unit 310 detached from the cleaning robot, lowers onto the first lifting frame of the mopping unit 1.

As shown in fig. 48-50, the first support component 2 may restrain the floor washing unit 310 detached from the cleaning robot on the first floor washing unit 1 lift frame so that the floor washing unit 310 does not descend with the first floor washing unit 1 lifting frame. In one possible embodiment, the first support component 2 may include a restrictive piece 21 capable of rotating; a reset part 22 that resets the restrictive part 21. The restrictive piece 21 is preferably rotatable in a vertical plane. Generally speaking, a torsion spring or a spring may be used as the reset piece 22. When a torsion spring is used, the torsion spring and the stop piece 21 are put on the same rotating shaft, and the torsion spring may abut against the stop piece 21 and the rotating shaft, or abut against the stop piece 21 and other nearby fixed parts and assemblies. When a spring is used, the stop piece 21 is slid onto one rotating shaft, one end of the spring is connected to the stop piece 21, and the other end of the spring is connected to other nearby fixed parts and assemblies.

The restrictive part 21 has at least two states. When the limit piece 21 is in the first state, when lifting, the first lifting frame of the floor washing unit 1 can cause the floor washing block 310 located on the first lifting frame of the floor washing unit 1 to pass through the limiting part 21; when the restrictive piece 21 is in the second state, the restrictive piece 21 can support this mopping unit 310.

As a rule, the restrictive part 21 is in the second state. When the first lifting frame of the floor washing unit 1 is lifted up to the limiting part 21, the first lifting frame of the floor washing unit 1 abuts against the limiting part 21, causing the limiting part 21 to rotate, the limiting part 21 rotates against the force of the dropping part 22, after which the limiting part 21 is in the first state, and the first lifting frame of the floor washing unit 1 can rise beyond the limiting part 21. After that, the restricting part 21 is restored to the second state due to the force of the reset part 22. When the first lifting frame of the floor washing unit 1 is lowered , the floor cleaning unit 310, detached from the cleaning robot, on the first lifting frame of the floor cleaning unit 1, will be supported by the restraining piece 21 so that the floor washing unit 310 will not be lowered, it is taken out and stacked on the restraining piece 21, thus way realizing the storage of the dirty mopping block 310, detached from the cleaning robot.

In one possible embodiment, there may be a plurality of restrictive members 21 and matching reset members 22, a plurality of restrictive members 21 may support different locations on the edge of the floor washing unit 310 detached from the cleaning robot, thereby ensuring that the floor washing unit 310 is supported in a stable manner, detached from the cleaning robot, and preventing the floor cleaning unit 310 detached from the cleaning robot from tipping over.

In one exemplary embodiment, the cleaning robot base station 200 may include: a first mopping unit extraction support 330 extending in a vertical direction. The limit piece 21 and the reset piece 22 can be installed on the first floor washing block extraction support 330, which is located on the side of the floor washing block 310 detached from the cleaning robot and stacked on the limit piece 21, when a plurality of dirty floor blocks 310 detached from the cleaning robot, the floor blocks 310 stacked on the limiting piece 21 and detached from the cleaning robot can be prevented from tipping over.

As shown in fig. 48-50, the floor block supply module may include a second floor block lifting frame 3, the support components include a second support component 4, the floor block supply module includes a second support component 4. Wherein, the second the lifting frame of the mopping unit 3 can be raised and lowered in the vertical direction. When the second floor washing unit 3 lift frame is lowered, it may lower at least one floor washing unit 310. The first floor washing unit 1 lifting frame and the second floor washing unit 3 lifting frame may be positioned next to each other.

In one possible embodiment, as shown in Fig. 49 and fig. 50, the transfer unit also includes at least one second guide bar 7 that extends in the vertical direction, and the second lifting frame of the floor washing unit 3 is located on the second guide bar 7 and can slide on the second guide bar 7 to perform lifting and descent. To fix the second guide bar 7, the first guide bar 6 can be connected to the bottom plate 250. The second floor washing block lifting frame 3 is provided with through holes through which the second floor washing block lifting frame 3 is put on the second floor washing block 7 and can be slid. along the second guide rod 7 for lifting and lowering.

In one preferred embodiment, as shown in Fig. 49 and fig. 50, there are a plurality of second guide bars 7, and a plurality of through holes are provided at various locations of the second lift frame of the floor washing unit 3. For example, when the second lifting frame of the floor washing unit 3 has an approximately rectangular shape in the horizontal plane, there may be four through holes, which are respectively formed at the corners of the rectangle. Thus, when the second lifting frame of the floor washing unit 3 slides on the second guide bar 7, the entire second lifting frame of the floor washing unit 3 is stabilised, while at the same time ensuring smooth lifting and lowering.

When the second floor washing block lifting frame 3, having at least one floor washing block 310 obtained from the second storage unit 212, is lowered down to the bottom along the second guide bar 7, that is, lowered onto the bottom plate 250, the robot that must install a clean floor washing block, drives up to the second lifting frame of the washing block, automatically sets the floor washing block 310 on its bottom, located on the second lifting frame of the floor washing block, then leaves the second lifting frame of the floor washing block and continues installed cleaning operations.

On fig. 52 is a schematic view of the second support component in the embodiment of the robot cleaner base station according to the present invention, as shown in FIG. 49, fig. 50 and fig. 52, the second support component 4 may include a clamp connector 41 that is rotatable; a biasing element 42, leading the clamp connector 41 to its original position. The clamp connector 41 rotates in an approximately horizontal direction. The clamp connector 41 may be mounted on other fixed parts and assemblies in the vicinity, for example, the base station 200 of the cleaning robot may include: the fixed frame 500, the clamp connector 41 and the offset member 42 are mounted on the fixed frame 500. The fixed frame 500 may be connected with a bottom plate 250 for realizing position fixation. Generally speaking, a torsion spring or a spring can be used as the biasing element 42. When a torsion spring is used, the torsion spring and the clamp connector 41 are put on the same rotating shaft, and the torsion spring can abut the clamp connector 41 and the rotating shaft, or abut the clamp connector 41 and other nearby stationary parts and assemblies, such as fixed frame 500. When a spring is used, clamp connector 41 is slid onto a rotating shaft, one end of the spring is connected to clamp connector 41, and the other end of the spring is connected to other nearby fixed parts and assemblies, such as fixed frame 500.

The clamp connector 41 has at least two positions. When the clamp connector 41 is in the first position, when lowered, the second lifting frame of the floor washing unit 3 can cause at least one floor washing block 310 mounted on the clamp connector 41 to come off the clamp connector 41; and when the clamp connector 41 is in the second position, the clamp connector 41 can support the floor washing unit 310.

In order for the floor washing block 310 placed on the clamp connector 41 to come off the clamp connector 41 when the second lifting frame of the floor washing block 3 is lowered, as shown in Fig. 52, the second support component 4 may include: a guide member 43 mounted on the second lifting frame of the floor washing unit 3 and having a guide surface 431, between the guide surface 431 and the vertical direction there is a predetermined angle that is greater than 0 degrees but less than 90 degrees.

When the second lifting frame of the floor washing unit 3 is lowered, the guide surface 431 abuts one end of the clamp connector 41, and one end of the clamp connector 41 is deflected by the action of the guide surface 431, causing the clamp connector 41 to rotate so that the other end of the clamp connector 41 breaks away from the block. floor washing unit 310. At this time, among the stacked floor washing units 310, at least one lowest floor washing unit 310 will fall onto the second lifting frame of the floor washing unit 3. In the above mode, the clamp connector 41 rotates in a horizontal plane due to vertical movement of the second lifting frame of the floor washing unit 3 and the interaction of the guide surface 431.

When the second lifting frame of the floor cleaner 3 continues to descend and one end of the clamp connector 41 separates from the guide surface 431, the clamp connector 41 rotates under the action of the offset member 42 so that the other end of the clamp connector 41 approaches the floor cleaner 310. At this time, the other end of the clamp connector 41 is inserted at least between the first mopping box 310 and the second mopping box 310 from below on the second lifting frame of the mopping box 3 so that the clamp connector 41 can support the second mopping box 310 and above its mopping units 310. The first mopping unit 310 is placed on the second lifting frame of the mopping unit 3, and can continue to descend together with the second lifting frame of the mopping unit 3 to the bottom. At this time, the robot detaching the dirty floor scrubber 310 can move above the second lift frame of the floor scrubber and automatically set the floor scrubber 310 on the second lift frame of the floor scrubber to its bottom. The automatic replacement of the floor cleaning unit used by the floor cleaning robot is carried out according to the above process. When the newly installed mopping unit becomes dirty, you can repeat the above steps. The second support component 4 can support a plurality of mopping units. The robot can suck up the mopping block under magnetic action, to remove the mopping block, you only need to release the magnetic force, and the mopping block will automatically lower.

In this application, the first lifting frame of the mopping unit 1 and the second lifting frame of the mopping unit 3 assemble and store the mopping unit 310 detached from the cleaning robot, and in turn release the stored mopping unit 310 by raising and lowering . Such a circuit features a simple structure, high system stability, and a rare occurrence of sticking, ensuring the normal operation of the cleaning robot base station for a long time. In one possible embodiment, as shown in Fig. 48, there may be a plurality of clamp connectors 41 and matched offset members 42, and a plurality of clamp connectors 41 may support different locations on the edge of the floor cleaner 310, thereby ensuring the stability of the supported floor cleaner 310 and preventing the floor cleaner 310 from tipping over.

In the process described above, the floor cleaning unit 310 detached from the cleaning robot can be understood as the dirty floor cleaning unit removed from the robot. The floor mopping block 310 can be understood as a clean floor mopping block that is pre-stored in a stack on the clamp connector 41 in the base station of the cleaning robot and constitutes at least one, in particular, the clamp connector is located in the second storage module 212.

In one possible embodiment, as shown in Fig. 49 and fig. 50, the lower part of the first lifting frame of the floor washing unit 1 is made in the form of a nest, both sides of the nest are inclined, and the shape of the bottom part matches the design of the edge at the bottom of the floor washing unit 310 detached from the cleaning robot, so that the washing unit floor cleaning unit 310, detached from the cleaning robot, can descend as accurately as possible on the first lifting frame of the floor washing unit 1 and be located in the middle of the first lifting frame of the floor washing unit 1, preventing the deviation of the floor cleaning unit 310, disconnected from the cleaning robot. Of course, the second lifting frame of the mopping unit 3 can also be of the above construction, which will not be repeated here.

As shown in fig. 48, in one exemplary embodiment, the base station 200 of the cleaning robot may include a shell that can accommodate parts and assemblies such as a floor block collection module, a floor block supply module, and a drive portion 5, wherein, both the second storage module 212 and the first storage module 211 can also be installed in the shell, thus it is possible to lay the floor cleaning unit 310 detached from the cleaning robot on the boundary piece 21, and the floor cleaning unit 310 on the clamp connector 41. In particular, the restrictive piece is in the first storage module 211, and the clamp connector is in the second storage module 212.

As shown in figures 49 and 50, the driving part 5 is kinematically connected to the first lifting frame of the floor washing unit 1, the second lifting frame of the floor washing unit 3, so that the first lifting frame of the floor washing unit 1, the second lifting frame of the floor washing unit 3 can go up and down. In one possible embodiment, the first lifting frame of the floor washing unit 1 is provided with a first opening 11 which can be extended horizontally; the second lifting frame of the mopping unit 3 is provided with a second hole 31, the second hole 31 can be extended in a horizontal direction. The driving part 5 may include: a rotating part 51, one end of the rotating part 51 is embedded in the first hole 11 and can slide in the first hole 11, while the other end of the rotating part 51 is embedded in the second hole 31 and can be slid in the second hole 31, engine 52; the motor 52 is used to drive the rotating part 51 so that the rotating part 51 rotates around the point between the two ends. When the rotating part 51 rotates counterclockwise around the point between the two ends, the left end of the rotating part 51 slides in the second hole 31 and drives the second lifting frame of the floor washing unit 3 down. The right end of the rotating part 51 slides in the first hole 11 and drives the first lifting frame of the floor washing unit 1 upwards. When the rotating part 51 rotates clockwise around the point between the two ends, the left end of the rotating part 51 slides in the second hole 31 and drives the second lifting frame of the floor washing unit 3 upwards, while the right end of the rotating part 51 slides in the first hole 11 and drives the first lifting frame of the mopping unit 1 down. Preferably, it is possible to have two first openings 11 which are located at both ends of the first lifting frame of the floor washing unit 1 and two second openings 31 which are located at both ends of the second lifting frame of the floor washing unit. The rotating part 51 may include two rotating rods located at two ends of the first lifting frame of the floor washing unit 1, and a shaft connecting the two rotating rods, each rotating rod interacting with the first hole 11 and the second hole 31 located in the same direction. ; the motor 52 drives the rotating part 51 to rotate by means of the synchronous belt 53. In this embodiment, the rotating part 51 simultaneously raises and lowers the first lifting frame of the mopping unit 1 and the second lifting frame of the mopping unit 3 at both ends, respectively. , providing a more stable and reliable lifting and lowering process.

To facilitate the installation of the motor 52 and to mount the motor 52 on the side of the entire base station, the transmission between the motor 52 and the rotating part 51 can be implemented using several synchronous belts 53 and several pulleys 54. For example, as shown in Fig. 49 and fig. 50, the motor 52 is located in the upper left corner of the base station, the pulley 54 is located above the base station in the middle, the transmission between the pulley 54 and the motor 52 is carried out by the synchronous belt 53, the rotating part 51 is located in the middle of the base station, the transmission between the rotating part 51 and the pulley 54 is carried out by the synchronous belt 53, so that the rotation of the motor 52 is transmitted to the rotating part 51, while allowing the rotation of the rotating part 51 clockwise and counterclockwise.

Specifically, a vertically extending rotating belt is disposed between the first floor washing unit lifting frame and the second floor washing unit lifting frame, and the motor is located at the distal end of the vertically extending rotating belt opposite the bottom plate of the base station. In addition, the driving part further includes: a lateral-extending rotation belt connected to the vertical-extension rotation belt, and a motor located at a distal end of the lateral-extension rotation belt away from the storage unit.

On fig. 51 is a front view of a base station driving portion of a cleaning robot according to one embodiment of the present invention in another embodiment. As shown in fig. 51, the first lifting frame of the floor washing unit 1 and the second lifting frame of the floor washing unit 3 move synchronously. When the first lifting frame of the floor washing unit 1 and the second lifting frame of the floor washing unit 3 are raised synchronously, the first lifting frame of the floor washing unit 1 causes the floor washing unit 310 mounted thereon to rise when the floor washing unit 310 detached from the robot -cleaner, rises and exceeds the limiting piece 21, the limiting piece 21 will support the floor cleaning unit 310 detached from the cleaning robot, along with this, in the process of lifting, the second lifting frame of the floor washing unit 3 rotates the clamp connector 41 located on the second support component 4, so that the floor washing block 310 stored at the very bottom of the clamp connector 41 is lowered onto the second floor washing block lifting frame 3. When the first floor washing block lifting frame 1 and the second floor washing block lifting frame 3 descend synchronously, the first lifting frame of mopping unit 1 descends straight without mopping unit 310, when while the second lifting frame of the mopping unit 3 descends while carrying one clean mopping unit 310 to be lowered to the lower position in case the robot comes to replace it.

In one possible embodiment, the drive portion 5 may include: a rotating belt 55 extending in a vertical direction; a motor 52 used to drive the rotating belt 55. The first lifting frame of the floor washing unit and the second lifting frame of the floor washing unit 3 can be fixed on the rotating belt 55 through the fixing buckle 56 so that the rotating belt 55 can drive up and down the unit floor cleaning unit 310 detached from the cleaning robot and the second lifting frame of the floor cleaning unit 3. Preferably, the floor cleaning unit 310 detached from the cleaning robot and the second lifting frame of the floor cleaning unit 3 may be integrally . In one exemplary embodiment, when the first floor scrubber lift frame and the second scrubber lift frame move in the vertical direction, there is no relative motion between the first scrubber lift frame and the second scrubber lift frame, allowing synchronous movement the first lifting frame of the floor washing unit and the second lifting frame of the floor washing unit, before the robot cleaner enters the base station to replace the floor washing unit, the first lifting frame of the floor washing unit is lowered, while the second lifting frame of the floor washing unit mopping unit drives down one mopping unit, the robot cleaner enters the base station, detaching the dirty mopping unit and placing it on the first lifting frame of the mopping unit, the robot cleaner continues moving forward, placing the unit on itself to mopping unit, placed on the second lifting frame of the floor mopping unit, then the cleaning robot circles the base station, the first floor washing unit lifting frame and the second floor washing unit lifting frame are raised at the same time, and the dirty floor washing unit on the first floor washing unit lifting frame is taken out through the limit piece, while one clean floor washing unit is placed on the second lifting frame of the floor washing unit to wait for the next arrival of the cleaning robot. Preferably, the first floor washing unit lifting frame and the second floor washing unit lifting frame can be perceived as one, i.e. the first floor washing unit lifting frame and the second floor washing unit lifting frame move up and down as one unit. Due to the absence of relative movement between the first lifting frame of the floor washing unit and the second lifting frame of the floor washing unit, it is possible to simplify the structure of the base station of the cleaning robot and improve the stability of the operation of the base station. In this case, the first lifting frame of the floor washing unit 1 and the second lifting frame of the floor washing unit 3 can be fixed on the rotating belt 55 with the fixing buckle 56, when the rotating belt 55 is lifted by the action of the motor 52, the first lifting frame of the floor washing unit 1 and the second lifting frame of the mopping unit 3 are raised at the same time. When lifting, the first lifting frame of the floor washing block 1 moves the dirty floor washing block removed from the robot to the restraint 21 to hold it. When the rotational belt 55 is lowered by the motor 52, the mopping unit 310 detached from the robot cleaner and the second lifting frame of the mopping unit 3 are lowered at the same time. When descending, the second lifting frame of the mopping unit 3 carries and moves the mopping unit 310, stored on the clamp connector 41 and located at the bottom, down to be replaced by the robot of the mopping unit.

For example, the rotating belt 55 may be in the form of a loop, and the base station of the cleaning robot includes: two pulleys 54 located at the top and bottom, the rotating belt 55 is superimposed on the pulleys 54. The motor 52 drives one of the pulleys 54 through a synchronous drive belt , thus realizing the counterclockwise and clockwise rotation of the rotating belt 55, and the rotating belt 55 can drive up or down the first lifting frame of the floor washing unit 1 and the second lifting frame of the floor washing unit 3. Of course, the drive belt also may be in the form of a strip, the base station of the robot cleaner includes only one rotating shaft, the motor 52 can drive the rotating shaft, the drive belt can be wound around the drive shaft, controlling the lifting and lowering of the first lifting frame of the floor washing unit 1 and the second lifting mopping block frame 3 by winding and releasing during rotation.

In the above embodiments, the first lifting frame of the floor washing unit 1 and the second lifting frame of the floor washing unit 3 are raised and lowered through the same driving part 5, and under the action of the driving part 5, the first lifting frame of the floor washing unit 1 and the second the lifting frame of the floor washing unit 3 are raised or lowered synchronously or in turn, providing increased synchronism of the first lifting frame of the floor washing unit 1 and the second lifting frame of the floor washing unit 3, as well as the simple design and compactness of the entire drive part 5.

This application also provides a cleaning robot system that includes: any of the aforementioned cleaning robot base stations; a cleaning robot on which cleaning elements can be installed, this cleaning robot can detach and/or install cleaning elements at the base station of the cleaning robot, the cleaning elements are a floor washing unit 310.

In one exemplary embodiment, the cleaning robot base station includes a charging unit that provides power to the cleaning robot when docked to the base station. The cleaning robot returns to the cleaning robot base station when the battery level is low, and leaves the cleaning robot base station when it is fully charged to continue cleaning.

In one embodiment of the present application, a base station 200 is provided with reference to FIG. 40–47. This base station 200 can drop the stored floor cleaning unit 310 through the floor cleaning block supply module 236 when the robot cleaner needs to change to a new floor cleaning unit 310 such as a cloth or mop, thus facilitating replacement by the cleaning robot. to the new 310 mopping unit, reducing user intervention and improving user experience. As shown in fig. 40, the base station also includes a floor cleaning unit collection unit, thereby realizing automatic removal of the used floor cleaning unit 310 and automatic replacement with a new floor washing unit 310.

In this embodiment, the base station 200 includes: a shell 3; a second support component mounted on the shell 3, the second support component including the first support mechanism 201; the second supporting mechanism 202 mounted on the shell 3. The shell 3 has a storage unit 210 for laying the floor washing unit 310 and a working position located under the storage unit 210. The first supporting mechanism 201 has a supporting state in which it supports the floor washing unit 310 , and a collapsed state in which it does not support the mopping block 310. The second support mechanism 202 has a resting state in which it supports the mopping block 310 in the storage unit 210, and an open state in which it releases at least one block for mopping 310 on the working position.

At the same time, as shown in Fig. 42, when the second support mechanism 202 is in the support state, the first support mechanism 201 is in the folded state. As shown in fig. 45, when the second support mechanism 202 is in the open state, the first support mechanism 201 is in the support state to support the floor washing unit 310 remaining in the storage unit 210.

In the base station 200 proposed in this embodiment, by setting the first supporting mechanism 201 and the second supporting mechanism 202 cooperating with each other, when the robot cleaner is to replace the floor cleaning unit 310, the second supporting mechanism 202 is switched to the open state so that at least one mopping unit 310 has been lowered to the operating position, while the robot cleaner moves to the operating position and replaces the mopping unit 310 in the operating position. Accordingly, the mopping units 310 remaining in the storage unit 210 are maintained by the first support mechanism 201 to avoid falling, and when the second support mechanism 202 is restored to the support state, it again supports the floor cleaning unit 310, waiting for the robot cleaner to replace the new floor cleaning unit 310 again. Therefore, in the mopping unit 310 replacement scenario, the base station 200 provided in this embodiment can realize the automatic lowering of the mopping unit 310, realizing the automatic replacement of the mopping unit 310, reducing the user intervention to replace the mopping unit 310, and improving user experience.

In this embodiment, the second support mechanism 202 supports the mopping unit 310 in the storage unit 210 when it is in the support state, with the first support mechanism 201 in the folded state. When the second holding mechanism 202 is in the open state, it releases at least one mopping unit 310 into the operating position, with the first holding mechanism 201 in the holding state and supporting the remaining mopping unit 310 in the storage unit 210. Thus, the first support mechanism 201 and the second support mechanism 202 cooperate with each other to lower the floor cleaning unit 310 piece by piece and replace the floor cleaning unit 310 one at a time by the cleaning robot.

Of course, in other embodiments, the base station 200 may also lower two or even more mopping units 310 at a time to allow two or more cleaning robots to be replaced with a new mopping unit 310, not specifically limited herein.

In this embodiment, a plurality of floor units 310 are stacked in a storage unit 210, in particular, a plurality of floor units 310 are stacked in a second storage unit 212 in the storage unit 210, and are supported by a second fall prevention support mechanism 202, wherein the second support mechanism 202 is in the second storage module. The floor washing unit 310 has a certain structural rigidity and can maintain its basic shape when supported by the first supporting mechanism 201 or the second supporting mechanism 202. In this case, the floor washing unit 310 can be a carriage with a cloth or mop attached, moreover, a block for floor cleaning 310 can have a bracket with a cloth or mop attached, this bracket can be rigid, of course, the bracket can be metal or plastic, should keep the overall shape unchanged.

The second storage module 212 is made in the form of a rectangular parallelepiped, respectively, the block for mopping 310 is a rectangular plate. The first support mechanism 201 and the second support mechanism 202 are located on the bottom of the second storage unit 212 on both sides, supporting the floor washing unit 310 in different states. Meanwhile, the floor washing unit 310 in the storage unit 210 is clean, that is, this floor washing unit 310 is to be installed. In particular, the operating position is located under the storage unit 210, and in particular, the second operating position 252 is located under the second storage unit 212, the robot can enter the base station and stop at the second operating position 252, where it sets the clean floor unit 310 .

The second operating position 252 is located below the second storage module 212 and is used to receive the mopping block 310 lowered from the second support mechanism 202. The operating position has a receiving slot for receiving the floor washing block 310. The minimum distance between the second support mechanism 202 and the bottom the receiving slot is greater than the thickness of one floor cleaning block 310. On one side of the wall 52 of the receiving slot 51, an opening for the entry and exit of the cleaning robot may be provided. Of course, the wall 52 of the receiving slot 51 can also limit the floor cleaning unit 310 to avoid the floor cleaning unit 310 moving when the robot cleaner enters and exits, ensuring a successful replacement.

The first support mechanism 201 and the second support mechanism 202 are located on the bottom of the storage unit 210 on both sides, supporting the floor washing unit 310 in various states. When the first support mechanism 201 is in the folded state and the second support mechanism 202 is in the open state, the situations are similar, they do not support the floor washing unit 310 in the storage unit 210, removing the limit of supporting the floor washing unit 310. Accordingly, in order to prevent everyone from falling mopping units 310, the first supporting mechanism 201 and the second supporting mechanism 202 perform support at different times, ensuring that only the mopping unit 310 to be installed is lowered and the remaining mopping units 310 are in the second storage unit 212.

The second support mechanism 202 and the first support mechanism 201 work together. Thus, when it is necessary to drive the first support mechanism 201 and the second support mechanism 202, or it is necessary to determine the position of the second support mechanism 202 and the first support mechanism 201, it is sufficient to use only one power unit, in the same way, knowing the state and positions of only one support mechanism. , you can know the status and position of the other supporting mechanism, which can save the number of sensors and reduce the cost.

In this embodiment, the first supporting mechanism 201 and the second supporting mechanism 202 are provided with coupling structures (such as the stop lugs 21, 22 and the shift lever 12) through which the first supporting mechanism 201 is launched to drive the second supporting mechanism 202, or the second supporting mechanism 202 is triggered. supporting mechanism 202, actuating the first supporting mechanism 201. In the embodiment shown in FIG. 40, the second support mechanism 202 will operate, actuating the first support mechanism 201.

In other embodiments, the first support mechanism 201 and the second support mechanism 202 may not be coupled, they may use independent power units to perform their independent rotation, they may be controlled by a controller to perform support at different times.

In one embodiment of the present application, the first maintaining mechanism 201 fires and switches between the maintained state and the stowed state, and the second maintaining mechanism 202 fires and switches between the reference state and the open state. While the first support mechanism 201 and the second support mechanism 202 may reciprocate, reciprocate, or move, their modes of action may be the same or different, which is not limited in this application. Preferably, the first support mechanism 201 switches between the supported state and the collapsed state by rotation, and the second support mechanism 202 switches between the support state and the open state by rotation.

The first support mechanism 201 and the second support mechanism 202 have a certain range of operation, and the maintenance state and the collapsed state, the reference state and the open state may be the start position and end position, or the start state and end state in the respective ranges of action. For example, when performing movement or rotation, the first supporting mechanism 201 and the second supporting mechanism 202 have a reciprocating movement range and a reciprocating rotation range with a certain distance or angle, while the holding state and the folded state, as well as the supporting state and the open state can be the end position or the end state in the travel range and the rotation range.

In particular, the first support mechanism 201 is rotatable about the first rotation axis. The first support mechanism 201 can switch between the support state and the folded state by rotation. The second support mechanism 202 is rotatable about the second rotation axis 11. The second support mechanism 202 switches between the rest state and the open state by rotation; the first axis of rotation is parallel to the second axis of rotation 11. In the embodiment shown in FIG. 40-44, when the second support mechanism 202 rotates about the second rotation axis 11, it causes the first support mechanism 201 to rotate about the first rotation axis (ie: the axis of the rotation shaft 402).

In one embodiment, shown in Fig. 40-44, the second support mechanism 202 includes a base plate (202a, 202b). One end of the base plate is the connecting end 25 for connecting with the rotary shaft 402, and the other end is the free end 26. The rotary shaft 402 is rotatably mounted on the shell 3. The rotary shaft 402 can be driven by the power unit, and cause the base plate to rotate around first axis of rotation.

The first support mechanism 201 includes a rotating baffle (201a, 201b) that rotates about a second axis of rotation 11. A support rod 13 is mounted on the rotating baffle. second storage module 212.

In order to engage between the first support mechanism 201 and the second support mechanism 202, the rotating baffle is also provided with a shift lever. The rotating baffle is located on one side of the support plate in the axial direction along the first axis of rotation. In this case, the axial direction along the first axis of rotation means the longitudinal direction, facing Fig. 42, respectively, the rotating baffle can be installed on the front or rear side of the base plate. As shown in fig. 42, a rotating baffle is located on the front side of the base plate.

The base plate is provided with a first limiting protrusion 21 and a second limiting protrusion 22 on the side surface of the connecting end 25. The first limiting protrusion 21 and the second limiting protrusion 22 are located in the periphery with a certain gap, and a gap is formed between them, through which the shift lever is inserted between the first limiting protrusion 21 and the second limiting protrusion 22. The shift lever is located between the first limiting protrusion 21 and the second limiting protrusion 22 and is limited by the rotation of the first limiting protrusion 21 and the second limiting protrusion 22.

In order to facilitate the insertion of the first support mechanism 201 between two adjacent floor washing units 310, to support the remaining floor washing unit 310 and avoid it falling, an intermediate gap 301 is provided between two adjacent floor washing units 310, the first supporting mechanism 201 can be inserted into the intermediate a gap 301 for supporting the mopping block 310 above the gap. As shown in fig. 42, between the edges of the mopping units 310, a lap structure 302 is formed, and between the lap structures 302 of the upper and lower mopping unit 310, there is an intermediate gap 301 between the upper and lower mopping unit 310, where the mopping unit 310 has a body between the overlap structures 302, and the main parts of the upper and lower mopping units 310 contact and support each other. The support rod 13 can support the edge of the floor washing unit 310, and the length of the part inserted inside the storage unit 210 is small.

The second support mechanism 202 and the first support mechanism 201 coupled to it form a second support component 60. The floor block supply unit 236 is provided with a plurality of second support components 60. At least two second support components 60 are respectively mounted on both sides of the storage unit 210 along the first directions f; the first direction f is perpendicular to the vertical direction. In this embodiment, the first direction f is the lateral direction, facing Fig. 42, the second direction is perpendicular to the first f direction, and the second direction is the longitudinal direction, facing Fig. 42.

As shown in fig. 40 and fig. 41, each second support component 60 may be provided with a containing box 61 having an opening on the inside facing the storage unit 210. the storage unit 210 when in the maintenance state, supporting the mopping unit 310.

In the second supporting component 60, the first supporting mechanism 201 temporarily supports the floor washing unit 310 when the floor washing unit 310 is lowered, and the second supporting mechanism 202 permanently supports the floor washing unit 310 when the floor washing unit 310 is not lowered. the mechanism 202 is switched from the support state to the open state, the floor washing unit 310 is lowered by gravity until it falls to the bottom of the operating position. There are more than three of them. Accordingly, the number of the first supporting mechanisms 201 and the second supporting mechanisms 202 ensures that the floor washing unit 310 is stably supported, avoiding the floor washing unit 310 falling off by itself, and the number of the second supporting components 60 exceeds three.

In the embodiment shown in Fig. 41, the shell 3 is provided with four second support components 60, and accordingly, the shell 3 is provided with four support plates and four rotating baffles matched therewith. In the support state, the four support plates are horizontally staggered and not opposite to each other. When the base plate is switched from the rest state to the open state, the base plate rotates downward to open the bottom of the storage unit 210, while the lowest mopping unit 310a moves down by gravity.

In order to avoid interference caused by rotation, the second support components 60 located on both sides of the storage unit 210 are staggered so that the base plate is long, thus forming a path for lowering the floor washing unit 310 and avoiding the displacement of the washing unit. 310 floors as a result of a direct fall. A plurality of second support components 60 or a plurality of second support mechanisms 202 are located at different positions in the second direction. On the left side of the storage unit 210 are two second support components 60, and on the right side of the storage unit 210 are two second support components 60. The distance between the two left second support components 60 is greater than the distance between the two right second support components 60. Between the two second support components 60. By supporting components 60 on one side, there is a set of gears that can transmit from the first drive shaft 401 to the rotary shaft 402.

In order to avoid displacement when the floor washing unit 310 is lowered and to ensure successful subsequent replacement of the floor washing unit 310, the length of the base plate inserted into the storage unit 210 in the supported state is greater than 1/2 of the width of the storage unit 210 along the first direction F. Thus , the second support mechanism 202 of longer length can form a path for lowering the floor cleaner 310, which can avoid displacement when lowering the floor cleaner 310, ensure the accurate lowering position of the floor cleaner 310, and facilitate replacement by the cleaning robot.

In order to facilitate insertion between two adjacent floor washing units 310, the support rod 13 is made shorter, in particular, the length of the support rod 13 located in the storage unit 210 when in the supporting state is less than the length of the support plate located in the second storage module 212 when reference state.

In addition, an intermediate gap 301 is formed between the edges (laps 302) of two adjacent stacked floor washers 310. to further facilitate the insertion of the first support mechanism 201 into the floor washing unit 310, the width of the support rod 13 gradually decreases as it moves towards its outer end 131. The width direction F2 of the support rod 13 is approximately parallel to the periphery about the second axis 11 of rotation. The bearing surface of the support rod 13 is a curved surface.

In the process of lowering the floor cleaner 310, the base plates on both sides of the floor cleaner 310 are opened to both sides, the floor cleaner 310 is lowered along the bearing surface of the base plate. However, there may be a situation where the descent speed or displacement of both sides of the mopping unit 310 is out of sync, causing the entire mopping unit 310 to tilt sideways, which may even lead to misalignment or tipping when lowered, affecting the subsequent replacement of cleaning parts. .

To avoid this problem, the second supporting mechanism 202 (for example, the base plate) is also provided with a buffer part 231. The buffer part 231 includes a buffer ramp 231b; the height of the protrusion of the buffer ramp 231b gradually increases in the direction from the connecting end 25 of the second support mechanism 202 to the free end 26 of the second support mechanism 202. mopping unit 310 until it opens wider and releases the mopping unit 310.

The second support mechanisms 202 located on both sides of the storage unit are provided with buffer portions 231. In the process of rotating and opening the second support mechanism 202, the floor washing unit 310 descends, stops or slows down when it comes into contact with the buffer ramp 231b of the buffer portion. 231. At this time, when both sides of the mopping block 310 deviate, the overlap 302 on one side of the mopping block 310 will contact the buffer ramp 231b first to stop or slow down the descent rate, and then the overlap 302 on the other side will catch up with the lap 302 that contacts the buffer ramp 231b first until the mopping unit 310 is level, eliminating the deflection problem and ensuring that the mopping unit is in the exact replacement condition upon release. Moreover, the buffer ramp 231b can also slow down the rate at which the floor cleaner 310 descends into the receiving slot 51 at a slower speed, further preventing the floor cleaner 310 from moving.

In addition, the buffer portion 231 also has a sliding ramp 231a; compared to the buffer ramp 231b, the sliding ramp 231a is closer to the connecting end; in the direction from the connecting end 25 to the free end 26, the height of the protrusion of the sliding inclined plane 231a gradually decreases. The sliding inclined plane 231a and the buffer inclined plane 231b form a stepped structure. When the floor mopping block 310 slides towards the buffer portion 231 in the lowering process, it first comes into contact with the sliding ramp 231a, the sliding ramp 231a contacts the slope of the overlap 302, so that the floor scrubber 310 slides smoothly. When the floor cleaner 310 slides towards the buffer ramp 231b, the floor cleaner 310 is damped by the buffer ramp 231b to ensure the floor cleaner 310 is level. Preferably, the base plate has a plurality of buffer portions 231; a plurality of buffer portions 231 are arranged along the direction from the connecting end 25 to the free end 26, forming a stepped buffer structure 23.

In particular, the base plate has a stepped buffer structure 23 for supporting the floor washing unit 310. The stepped buffer structure 23 includes a plurality of buffer portions 231 arranged in a direction from the connecting end 25 to the free end 26. Each buffer portion 231 includes a sliding an inclined plane 231a; and a buffer inclined plane 231b. The sliding ramp 231a is closer to the connecting end 25 than the buffer ramp 231b. In the direction from the connecting end 25 to the free end 26, the protrusion height of the sliding ramp 231a gradually decreases, and the protrusion height of the buffer ramp 231b gradually increases. The buffer portion 231 is generally made in the form of a V-groove, and a plurality of V-grooves are sequentially arranged in the direction from the connecting end 25 to the free end 26, forming a stepped buffer structure 23.

In the process of lowering the floor washing unit 310, as the opening angle of the base plate increases, the floor washing unit 310 descends step by step onto the stepped buffer structure 23, and the descending speed of the floor washing unit 310 is slowed down and damped through each step of the buffer part 231 to avoid deflection caused by too high sink rate.

Continuing to refer to Fig. 42 to 47, the base plate has a receiving curved surface 24 on the side of the stepped buffer structure 23 away from the free end 26. The receiving curved surface 24 protrudes outwards to form an outwardly convex surface. In the support state, the receiving curved surface 24 supports the floor washing unit 310. For ease of lowering the floor washing unit 310 one at a time, when the base plate rotates no more than 30 degrees from the resting state to the open state, the receiving curved surface 24 continuously supports the floor washing unit 310. floor washing unit 310. At the initial stage of rotation of the base plate, the floor washing unit 310a at the very bottom has a small descent range, as the opening angle of the base plate increases, the descent range of the floor washing unit 310 increases, and the floor washing unit 310 gradually slides down to a stepped buffer structure 23.

In order to ensure that the support rod 13 supports the remaining mopping units 310 except for the lowest mopping unit 310a, and to avoid lowering too many mopping units 310, under the support state, the difference in height between the free end 26 of the base plate and the support rod 13 should be more than the thickness of one mopping block 310, but less than the thickness of two mopping blocks 310. When folded, the outer end 131 of the support rod 13 is above the lowest mopping block 310a. In the folded state, the outer end 131 of the support rod 13 is opposite the intermediate gap 301 in the first direction F.

In this embodiment, the sheath 3 is provided with a transmission mechanism. The drive motor 400 drives the plurality of second support components 60 into synchronous movement via the transmission mechanism. The transmission mechanism may include a worm gear. The driving motor 400 drives the rotary shaft 402 through a worm gear, a plurality of second supporting mechanisms 202 can be attached to the rotary shaft 402, thereby driving the plurality of second supporting mechanisms 202 at the same time.

Specifically, the shell 3 is also provided with a driving motor 400, a first driving shaft 401, and a second driving shaft 406. The first driving shaft 401 and the second driving shaft 406 are respectively mounted on both sides of the storage unit 210 along the first direction F. The first driving shaft 401 and the second driving shaft the shaft 406 is arranged parallel to the first rotation axis and respectively drives the rotation shafts 402 located on both sides of the storage unit 210. The drive motor 400 drives the first drive shaft 401 and the second drive shaft 406.

The drive motor 400 and the first drive shaft 401 are located on one side of the storage unit 210 in the first direction F, and the second drive shaft 406 is located on the other side of the storage unit 210 in the first direction F. A chain 405 is provided on one side of the storage unit 210 in the second direction. The drive motor 400 drives the second drive shaft 406 through the chain 405. The second direction is perpendicular to the first direction F and the vertical direction.

The following is a detailed description of the principle of operation of the block supply unit for washing floors 236 in one embodiment of the present application with reference to Fig. 40–47 for a better understanding of the present application.

As shown in fig. 40, the mopping block supply unit 236 and the cleaning part ejector are placed side by side to form a base station 200 for parking the cleaning robot. The base station 200 may be equipped with a sensor that can detect the position of the second support mechanism 202 (base plate), and then the floor block supply unit 236 may control the operation of the second support mechanism 202 according to the signal from the sensor.

The storage unit 210 stores a plurality of mopping units 310 (310a, 310b, 310c) stacked on top of each other, operating positions are located under the storage unit 210, and four second supporting component 60 is located on both sides of the bottom of the storage unit 210. Among them, two the second supporting component 60 are located on the left side, and accordingly, two support plates are located on the left side, act with the same rotary shaft 402 and are driven by the first drive shaft 401, moreover, each support plate corresponds to the rotary baffle on the linkage. The two second support components 60 are located on the right side, and accordingly, two support plates are located on the left side, act with the same rotary shaft 402 and are driven by the second drive shaft 406, moreover, each support plate corresponds to a rotary baffle in the arm.

The cross section of the floor washing unit 310 is the same as that of the storage unit 210, and the left and right sides of the floor washing unit 310 are close to the left and right side walls of the storage unit 210, so that the space of the storage unit 210 can be used as much as possible. , and is convenient for inserting the first support mechanism 201 to support the remaining mopping units 310.

As shown in fig. 42, when it is not necessary to lower the floor washing unit 310, the support plate is in the support state supporting all the floor washing units 310 in the storage unit 210. box 61. At this time, there is an intermediate gap 301 between the overlaps 302 of the lowermost mopping unit 310a and the second mopping unit 310b from below, and the outer end 131 of the support rod 13 is aligned with the intermediate gap 301 along the first direction F. In addition, the outer the end 131 of the support rod 13 is higher than the upper surface of the lowermost mopping unit 310a, but lower than the upper surface of the second mopping unit 310b from below.

As shown in fig. 43–45. When the cleaning robot needs to replace the floor cleaning unit 310, it communicates with the base station 200, and under the control of the base station 200, the floor cleaning block supply module 236 lowers the new floor cleaning unit 310. Under the control of the base station controller 200, the driving motor 400 is started, which drives the four second supporting components 60 simultaneously through the first drive shaft 401 and the second drive shaft 406.

The support plate rotates down and gradually opens, and the lowest floor washing unit 310a starts to move down. At the initial stage of rotation of the base plate, the support rod 13 exits the opening of the containing box 61 into the gap 301 and is inserted into the intermediate gap 301. As shown in Fig. 43, when the base plate is rotated about 30 degrees, the lowest mopping unit 310a has little offset and is still supported by the receiving curved surface 24; In addition, at this time, the support rod 13 is inserted into the intermediate gap 301, supporting the remaining mopping units 310 starting from the second mopping unit 310b from the bottom, so that only one mopping unit 310 can be lowered by lowering the unit one by one to mopping 310.

As shown in fig. 44, the floor washing unit 310 slides from the curved receiving surface 24 to the stepped buffer structure 23 with the opening angle of the base plate increasing. Meanwhile, the floor washing unit 310 can enter the buffer portion 231 by passing through the sliding ramp 231a and being decelerated by the buffer ramp 231b until the opening angle of the base plate continues to increase and the floor scrubber 310 enters the next stage. buffer part 231.

As shown in fig. 45, when the base plate is fully opened (in the open state), the angle between it and the horizontal plane is about 80 to 90 degrees, the floor washing unit 310 will come off the base plate after passing through the last step of the buffer part 231. At the same time, the floor washing unit 310 is close to the receiving slot 51, so the offset is difficult to form or the offset is small, which ensures an accurate lowering position. At this time, the support rod 13 is in a support state.

Further, as shown in Fig. 46 and fig. 47, the base plate starts to return to the support state, the driving motor 400 can be reversed, the base plate rotates upward, and accordingly, the support rod 13 is compressed backward until the base plate returns to support the floor washing unit 310 in the storage unit 210, and the support rod 13 is fully returned to the rotating box 61 in a collapsed state. Accordingly, initially the second bottom mopping box 310b and the bottom third mopping box 310c in the storage unit 210 become the lowest mopping box 310a and the second bottom mopping box 310b. To lower the new floor scrubber 310, repeat the process shown in fig. 40–47.

Based on the same idea, the present invention also provides a cleaning robot parking base station 200, an automatic cleaning system, as described in the following embodiments. Because the cleaning robot parking base station 200 and the cleaning robot system have the same problem-solving principle and technical results as the cleaning parts extractor, the implementation of the cleaning robot parking base station 200 and the cleaning robot system can refer to the embodiments of the above-described base stations 200, which will not be repeated here.

Referring to Fig. 40 to 47, one embodiment of the present application also provides a base station 200 for parking a cleaning robot, including: a floor block collection module, a floor block supply module, the floor block supply module including: supplying mopping blocks 236, wherein the mopping block supplying unit 236 includes: a first supporting mechanism 201 that has a supporting state in which it supports the mopping block and a folded state in which it does not support the mopping block; a second support mechanism 202 that has a rest state for supporting the floor washing unit 310 in the second storage unit 212 and an open state for releasing at least one floor washing unit 310 to the second operating position 252; wherein, when the second support mechanism 202 is in the support state, the first support mechanism 201 is in the folded state; and when the second supporting second mechanism 202 is in the open state, the first supporting mechanism 201 is in the maintaining state to support the remaining mopping units 310 in the second storage unit 212.

Referring to Fig. 40-47, in one embodiment of the present application, a robotic cleaning system is also provided, including: a cleaning robot; a base station 200 for parking the cleaning robot, the base station 200 being able to communicate with the cleaning robot; the base station 200 includes: a mopping block collection module, a floor mopping block supply module, work positions for the cleaning robot. Wherein, the mopping block supply module includes a mopping block supply module 236, the mopping block supply module 236 including: a first supporting mechanism 201 mounted on the base station shell 3; a second support mechanism 202 mounted on the base station shell 3, wherein the first support mechanism 201 has a support state in which it supports the floor cleaning unit 310 and a folded state in which it does not support the floor cleaning unit 310. The second support mechanism 202 has a support a state for maintaining the mopping unit 310 in the storage unit 210; and an open state for releasing at least one mopping unit 310 into an operating position.

The second support mechanism 202 supports the mopping unit 310 in the storage unit 210 when it is in the support state, the first support mechanism 201 being in the folded state; when the second support mechanism 202 is in the open state, it releases at least one mopping unit 310 into position, with the first supporting mechanism 201 in the holding state to support the remaining mopping units 310. Typically, the floor mopping unit 310 includes a disposable mop and a washable mop. Proposed in this embodiment, the cleaning robot system 300 can be compatible with a disposable mop and a washable mop, and the storage unit 210 can store a disposable mop and a washable mop. In one embodiment, in order to make the storage unit 210 compatible with both a disposable mop and a washable mop at the same time, some improvements need to be made to the design of the storage unit 210 itself so that the storage unit 210 can still provide increased stability while being compatible with the mop. In particular, increasing the gap along the length and width of the storage unit 210 makes it possible to match the large size floor unit with the storage unit 210, and when a plurality of floor units 310 are placed in the storage unit 210, the edges of the floor unit 310 may fold, thus allowing the floor units 310 to be stored in the storage unit 210 by increasing the internal clearance of the storage unit 210. The presence of gaps on both sides of the storage unit 210 means that the internal space of the storage unit 210 is larger than the actual dimensions of the floor unit 310. Generally speaking, the central area of the storage unit 210 is just aligned with the operating position, so that the mopping unit can be more accurately placed in the corresponding operating position, so when storing the floor unit 310 in the storage unit, place the mopping unit as much as possible. floors 310 in the central area of the storage unit 210. In particular, in the second storage module 212, a mopping unit 310 is stored to be replaced. When the robot cleaner 100 needs to replace the mopping unit, the second storage module 212 provides the mopping unit 310 to the second operating position 252 for installation on the cleaning robot, in particular so that the floor mopping unit 310 fits neatly into the second operating position, the mopping unit 310 needs to fall out of the central region of the second storage unit 212. In particular, as shown in FIG. 29-32, the contact part of the telescopic baffle mechanism contacting the floor washing unit 310 is formed as an inclined plane, and the part of the floor washing unit 310 contacting the contact part is also formed as a corresponding inclined plane, which can apply to the block for mopping the force to move towards the central region of the second storage module 212 so that the mopping unit 310 moves as far as possible to the center under the action of telescopic mechanisms on both sides and is located in the central region of the second storage module 212. In other embodiments, the implementation of the contact part the telescopic baffle mechanism can also be made in another shape, but it is necessary to ensure that the floor washing unit 310 is subjected to efforts to move to the central region of the second storage module 212, it is understood that the contact point of the floor washing unit 310 undergoes a corresponding change.

It is understood that when the robot cleaner 100 detaches the floor cleaning unit 310 from the main body, referring to Fig. 39, the mopping block collecting unit is to collect the detached mopping unit 310 and transfer to the first storage unit, that is, assemble the mopping unit 310 by moving the lifting mechanism in the vertical direction. In particular, in order to position the assembled floor washing unit 310 as far as possible in the central region of the first storage unit 211, the abutment of the floor washing block collecting module must be chamfered so that the floor washing unit 310 is subjected to forces to move towards the central region of the first storage module and, as far as possible, is located in the central region of the first storage module. The specific principle is the same as that of the telescopic baffle mechanism of the second storage module, so it will not be repeated here.

In one embodiment, in Fig. 37 is a diagram of the second storage module 212, which can be divided into an upper part and a lower part. The upper part is provided with a lifting unit from the outside, the upper part is mainly used to accommodate the floor washing unit, and the floor washing unit 310 is moved to the second working position through the lower part. In particular, the edge area of the floor washing unit 310 stored in the second storage unit 212 may fold or curl because it is not supported by the back plate, and may be stuck when it falls through the bottom, which affects the stability of the base station 200. In particular, in this embodiment, the bottom of the second storage module 212 has more space than the top so that the floor cleaner 310 can fully extend as it passes through the bottom, reducing the chance that the floor cleaner 310 will get stuck and not can drop normally, as well as improving the stability of the base station.

In this embodiment, according to Fig. 14, the floor washing unit 310 is released from the second storage unit 212 through the floor washing block supply unit, the floor washing unit 310 moves in the vertical direction under the action of the floor washing unit supply unit, and the movement direction of the floor washing unit 310 is perpendicular to the entry direction. cleaning robot 100 to the station. Specifically, the floor washing unit 310 is released from the second storage unit 212 to the base station second operating station 252 through the floor washing block supply unit, and the robot cleaner 100 places the floor washing unit 310 released from the second storage unit 212 into the second operating position. 252. In particular, the floor washing block 310 is released by moving in the vertical direction from top to bottom, in particular, the floor washing block 310 is driven by the floor washing block supply unit in a free fall in the vertical direction. The advantages of the above structure is that due to the design of the mopping block supply module, the base station can automatically provide the mopping block to be installed on the cleaning robot, reducing manual involvement and increasing the degree of automation of the cleaning robot. In one embodiment, the mopping pad delivery module releases the mopping pad, causing the mopping pad to move in the vertical direction, thereby making the base station 200 compact.

In this embodiment, the base station 200 also includes a base portion for connecting the bottom plate of the base station 200 to the base station storage unit 210, the base portion is located on the side of the base station 200 so that the horizontal plane projections of the body and the storage unit 210 are approximately the same, when the robot cleaner 100 is parked, the base portion supports the base station 200, making the structure of the base station 200 more stable.

In this embodiment, the base station 200 includes a charging unit (not shown in the figure) that includes at least one pair of charging terminals, and the charging unit includes a signal transmitter for sending a control signal to the cleaning robot 100. After After the cleaning robot 100 detects that the charge level is less than the threshold value, it goes to the base station 200 according to a predetermined route, constantly checking the signal from the charging unit while moving, determines the position of the base station 200 according to the signal, and completes the docking and charging. In this embodiment, the charging terminal is located in the base part, after the robot cleaner 100 enters the base station ​200 and completes docking, charging starts, after charging, the robot cleaner 100 leaves the base station 200. In particular, when the robot cleaner 100 100 returns to the base station 200, the connection component 120 causes the floor scrubber 310 to rise from the work surface to prevent contamination of the cleaned work surface. In other embodiments, the charging terminal may also be located at the bottom of the storage unit 210 of the base station 200 so that the top of the robot cleaner 100 contacts the charging terminal to perform charging. In other embodiments, methods for charging robot cleaner 100 also include wireless charging, the charging unit includes a transmitter coil, robot cleaner 100 includes a receiver coil, and robot cleaner 100 is charged by electromagnetic induction of the transmitter coil and receiver coil. . Installing the charging unit on the base station 200 has the following positive effects: By integrating the functions of the base station 200, the functions of the base station 200 are reused and the structure is compact.

In this embodiment, according to Fig. 39-40, the second storage unit 212 of the base station 200 includes a storage status monitoring unit 360 that can detect the current state of the mopping unit 310 in the second storage unit 212 and send an instruction to the user. Specifically, it can detect that the second storage unit 310 is missing and remind users to add the floor unit in time so as not to affect the stability of the base station 200. Similarly, the first storage unit 211 also includes including a storage state control unit that determines that the floor washing unit 310 placed in the first storage unit 211 has reached the set value, or determines that the storage time of the floor washing unit in the first storage unit 211 has reached the set value, and gives the user an instruction to process the floor washing unit 310, in particular, when the number of floor washing units 310 is greater than or equal to 9, instructs the user to process the floor washing unit 310.

In one embodiment, the storage status monitor 360 includes a photoelectric sensor that can be used to determine the number of mopping units in the storage units, to determine if the first storage unit 211 has been filled with mopping units, and to determining that the second storage unit 212 is missing a floor washing unit. Specifically, the first storage unit 211 stores the floor units 310 detached from the main body of the robot cleaner 100, and the second storage unit 212 stores the floor units 310 to be installed on the robot cleaner 100, and when the first unit storage unit 211 is full of mopping units 310, or the second storage unit lacks the mopping unit 310 needed to be installed on the cleaning robot, the base station issues an appropriate instruction. Specifically, the photoelectric sensor includes a transmitting end and a receiving end, the transmitting end is located on one side of the storage module, and the receiving end is located at a corresponding position on the other side of the storage module, when the signal from the transmitting end can be received by the receiving end, this means that there is no barrier between the transmitting and receiving ends. In particular, if it is necessary to determine whether the first storage unit 211 is filled with mopping units 310, a photoelectric sensor transmitter is installed on the top of the first storage module 211 on one side, and a photoelectric sensor receiver is installed on the other side. If the first storage unit 211 is filled with floor washing units 310, then when the transmitter transmits a signal that cannot be received by the receiver because the signal was blocked by the floor washing unit 310 on top of the first storage unit 211, it can be seen that the first the storage module 211 is filled with mopping blocks 310. And, if it is necessary to determine the presence of the floor washing block 310 in the second storage module 212, designed to be installed on the cleaning robot 100, then install the transmitting end of the photoelectric sensor at the bottom of the second storage module 212 with one side, and install the receiving end in the corresponding place on the other side, if the second storage unit 212 lacks the floor washing unit 310 required for installation, when the transmitting end of the photoelectric sensor outputs a signal, the receiving end can receive this signal because there is no block for washing floors, which could block the signal, hence it is believed that in the second The storage module 212 does not have a mopping unit 310 for installation on the cleaning robot 100. In other embodiments, the photoelectric sensor may be installed in other locations. For example, if it is necessary to determine that the number of mopping units 310 in the storage unit 210 is less than 2, then a photoelectric sensor can be installed at the location where the second mopping unit is stacked in the storage unit 210. If the receiving end does not detect a signal, this means that the number of mopping units 310 in the storage unit is greater than or equal to 2; otherwise, it means that the number of mopping units 310 in the storage unit is less than 2.

Specifically, in this embodiment, the base station can send a command in the following ways, communicating with mobile devices (such as mobile phones, computers, IPADs, etc.) to send a command to the user to remind him to clear the base station in a timely manner. ​or the need to add a floor washing unit. In other embodiments, the base station includes an indicator that can remind the user to perform appropriate operations with the base station by emitting a light and sound signal.

In this embodiment, according to Fig. 22, the storage unit 210 in the base station 200 is removable. On fig. 22 shows a state in which the second storage unit 212 is detached from the base station 200, specifically, the first and second storage units 212 of the storage unit 210 can be detached from the base station 200, respectively. When users need to add the floor unit 310, or remove the floor unit 310 from the storage unit 210, or clean the floor unit 310 from the storage unit 210, generally they can place the storage unit 210 in a suitable place according to their needs. needs by disconnecting the storage unit 210 from the base station 200. In particular, the storage unit 210 can be configured to be captured from the base station 200 using various common mechanical designs such as slot, magnetic adsorption, which will not be repeated here.

In this embodiment, the robot cleaner 100 includes various sensors that are suitable for performing appropriate actions when various situations are detected. In general, the robot cleaner 100 performs work in the work area after the floor cleaning unit 310 is installed, but when the floor cleaning unit 310 is not installed on the cleaning robot 100, it cannot perform cleaning operations to prevent irreparable damage to the work surface and the robot. cleaner 100. In this embodiment, the robot cleaner 100 has a sensor for detecting the installation of a mopping block, when it detects the presence of a mopping block on the robot cleaner 100, it performs cleaning operations in the working area, and when it is detected that the robot cleaner 100 100 is not installed, the mopping unit stops working and issues a fault command to the user so as not to damage the work surface or the robot cleaner 100 itself. In particular, this detection sensor includes a Hall sensor, and the mopping unit 310 provides magnet, the Hall sensor determines whether the floor cleaning unit 310 is installed on the robot cleaner 100 by checking for the presence of a magnet. When a magnet is detected, it is considered that the mopping unit is installed on the robot cleaner 100 and the robot cleaner 100 can perform work; if the Hall sensor does not detect the presence of a magnet, then it is considered that the mopping unit 310 is not installed on the robot cleaner 100, and the robot cleaner does not perform cleaning operations and issues a fault command to the user. Referring to Fig. 5 and fig. 6. In fig. 5 is a schematic diagram of a cleaning robot 100 without a floor scrubber 310, and FIG. 6 is a schematic diagram of the robot cleaner 100 with the mopping unit 310 installed. 310 is installed on the cleaning robot 100 through the connection component, the connection component is equipped with a Hall sensor, the floor washing unit is equipped with a magnetic element, and when the Hall sensor approaches the magnetic element, the Hall sensor can detect the change in the magnetic field, determine the magnetic field strength, determine, installed or the floor cleaning unit 310 on the cleaning robot, and transmit the detection results to the control unit, and the cleaning robot 100 controls its own operation logic accordingly. The cleaning robot 100 returns to the base station 200 to replace the mopping unit when certain predetermined conditions are reached, but there is a possibility of failure in the process of replacing the mopping unit. In order to inform the user to take appropriate corrective action in a timely manner when the robot cleaner 100 cannot replace the mopping unit, in this embodiment, referring to Fig. 38, the base station 200 is provided with a fault detection sensor 350 that issues a fault command to the user when a transmission fault is detected. In particular, the following faults can be mainly detected: the fault detection sensor 350 detects that the mopping block collecting unit failed to assemble the mopping block 310 detached from the cleaning robot 100 to the first storage unit 211, or the mopping block feeding unit floor cleaning unit 310 from the second storage unit 212 to the robot cleaner 100 for installation, and also, the transfer unit did not work normally. In particular, in one embodiment, the fault detection sensor 350 includes an infrared sensor for determining whether the floor washing unit 310 is normally lowered from the first storage module 211, in particular, the infrared sensor is located on the base station base portion, and when the unit for mopping unit 310 does not fall, the infrared sensor cannot detect the reflected infrared rays, and when the floor mopping unit 310 falls, the infrared rays are reflected and can be detected, after the robot enters the base station, if the infrared sensor does not detect infrared signals, it is considered that the second storage unit 212 failed to transfer the floor washing unit 310 to the second operating position, and the user is reminded that there is a malfunction in the base station to accept appropriate operations.

The cleaning robot 100 performs cleaning work in the work area. During operation, the floor washing unit 310 mounted on the robot cleaner 100 gradually becomes dirty and needs to be replaced. During the cleaning process, the cleaning robot 100 continuously detects the operating state using sensors. Upon detecting/receiving a replacement instruction indicating that it must return to the base station 200 to replace the floor unit 310, the cleaning robot 100 goes to the base station 200 to perform the replacement of the floor unit.

Specifically, the robot cleaner 100 includes a soil level sensor of the floor washing unit 310 (not shown in the figure) that continuously detects the degree of soiling of the floor washing unit 310 installed on the robot cleaner 100 during operation and generates a replacement instruction. when it is detected that the degree of soiling reaches a threshold value, under the control of the control unit, the cleaning robot 100 goes to the base station 200 to replace the floor cleaning unit 310.

In particular, the user can preset the working area, working time and schedule of the robot cleaner 100, when the robot cleaner 100 detects that at least one of the above conditions is met, it will generate a replacement instruction, according to which the robot cleaner 100 returns to base station 200.

In particular, when the robot cleaner 100 goes to the base station 200, the control unit controls the connection component 120 to make the floor cleaner 310 lift off the ground so that the dirty floor cleaner 310 does not contaminate the cleaned work surface when the robot cleaner 100 returns. .

In particular, the cleaning robot 100 returns to the base station ​200 according to a route preset by the user.

In this embodiment, the user can set the working time, working area, work schedule, and other working conditions of the robot cleaner 100 in various ways. In this embodiment, the robot cleaner 100 includes a control panel having appropriate setting functions, the user can set the operating conditions of the robot cleaner 100 by setting the control panel. Specifically, the robot cleaner 100 includes a communication unit. The communication unit is installed on the shell of the cleaning robot 100 and interacts with the control circuit of the cleaning robot 100. In particular, the user can wirelessly communicate with the cleaning robot 100 using a suitable mobile device, so that the user can set the appropriate operating conditions for the cleaning robot. 100 by making the appropriate settings on your mobile device. In this embodiment, the mobile device is any type of mobile device such as a mobile phone, smartphone, PDA, tablet computer, wrist-based computing device including one or more processors, a computer-readable medium for storing software applications, an input device ( such as keyboard, touch screen, microphone, etc.), output device (such as display screen, speaker, etc.), communication interface, etc. The communication unit of the cleaning robot 100 is adapted to communicate with one or more mobile devices via a suitable wireless network (eg, wireless LAN).

In this embodiment, the robot cleaner 100 returns to the base station 200 after detecting the change command, and after the robot cleaner 100 reaches the base station 200, it determines whether to detach the floor cleaning unit 310 or install the floor cleaning unit. 310 by determining his own position. In particular, the robot cleaner 100 includes a position detection sensor, when it is detected that it is currently in the first working position 251, under the control of the control unit, the floor cleaning unit 310 is disconnected from the robot cleaner 100, and when it is detected that that it is currently in the second operating position 252, under the control of the control unit, the cleaning robot 100 sets the floor washing unit 310. In particular, the position sensor includes a photoelectric switch, the transmitter is installed on the robot, and the receiver is installed in the corresponding the working position of the base station, according to the received signal, the receiver determines whether the robot has reached the specified position. Specifically, when the photoelectric switch detects that the cleaning robot reaches the first working position, the cleaning robot disconnects the floor cleaning unit to the first working position; when the photoelectric switch detects that the robot cleaner has reached the second working position, the robot cleaner installs the mopping unit. In particular, when the robot cleaner reaches the corresponding operating position, the robot cleaner stops to perform the corresponding action, and when the predetermined action is completed, it continues to move to perform subsequent predetermined actions. In particular, the cleaning robot also includes a collision sensor. Upon detecting the collision with the base station, the cleaning robot can at least partially judge whether the cleaning robot has reached the second operating position according to the detection results. In this embodiment, the robot cleaner 100 includes a distance sensor for detecting a relative distance between the robot cleaner 100 and the base station 200 and detecting the current position of the robot cleaner 100, in particular, the distance sensor of the robot cleaner 100 includes yourself at least one of infrared sensor, laser sensor, ultrasonic sensor, etc. Specifically, the base station 200 includes at least one of an infrared transmitter, a laser transmitter, an ultrasonic transmitter, and so on. A suitable sensor on the cleaning robot 100 monitors the signal from the base station 200 to determine the location. In particular, although in this embodiment, the base station 200 is provided with a signal transmitter, and the robot cleaner 100 is provided with a corresponding detection sensor, this should not be construed as a limitation of the present invention, in particular, the signal transmitter can also be installed on the robot cleaner 100, and the corresponding the sensor can also be installed on the base station 200, and even in some cases, the signal transmitter and related sensors can be installed on the cleaning robot 100, it is possible to control the location by reflecting the base station 200.

In one particular embodiment, as shown in FIG. 16, assuming that the direction in which the robot cleaner 100 enters the base station is the length direction, and the direction perpendicular to the length direction in the horizontal plane is the width direction, the width of the base station 200 is larger than the width of the robot cleaner 100. In particular, as shown in Fig. 19 to 21, since the width of the base station 200 is larger than the width of the robot cleaner 100, the robot cleaner 100 may enter and stop at the base station 200. In particular, since the width of the base station 200 is larger than the width of the robot, sensors and other components may be installed in the free space of the base station on both sides. In particular, since the width of the base station is larger than the width of the robot, when the robot enters the base station 200, the position of the robot may deviate from being aligned with the operating position on the base station to accommodate the floor washing unit. In particular, the base station is also provided with a guide structure on both sides to ensure that the robot is accurately aligned with the base station.

In one particular embodiment, at least one set of auxiliary guiding structures are located respectively on the two inner side walls of the base station 200, which are used to contact the two side walls of the cleaning robot to guide the cleaning robot to precisely return to its working position. The auxiliary guide structures can be made in various shapes, may be auxiliary guide wheels or auxiliary guide rails, as shown in Fig. 34–35. For example, on the two inner side walls of the base station, install one row of parallel auxiliary guide wheels 290 respectively, when the robot returns to the base station to replace the floor washing unit, the two side walls of the robot contact with the auxiliary guide wheels 290 on the two inner side walls of the base station , helping the robot to accurately return to its working position, while reducing the range of the robot's swing to the left and right. Under the combined action of the signal transmitter of the base station 200 and the auxiliary guide wheels 290, the robot can smoothly and accurately return to the working position, reducing the error of the robot returning to the base station, and ensuring the error of the robot axis and the axis of the base station within 8-15mm. In one particular embodiment, the height of the auxiliary guide wheel 290 is 1/3-1/2 of the height of the robot cleaner 100, i.e., the auxiliary guide wheel 290 is located in the middle or bottom-middle of the height of the side wall of the robot cleaner, and installing the auxiliary guide structure at this location can help the robot move more stably, but it can be installed at a different side wall height where it can provide a stable guiding role. The two side walls of the base station are the two side walls of the cleaning robot in the direction of the entrance to the station.

In another specific embodiment, it is possible not to install the auxiliary guide structure directly on the side wall, but to install the protruding plate structures on the bottom plate near the side wall on both sides, on the plate structures, install guide wheels or guide rails facing the robot to guide the movement of the robot. In both of the above embodiments, the body movement restriction scheme on both sides of the robot is adopted. However, in other embodiments, it is possible to adopt a scheme to limit the robot's travel wheels, for example, to install guide grooves on the bottom plate of the robot at positions corresponding to the travel wheels to assist in guiding the robot's travel wheels, ensuring accurate entry into the work position.

In this embodiment, the base station 200 is also provided with an operating part, and the user can control the operation of the cleaning robot 100 by operating the operating part. In particular, the robot cleaner 100 usually has a control panel, and the user can control the operation of the robot cleaner 100 through the control panel of the robot 100, generally the operation panel is mounted on the upper surface of the robot. When the cleaning robot 100 enters the base station 200, the upper surface of the robot is covered by the base station 200, at which time it is very inconvenient to operate the operation panel of the cleaning robot 100, at which time the cleaning robot must be taken out of the base station. Therefore, in this embodiment, the base station 200 is provided with an operation part, it is possible to take the robot out of the base station and/or perform corresponding actions by operating the operation part in the base station. In one embodiment, if the cleaning robot 100 is to be moved out of the base station 200, then using the appropriate function buttons on the operating part of the base station 200, the cleaning robot 100 leaves the base station to perform cleaning operations. In one embodiment, a removable battery pack is mounted on the body of the cleaning robot 100. When the user needs to remove the battery pack, if the robot cleaner 100 is in the base station 200 at that time, the operating part in the base station can drive the robot cleaner 100 out of the base station to stop operation for the convenience of removing the battery pack by the user. In one embodiment, the robot cleaner 100 is provided with a water tank that can provide water to the mopping unit 310 to perform wet cleaning, when there is little water left in the tank, the user must add water to the tank at this time, if the robot cleaner 100 is in the base station, the user can use the operating part in the base station to take the cleaning robot out of the base station 200 and park it outside the base station so that the user can remove and install the water tank. In one embodiment, referring to Fig. 36, the operation part of the base station has the first operation element 320 and the second operation element 330, when the robot cleaner 100 is to be taken out of the base station, when the first operation element 320 in the base station 200 is pressed, the robot 100 leaves the base station and continues cleaning in the working area. zone; when the second operating element 330 at the base station 200 is pressed, the cleaning robot 100 leaves the base station 200 and stops outside the base station for the user to remove/install the battery pack, remove/install the water tank, etc.

In one embodiment of the present invention, the robot cleaner 100 is provided with a front guard and the collision sensor is located in the guard. When the robot 100 encounters obstacles while moving, the protective cover can first come into contact with obstacles to detect the presence of an obstacle that the robot may encounter while moving, and at the same time it can serve as a buffer when the robot encounters obstacles, preventing damage to the body. robot 100 from a strong blow. In one particular embodiment, when the robot shield 100 detects obstacles while the robot 100 is moving in the work area, the robot 100 corrects its own direction of movement to avoid the obstacles ahead, for example, when the robot shield 100 detects the presence of obstacles ahead to the left, the robot rotates 45 degrees to the right to avoid obstacles ahead on the left. When the robot 100 enters the base station 200, the robot 100 disables the guard function, that is, when the guard touches the side wall of the base station 200, the robot 100 will not frequently adjust its direction of movement, thus facilitating the smooth docking of the robot 100 with the base station 200. and return to the correct working position.

In other embodiments, the position detector of the robot cleaner 100 also includes a magnetic field monitoring sensor, such as a Hall effect sensor, that monitors the magnetic elements at the base station 200 to determine its relative position with the base station 200. In particular, when the robot cleaner 100 detects the first magnet in the base station 200, it is considered that the robot cleaner 100 has reached the first working position 251; when the robot cleaner 100 detects the second magnet in the base station 200, the robot cleaner 100 is considered to have reached the second working position 252. In particular, the first magnet is located close to the first working position 251 of the base station 200, and the second magnet is located close to the second working position positions 252 of the base station 200. In particular, the location of the magnets here can be determined as needed, but is not limited to one. Specifically, although in this embodiment, the magnet is installed on the base station 200, the Hall sensor is installed on the cleaning robot 100, but this is only one embodiment of the present invention, it should not be construed as limiting the scope of the present invention.

In this embodiment, when the position detection sensor determines that the robot cleaner 100 reaches the first working position 251, under the control of the control unit, the connection component 120 moves so that the mopping unit 310 is detached from the main body of the robot cleaner 100, and the unit the mopping unit 310 is moved by the action of the mopping unit collecting unit so that the mopping unit 310 is collected in the first storage unit 211; the floor block supply module retrieves the floor block 310 from the second storage module 212, and the floor block supply module 310 moves under the action of the floor block supply module to provide the floor block 310 to the cleaning robot 100 for installation. When the position sensor determines that the robot cleaner 100 has reached the second operating position 252, under the control of the control unit, the connection component 120 moves to position the floor mopping unit 310.

In this embodiment, the method of replacing the robot cleaner 100 with the floor washing unit includes: referring to Fig. 25, in fig. 25 is a block diagram of replacing the floor cleaning unit on the cleaning robot in this embodiment. Before the cleaning robot 100 performs cleaning, the floor cleaning unit installation detection sensor determines whether the floor cleaning unit 310 is installed on the cleaning robot 100, if the result of the control is that the floor cleaning unit 310 is not installed, then the cleaning robot 100 sends a malfunction command to the user, if the result of the control showed that the mopping unit 310 is installed, then the control unit of the robot cleaner 100 controls the connection component 120 to adjust the height of the mopping unit 310 from the floor so that the mopping unit 310 contacts with floor for cleaning.

In this embodiment, before the cleaning robot arrives at the base station, the base station must prepare for the arrival of the robot. In particular, the cleaning robot and the base station are respectively provided with communication units through which the cleaning robot and the base station can communicate. In particular, the cleaning robot can inform the base station to charge or replace the floor cleaning unit before the cleaning robot returns to the base station, in particular, when the cleaning robot replaces the floor cleaning unit, the base station must prepare for replacement of the block for mopping. Before the cleaning robot enters the base station, the floor block collection module must be ready to collect the dirty floor block, and the floor block supply module transfers the clean floor block to the second working position for replacement by the robot. -cleaner. In particular, the cleaning robot and the base station communicate via infrared.

The cleaning robot 100 moves in the working area according to a predetermined route to effectively clean the working area, detects heavily soiled areas and stubborn stains during cleaning and concentrates efforts to remove them, detects the presence of the edge of the abyss, obstacles, etc. .d., takes appropriate avoidance measures.

After the cleaning robot 100 performed some cleaning work in the work area, the current floor washing unit 310 gradually became dirty. If a dirty mopping block 310 is used to clean the work surface, the cleaning effect may be greatly reduced. At the same time, the dirty mopping block 310 may contaminate the cleaned surface. The cleaning robot 100 returns to the base station 200 to replace the mopping unit 310 upon receiving a replacement instruction indicating that the cleaning robot 100 should return to the base station 200 while operating in the work area, see FIG. 19. The cleaning robot 100 includes a floor washing unit condition monitoring sensor that monitors the degree of soiling of the floor washing block 310 installed on the cleaning robot 100. When it is detected that the degree of pollution of the currently installed floor washing unit 310 reaches a threshold value, the control unit generates a replacement command and controls the cleaning robot 100 to return to the base station 200; in one embodiment, robot cleaner 100 includes a communication unit that can communicate with mobile devices (such as smartphones and iPads) via a suitable wireless network. Users can remotely set the working time, working area, work schedules of the robot cleaner 100 through mobile devices, and users can also make related settings through the control panel of the robot cleaner 100. When the floor cleaning unit 310 currently used on the robot cleaner 100 reaches a user-defined working time, working area, or work schedule, the control unit generates a replacement instruction and controls the robot cleaner 100 to return to the base station 200 to replace the mopping unit.

The cleaning robot 100 returns to the base station 200 to replace the floor cleaning unit 310, the process includes the following: the cleaning robot 100 returns to the base station 200 and detaches the floor cleaning unit 310. Returning the cleaning robot 100 to the base station 200 and detaching the mopping unit include: the robot cleaner 100 includes a position detection sensor for determining whether the robot cleaner 100 has currently reached the first operating position 251 on the bottom plate of the base station. Specifically, the position sensor includes a distance sensor that measures a relative distance between the robot cleaner 100 and the base station 200 to determine whether the robot cleaner 100 has reached the first operating position 251. Specifically, the position sensor includes a Hall detection sensor that determines whether the cleaning robot 100 has reached the first operation position 251 by detecting the presence of magnets on the base station 200. The cleaning robot 100 determines that it has reached the first operation position 251 of the base station 200, referring to FIG. 20, under the control of the control unit, the floor cleaning unit 310 is detached from the body of the robot cleaner 100, and the floor cleaning unit 310 is lowered to the first operating position 251 on the bottom plate of the base station.

The cleaning robot 100 returns to the base station 200 to replace the mopping unit 310, this process includes collecting the mopping unit 310 at the base station 200. Collecting the mopping unit 310 at the base station 200 includes the following: a collection module floor washing block 231 moves vertically to pick up the floor washing block 310, in particular, the lifting mechanism 232 of the floor washing block collection module 231 moves vertically down to approach the floor washing block 310, the adsorption block 233 of the washing block collection module The floor cleaning unit 231 is connected to the floor washing unit 310, and the floor washing unit collecting unit 231 drives the floor washing unit 310 vertically upwards to collect the floor washing unit 310 into the first storage unit 211.

The cleaning robot 100 returns to the base station 200 to replace the mopping block 310, this process includes supplying the mopping block 310 to the base station 200. The process of supplying the mopping block 310 to the base station 200 includes the following: slider the floor block supply module moves in a predetermined direction to fix or release the floor block 310 in the second storage module 212, in particular, the motor drives the transmission component in the predetermined direction, moving the slider 242 from the first position to the second position. When the slider 242 is in the first position, the floor block supply module locks the floor block 310, and when the slider 242 is in the second position, the floor block supply module releases the floor block 310. Thanks to the floor block supply module the floor cleaning unit 310 is transferred from the second storage unit 212 to the bottom plate of the base station for installation on the cleaning robot 100.

The cleaning robot 100 returns to the base station 200 to replace the floor cleaning unit 310, this process includes the following: the cleaning robot 100 returns to the base station 200 and installs the floor washing unit 310. Returning the cleaning robot 100 to the base station 200 and installation of the block for mopping 310, see fig. 21 include the following: as mentioned above, the robot cleaner 100 includes a distance measurement sensor or a Hall detection sensor, the robot cleaner 100 determines that it has reached the second operating position 252 of the base station 200, and the control unit controls the connection component 120 for installation of the block for mopping 310.

In this embodiment, when the robot cleaner 100 determines that it has reached the first working position, it detaches the mopping unit from the main body, then continues moving until it reaches the second working position, where the robot cleaner sets the mopping unit, extracted by the floor block supply module from the second storage module, after installation is completed, the robot leaves the base station, while the floor block collection module collects the floor block detached from the main body of the robot. Or, when the cleaning robot reaches the first working position, it detaches the mopping unit, after that the robot leaves the base station, and the mopping block collecting module collects the mopping unit detached from the main body of the robot, at this time, the robot enters the base station again, when the robot reaches the second working position, it sets the floor washing block taken out by the floor washing block feeding module from the second storage module. After the installation is completed, the robot leaves the base station.

In this embodiment, the second storage unit 212 is installed in front of the first storage unit 211 with respect to the entry direction of the robot, when the robot cleaner 100 enters the base station 200 to replace the floor cleaning unit, it first approaches the first storage unit, then continues to move towards second storage module. In other embodiments, the first storage module may be installed in front of the second storage module, when the cleaning robot enters the base station 200 to change the floor unit, it first approaches the second storage module, then continues moving closer to the first storage module. In this embodiment, the second working position is set in front of the first working position with respect to the robot entry direction to the base station, when the cleaning robot enters the base station, it first reaches the first working position, and then continues to move until it reaches the second working position. In other embodiments, the first operating position is set in front of the second operating position relative to the entry direction of the cleaning robot to the base station, when the cleaning robot enters the base station, it first reaches the second operating position, and then continues to move until it reaches the first operating position. In this embodiment, the second operating station and the second storage module are located in the vertical direction at the top and bottom, respectively, of each other, and the first operation station and the first storage module are located in the vertical direction, at the top and bottom, respectively. After the robot cleaner reaches the first operating position, the robot cleaner detaches the mopping unit from the main body and causes the mopping unit to move vertically through the transfer unit to transfer the mopping unit to the first storage unit. After the robot reaches the second working position, under the action of the transfer unit, the floor cleaning unit in the second storage module is released and moves in the vertical direction to transfer the floor cleaning unit to the cleaning robot for installation. In other embodiments, the storage unit and the operating position may not be located in the vertical direction corresponding to each other, the mopping unit partially rotates in the vertical direction under the action of the transfer unit, carrying out the transfer of the mopping unit.

The above embodiments have the following advantages: the cleaning robot 100 automatically detaches/installs the floor washing unit 310, the base station 200 causes the floor washing unit 310 to move in the vertical direction by the action of the floor cleaning block collecting module, thus automatically collecting the dirty block 310 to the first storage module 211 of the base station 200, the base station 200 sends the floor washing block 310 from the second storage module 212 to the cleaning robot 100 using the floor washing block supply module. and the floor cleaning block collecting module, the 310 floor cleaning block supply and collection process has become convenient and simple. At the same time, the base station is made compact by designing the positional relationship between the working position of the cleaning robot 100 and the storage unit 210. In addition, due to the integrated execution of the charge unit in the base station 200, the base station of the cleaning robot 100 can be used as a replacement unit. floor cleaner 310, and as a charging station, realizing the reuse of functions, providing a simple design and reducing cost.

On fig. 23 shows another embodiment of the base station 200 of the present invention. In this embodiment, the base station 200 includes a storage unit 210 for storing a mopping unit 310, wherein the storage unit 210 includes a first storage unit 211 and a second storage unit 212, where the first storage unit 211 is used to store a dirty unit floor cleaning unit 310 detached from the cleaning robot 100, the second storage module 212 is used to store a clean floor cleaning unit 310 for installation on the cleaning robot 100, the first storage module 211 and the second storage module 212 are located on the base station 200 next to each other friend. In particular, the bottoms of the first storage module 211 and the second storage module 212 are approximately in the same plane. In this embodiment, the first storage unit 211 is located in front of the second storage unit 212 with respect to the entrance direction of the robot cleaner 100 to the station, that is, when the robot cleaner 100 returns to the base station 200, it first approaches the second storage unit 212, and the robot cleaner 100 continues in the direction of the entrance to the station, approaching the first storage unit 211. In this embodiment, the base station 200 includes a transmission unit for transmitting the floor cleaning unit 310, in particular, the transmission unit includes a block collecting unit for mopping unit to automatically transfer the floor washing unit 310 detached from the robot cleaner 100 to the first storage unit 211, realizing the storage of the floor unit 310, in addition, the transfer unit includes a floor washing unit supply unit to automatically transfer to the cleaning robot 100 for installation a floor washing unit 310 from the second storage module 212. In other In other embodiments, the first storage module 211 and the second storage module 212 may also be located in the vertical direction on the base station 200, in particular, the first storage module 211 and the second storage module 212 are located in the vertical direction at the top and bottom, respectively, in one embodiment, the first the storage module 211 and the second storage module 212 are located in the same storage compartment, optionally, the first storage module 211 is located under the storage compartment, and the second storage module 212 is located above the storage compartment, optionally, there is a partition between the first storage module 211 and the second storage module 212 for separating the first storage unit 211 from the second storage unit 212 to prevent the dirty mopping unit 310 from contaminating the clean mopping unit 310, the advantage of such an arrangement is to improve space efficiency.

In this embodiment, the base station 200 includes operating positions for parking the cleaning robot 100. Specifically, the operating positions include a first operating position 251 when the cleaning robot 100 enters the base station 200 and reaches the first operating position 251, under by controlling the control unit, the connection component 120 disconnects the mopping unit connected to the main body of the robot cleaner 100 from the main body of the robot cleaner 100; the operating positions include a second operating position 252 where the robot cleaner 100 sets up the floor cleaning unit 310 provided by the base station 200. Specifically, the second operating position 252 is located in front of the first operating position with respect to the entry direction of the robot cleaner 100 to the station. . Moreover, the second storage module 212 is located in the vertical direction of the second working position 252, in particular, the second storage module 212 is located above the second working position 252, and the block for mopping 310 from the second storage module 212 moves in a vertical plane under the action of the block supply module for washing floors to reach the second working position 252 for installation on the cleaning robot 100.

In this embodiment, the base station includes a mopping block collection unit 231, specifically referring to FIG. 23 to 24, the floor washing block collection module 231 includes a tilting structure 235, the lower end of the base station support portion serves as a rotating shaft, the tilting structure can be rotated in the vertical direction along this support shaft, collecting the floor cleaning block into a block collecting module for washing floors. The floor cleaning block collecting module 231 includes a connecting rod and a housing part, the connecting rod is connected to the receiving part, the washing block collecting module is connected to the base station base part through the connecting rod, and the containing part of the floor cleaning block collecting module is used to accommodate the block for 310. When the floor cleaning block collecting module is in the home position, the floor cleaning block collecting module is parallel to the horizontal plane, the cleaning robot reaches the first working position of the base station, detaching the floor cleaning block from the main body of the cleaning robot and moving it into the containing part of the collection block for washing blocks, and the block collecting module for washing blocks rotates counterclockwise in the vertical direction around the support shaft through the connecting rod, and the floor washing block placed in the containing part, following the connecting rod, rotates counterclockwise in vertical plane and placed in the first storage module. On fig. 24 shows how the connecting rod of the floor cleaning block collection module causes the receiving part to rotate counterclockwise in the vertical plane. When the mopping block is placed in the first storage unit, the mopping block collecting unit rotates clockwise in the vertical direction so that the mopping block collecting unit returns to its original position.

In another embodiment of the present invention, as shown in Fig. 1, the present invention provides a cleaning robot system 300 including a cleaning robot 100 for cleaning interior work surfaces and a base station 200 of the cleaning robot 100. The base station 200 is a stop for the cleaning robot that can be used to perform predetermined operations for cleaning robot 100, such as charging the cleaning robot 100, changing or cleaning the floor scrubber, replacing or adding accessories, or performing other predetermined operations for the cleaning robot 100.

As shown in fig. 2 and fig. 3, the robot cleaner 100 includes a main body, a movable unit for driving the main body on a work surface, a cleaning mechanism for cleaning the work surface, a power mechanism for providing power to the robot cleaner 100, a power unit for for providing power, and a control unit for controlling autonomous operation of the cleaning robot 100 on the work surface. The mobile unit includes road wheels 110, and in other embodiments, the implementation of the mobile unit may also include a tracked structure or other conventional structures for movement. In this embodiment, the cleaning robot 100 is a floor cleaning robot, and the cleaning mechanism is a floor cleaning unit 310 that performs floor cleaning operations on a work surface. In other embodiments, the robot cleaner 100 may also be a sweeping robot, a cleaning robot, etc., respectively, and its cleaning mechanism may include a roller brush, a side brush, etc. The power mechanism includes a motor and a transmission mechanism connected to it, which is connected to a movable block. The engine drives the transmission mechanism, under the action of the transmission mechanism, the movable block moves, while the transmission mechanism can be a worm, bevel gear, etc.

The base station 200 is a charging station for charging the cleaning robot 100, or a stop for performing predetermined operations for the cleaning robot. In this embodiment, the base station 200 can not only charge the robot cleaner 100, but also perform other predetermined operations. By integrating the functions of charging and performing other operations on the same base station 200, the cost is reduced and the number of stops is reduced, which is convenient for users to control or monitor the cleaning robot 100.

In this embodiment, the base station 200 is a mopping unit replacement station for replacing the mopping unit of the cleaning robot 100; in other embodiments, the base station 200 may also be an additional block adding or subtracting station for adding or subtracting additional blocks (such as air cleaning blocks, etc.) from the cleaning robot 100; and in other embodiments, the base station 200 may also be a cleaning station for cleaning the floor washing unit. At the same time, the base station 200 also has a charging function, when the charge of the cleaning robot 100 is not enough, the cleaning robot 100 can automatically return to the charging base station 200 to replenish electricity.

The base station 200 includes a base 253, a functional unit located above the base 253 and used to perform preset functions, a receiving cavity 258 surrounded by the functional unit and the base 253 for housing the cleaning robot, and a charging unit for charging cleaning robot. Moreover, the functional block is located above the receiving cavity 258. The charging block includes charging terminals for docking with the cleaning robot 100. The base station 200 includes a bottom plate 2531 and a support portion connecting the bottom plate to the functional block. The preset function performed by the function block corresponds to the preset operations predetermined by the base station 200. In this embodiment, the base station 200 is a floor cleaning block replacement station for automatically replacing the floor cleaning block, and accordingly, the functional block is structure or substance needed in the process of replacing the floor washing unit.

In this embodiment, a functional block is used to at least perform a storage function, and the functional block includes a storage unit 215 for receiving stored substances. Stored substances are the substance required by the base station 200 during the execution of predetermined operations. For example, in this embodiment, the base station 200 is a mopping pad change station for automatically changing the mopping pad, when the mopping pad is replaced, a new (clean) mopping pad will be required, but a dirty pad will also be generated. mopping units, therefore, at this time, a storage unit is needed to accommodate these mopping units, thus, the functional unit is a storage unit 210 for accommodating the mopping units. In other embodiments, the functional unit may also be a storage unit for storing other substances, such as for storing an air purification unit, water, or other cleaning agents. In other embodiments, the function block may also be used to perform other functions such as dust protection, cleaning, charging, and so on.

As shown in fig. 53-54, the storage block 215 is located above the receiving cavity 258, and the functional block includes a communicating opening 2150 that can be opened and closed. When the communicating opening 2150 is open, the storage block 215 communicates with the receiving cavity 258 from above and below, and when the communicating opening 2150 is closed, the storage block 215 does not communicate with the receiving cavity 258 from above and below. Stored substances can directly move from above and below between the storage unit 215 and the receiving cavity 258 through the communicating hole to automatically install the substances stored in the base station 200 on the cleaning robot, or automatically store the substances disassembled from the cleaning robot 100 in the storage unit 215 on the base station 200. The bottom plate 2531 has a groove for accommodating stored substances so that when the stored substances are transferred from the storage block 215 to the receiving cavity 258, they can be stored in the accommodating groove, preventing or reducing the protrusion of the stored substances beyond the surface of the bottom plate 2531 .

In this embodiment, the robot cleaner 100 has a function of returning to the base station 200 and automatically changing the floor unit 310, wherein the storage unit 215 is used to store the floor unit 310, and the storage unit 215 includes a first storage unit 2153, for storing a dirty mopping block and a second storage module 2154 for storing a clean mopping block, the communicating opening 2150 includes a first communicating opening 2151 and a second communicating opening 2152 located below the first storage module 2153 and the second storage module 2154 respectively and able to open and close. The first storage module 2153 and the second storage module 2154 are located above the receiving cavity 258 next to each other in the horizontal direction. The corresponding bottom plate 2531 has a groove for accommodating a dirty mopping block and a groove for accommodating a clean mopping block, on the one hand, limiting the mopping block, and on the other hand, preventing the mopping block from protruding significantly beyond the bottom plate 2531 and preventing the cleaning robot 100 from moving.

Typically, the robot cleaner 100 has a control panel. Users can control the robot cleaner 100 using the control panel of the robot cleaner 100, which is usually installed on the top surface of the robot cleaner 100. cavity 258 to save space. However, if the function block was installed above the receiving cavity 258, when the robot cleaner 100 returns to the base station 200, the robot cleaner 100 is placed in the receiving cavity 258, and the top surface of the robot cleaner 100 is blocked by the function block, so the user cannot directly control control panel on the robot cleaner 100. In this case, if the user wants to operate the control panel on the robot cleaner 100 to execute the corresponding instructions, or wants to directly perform some other operation on the robot cleaner 100, he will be forced to pull out the robot cleaner 100 manually , which may not only make the user's hands dirty, but also reduce the user's satisfaction, moreover, the forcible actions may also cause structural damage or program disruption of the cleaning robot 100.

In this embodiment, the base station 200 also includes a signal transmitter 259 for at least sending an instruction signal to the cleaning robot 100 to exit the receiving cavity 258, and an operation portion 340 electrically coupled to the signal transmitter 259 to at least , control the signal transmitter to send signal output instructions. When the cleaning robot 100 enters the receiving cavity 258 of the base station 200, the operating part 340 can directly withdraw the cleaning robot from the base station and then perform the corresponding operations.

In one embodiment, a removable battery pack is mounted on the body of the cleaning robot 100. When the user needs to remove the battery pack, if the robot cleaner 100 is in the base station 200 at that time, the operating part 340 in the base station can take the robot cleaner 100 out of the base station so that it stops working and the user removes the battery pack. . In one embodiment, the robot cleaner 100 is equipped with a water tank that can supply water to the floor washing unit 310 to perform wet cleaning, when there is little water left in the tank, the user must add water to the tank at this time, if the robot cleaner 100 is at the base station, the user can use the operating part 340 at the base station to take the cleaning robot out of the base station 200 and park it outside the base station so that the user can remove and install the water tank.

Of course, the signal transmitter 259 and the operating part 340 may also integrate other functions so that the user can control the robot cleaner 100 to execute other instructions using the operating part 340 in the base station 200. For example, the signal transmitter 259 may not only send a signal of instructions about output, it can also send an entry instruction signal to the receiving cavity 258, respectively, the operating part 340 is electrically connected to the signal transmitter 259 and can control the signal transmitter 259 to send the entry instruction signal, thus using the operating part 340, you can control the robot - by the cleaner 100 to carry out the instruction to enter the receiving cavity 258. Of course, the signal transmitter 259 can also be used to send a control signal for the robot cleaner 100 to return or send other signals, respectively, the operating part 340 is electrically connected to the signal transmitter 259 and can govern b a signal transmitter 259 to send appropriate control signals or other signals to control the cleaning robot 100 to carry out other instructions.

The operation part 340 is for use by the user to control the signal transmitter 259 to transmit the respective signals, thereby controlling the cleaning robot 100 to carry out the respective instructions. For example, the user may use the operating part 340 to control the signal transmitter 259 to issue a leave command, thereby controlling the robot cleaner 100 to execute the command to leave the receiving cavity, so that when the robot cleaner 100 is in the receiving cavity 258, the user can using the operating part 340 to directly control the cleaning robot 100 to make the cleaning robot leave the receiving cavity, thus avoiding manual manual control of the cleaning robot 100, effectively improve the user experience. Similarly, if the signal transmitter 259 also has the function to send an input command, then when the robot cleaner 100 is outside the base station 200, the user can quickly recall the robot cleaner 100 by activating the operating part 340 (e.g., one-click recall) to don't search everywhere robot cleaner 100.

The operating part 340 may be a physical operating element or a virtual operating element on the screen, and the operating element may be a button or a pedal, etc. When the signal transmitter 259 can send different signals, the operation part 340 can have only one operation element, as shown in Fig. 1, the signal transmitter 259 can be controlled to send different signals by different methods such as the duration of an operation or the number of operations; It is also possible to set multiple operational elements, each corresponding to a different signal. For example, the operating part 340 includes an entry operating element set by itself for controlling the signal transmitter 259 to send an entry command, and an exit operating element for controlling the signal transmitter 259 to send an exit command. Or, as shown in Fig. 36, the base station 200 has two kinds of exit operation elements, in particular, the operation part 340 of the base station 200 has the first operation element 320 and the second operation element 330, when the robot cleaner 100 is to be taken out of the base station when the first operation element 320 is pressed. at the base station 200, the cleaning robot 100 leaves the base station and continues to clean the work area; by pressing the second operating element 330 in the base station 200, the cleaning robot 100 drives out of the base station 200 and stops outside the base station for the user to remove/install the battery pack, remove/install the water tank, etc.

The operating part 340 is located on the outer surface of the base station 200 for the convenience of the user. As shown in fig. 1, the operating part 340 may be a key mounted on the top surface of the base station 200 for the convenience of the user. Of course, the operating part 340 can also be a pedal mounted on the side of the base station 200 for the convenience of the user. In other embodiments, the operation portion 340 may also be located on other external surfaces of the base station 200, such as the front and back surfaces, as long as it is convenient for the user.

The robot cleaner 100 includes a signal receiver for receiving a signal transmitted by the signal transmitter 259. The signal transmitter 259 may be an infrared signal transmitter, a Bluetooth signal transmitter, or a Wi-Fi signal transmitter. In this embodiment, the signal transmitter 259 is an infrared signal transmitter. The signal transmitter 259 is located in the receiving cavity 258, which has an opening 255 communicating with the outside space for the exit and/or entry of the cleaning robot 100, and the support portion 2532 is located on the opposite side of the base station 200 from the opening 255, so that when the robot - the cleaner 100 stops, the projections of the robot cleaner 100 and the functional unit in the horizontal plane roughly coincide with each other, so that the base station 200 becomes more compact in the horizontal direction, the total area occupied by the system of the robot cleaner 300 decreases. The signal transmitter 259 is installed on base 2532 and transmits a signal towards the opening 255. When the robot cleaner 100 is docked with the base station 200, the robot cleaner 100 is located on the side of the base 2532 facing the opening 255, so the signal transmitter 259 sends a signal towards the opening 255 as once towards the robot cleaner 100, which is convenient for receiving a signal on the robot cleaner 100. When the robot cleaner 100 is not docked with the base station 200, the signal transmitter 259 sends a signal outside the base station 200 through the hole 255 to prevent other components in the base station 200 from blocking the signal, which is convenient for receiving the signal at the robot cleaner 100. Signal Receiver positioned in front of the moving direction of the robot cleaner 100 to make it easier to receive the signal transmitted by the signal transmitter 259.

The signal transmitter 259 can also be used to transmit a control signal directing the robot cleaner 100 to move to the base station 200. After the robot cleaner 100 detects that the charge level is less than a threshold value, it goes to the base station 200 according to a predetermined route. , constantly checking the signal from the charging unit while driving, determines the position of the base station 200 according to the signal, and completes docking and charging. In this embodiment, the charging terminal is located in the support portion 2532 or on the bottom plate 2531, of course, in some embodiments, the charging terminal may also be located at the bottom of the storage unit 210 so that the top of the cleaning robot 100 contacts the charging terminal to perform charging. After robot cleaner 100 enters base station 200 and completes docking, charging begins, after charging, robot cleaner 100 leaves base station 200. In other embodiments, methods for charging robot cleaner 100 also include wireless charging, a charging unit includes a transmission coil, the robot cleaner 100 includes a receiver coil, and the robot cleaner 100 is charged by electromagnetic induction of the transmitter coil and the receiver coil. Installing the charging unit on the base station 200 has the following positive effects: By integrating the functions of the base station 200, the functions of the base station 200 are reused and the structure is compact.

In yet another embodiment of the present invention, as shown in Fig. 1, a cleaning robot system 300 is provided that includes a cleaning robot 100 for cleaning interior work surfaces and a base station 200 for the cleaning robot 100. cleaning robot 100, such as charging the cleaning robot 100, changing or cleaning the floor scrubber, replacing or adding accessories, or performing other predetermined operations for the cleaning robot 100.

As shown in fig. 2 and fig. 3, the robot cleaner 100 includes a main body, a movable unit for driving the main body on a work surface, a cleaning mechanism for cleaning the work surface, a power mechanism for providing power to the robot cleaner 100, a power unit for for providing power, and a control unit for controlling autonomous operation of the cleaning robot 100 on the work surface. The mobile unit includes road wheels 110, and in other embodiments, the implementation of the mobile unit may also include a tracked structure or other conventional structures for movement. In this embodiment, the cleaning robot 100 is a floor cleaning robot, and the cleaning mechanism is a floor cleaning unit 310 that performs floor cleaning operations on a work surface. In other embodiments, the robot cleaner 100 may also be a sweeping robot, a cleaning robot, etc., respectively, and its cleaning mechanism may include a roller brush, a side brush, etc. The power mechanism includes a motor and a transmission mechanism connected to it, which is connected to a movable block. The engine drives the transmission mechanism, under the action of the transmission mechanism, the movable block moves, while the transmission mechanism can be a worm, bevel gear, etc.

In this embodiment, the base station 200 is a mopping unit replacement station for automatically replacing the mopping unit of the robot cleaner 100, and is also a charging station for charging the robot cleaner 100. When the robot cleaner 100 is not charged. enough, the cleaning robot 100 can automatically return to the charging base station 200 to replenish electricity. By integrating the functions of charging and replacing the mopping unit on the same base station 200, the cost is reduced and the number of stops is reduced, which is convenient for users to control or monitor the cleaning robot 100. Of course, in other embodiments, the base station 200 may only serve as a mopping unit replacement point.

The base station 200 includes a base 253, a charging unit located on the base 253 for charging the robot cleaner 100, a storage unit 210 having a storage unit for storing the floor cleaning unit of the robot cleaner 100, a transmission unit for driving the mopping unit 310, and a control unit for controlling the transmission unit to autonomously drive the mopping unit and perform automatic replacement of the mopping unit 310.

In this embodiment, the storage unit 210 is located above the base 253, and the storage unit 210 and the base 253 form a receiving cavity 258 to receive the cleaning robot, with the storage unit 210 located above the receiving cavity 258; in other embodiments, the storage unit 210 may also be placed in other locations on the base 253, such as at the back or side of the base station 200. The charging unit includes a charging terminal for docking with the cleaning robot 100 for charging. The base station 200 includes a bottom plate 2531, and a support portion connecting the bottom plate and the storage unit 210.

The storage unit 210 includes a storage unit 215 for accommodating the floor unit 310. In this embodiment, the base station 200 is a floor unit replacement station for automatically replacing the floor unit. When performing a mopping unit replacement, a new (clean) mopping unit is needed, and a dirty mopping unit will also be generated, therefore, a storage unit is needed at this time to accommodate these mopping units. Therefore, it is possible to install a storage unit to accommodate these mopping units, realizing automatic replacement of the mopping unit.

In this embodiment, the robot cleaner 100 can automatically return to the base station 200, automatically change the floor unit, automatically place the dirty floor unit into the storage unit 210, and automatically place the clean floor unit 310 into the storage unit. The whole process takes place automatically, without human intervention. However, when the storage unit 210 is full of dirty mopping pads 310 or it runs out of clean mopping pad 310, it is difficult for the user to find out in a timely manner. If the situation is not detected in a timely manner, the robotic cleaning system 300 will not be able to automatically replace the dirty washbasin or continue automatic cleaning operations due to full floorwashing or lack of washbasins.

In this embodiment, the base station 200 also includes a storage state monitoring unit for determining whether the storage state in the storage unit 215 is in a predetermined state, a reminder unit for sending reminder information indicating that the storage state is in storage unit 215 is in a predetermined state, the control unit controls the reminder unit to send reminder information according to the result of the control carried out by the storage state control unit. Under the state of storage in the storage unit 215 refers to the presence of a block for mopping in the storage unit 215 and/or the excess of the number of stored blocks for mopping over a predetermined value and other states. Preset target state refers to a factory or user-defined threshold state, for example, a state with a floor washing unit in the storage unit 215 can be defined as a threshold state when the storage state control unit detects that a floor washing unit exists in the storage unit, under control unit control reminder unit sends reminder information; it is also possible to determine the state with no mopping unit in the storage unit 215 as a threshold state, when the storage state monitoring unit detects that there is no mopping unit in the storage unit, under the control of the control unit, the reminder unit sends reminder information; it is also possible to determine the state in which the number of mopping units in the storage unit 215 reaches a predetermined value as a threshold state when the storage state monitoring unit detects that the number of mopping units in the storage unit reaches the predetermined value, under the control of the control unit reminder sends reminder information and so on.

The reminder unit may be a light alarm device, a sound alarm device, and a wireless transmission unit for sending reminder information, and so on. For example, the reminder unit may send appropriate light or flashing light signals through the light alarm device, or emit sound signals through the buzzer, or send reminder information to the user's mobile phone application, computer, or other mobile devices through the wireless transmission unit.

As shown in fig. 53-54, the storage unit 215 is located above the receiving cavity 258, and the storage unit 215 includes a communicating opening 2150 that can be opened and closed. When the communicating port 2150 is open, the storage block 215 communicates with the receiving cavity 258 from above and below, and when the communicating port 2150 is closed, the storage block 215 does not communicate with the receiving cavity 258 from above and below. The floor washing unit 310 can directly move from above and below between the storage unit 215 and the receiving cavity 258 through the communicating hole to automatically install the clean floor washing block 310 from the base station 200 on the cleaning robot, or automatically store the dirty floor washing block 310 removed from the robot cleaner 100 in the storage unit 215 in the base station 200. The bottom plate 2531 includes a groove for receiving the mopping unit 310 so that when the mopping unit 310 is moved from the storage unit 215 to the receiving cavity 258 , the mopping block 310 can be stored in the accommodating groove, preventing or reducing the protrusion of the mopping block 310 beyond the surface of the bottom plate 2531.

The storage unit 210 includes a first storage unit 211 for storing a dirty mop unit 310 and a second storage unit 212 for storing a clean mop unit 310, respectively, the storage unit 215 includes a first storage unit 2153 for storing a dirty mop unit floors and a second storage module 2154 for storing a clean floor unit. The communication port 2150 includes a first communication port 2151 and a second communication port 2152, which are located below the first storage module 2153 and the second storage module 2154, respectively, and can be opened and closed. The first storage module 2153 and the second storage module 2154 are located above the receiving cavity 258 next to each other in the horizontal direction. The corresponding bottom plate 2531 has a groove for accommodating a dirty mopping block and a groove for accommodating a clean mopping block, on the one hand, limiting the mopping block, and on the other hand, preventing the mopping block from protruding significantly beyond the bottom plate 2531 and the creation prevented the cleaning robot 100 from moving.

The receiving cavity 258 has an opening 255 communicating with the outer space for the exit and/or entry of the robot cleaner 100, and the support portion 2532 is located on the side of the base station 200 opposite the hole 255, so that when the robot cleaner 100 is parked, the projections of the robot - the cleaner 100 and the storage unit 210 in the horizontal plane roughly coincide with each other, so that the base station 200 becomes more compact in the horizontal direction, the total area occupied by the system of the robot cleaner 300 is reduced. 2531, of course, in some embodiments, the charging terminal may also be located at the bottom of the storage unit 210 so that the top of the robot cleaner 100 contacts the charging terminal to perform charging. After robot cleaner 100 enters base station 200 and completes docking, charging begins, after charging, robot cleaner 100 leaves base station 200. In other embodiments, methods for charging robot cleaner 100 also include wireless charging, a charging unit includes a transmission coil, the robot cleaner 100 includes a receiver coil, and the robot cleaner 100 is charged by electromagnetic induction of the transmitter coil and the receiver coil. Installing the charging unit on the base station 200 has the following positive effects: By integrating the functions of the base station 200, the functions of the base station 200 are reused and the structure is compact.

The storage status monitor 360 may be a mechanical detection structure, a detection sensor, and so on. As shown in fig. 55 and fig. 56, taking the mechanical detection structure as an example, the storage state control unit 360 includes a detection element 63, and a movable element 61 at least partially movably placed in the storage unit 215 to actuate the detection element 63. The movable element 61 includes a trigger a portion 612 for triggering the detection member 63, a contact portion 611 for contacting the floor scrubber, and an elastic member 613 for providing a restoring force to the movable member. When the mopping block 310 in the storage unit 215 exerts pressure on the contact portion 611, the contact portion 611 drives the trigger portion 612 to cause the state of the detection element 63 to switch, or when the mopping block 310 in the storage unit 215 ends, it causes the trigger portion 612 to move under the action of the restoring force of the elastic member to trigger the detection member 63. According to the specific situation, the control unit may control the reminder unit to send reminder information when the detection member 63 switches from a non-triggered state to a triggered state, and can also control sending reminder information when the detection element 63 switches from a running state to a non-starting state. The movable member 61 is disposed on the inner wall of the storage unit 215, so that when the mopping unit 310 is placed in the storage unit 215, it can apply pressure to the contact portion 611, actuating the movable member 61, thereby energizing the detection element 63. The above-described detection element 63 may be a photoelectric switch or a microswitch, etc. In this embodiment, the storage state of the storage unit is controlled by a mechanical detection structure to avoid interference from dust, the environment, or other structures. The detection structure is accurate and the cost is low.

When the storage unit 210 includes a first storage unit 211 for storing a dirty floor storage unit 310 and a second storage unit 212 for storing a clean storage unit 310, the first storage unit 211 and the second storage unit 212 respectively include a monitoring unit storage states 360. As shown in fig. 55 and fig. 56, the first storage unit 2153 and the second storage unit 2154 are respectively provided with movable members 61, and the base station is provided with two detection members 63 corresponding to the movable members 61.

Specifically, the second storage unit 212 of the base station 200 includes a storage status monitoring unit 360 that can detect the current status of the mopping unit 310 in the second storage unit 212 and send reminder information to the user. For example, when it is detected that there is no floor washing unit 310 in the second storage unit, the user can be reminded to add the floor washing unit in time so as not to affect the stability of the base station 200. Similarly, the first storage unit 211 also includes including a storage state control unit 360 that determines that the floor washing unit 310 placed in the first storage unit 211 has reached the set value, or detects that the storage time of the floor washing unit in the first storage unit 211 has reached the set value, and sends the reminder information to the user to handle the floor cleaner 310, for example, when the number of the floor cleaners 310 is greater than or equal to a predetermined value, sends the user the reminder information to deal with the floor cleaner 310 sent to the user. The above preset values can be set at the factory or can be set according to user requirements.

The base station can send reminder information in the following ways: the base station communicates with mobile devices (such as mobile phones, computers, IPADs, etc.) to send reminder information to the user, reminding him to timely clear the base station or to add block for mopping. In other embodiments, the base station includes an indicator that can remind the user to perform appropriate operations with the base station by emitting a light and sound signal.

In another embodiment, as shown in Fig. 39, the storage state monitoring unit 360 may be a photoelectric sensor that includes a transmitting end and a receiving end, and a connecting line between the transmitting end and the receiving end passes through the storage unit 215 to monitor the storage state of the storage unit 215. Photoelectric sensors may be used. to determine the number of mopping units 310 in the storage unit 210 (including zero), to determine that the first storage unit 2153 is full of mopping units 310, and to determine the absence of a mopping unit 310 in the first storage unit 2154. mopping unit 310, detached from the robot cleaner 100, is placed in the first storage module 2153, and the floor cleaning unit 310, intended to be installed on the robot cleaner 100, is placed in the first storage module 2154, when the first storage module 2153 is filled with mopping blocks floors 310, or in the first storage module 2154 there is no floor washing unit 310 to cleaning on the cleaning robot 100, the base station sends the appropriate reminder commands.

The transmitting end can be installed on one side of the storage block, and the receiving end can be installed at the corresponding location on the other side of the storage block, when the signal transmitted by the transmitting end can be received by the receiving end, this means that there is no signal between the transmitting end and the receiving end barrier. If it is necessary to determine whether the first storage module 2153 is filled with floor washing units 310, then install the photoelectric sensor transmitter on one side of the top of the first storage module 2153 and the photoelectric sensor receiver on the other side. If the first storage unit 2153 is filled with floor washing units 310, then when the transmitter transmits a signal that cannot be received by the receiver because the signal is blocked by the floor washing unit 310 located on top of the first storage unit 2153, it is determined from here that the first storage unit 2153 is filled with mopping blocks 310. And, if it is necessary to determine if there is a mopping block 310 in the first storage module 2154, designed to be installed on the cleaning robot 100, then install the transmitting end of the photoelectric sensor on one side of the bottom of the first storage module 2154 , and install the receiving end in the appropriate location on the other side. When there is no mopping unit 310 in the first storage unit 2154 to install, when the transmitting end of the photoelectric sensor emits a signal, the receiving end can receive it, since there is no mopping unit in the center, hence it is considered that there is no mopping unit in the first storage unit 2154 floor cleaning unit 310 to be mounted on the cleaning robot 100. In other embodiments, the photoelectric sensor may be installed in other places, for example, if it is necessary to determine that the number of floor washing units 310 in the storage unit 215 is less than 2, then you can install the photoelectric sensor in the place where the second mopping unit is to be laid. If the receiving end cannot detect the signal, it means that the number of mopping units 310 in the storage unit is greater than or equal to 2, otherwise, the number of mopping units 310 in the storage unit is less than 2.

Of course, in other embodiments, the storage state monitoring unit may also be a Hall sensor, an infrared sensor, a reed switch, and so on.

The specifications of the above embodiments can be combined arbitrarily. To make the description brief, all possible combinations of specifications in the above embodiments are not described. However, in the absence of contradictions in the combinations of these specifications, they should be considered as the scope of this description.

The above examples of implementation express only a few embodiments of the present invention, the description of which is relatively specific and detailed, but it should not be understood as limiting the scope of the patent for the present invention. It should be noted that for those skilled in the art, they may make various modifications and changes without departing from the general concept of the present invention, but all modifications and changes fall within the protection scope of the present invention. Therefore, the scope of protection of the present invention is to be determined by the appended claims.

Claims (42)

1. A cleaning robot system including: a cleaning robot, a floor cleaning unit connected to the cleaning robot, and a base station for parking the cleaning robot; characterized in that the cleaning robot includes: main body; a movable block located on the main body and driving the cleaning robot along the working surface; connection component used for removable installation of the mopping unit on the robot body; base station includes: work positions for parking the cleaning robot to replace the floor mopping unit; a storage unit for storing at least one mopping unit, the storage unit is located above the working position; a transfer unit for transferring the mopping unit between the storage unit and the operating position; the robotic cleaning system also includes a control unit that controls the connection component to install and remove the corresponding mopping unit in the working position so that the robot replaces the mopping unit. 2. The robotic cleaning system according to claim 1, characterized in that an interval space is formed between the working positions and the storage unit, the working positions are formed at the base station. 3. Robotic cleaning system according to claim 1, characterized in that the storage unit includes a first storage module and a second storage module, the first storage module stores the floor cleaning unit detached from the cleaning robot, and the second storage unit stores the washing unit floors, designed to be installed on a cleaning robot. 4. Robotic cleaning system according to claim 1, characterized in that the cleaning robot returns to the base station after detecting a replacement instruction indicating that the cleaning robot should return to the base station to replace the floor cleaning unit; the cleaning robot includes a floor cleaning block soiling degree recognition sensor when it is determined that the degree of soiling of the floor washing block currently installed on the robot has reached a threshold value, and/or when the cleaning robot detects that at least At least one of the specified conditions for the working area, working hours and work schedule, a replacement instruction is generated. 5. The robotic cleaning system according to claim 1, characterized in that the base station and the cleaning robot are respectively provided with communication units, when the cleaning robot needs to return to the base station and replace the floor cleaning unit, the cleaning robot and the base station communicate via communication units, so that the floor washing block supply module moves at least one floor washing block to the second working position before the cleaning robot enters the base station. 6. The robotic cleaning system according to claim 1, characterized in that the robot cleaner includes a position detection sensor, when it is detected that the robot cleaner has reached the first working position, the robot cleaner separates the floor washing unit under control; and when it is detected that the robot cleaner has reached the second operating position, the robot cleaner sets the mopping unit under control. 7. A method for controlling a robotic cleaning system, wherein the robotic cleaning system includes: a cleaning robot, a floor washing unit connected to the cleaning robot, and a base station for parking the cleaning robot, the cleaning robot including : main body; a movable block located on the main body and driving the cleaning robot along the working surface; connection component used for removable installation of the mopping unit on the robot body; wherein the base station includes: operating positions for parking the cleaning robot to replace the floor cleaning unit, the operating positions including a first operating position for detaching the floor cleaning unit from the robot and a second operating position for mounting the floor cleaning unit on the robot; a storage unit for storing at least one mopping unit, the storage unit is located above the working position; a transfer unit for transferring the mopping unit between the storage unit and the operating position; the robotic cleaning system also includes: a control unit that controls a connection component to install and remove the corresponding floor washing unit in a working position so that the robot replaces the floor washing unit; characterized in that the method includes the following steps: when the robot cleaner reaches the first working position, the control unit controls the connection component to separate the floor mopping unit from the robot cleaner, and when the robot cleaner reaches the second working position, the control unit controls the connection component to install the mopping unit. 8. The method for controlling the robotic cleaning system according to claim 7, characterized in that, before the robot cleaner reaches the second working position, the transfer unit transfers the floor washing unit stored in the storage unit to the robot cleaner for installation; after the floor cleaning unit is disconnected, the cleaning robot continues to move until it reaches the second working position, while the control unit controls the connection component to install the floor cleaning unit, and after installation is completed, the cleaning robot moves away from the base station; or after detaching the mopping unit, the robot cleaner moves away from the base station and then moves to the second working position, while the control unit controls the connection component to install the mopping unit; after the cleaning robot departs from the base station, the transmission unit retrieves the floor washing unit detached from the cleaning robot and places it in the storage unit. 9. The cleaning robot base station for parking the cleaning robot connected to the floor cleaning unit of the cleaning robot, characterized in that: base station includes: work positions for parking the cleaning robot to replace the floor washing unit; a storage unit for storing at least one mopping unit, the storage unit is located above the working position; a transfer unit designed to transfer the mopping unit between the storage unit and the working position. 10. The base station of the cleaning robot according to claim 9, characterized in that an interval space is formed between the working positions and the storage unit, the working positions are formed at the base station. 11. The cleaning robot base station according to claim 10, wherein the storage unit includes a first storage module and a second storage module, the first storage module stores the floor washing unit detached from the cleaning robot, and the second storage unit stores the unit for washing floors, designed to be installed on a cleaning robot. 12. The base station of the cleaning robot according to claim 11, characterized in that the operating positions include a first operating position for detaching the floor cleaning unit from the robot and a second operating position for installing the floor cleaning unit on the robot, the first storage module is located above the first working position, and the second storage module is located above the second working position. 13. The cleaning robot base station of claim 12, wherein the transmission unit causes the floor cleaning unit to move at least partially in a vertical direction. 14. The base station of the robot cleaner according to claim 12, characterized in that the transmission unit includes a drive part and a boot part; the loading part is connected to the floor washing unit and causes the floor washing unit to move under the action of the driving part. 15. The base station of the cleaning robot according to claim 14, characterized in that the loading portion includes a supporting component for supporting the floor washing unit in the storage unit and preventing it from falling; the loading part includes a mopping block collecting module and a mopping block supplying module, and the mopping block collecting module moves the mopping block detached from the cleaning robot from the first working position to the first storage module; the floor block supply module receives the floor block from the second storage module and moves it to the second operating position for installation on the cleaning robot. 16. The cleaning robot base station according to claim 15, wherein the support component includes a first support component for supporting the floor cleaning unit in the first storage module and a second support component for supporting the floor cleaning unit during second storage module. 17. The cleaning robot base station according to claim 16, characterized in that the floor washing block collection module includes a first floor washing block lifting frame rising under the action of the driving part, thereby carrying the floor washing block and moving it from the first working position in the first storage module; the floor washing block supply module includes a second floor washing block lifting frame, which can be lowered under the action of the driving part, thereby carrying the floor washing block and moving it from the second storage module to the second working position. 18. The base station of the cleaning robot according to claim 16, characterized in that the floor block supply module is capable of reaching the first state for fixing the floor block and the second state for releasing the floor block and transmitting at least one block for washing floors from the second storage module to the second operating position when the floor cleaning unit is released. 19. The base station of the cleaning robot according to claim 9, characterized in that the working position is provided with a thrust structure for stopping the floor cleaning unit detached from the cleaning robot and/or the floor cleaning unit intended to be installed on the cleaning robot. 20. The base station of the cleaning robot according to claim 9, characterized in that the storage unit is releasably located relative to the base station.

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