WO2019205156A1 - 清洁机器人及其服务台和自动给排水系统 - Google Patents

清洁机器人及其服务台和自动给排水系统 Download PDF

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Publication number
WO2019205156A1
WO2019205156A1 PCT/CN2018/085142 CN2018085142W WO2019205156A1 WO 2019205156 A1 WO2019205156 A1 WO 2019205156A1 CN 2018085142 W CN2018085142 W CN 2018085142W WO 2019205156 A1 WO2019205156 A1 WO 2019205156A1
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WIPO (PCT)
Prior art keywords
water
cleaning robot
water level
service station
drain
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PCT/CN2018/085142
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English (en)
French (fr)
Inventor
刘园园
郑兴林
王可可
沈剑波
Original Assignee
深圳市神州云海智能科技有限公司
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Application filed by 深圳市神州云海智能科技有限公司 filed Critical 深圳市神州云海智能科技有限公司
Priority to PCT/CN2018/085142 priority Critical patent/WO2019205156A1/zh
Publication of WO2019205156A1 publication Critical patent/WO2019205156A1/zh

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Classifications

    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • E—FIXED CONSTRUCTIONS
    • E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
    • E01H—STREET CLEANING; CLEANING OF PERMANENT WAYS; CLEANING BEACHES; DISPERSING OR PREVENTING FOG IN GENERAL CLEANING STREET OR RAILWAY FURNITURE OR TUNNEL WALLS
    • E01H1/00—Removing undesirable matter from roads or like surfaces, with or without moistening of the surface
    • E01H1/08—Pneumatically dislodging or taking-up undesirable matter or small objects; Drying by heat only or by streams of gas; Cleaning by projecting abrasive particles

Definitions

  • the present application belongs to the field of cleaning robots, and in particular relates to a cleaning robot, a service station thereof and an automatic water supply and drainage system.
  • a cleaning robot automatic water supply and drainage system which is applied to a cleaning robot and a service station paired with the cleaning robot, the cleaning robot automatic water supply and drainage system comprising:
  • a first water level sensor indicating a first electrical signal of the water level
  • a first communication module of a drainage signal of the service station configured to receive a first communication module of a drainage signal of the service station
  • the service station is docked and configured to receive the drain signal to control the drain valve to open to drain the first controller;
  • a water collection tank configured to collect sewage
  • a water inlet provided in the service station and connected to the water collection tank pipe;
  • a second water level sensor indicating a second electrical signal of the water level
  • the second controller configured as a second communication module for transmitting the drainage signal.
  • a cleaning robot communicable with a service desk paired therewith, the cleaning robot comprising a sewage tank and a drain port connected to the sewage tank pipe, and further comprising:
  • a water level sensor indicating a water level electric signal of the water level
  • a communication module configured to receive a drainage signal from the service desk
  • the drain valve and the communication module Connecting to the water level sensor, the drain valve and the communication module, configured to receive the water level electrical signal indicating that the water is full to control the cleaning robot to return to the service station, and configured to receive the drainage A signal is used to control the robot controller that the drain valve is open.
  • a service station for cleaning a robot the service station being communicable with a pair of cleaning robots, including:
  • a water level sensor indicating a water level electric signal of the water level
  • the service station connected to the second controller, configured to transmit the drainage signal to the communication module of the cleaning robot.
  • a water collecting tank is set in the service station, and when the cleaning robot detects that the sewage tank is full, it returns to dock with the service station, and after the docking is successful and the water collecting tank has a space, the cleaning robot is instructed to drain
  • the automatic drainage thus achieved improves efficiency and saves manpower.
  • a water collecting tank is set in the service station, and when the cleaning robot detects that the sewage tank is full, it returns to dock with the service station, and after the docking is successful and the water collecting tank has a space, the cleaning robot is instructed to drain
  • the automatic drainage thus achieved improves efficiency and saves manpower.
  • FIG. 1 is a schematic structural view of an automatic water supply and drainage system for a cleaning robot according to an embodiment of the present application
  • FIG. 2 is a schematic structural view of a service station and a cleaning robot docking water supply pipe contraction according to an embodiment of the technical solution of the present application;
  • FIG. 3 is a schematic structural view of a docking station and a cleaning robot docking water supply pipe provided by an embodiment of the technical solution of the present application.
  • a cleaning robot automatic water supply and drainage system is applied to a cleaning robot 100 and a service station 200 paired with the cleaning robot 100.
  • the cleaning robot automatic water supply and drainage system includes a sewage tank 110, a drain port 120, a first water level sensor 130, and a drain.
  • the valve 140, the first communication module 150 and the first controller 160, the sewage tank 110, the drain port 120, the first water level sensor 130, the drain valve 140, the first communication module 150 and the first controller 160 are disposed in the cleaning robot 100.
  • the cleaning robot automatic water supply and drainage system further includes a docking detection module 210, a water collection tank 220, a water inlet 230, a second water level sensor 240, a second controller 250 and a second communication module 260, a water collection tank 220, a water inlet 230, and a second
  • the water level sensor 240, the second controller 250, and the second communication module 260 are disposed in the service station 200, and the docking detection module 210 is disposed in the service station 200 and/or the cleaning robot 100.
  • the service desk 200 is an example.
  • the first water level sensor 130 is disposed in the sewage tank 110 of the cleaning robot 100, configured to detect the water level of the sewage tank 110 and output a first electrical signal indicating the water level; the drain valve 140 and the drain port 120 of the cleaning robot 100 Connected to the sewage tank 110, configured to control the drain 120 to drain; the first communication module 150 is disposed in the cleaning robot 100, configured to receive a drain signal of the service station 200; the first controller 160 a robot controller, disposed in the cleaning robot 100, connected to the first water level sensor 130, the drain valve 140, and the first communication module 150, configured to receive the first indicating that the water is full An electrical signal is used to control the cleaning robot 100 to return to interface with the service station 200 and is configured to receive the drain signal to control the drain valve 140 to open for draining.
  • the docking detection module 210 is configured to detect the docking state of the cleaning robot 100 and the service desk 200, and output a preset level when the docking is successful;
  • the water collection tank 220 may be built in or externally located in the service desk 200, and configured to collect a water inlet 230 is disposed in the service station 200 and is connected to the water collection tank 220.
  • the second water level sensor 240 is disposed in the water collection tank 220 and configured to detect the water level of the water collection tank 220 and output an indication water level.
  • the second controller 250 is a service station 200 controller, is disposed in the service desk 200, is connected to the docking detection module 210 and the second water level sensor 240, and is configured to receive the Depressing a level and a second electrical signal indicating that the water level is not full to output the drain signal;
  • the second communication module 260 is disposed in the service station 200, in communication with the first communication module 150, and the second controller 250 Connected, configured to send the drain signal.
  • the docking detection module 210 includes an infrared probe. In other embodiments, it may also be a laser probe or an acoustic probe. After the docking detection module 210 detects that the cleaning robot 100 successfully docks with the service station 200, the docking detection module 210 outputs a preset indication level.
  • the water supply pipe and the drain pipe are designed to have a high redundancy scheme.
  • the diameter of the water inlet 230 on the service station 200 is greater than the diameter of the water outlet 120.
  • the cleaning robot 100 further includes a clean water tank and a water inlet 170 connected to the clean water tank pipe.
  • the service station 200 further includes a water supply pipe 270 that is expandable and contractible and has a smaller aperture width than the water supply port 170. As shown in FIG. 2, the docking port 120 of the robot is aligned with the water receiving port 230.
  • the initial state of the water supply pipe 270 is a contracted state (as shown in FIG. 2).
  • the water supply pipe 270 is extended and extends into the water filling port 170 of the cleaning robot 100 (as shown in FIG. 3), and is opened.
  • the water valve is filled with water.
  • the water inlet 170 is also wider than the water supply pipe 270, and can be filled with water in the case where the cleaning robot 100 is not accurately docked.
  • the water inlet 170 is higher than the highest water surface of the water tank, and has a push-opening modified cover plate. The water supply pipe 270 of the service station 200 is pushed away when it is deep, and the normal state is closed to ensure that the water in the water tank cannot flow out. .
  • the communication module can be a WIFI module or a ZigBee RF communication module.
  • a cleaning robot 100 that can communicate with its paired service desk 200, which includes a sewage tank 110 and a drain port 120 to which the sewage tank 110 is piped, and includes (first The water level sensor 140, the drain valve 140, the (first) communication module 150, and the robot (first) controller 160.
  • the water level sensor 140 is disposed in the sewage tank 110, configured to detect the water level of the sewage tank 110 and output a water level electrical signal indicating the water level; the drain valve 140 is connected to the drain port 120 and the sewage tank 110, and configured Controlling the drain port 120 to drain; the communication module 150 is configured to receive a drain signal of the service station 200; the robot controller 160 is coupled to the water level sensor 140, the drain valve 140, and the communication module 150, configured to receive an indication The water level electrical signal that is full of water controls the cleaning robot 100 to return to the service station 200 and is configured to receive the drain signal to control the drain valve 140 to open.
  • the cleaning robot 100 further includes a clean water tank that stores clean water and a water fill port 170 that is connected to the clean water tank pipe.
  • the diameter of the water inlet 230 of the service station 200 for abutting the water outlet 120 is greater than the diameter of the water outlet 120.
  • a service station 200 for cleaning the robot is provided.
  • the service desk 200 can communicate with the paired cleaning robot 100.
  • the service station 200 includes a docking detection module 210, a built-in or external water collection tank 220, and a water inlet 230.
  • Water level sensor 240, service station (second) controller 250 and (second) communication module 260 are provided.
  • the docking detection module 210 is disposed on the outer surface of the service desk 200, configured to detect the docking state of the cleaning robot 100 and the service desk 200, and output a preset level when the docking is successful;
  • the water collecting tank 220 is configured to collect sewage;
  • the water inlet 230 is connected to the water collection tank 220;
  • the water level sensor 240 is disposed in the water collection tank 220, configured to detect the water level of the water collection tank 220 and output a water level electrical signal indicating the water level;
  • the service desk controller 250 and the The docking detection module 210 and the water level sensor are connected to receive the preset level and the water level electrical signal indicating that the water level is not full to output the drainage signal;
  • the communication module 260 is disposed in the service station 200, and
  • the second controller 250 is coupled to be configured to transmit the drainage signal to the cleaning robot 100.
  • the diameter of the water inlet 230 of the service station 200 is greater than the diameter of the water outlet 120 of the cleaning robot 100.
  • the sewage tank 110 has the collected sewage.
  • the cleaning controller acts to control the cleaning robot 100 to return to the service station 200 for drainage. The following steps are required. :
  • the cleaning robot 100 acquires a water tank full signal
  • the cleaning robot 100 stops working and returns to the service desk 200;
  • the cleaning robot 100 is docked with the service desk 200;
  • the cleaning robot controller 160 communicates with the service desk controller 260 through the communication module 150/260, and the service desk controller 250 detects whether the water collection tank 220 is full of water through the water level sensor 240;
  • the water collection tank 220 is not full, and the cleaning robot controller 160 controls the drain valve 140 to open the sewage tank 110 and the drain port 120 for drainage;
  • the service desk controller 250 continues to detect the water level of the water collection tank 220 through the water level sensor to check whether the water level is full;
  • water tank 220 If the water tank 220 is not full of water, it is drained until the sewage in the cleaning robot 100 sewage tank 110 is exhausted, and the drainage is finished.
  • the water collection tank 220 is installed in the service station 200.
  • the cleaning robot 100 detects that the sewage tank 110 is full, the cleaning robot 100 returns to the service station 200, and after the docking is successful and the water collection tank 220 has space. Then, the cleaning robot 100 is instructed to drain, and the automatic drainage thus achieved improves efficiency and saves manpower.

Abstract

一种清洁机器人自动给排水系统，在服务台（200）中设置集水箱（220），清洁机器人（100）检测污水箱（110）满的情况下，返回与服务台（200）对接，对接成功后且集水箱（220）有空间的情况下，向清洁机器人（100）指示排水，实现自动排水。

Description

清洁机器人及其服务台和自动给排水系统 技术领域
本申请属于清洁机器人技术领域，尤其涉及一种清洁机器人及其服务台和自动给排水系统。
 背景技术
传统的手推式或驾驶式洗地机都是采用人工排水，用随机器携带的排水管实现排水。传统的自动洗地机器人，也都是采用人工排水的方式，这种方式需要人工进行操作，费时费力。
 技术问题
解决传统的机器人采用人工排水的方式的问题。
 技术解决方案
第一方面，提供了一种清洁机器人自动给排水系统，应用于清洁机器人和与该清洁机器人配对的服务台，所述清洁机器人自动给排水系统包括：
设于所述清洁机器人的污水箱中，配置为检测所述污水箱水位并输出指示水位的第一电信号的第一水位传感器；
与所述清洁机器人的排水口和所述污水箱管道连接，配置为控制所述排水口排水的排水阀；
设于所述清洁机器人中，配置为接收所述服务台的排水信号的第一通讯模块；
设于所述清洁机器人中，与所述第一水位传感器、所述排水阀及所述第一通讯模块连接，配置为接收到指示水满的所述第一电信号以控制清洁机器人返程与所述服务台对接，并配置为接收到所述排水信号以控制所述排水阀开通以排水的第一控制器；
设于所述服务台或所述清洁机器人中，配置为检测所述清洁机器人与所述服务台对接状态，并在对接成功时输出预设电平的对接检测模块；
构造为收集污水的集水箱；
设于所述服务台中，与所述集水箱管道连接的接水口；
设于所述集水箱中，配置为检测所述集水箱水位并输出指示水位的第二电信号的第二水位传感器；
设于所述服务台中，与所述对接检测模块和所述第二水位传感器连接，配置为接收到所述预设电平和指示水位未满的所述第二电信号以输出所述排水信号的第二控制器；
设于服务台中，与所述第二控制器连接，配置为发送所述排水信号的第二通讯模块。
第二方面，还提供了一种清洁机器人，可与其配对的服务台通讯，所述清洁机器人包括污水箱和所述污水箱管道连接的排水口，还包括：
设于所述污水箱中，配置为检测所述污水箱水位并输出指示水位的水位电信号的水位传感器；
与所述排水口和所述污水箱管道连接，配置为控制所述排水口排水的排水阀；
配置为接收服务台的排水信号的通讯模块；及
与所述水位传感器、所述排水阀及所述通讯模块连接，配置为接收到指示水满的所述水位电信号以控制清洁机器人返程与所述服务台对接，并配置为接收到所述排水信号以控制所述排水阀开通的机器人控制器。
第三方面，还提供了一种清洁机器人的服务台，所述服务台可与其配对的清洁机器人通讯，包括：
设于所述服务台外表面，配置为检测所述清洁机器人与所述服务台对接状态，并在对接成功时输出预设电平的对接检测模块；
内置或外置，用于收集污水的集水箱；
与所述集水箱管道连接的接水口；
设于所述集水箱中，配置为检测所述集水箱水位并输出指示水位的水位电信号的水位传感器；
与所述对接检测模块和所述水位传感器连接，配置为接收到所述预设电平和指示水位未满的所述水位电信号以输出所述排水信号的服务台控制器；及
设于服务台中，与所述第二控制器连接，配置为发送所述排水信号的至所述清洁机器人的通讯模块。
上述的清洁机器人自动给排水系统，在服务台中设置集水箱，清洁机器人检测污水箱满的情况下，返回与服务台对接，对接成功后且集水箱有空间的情况下，则向清洁机器人指示排水，如此实现的自动排水，提高效率，节省人力。
 有益效果
上述的清洁机器人自动给排水系统，在服务台中设置集水箱，清洁机器人检测污水箱满的情况下，返回与服务台对接，对接成功后且集水箱有空间的情况下，则向清洁机器人指示排水，如此实现的自动排水，提高效率，节省人力。
 附图说明
图1为本申请技术方案实施例提供的清洁机器人自动给排水系统结构示意图；
图2为本申请技术方案实施例提供的服务台与清洁机器人对接加水管收缩的结构示意图；
图3为本申请技术方案实施例提供的服务台与清洁机器人对接加水管伸出的结构示意图。
 本发明的实施方式
为了使本申请的目的、技术方案及优点更加清楚明白，以下结合附图及实施例，对本申请技术方案进行进一步详细说明。应当理解，此处所描述的具体实施例仅仅用以解释本申请，并不用于限定本申请。
请参阅图1，清洁机器人自动给排水系统应用于清洁机器人100和与该清洁机器人100配对的服务台200，清洁机器人自动给排水系统包括污水箱110、排水口120、第一水位传感器130、排水阀140、第一通讯模块150及第一控制器160，污水箱110、排水口120、第一水位传感器130、排水阀140、第一通讯模块150及第一控制器160设置在清洁机器人100中，清洁机器人自动给排水系统还包括对接检测模块210、集水箱220、接水口230、第二水位传感器240、第二控制器250及第二通讯模块260，集水箱220、接水口230、第二水位传感器240、第二控制器250及第二通讯模块260设置在服务台200中，对接检测模块210设于所述服务台200和/或所述清洁机器人100中，图1所示实施例以服务台200为例。
第一水位传感器130设于所述清洁机器人100的污水箱110中，配置为检测所述污水箱110水位并输出指示水位的第一电信号；排水阀140与所述清洁机器人100的排水口120和所述污水箱110管道连接，配置为控制所述排水口120排水；第一通讯模块150设于所述清洁机器人100中，配置为接收所述服务台200的排水信号；第一控制器160为机器人控制器，设于所述清洁机器人100中，与所述第一水位传感器130、所述排水阀140及所述第一通讯模块150连接，配置为接收到指示水满的所述第一电信号以控制清洁机器人100返程与所述服务台200对接，并配置为接收到所述排水信号以控制所述排水阀140开通以排水。
对接检测模块210配置为检测所述清洁机器人100与所述服务台200对接状态，并在对接成功时输出预设电平；集水箱220可内置也可外置在服务台200中，构造为收集污水；接水口230设于所述服务台200中，与所述集水箱220管道连接；第二水位传感器240设于所述集水箱220中，配置为检测所述集水箱220水位并输出指示水位的第二电信号；第二控制器250为服务台200控制器，设于所述服务台200中，与所述对接检测模块210和所述第二水位传感器240连接，配置为接收到所述预设电平和指示水位未满的所述第二电信号以输出所述排水信号；第二通讯模块260设于服务台200中，与第一通讯模块150通信，与所述第二控制器250连接，配置为发送所述排水信号。
在其中一个实施方式中，对接检测模块210包括红外探头。在其他实施方式中，也可以是激光探头或声波探头。对接检测模块210在检测到清洁机器人100与服务台200成功对接后，对接检测模块210输出预设指示电平。
为了解决清洁机器人100和服务台200对接不精准，也能顺利给排水的问题，对加水管和排水管设计成高冗余度方案。请参阅图2和图3，在其中一个实施方式中，服务台200上的接水口230的口径宽度大于所述排水口120的口径宽度。另外，清洁机器人100还包括清水箱和与所述清水箱管道连接的加水口170。服务台200还包括加水管270，所述加水管270可伸缩且口径宽度小于所述加水口170。如图2所示，机器人对接后排水口120对准接水口230，因为接水口230较宽，即使排水口120左右偏移，也能够将水排到接水口230里。同理，加水管270初始状态为收缩状态（如图2所示），清洁机器人100到位后，加水管270伸出，伸到清洁机器人100的加水口170中（如图3所示），打开水阀进行加水。加水口170同样宽度远大于加水管270，能够在清洁机器人100对接不精准的情况下完成加水。另外，加水口170高于清水箱的最高水面，同时带有一个可推开式的改盖板，服务台200的加水管270深入时推开，平时状态为关闭，保证水箱中的水无法流出。
通讯模块可以是WIFI模块或者射ZigBee射频通讯模块。
此外，还提供了一种清洁机器人100，清洁机器人100可与其配对的服务台200通讯，所述清洁机器人100包括污水箱110和所述污水箱110管道连接的排水口120，还包括（第一）水位传感器140、排水阀140、（第一）通讯模块150及机器人（第一）控制器160。
水位传感器140设于所述污水箱110中，配置为检测所述污水箱110水位并输出指示水位的水位电信号；排水阀140与所述排水口120和所述污水箱110管道连接，配置为控制所述排水口120排水；通讯模块150配置为接收服务台200的排水信号；机器人控制器160与所述水位传感器140、所述排水阀140及所述通讯模块150连接，配置为接收到指示水满的所述水位电信号以控制清洁机器人100返程与所述服务台200对接，并配置为接收到所述排水信号以控制所述排水阀140开通。
在其中一个实施方式中，清洁机器人100还包括存储清水的清水箱和与所述清水箱管道连接的加水口170。所述服务台200上用于与所述排水口120对接的接水口230的口径宽度大于所述排水口120的口径宽度。
此外，还提供了一种清洁机器人的服务台200，服务台200可与其配对的清洁机器人100通讯，服务台200包括对接检测模块210、内置或外置的集水箱220、接水口230、（第二）水位传感器240、服务台（第二）控制器250和（第二）通讯模块260。
对接检测模块210设于所述服务台200外表面，配置为检测所述清洁机器人100与所述服务台200对接状态，并在对接成功时输出预设电平；集水箱220用于收集污水；接水口230与所述集水箱220管道连接；水位传感器240设于所述集水箱220中，配置为检测所述集水箱220水位并输出指示水位的水位电信号；服务台控制器250与所述对接检测模块210和所述水位传感器连接，配置为接收到所述预设电平和指示水位未满的所述水位电信号以输出所述排水信号的；通讯模块260设于服务台200中，与所述第二控制器250连接，配置为发送所述排水信号的至所述清洁机器人100。
在其中一个实施方式中，服务台200接水口230的口径宽度大于清洁机器人100的排水口120的口径宽度。
在清洁机器人100洗地过程中，污水箱110内存有收集回来的污水，当污水收集满触发水位传感器时，清洁控制器做出动作，控制清洁机器人100返回服务台200，进行排水，需要以下步骤：
1、清洁机器人100获取水箱满信号；
2、清洁机器人100停止工作，返回服务台200；
3、清洁机器人100与服务台200对接；
4、对接完成，清洁机器人控制器160通过通讯模块150/260与服务台控制器260通讯，服务台控制器250通过水位传感器240检测集水箱220是否满水；
5、集水箱220不满，清洁机器人控制器160控制排水阀140导通污水箱110和排水口120进行排水；
6、排水过程中，服务台控制器250继续通过水位传感器检测集水箱220水位，检查水位是否满；
7、如果集水箱220水满，则停止清洁机器人100排水；
8、如果集水箱220水不满，则一直排水，直到清洁机器人100污水箱110中污水排完，结束排水。
上述的清洁机器人自动给排水系统，在服务台200中设置集水箱220，清洁机器人100检测污水箱110满的情况下，返回与服务台200对接，对接成功后且集水箱220有空间的情况下，则向清洁机器人100指示排水，如此实现的自动排水，提高效率，节省人力。
以上所述仅为本申请技术方案的较佳实施例而已，并不用以限制本申请，凡在申请技术方案的精神和原则之内所作的任何修改、等同替换和改进等，均应包含在本申请的保护范围之内。

Claims (10)

  1. 一种清洁机器人自动给排水系统，应用于清洁机器人和与该清洁机器人配对的服务台，其特征在于，所述清洁机器人自动给排水系统包括：
    设于所述清洁机器人的污水箱中，配置为检测所述污水箱水位并输出指示水位的第一电信号的第一水位传感器；
    与所述清洁机器人的排水口和所述污水箱管道连接，配置为控制所述排水口排水的排水阀；
    设于所述清洁机器人中，配置为接收所述服务台的排水信号的第一通讯模块；
    设于所述清洁机器人中，与所述第一水位传感器、所述排水阀及所述第一通讯模块连接，配置为接收到指示水满的所述第一电信号以控制清洁机器人返程与所述服务台对接，并配置为接收到所述排水信号以控制所述排水阀开通以排水的第一控制器；
    设于所述服务台或所述清洁机器人中，配置为检测所述清洁机器人与所述服务台对接状态，并在对接成功时输出预设电平的对接检测模块；
    用于收集污水的集水箱；
    设于所述服务台中，与所述集水箱管道连接的接水口；
    设于所述集水箱中，配置为检测所述集水箱水位并输出指示水位的第二电信号的第二水位传感器；
    设于所述服务台中，与所述对接检测模块和所述第二水位传感器连接，配置为接收到所述预设电平和指示水位未满的所述第二电信号以输出所述排水信号的第二控制器；
    设于服务台中，与所述第二控制器连接，配置为发送所述排水信号的第二通讯模块。
  2. 如权利要求1所述的清洁机器人自动给排水系统，其特征在于，所述对接检测模块包括红外探头。
  3. 如权利要求1所述的清洁机器人自动给排水系统，其特征在于，所述接水口的口径宽度大于所述排水口的口径宽度。
  4. 如权利要求1所述的清洁机器人自动给排水系统，其特征在于，还包括设于所述清洁机器人的清水箱和与所述清水箱管道连接的加水口。
  5. 如权利要求4所述的清洁机器人自动给排水系统，其特征在于，还包括设于所述服务台的加水管，所述加水管可伸缩且口径宽度小于所述加水口。
  6. 一种清洁机器人，可与其配对的服务台通讯，所述清洁机器人包括污水箱和所述污水箱管道连接的排水口，其特征在于，还包括：
    设于所述污水箱中，配置为检测所述污水箱水位并输出指示水位的水位电信号的水位传感器；
    与所述排水口和所述污水箱管道连接，配置为控制所述排水口排水的排水阀；
    配置为接收服务台的排水信号的通讯模块；及
    与所述水位传感器、所述排水阀及所述通讯模块连接，配置为接收到指示水满的所述水位电信号以控制清洁机器人返程与所述服务台对接，并配置为接收到所述排水信号以控制所述排水阀开通的机器人控制器。
  7. 如权利要求6所述的清洁机器人，其特征在于，还包括存储清水的清水箱和与所述清水箱管道连接的加水口。
  8. 如权利要求7所述的清洁机器人，其特征在于，所述服务台上用于与所述排水口对接的接水口的口径宽度大于所述排水口的口径宽度。
  9. 一种清洁机器人的服务台，所述服务台可与其配对的清洁机器人通讯，其特征在于，包括：
    设于所述服务台外表面，配置为检测所述清洁机器人与所述服务台对接状态，并在对接成功时输出预设电平的对接检测模块；
    内置或外置，用于的收集污水的集水箱；
    与所述集水箱管道连接的接水口；
    设于所述集水箱中，配置为检测所述集水箱水位并输出指示水位的水位电信号的水位传感器；
    与所述对接检测模块和所述水位传感器连接，配置为接收到所述预设电平和指示水位未满的所述水位电信号以输出所述排水信号的服务台控制器；及
    设于服务台中，与所述第二控制器连接，配置为发送所述排水信号的至所述清洁机器人的通讯模块。
  10. 如权利要求9所述的服务台，其特征在于，所述接水口的口径宽度大于所述清洁机器人的排水口的口径宽度。
PCT/CN2018/085142 2018-04-28 2018-04-28 清洁机器人及其服务台和自动给排水系统 WO2019205156A1 (zh)

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