WO2020007377A1 - 一种扫地机器人吸尘充电装置以及吸尘充电方法 - Google Patents

一种扫地机器人吸尘充电装置以及吸尘充电方法 Download PDF

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Publication number
WO2020007377A1
WO2020007377A1 PCT/CN2019/100612 CN2019100612W WO2020007377A1 WO 2020007377 A1 WO2020007377 A1 WO 2020007377A1 CN 2019100612 W CN2019100612 W CN 2019100612W WO 2020007377 A1 WO2020007377 A1 WO 2020007377A1
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WIPO (PCT)
Prior art keywords
dust
cleaning robot
maintenance station
charging
valve
Prior art date
Application number
PCT/CN2019/100612
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English (en)
French (fr)
Inventor
薄亮
Original Assignee
北京享捷科技有限公司
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Filing date
Publication date
Application filed by 北京享捷科技有限公司 filed Critical 北京享捷科技有限公司
Priority to ES202090019U priority Critical patent/ES1264474Y/es
Priority to DE212019000169.6U priority patent/DE212019000169U1/de
Priority to KR2020207000046U priority patent/KR200496043Y1/ko
Publication of WO2020007377A1 publication Critical patent/WO2020007377A1/zh
Priority to US16/939,055 priority patent/US20200359868A1/en

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    • 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
    • A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
    • A47L9/2868—Arrangements for power supply of vacuum cleaners or the accessories thereof
    • A47L9/2873—Docking units or charging stations
    • 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
    • A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • A47L9/009—Carrying-vehicles; Arrangements of trollies or wheels; Means for avoiding mechanical obstacles
    • 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
    • A47L11/24—Floor-sweeping machines, motor-driven
    • 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
    • A47L11/4013—Contaminants collecting devices, i.e. hoppers, tanks or the like
    • A47L11/4025—Means for emptying
    • 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
    • A47L11/4002—Installations of electric equipment
    • A47L11/4005—Arrangements of batteries or cells; Electric power supply arrangements
    • 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
    • A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
    • 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
    • A47L11/4013—Contaminants collecting devices, i.e. hoppers, tanks or the like
    • 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
    • A47L11/4072—Arrangement of castors or wheels
    • 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
    • A47L11/408—Means for supplying cleaning or surface treating agents
    • A47L11/4083—Liquid supply reservoirs; Preparation of the agents, e.g. mixing devices
    • 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
    • A47L11/4091—Storing or parking devices, arrangements therefor; Means allowing transport of the machine when it is not being used
    • 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
    • A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • A47L9/02—Nozzles
    • A47L9/04—Nozzles with driven brushes or agitators
    • A47L9/0461—Dust-loosening tools, e.g. agitators, brushes
    • A47L9/0466—Rotating tools
    • A47L9/0477—Rolls
    • 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
    • A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • A47L9/10—Filters; Dust separators; Dust removal; Automatic exchange of filters
    • A47L9/106—Dust removal
    • 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
    • A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • A47L9/10—Filters; Dust separators; Dust removal; Automatic exchange of filters
    • A47L9/14—Bags or the like; Rigid filtering receptacles; Attachment of, or closures for, bags or receptacles
    • A47L9/1409—Rigid filtering receptacles
    • 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
    • A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • A47L9/10—Filters; Dust separators; Dust removal; Automatic exchange of filters
    • A47L9/16—Arrangement or disposition of cyclones or other devices with centrifugal action
    • A47L9/1683—Dust collecting chambers; Dust collecting receptacles
    • 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
    • A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
    • A47L9/2868—Arrangements for power supply of vacuum cleaners or the accessories thereof
    • A47L9/2884—Details of arrangements of batteries or their installation
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16K—VALVES; TAPS; COCKS; ACTUATING-FLOATS; DEVICES FOR VENTING OR AERATING
    • F16K15/00—Check valves
    • F16K15/02—Check valves with guided rigid valve members
    • F16K15/03—Check valves with guided rigid valve members with a hinged closure member or with a pivoted closure member
    • F16K15/033—Check valves with guided rigid valve members with a hinged closure member or with a pivoted closure member spring-loaded
    • 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
    • A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • A47L2201/02—Docking stations; Docking operations
    • A47L2201/022—Recharging of batteries
    • 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
    • A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • A47L2201/02—Docking stations; Docking operations
    • A47L2201/024—Emptying dust or waste liquid containers
    • 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
    • A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • A47L9/02—Nozzles
    • A47L9/04—Nozzles with driven brushes or agitators
    • A47L9/0461—Dust-loosening tools, e.g. agitators, brushes
    • A47L9/0466—Rotating tools

Definitions

  • the invention belongs to the technical field of vacuum cleaning of a cleaning robot, and particularly relates to a vacuum charging device and a charging method of a cleaning robot.
  • Sweeping robots also known as automatic sweepers, intelligent vacuum cleaners, robotic vacuum cleaners, etc., are a type of smart home appliance that are currently widely used.
  • the main work process of the existing sweeping robot is as follows: the sweeping robot moves on the ground, absorbs ground dust and other garbage into its own dust box, and completes the function of ground cleaning. Then, the user needs to press the dust box release button on the surface of the cleaning robot at regular intervals to take out the dust box, and then clean the dust box. After removing the garbage in the dust box, reinstall the dust box into the cleaning robot.
  • the above cleaning robot cleans the dust box with the following disadvantages: the user needs to take out the dust box to clean up the garbage in the dust box. On the one hand, it increases the user's use burden; on the other hand, the dust box is directly exposed to the environment Cleaning in the middle is not conducive to cleaning the user's health, but also has an adverse impact on the environment.
  • the present invention provides a vacuum cleaning charging device and a vacuum charging method for a cleaning robot, which can effectively solve the above problems.
  • the invention provides a vacuum cleaning and charging device for a cleaning robot, which includes a maintenance station (100) and a cleaning robot (200);
  • a lower part of the maintenance station (100) is provided with a charging and suction base (101), and the charging and suction base (101) is provided with a maintenance station dust suction port (103);
  • a bag storage box (104), the dust bag storage box (104) is provided with a dust bag (105) inside; the dust bag storage box (104) is outside and is located in a cavity of the maintenance station (100),
  • a dust suction fan (107) is arranged, and the air suction port of the dust suction fan (107) is in communication with the dust bag storage box (104) for generating a negative pressure to the dust bag storage box (104);
  • One end of the tube (106) is in contact with the dust inlet end of the dust bag (105), and the other end of the dust suction hose (106) is fixedly connected to the dust suction port (103) of the maintenance station;
  • the cleaning robot (200) has a cleaning robot body (201).
  • a dust box (202) is provided on one side of the cleaning robot body (201); a bottom of the dust box (202) has a dust box dust outlet (203). );
  • the dust box dust outlet (203) corresponds to the maintenance station dust suction port (103), and can be pressed outside the maintenance station dust suction port (103), thereby realizing the maintenance station dust collection
  • the dust box dust outlet (203) has a dust inlet end (2031) and a dust outlet end (2032); a check valve assembly is installed outside the dust inlet end (2031); wherein the check valve assembly includes A valve (204), a valve torsion spring (205), and a valve shaft (206); the valve shaft (206) is fixedly installed on the outside of the dust inlet (2031); the valve (204) can be rotatably installed on the valve Above the valve shaft (206); when the valve (204) is rotated and pressed to the dust inlet (2031), the valve (204) seals the dust inlet (2031); the valve torsion spring (205) is provided on the outer side of the valve (204), and the valve torsion spring (205) is used to apply a pressing force to the valve (204) toward the dust inlet end (2031), and further A valve (204) is pressed on the dust inlet (2031); when the outer side of the valve (204) is at a negative pressure, under the action of negative pressure, the valve (204) overcomes the valve torsion spring ( 205), and move
  • a fixed pipe (207) is fixedly installed on the outer side of the valve (204); after the valve torsion spring (205) passes through the fixed pipe (207), the left and right sides of the valve torsion spring (205) The two ends are respectively wound on the valve rotating shaft (206).
  • the maintenance station (100) has a cover plate (108) for opening the dust bag storage box (104).
  • the dust box (202) has a box cover (214) for manually opening the dust box.
  • a middle sweep (215) is provided at the bottom of the cleaning robot (200), and drive wheels (216) are installed on both sides of the middle sweep; a universal wheel (217) and a side are installed at the bottom edge of the cleaning robot (200) Brush (218).
  • the back of the cleaning robot body (201) is located outside the dust outlet (203) of the dust box, and a water tank (208) is detachably installed; the cleaning robot body (201) is arranged to detect whether A water tank detector (213) of the water tank (208) is installed.
  • the charging cleaner base (101) is provided with a maintenance station contact piece (102); one end of the back of the cleaning robot body (201) is provided with a charging contact piece (209); and the back of the cleaning robot body (201) Install the dust exhaust contact piece (210) on the other end;
  • a cleaning robot main board (211) and a rechargeable battery (212) are installed inside the cleaning robot body (201); a first pin of the cleaning robot main board (211) is electrically connected to the dust exhausting contact piece (210) ; The second pin of the main board (211) of the cleaning robot is connected to one end of the rechargeable battery (212), and the other end of the rechargeable battery (212) is electrically connected to the charging contact piece (209); The main board (211) of the cleaning robot is also electrically connected to the water tank detector (213);
  • the maintenance station (100) is installed with a maintenance station controller, and the maintenance station controller is respectively connected with the maintenance station contact piece (102), the dust suction fan (107), and a charging control circuit.
  • the invention also provides a vacuum charging method for a vacuum cleaning and charging device of a cleaning robot, which includes the following steps:
  • Step 1 The maintenance station (100) installs multiple infrared emitters in different areas. When it is necessary to perform maintenance on the cleaning robot (200), each infrared emitter is turned on; each said infrared emitter emits infrared signals in different directions;
  • the infrared receiver arranged by the cleaning robot (200) receives an infrared signal
  • the relative position between itself and the maintenance station (100) is determined by the received infrared signal; then, the cleaning robot (200) The location is close to the maintenance station (100);
  • the cleaning robot (200) detects whether a water tank (208) is currently installed through a water tank detector (213), and if not, performs step 2 to step 5; if it is installed, performs step 6 to step 7;
  • Step 2 the cleaning robot (200) adjusts its direction so that one end of the cleaning robot (200) on which the dust-exhausting contact piece (210) is installed faces the maintenance station (100);
  • the cleaning robot (200) continues to move forward.
  • the cleaning robot (200) detects that the dust discharge contact sheet (210) is in contact with the maintenance station contact sheet (102) of the maintenance station (100), When it is on, it indicates that the cleaning robot (200) has been moved into position.
  • the dust box dust outlet (203) of the cleaning robot (200) is just pressed against the maintenance station suction port (103) of the maintenance station (100). );
  • the cleaning robot (200) controls itself to stop moving;
  • Step 3 When the dust-exhaust contact sheet (210) of the cleaning robot (200) is in contact with the maintenance station contact sheet (102) of the maintenance station (100), the maintenance station (100) is maintained.
  • the station controller detects a dust discharge signal that is conducted by the dust discharge contact piece (210) and the maintenance station contact piece (102), and then, the maintenance station controller starts a dust suction process for the cleaning robot (200);
  • the controller of the maintenance station starts the vacuuming process of the cleaning robot (200), specifically:
  • step 3.1 the controller of the maintenance station starts a dust suction fan (107), and the dust suction fan (107) generates a negative pressure in the dust bag storage box (104), and further causes the vacuum suction hose (106) to generate a negative pressure;
  • Step 3.2 when the vacuum suction hose (106) generates a negative pressure, under the action of the negative pressure, the valve (204) moves in the opposite direction against the pressing force of the valve torsion spring (205), thereby opening the dust inlet (2031), so that the dust box dust outlet (203) is opened;
  • Step 3.3 when the dust box dust outlet (203) is opened, under the action of negative pressure, the garbage in the cavity of the dust box (202) passes through the dust box dust outlet (203) and the maintenance in order. After standing at the dust suction port (103), it is sucked into the dust suction hose (106), and finally sucked into the dust bag (105);
  • Step 3.4 when the dust box (202) has finished the dust suction work, the controller of the maintenance station turns off the dust suction fan (107); because the negative pressure disappears, the valve (204) is under the action of the valve torsion spring (205), The dust inlet end (2031) of the dust outlet (203) of the dust box is pressed to seal the dust inlet (2031) of the dust outlet (203) of the dust box, thereby preventing garbage in the dust box (202). Give way;
  • Step 3.5 the dust removal operation of the dust box (202) is ended;
  • Step 4 the cleaning robot (200) retracts a certain distance from the maintenance station (100) and rotates a certain angle so that the charging contact piece (209) of the cleaning robot (200) faces the maintenance station ( 100);
  • the cleaning robot (200) continues to move forward, when the cleaning robot (200) detects that the charging contact piece (209) is in contact with the maintenance station contact piece (102) of the maintenance station (100) , It indicates that the cleaning robot (200) has moved into place, at this time, the cleaning robot (200) controls itself to stop moving;
  • Step 5 When the charging contact piece (209) of the cleaning robot (200) and the maintenance station contact piece (102) of the maintenance station (100) come into contact, the maintenance station (100), the maintenance station The controller detects a charging signal that the charging contact piece (209) and the maintenance station contact piece (102) are conducting, and then the maintenance station controller starts a charging process for the cleaning robot (200) until charging is completed;
  • Step 6 the cleaning robot (200) adjusts its direction, so that one end of the cleaning robot (200) on which the charging contact piece (209) is installed faces the maintenance station (100);
  • the cleaning robot (200) continues to move forward, when the cleaning robot (200) detects that the charging contact piece (209) is in contact with the maintenance station contact piece (102) of the maintenance station (100) , It indicates that the cleaning robot (200) has moved into place, at this time, the cleaning robot (200) controls itself to stop moving;
  • Step 7 When the charging contact piece (209) of the cleaning robot (200) is in contact with the maintenance station contact piece (102) of the maintenance station (100), the maintenance station (100), the maintenance station The controller detects a charging signal conducted by the charging contact piece (209) and the maintenance station contact piece (102). Then, the maintenance station controller starts a charging process for the cleaning robot (200) until charging is completed.
  • the robot performs charging and maintenance work; when the dust exhaust contact sheet and the maintenance station contact sheet are in contact, the maintenance station performs vacuum dust removal work on the dust box of the cleaning robot, thereby simultaneously realizing the charging and dust removal maintenance work of the cleaning robot, and has various functions.
  • FIG. 1 is a perspective view of a cleaning robot
  • Figure 2 is a side view of the cleaning robot
  • FIG. 6 is a bottom view of the cleaning robot when the water tank is removed from the cleaning robot and the dust box dust outlet is closed;
  • FIG. 7 is a bottom view of the cleaning robot when the water tank is taken out from the cleaning robot and the dust box dust outlet is opened;
  • FIG. 10 is a structural diagram of a dust box when the dust outlet is closed
  • FIG. 11 is a structural diagram of a dust box when the dust outlet is opened
  • FIG. 12 is a structural diagram of a dust box when the dust outlet is closed
  • FIG. 13 is a structural diagram of a dust box when the dust outlet is opened
  • Figure 14 is a perspective view of a maintenance station
  • 15 is a process diagram of a cleaning robot approaching a maintenance station when it needs to discharge dust
  • FIG. 16 is a state diagram when the cleaning robot needs to move in place when it needs to discharge dust
  • FIG. 17 is a perspective view when the cleaning robot needs to exhaust dust and move it into position
  • FIG. 18 is a cross-sectional view when the cleaning robot needs to exhaust dust and moves in place
  • FIG. 19 is a process diagram of leaving the maintenance station after the dust cleaning robot finishes dust removal
  • 20 is a process diagram of a cleaning robot approaching a maintenance station when it needs to be charged
  • 21 is a state diagram when the cleaning robot needs to be charged and moved in place
  • 22 is a layout diagram of a circuit board on the back of the cleaning robot
  • Figure 23 is a state diagram when the cover of the maintenance station is opened
  • 24 is a state diagram when a dust bag is taken out from a maintenance station
  • 25 is a state diagram when the dust bag is taken out from the maintenance station and the cover is closed;
  • Maintenance station 100 Charging and suction base 101; Maintenance station contact sheet 102; Maintenance station dust inlet 103; Dust bag storage box 104; Dust bag 105; Dust extraction hose 106; Dust extraction fan 107; Cover plate 108;
  • Floor cleaning robot 200 Floor cleaning robot body 201; Dust box 202; Dust box dust outlet 203; Dust inlet 2031; Dust outlet 2032; Valve 204; Valve torsion spring 205; Valve shaft 206; Fixed pipe 207; Water tank 208; Charging Contact piece 209; Dust removal contact piece 210; Cleaning robot main board 211; Rechargeable battery 212; Water tank detector 213; Box cover 214; Middle sweep 215; Drive wheel 216; Universal wheel 217; Side brush 218; 219 Dust box release button ; 220 dust box dust inlet; 221 dust box manual open button; 222 sealing ring.
  • FIG. 1 is a structural diagram of a cleaning robot.
  • a dust box release button 219 is installed on the cleaning robot. When the dust box release button 219 is pressed, the dust box 202 can be removed.
  • the dust charging method controls the direction in which the cleaning robot returns to the maintenance station based on whether the cleaning robot has a water tank. If the cleaning tank is not installed, the dust-exhaust contact sheet of the cleaning robot is brought into contact with the maintenance station contact sheet.
  • the cleaning robot Carry out the dust removal work; after the dust removal is completed, the cleaning robot exits the maintenance station and rotates a certain angle, and then the cleaning robot moves forward, and the charging contact piece of the cleaning robot and the maintenance station contact piece of the maintenance contact with each other, so that the cleaning robot Charging work; if a water tank is installed, make the cleaning robot charge the contact pads and maintenance Station service station contact piece, only the work for charging the cleaning robot. That is, in the present invention, if the cleaning robot is not equipped with a water tank, the maintenance station first vacuum-cleans the dust box of the cleaning robot and then recharges it; if the cleaning robot installs a water tank, the maintenance station only charges the cleaning robot.
  • the invention realizes the cooperative control of charging and dust removal of the cleaning robot, which is convenient for users.
  • the dust in the dust box of the cleaning robot can be vacuumed into the dust bag of the maintenance station by vacuum, so there is no need to remove the dust box from the cleaning robot to clean it. It has the advantages of convenient cleaning and no pollution to the external environment.
  • the vacuum cleaning and charging device of the cleaning robot provided by the present invention includes a maintenance station 100 and a cleaning robot 200;
  • the lower part of the maintenance station 100 is provided with a charging and suction base 101, and the charging and suction base 101 is provided with a maintenance station dust suction port 103;
  • a dust bag 105 is arranged inside the bag storage box 104;
  • a dust suction fan 107 is arranged outside the dust bag storage box 104 and is located in the cavity of the maintenance station 100, and the air suction port of the dust suction fan 107 communicates with the dust bag storage box 104, A negative pressure is generated in the dust bag accommodating box 104; one end of the dust suction hose 106 is in contact with the dust inlet end of the dust bag 105, and the other end of the dust suction hose 106 is fixedly connected to the dust suction port 103 of the maintenance station;
  • the cleaning robot 200 has a cleaning robot body 201, and a dust box 202 is provided on one side of the cleaning robot body 201; a dust box dust outlet 203 is provided at the bottom of the dust box 202; a dust box dust outlet 203 and a maintenance station dust outlet Corresponding to 103, it can be pressed on the outside of the suction port 103 of the maintenance station, so as to realize the communication between the suction port 103 of the maintenance station and the dust outlet 203 of the dust box;
  • Figures 16 and 17 are the cleaning robot and the dust box dust outlet 203 It is a schematic diagram of the cooperation state with the maintenance station dust suction port 103.
  • FIGS. 8, 10 and 12 there are schematic diagrams of the dust box dust outlet 203 when it is opened under a negative pressure.
  • FIGS. 9, 11 and 13 the dust box dust outlet 203 at the valve torsion spring is shown. Schematic diagram when closed under action.
  • the dust box dust outlet 203 has a dust inlet end 2031 and a dust outlet end 2032.
  • a check valve assembly is installed outside the dust inlet end 2031.
  • the check valve assembly includes a valve 204, a valve torsion spring 205, and a valve shaft 206.
  • the valve shaft 206 is fixedly mounted on the outside of the dust inlet 2031; the valve 204 can be rotatably mounted on the valve shaft 206; when the valve 204 is rotated and pressed to the dust inlet 2031, the valve 204 seals the dust inlet 2031; the valve torsion spring 205 is provided on the valve On the outer side of 204, the valve torsion spring 205 is used to apply a pressing force to the dust inlet end 2031 to the valve 204, and then press the valve 204 on the dust inlet end 2031.
  • a fixed pipe is fixedly installed on the outer side of the valve 204 207; after the valve torsion spring 205 passes through the fixed pipe 207, the left and right ends of the valve torsion spring 205 are respectively wound around the valve rotating shaft 206.
  • FIG. 18 is a schematic diagram of the vacuum cleaning of the dust box by the maintenance station 100 when the valve 204 is opened, the direction of the arrow in the figure is the flow direction of garbage when it flows from the dust box to the dust bag of the maintenance station.
  • the maintenance station 100 has a cover plate 108 for opening the dust bag storage box 104.
  • the dust bag in the maintenance station can be replaced by opening the cover.
  • the dust bag is a disposable dust bag.
  • the maintenance station performs vacuum dust removal on the dust box 202 when the dust box does not need to be taken out of the cleaning robot by means of vacuum dust removal; The function of removing the dust box from the cleaning robot and cleaning it.
  • the sweeping robot 200 has the basic functions of sweeping. Referring to FIGS. 6 and 7, the bottom of the sweeping robot 200 is provided with a middle sweep 215, and driving wheels 216 are installed on both sides of the middle sweep. 218. The cleaning robot 200 is driven to move by the driving wheel 216, and the cleaning function is realized by the middle sweep 215 and the side brush 218.
  • a water tank 208 is detachably installed on the back of the cleaning robot body 201 and located outside the dust outlet 203 of the dust box; a water tank detector 213 is arranged on the cleaning robot body 201 for detecting whether or not the water tank 208 is installed.
  • the charging and cleaning base 101 is provided with a maintenance station contact piece 102; a cleaning contact body 209 is installed at one end on the back of the cleaning robot body 201; Contact sheet 210;
  • a cleaning robot main board 211 and a rechargeable battery 212 are installed inside the cleaning robot body 201; a first pin of the cleaning robot main board 211 is electrically connected to the dust exhaust contact sheet 210; a second pin of the cleaning robot main board 211 and one end of the rechargeable battery 212 Connected, the other end of the rechargeable battery 212 is electrically connected to the charging contact piece 209; the cleaning robot main board 211 is also electrically connected to the water tank detector 213;
  • the maintenance station 100 is installed with a maintenance station controller, and the maintenance station controller is respectively connected to the maintenance station contact piece 102, the dust suction fan 107, and the charging control circuit.
  • the invention also provides a vacuum charging method for a vacuum cleaning and charging device of a cleaning robot, which includes the following steps:
  • Step 1 The maintenance station 100 installs multiple infrared emitters in different areas. When the cleaning robot 200 needs to be maintained, each infrared emitter is turned on; each infrared emitter emits infrared signals in different directions;
  • the relative position between itself and the maintenance station 100 is determined by the received infrared signal; then, the cleaning robot 200 approaches the maintenance station 100 according to the relative position;
  • the cleaning robot 200 detects whether the water tank 208 is currently installed through the water tank detector 213, and if it is not installed, performs step 2 to step 5; if it is installed, performs step 6 to step 7;
  • step 2 the cleaning robot 200 adjusts its direction so that the end of the cleaning robot 200 on which the dust-exhausting contact piece 210 is installed faces the maintenance station 100; at this time, it is in the state shown in FIG. 15.
  • the cleaning robot 200 continues to move forward.
  • the cleaning robot 200 detects that the dust exhausting contact sheet 210 is in contact with the maintenance station contact sheet 102 of the maintenance station 100, it indicates that the cleaning robot 200 has been moved into place.
  • the dust box dust outlet 203 of the cleaning robot 200 is exactly pressed against the maintenance station dust inlet 103 of the maintenance station 100; the cleaning robot 200 controls itself to stop moving;
  • Step 3 when the dust contact sheet 210 of the cleaning robot 200 is in contact with the maintenance sheet contact sheet 102 of the maintenance station 100, for the maintenance station 100, the maintenance station controller detects that the dust contact sheet 210 and the maintenance sheet contact 102 The dust discharge signal is turned on, and then, the controller of the maintenance station starts the dust suction process of the cleaning robot 200; the state shown in FIG. 18 is formed.
  • the maintenance station controller starts the vacuuming process of the cleaning robot 200. Referring to FIG. 18, the details are as follows:
  • step 3.1 the controller of the maintenance station starts the dust suction fan 107, which generates a negative pressure in the dust bag accommodating box 104, and further causes the vacuum suction hose 106 to generate a negative pressure;
  • Step 3.2 When the suction hose 106 generates a negative pressure, under the effect of the negative pressure, the valve 204 moves in the opposite direction against the pressing force of the valve torsion spring 205, and then opens the dust inlet 2031, so that the dust box is discharged. Port 203 is opened;
  • Step 3.3 when the dust box dust outlet 203 is opened, under the action of negative pressure, the garbage in the cavity of the dust box 202 passes through the dust box dust outlet 203 and the maintenance station dust inlet 103 in turn and is sucked into the dust. Inside the hose 106 and finally sucked into the dust bag 105;
  • step 3.4 after the dust collecting operation of the dust box 202 is completed, the controller of the maintenance station turns off the dust collecting fan 107; as the negative pressure disappears, the valve 204 is pressed by the valve torsion spring 205 to the inlet of the dust box dust outlet 203. Dust end 2031, which seals the dust inlet end 2031 of the dust box dust outlet 203 to prevent leakage of garbage in the dust box 202;
  • Step 3.5 the dust removal operation of the dust box 202 is ended
  • Step 4 the cleaning robot 200 retracts a certain distance from the maintenance station 100 to form the state shown in FIG. 19; and then rotates a certain angle so that the charging contact piece 209 of the cleaning robot 200 faces the maintenance station 100 to form the state shown in FIG. 20;
  • the cleaning robot 200 continues to move forward.
  • the cleaning robot 200 detects that the charging contact piece 209 is in contact with the maintenance station contact piece 102 of the maintenance station 100, it indicates that the cleaning robot 200 has moved into place.
  • the cleaning robot 200 controls itself. Stop moving; form the state shown in Figure 21.
  • Step 5 When the charging contact piece 209 of the cleaning robot 200 is in contact with the maintenance station contact piece 102 of the maintenance station 100, for the maintenance station 100, the maintenance station controller detects that the charging contact piece 209 is in contact with the maintenance station contact piece 102. The charging signal, and then the maintenance station controller starts the charging process of the cleaning robot 200 until the charging is completed;
  • Step 6 The cleaning robot 200 adjusts its direction so that the end of the cleaning robot 200 on which the charging contact piece 209 is installed faces the maintenance station 100; the state shown in FIG. 20 is formed.
  • the cleaning robot 200 continues to move forward.
  • the cleaning robot 200 detects that the charging contact piece 209 is in contact with the maintenance station contact piece 102 of the maintenance station 100, it indicates that the cleaning robot 200 has moved into place.
  • the cleaning robot 200 controls itself. Stop moving; form the state shown in Figure 21.
  • Step 7 When the charging contact piece 209 of the cleaning robot 200 is in contact with the maintenance station contact piece 102 of the maintenance station 100, for the maintenance station 100, the maintenance station controller detects that the charging contact piece 209 is in contact with the maintenance station contact piece 102. Charging signal, and then the maintenance station controller starts the charging process of the cleaning robot 200 until the charging is completed.
  • the invention provides a vacuum cleaning charging device and a vacuum charging method for a cleaning robot, which have the following advantages:
  • the robot performs charging and maintenance work; when the dust exhaust contact sheet and the maintenance station contact sheet are in contact, the maintenance station performs vacuum dust removal work on the dust box of the cleaning robot, thereby simultaneously realizing the charging and dust removal maintenance work of the cleaning robot, and has various functions.

Abstract

一种扫地机器人（200）吸尘充电装置以及吸尘充电方法，扫地机器人（200）具有扫地机器人本体（201），扫地机器人本体（201）的一侧设置尘盒（202）；尘盒（202）的底部具有尘盒排尘口（203）；尘盒排尘口（203）与维护站吸尘口（103）相对应，可按压于维护站吸尘口（103）的外面，进而实现维护站吸尘口（103）和尘盒排尘口（203）的连通。优点为：（1）同时实现了对扫地机器人（200）的充电和除尘维护工作，具有功能多样的优点；(2)在维护站（100）对扫地机器人（200）进行除尘的维护工作时，采用真空方式将扫地机器人尘盒（202）内的尘土等垃圾抽到维护站（100）的尘袋（105）中，因此，不需要从扫地机器人（200）内取出尘盒（202）对其清理，具有清理方便、不会对外部环境造成污染的优点。

Description

一种扫地机器人吸尘充电装置以及吸尘充电方法 技术领域
本发明属于扫地机器人吸尘技术领域，具体涉及一种扫地机器人吸尘充电装置以及吸尘充电方法。
背景技术
扫地机器人，又称自动打扫机、智能吸尘、机器人吸尘器等，是智能家用电器的一种，目前应用广泛。
现有的扫地机器人，其主要工作过程为：扫地机器人在地面上移动，将地面尘土等垃圾吸纳进入自身的尘盒，从而完成地面清理的功能。然后，用户需要每隔一定时间按压扫地机器人表面的尘盒释放按钮，将尘盒取出，然后对尘盒清理，去除尘盒内的垃圾后，再将尘盒重新装入到扫地机器人内。
上述的扫地机器人对尘盒的清理方式，具有以下不足：用户需要将尘盒取出才能对尘盒内垃圾进行清理，一方面，加重了用户的使用负担；另一方面，尘盒直接暴露于环境中进行清理，既不利于清理用户的身体健康，也对环境造成了不利影响。
发明内容
针对现有技术存在的缺陷，本发明提供一种扫地机器人吸尘充电装置以及吸尘充电方法，可有效解决上述问题。
本发明采用的技术方案如下：
本发明提供一种扫地机器人吸尘充电装置，包括维护站(100)和扫地机器人(200)；
所述维护站(100)的下部具有充电吸尘座体(101)，所述充电吸尘座体(101)设置维护站吸尘口(103)；所述维护站(100)的内部设置尘袋容纳箱(104)，所述尘袋容纳箱(104)的内部布置尘袋(105)；所述尘袋容纳箱(104)的外部并且位于所述维护站(100)的腔体中，布置吸尘风机(107)，所述吸尘风机(107)的吸风口与所述尘袋容纳箱(104)连通，用于使所述尘袋容纳箱(104)产生负压；吸尘软管(106)的一端与所述尘袋(105)的进尘端接触，所述吸 尘软管(106)的另一端与所述维护站吸尘口(103)连接固定；
所述扫地机器人(200)具有扫地机器人本体(201)，所述扫地机器人本体(201)的一侧设置尘盒(202)；所述尘盒(202)的底部具有尘盒排尘口(203)；所述尘盒排尘口(203)与所述维护站吸尘口(103)相对应，可按压于所述维护站吸尘口(103)的外面，进而实现所述维护站吸尘口(103)和所述尘盒排尘口(203)的连通；
所述尘盒排尘口(203)具有进尘端(2031)和排尘端(2032)；所述进尘端(2031)的外侧安装单向阀组件；其中，所述单向阀组件包括阀门(204)、阀门扭簧(205)和阀门转轴(206)；所述阀门转轴(206)固定安装于所述进尘端(2031)的外侧；所述阀门(204)可转动安装于所述阀门转轴(206)上面；所述阀门(204)转动并按压到所述进尘端(2031)时，所述阀门(204)将所述进尘端(2031)密封；所述阀门扭簧(205)设置于所述阀门(204)的外侧面，所述阀门扭簧(205)用于向所述阀门(204)施加向所述进尘端(2031)的按压力，进而将所述阀门(204)按压于所述进尘端(2031)；当所述阀门(204)的外侧面处于负压时，在负压的作用下，所述阀门(204)克服所述阀门扭簧(205)的按压力而向相反方向运动，进而打开所述进尘端(2031)。
优选的，在所述阀门(204)的外侧面固定安装固定管(207)；所述阀门扭簧(205)穿过所述固定管(207)后，所述阀门扭簧(205)的左右两端分别缠绕于所述阀门转轴(206)上面。
优选的，所述维护站(100)具有用于打开所述尘袋容纳箱(104)的盖板(108)。
优选的，所述尘盒(202)具有手动打开尘盒的盒盖(214)。
优选的，所述扫地机器人(200)的底部设置中扫(215)，中扫的两侧安装驱动轮(216)；所述扫地机器人(200)的底部边缘安装万向轮(217)和边刷(218)。
优选的，所述扫地机器人本体(201)的背面且位于所述尘盒排尘口(203)的外面，可拆卸安装水箱(208)；所述扫地机器人本体(201)上布置用于检测是否安装所述水箱(208)的水箱检测器(213)。
优选的，所述充电吸尘座体(101)设置维护站接触片(102)；所述扫地机器人本体(201)背面的一端安装充电接触片(209)；所述扫地机器人本体(201)背面的另一端安装排尘接触片(210)；
所述扫地机器人本体(201)的内部安装扫地机器人主板(211)和充电电池(212)；所述扫地机器人主板(211)的第1引脚与所述排尘接触片(210)电性连接；所述扫地机器人主板(211)的第2引脚与所述充电电池(212)的一端连接，所述充电电池(212)的另一端与所述充电接触片(209)电性连接；所述扫地机器人主板(211)还与所述水箱检测器(213)电性连接；
所述维护站(100)安装维护站控制器，所述维护站控制器分别与所述维护站接触片(102)、所述吸尘风机(107)和充电控制电路连接。
本发明还提供一种扫地机器人吸尘充电装置的吸尘充电方法，包括以下步骤：
步骤1，维护站(100)在不同区域安装多个红外发射器，当需要对扫地机器人(200)进行维护时，开启各个红外发射器；各个所述红外发射器向不同方向发射红外信号；
扫地机器人(200)所布置的红外接收器接收到红外信号时，通过接收到的红外信号确定自身与所述维护站(100)之间的相对位置；然后，扫地机器人(200)根据所述相对位置向所述维护站(100)靠近；
同时，所述扫地机器人(200)通过水箱检测器(213)检测当前是否已安装水箱(208)，如果没有安装，则执行步骤2-步骤5；如果已安装，则执行步骤6-步骤7；
步骤2，所述扫地机器人(200)调整自身的方向，使所述扫地机器人(200)的安装排尘接触片(210)的一端朝向所述维护站(100)；
然后，所述扫地机器人(200)继续前行，当所述扫地机器人(200)检测到所述排尘接触片(210)与所述维护站(100)的维护站接触片(102)接触导通时，表明所述扫地机器人(200)已移动到位，此时，扫地机器人(200)的尘盒排尘口(203)正好按压于所述维护站(100)的维护站吸尘口(103)；所述扫地机器人(200)控制自身停止移动；
步骤3，当所述扫地机器人(200)的排尘接触片(210)与所述维护站(100)的维护站接触片(102)接触导通时，对于所述维护站(100)，维护站控制器检测到排尘接触片(210)与维护站接触片(102)导通的排尘信号，然后，所述维护站控制器启动对所述扫地机器人(200)的吸尘过程；
其中，所述维护站控制器启动对所述扫地机器人(200)的吸尘过程，具体为：
步骤3.1，所述维护站控制器启动吸尘风机(107)，吸尘风机(107)使尘袋容纳箱(104)产生负压，进而使吸尘软管(106)产生负压；
步骤3.2，当所述吸尘软管(106)产生负压时，在负压的作用下，阀门(204)克服阀门扭簧(205)的按压力而向相反方向运动，进而打开进尘端(2031)，从而使尘盒排尘口(203)被打开；
步骤3.3，当所述尘盒排尘口(203)被打开时，在负压的作用下，尘盒(202)腔体内的垃圾依次通过所述尘盒排尘口(203)和所述维护站吸尘口(103)后，被吸入到吸尘软管(106)内，并最终被吸入到尘袋(105)内；
步骤3.4，当尘盒(202)吸尘工作结束后，所述维护站控制器关闭吸尘风机(107)；由于负压作用消失，阀门(204)在阀门扭簧(205)的作用下，按压到尘盒排尘口(203)的进尘端(2031)，将所述尘盒排尘口(203)的进尘端(2031)密封，进而防止所述尘盒(202)内的垃圾泄露；
步骤3.5，尘盒(202)除尘工作结束；
步骤4，然后，所述扫地机器人(200)退离所述维护站(100)一定距离，并旋转一定角度，使所述扫地机器人(200)的充电接触片(209)朝向所述维护站(100)；
然后，所述扫地机器人(200)继续前行，当所述扫地机器人(200)检测到所述充电接触片(209)与所述维护站(100)的维护站接触片(102)接触导通时，表明所述扫地机器人(200)已移动到位，此时，所述扫地机器人(200)控制自身停止移动；
步骤5，当所述扫地机器人(200)的充电接触片(209)与所述维护站(100)的维护站接触片(102)接触导通时，对于所述维护站(100)，维护站控制器检 测到充电接触片(209)与维护站接触片(102)导通的充电信号，然后，所述维护站控制器启动对所述扫地机器人(200)的充电过程，直到充电完成；
步骤6，所述扫地机器人(200)调整自身的方向，使所述扫地机器人(200)的安装充电接触片(209)的一端朝向所述维护站(100)；
然后，所述扫地机器人(200)继续前行，当所述扫地机器人(200)检测到所述充电接触片(209)与所述维护站(100)的维护站接触片(102)接触导通时，表明所述扫地机器人(200)已移动到位，此时，所述扫地机器人(200)控制自身停止移动；
步骤7，当所述扫地机器人(200)的充电接触片(209)与所述维护站(100)的维护站接触片(102)接触导通时，对于所述维护站(100)，维护站控制器检测到充电接触片(209)与维护站接触片(102)导通的充电信号，然后，所述维护站控制器启动对所述扫地机器人(200)的充电过程，直到充电完成。
本发明提供的一种扫地机器人吸尘充电装置以及吸尘充电方法具有以下优点：
(1)在扫地机器人背面不同位置，分别设置充电接触片和排尘接触片，在维护站的充电座体设置维护站接触片，当充电接触片和维护站接触片接触时，维护站对扫地机器人进行充电维护工作；当排尘接触片和维护站接触片接触时，维护站对扫地机器人的尘盒进行真空除尘工作，从而同时实现了对扫地机器人的充电和除尘维护工作，具有功能多样的优点；
(2)在维护站对扫地机器人进行除尘的维护工作时，采用真空方式将扫地机器人尘盒内的尘土等垃圾抽到维护站的尘袋中，因此，不需要从扫地机器人内取出尘盒对其清理，具有清理方便、不会对外部环境造成污染的优点。
附图说明
图1为扫地机器人的立体图；
图2为扫地机器人的侧面图；
图3为尘盒从扫地机器人取出时的状态图；
图4为扫地机器人安装水箱状态时的仰视图；
图5为水箱从扫地机器人上取出时的状态图；
图6为水箱从扫地机器人上取出后，尘盒排尘口在关闭状态时的扫地机器人的仰视图；
图7为水箱从扫地机器人上取出后，尘盒排尘口在打开状态时的扫地机器人的仰视图；
图8为尘盒排尘口在关闭状态时的尘盒剖面图；
图9为尘盒排尘口在打开状态时的尘盒剖面图；
图10为尘盒排尘口在关闭状态时的结构图；
图11为尘盒排尘口在打开状态时的结构图；
图12为尘盒排尘口在关闭状态时的结构图；
图13为尘盒排尘口在打开状态时的结构图；
图14为维护站的透视图；
图15为扫地机器人需要排尘时靠近维护站的过程图；
图16为扫地机器人需要排尘时移动到位时的状态图；
图17为扫地机器人需要排尘并且移动到位时的透视图；
图18为扫地机器人需要排尘并且移动到位时的剖面图；
图19为扫地机器人排尘结束后远离维护站的过程图；
图20为扫地机器人需要充电时靠近维护站的过程图；
图21为扫地机器人需要充电并且移动到位时的状态图；
图22为扫地机器人背面的电路板布置图；
图23为维护站盖板打开时的状态图；
图24为从维护站取出尘袋时的状态图；
图25为从维护站取出尘袋并关闭盖板时的状态图；
其中：
维护站100；充电吸尘座体101；维护站接触片102；维护站吸尘口103；尘袋容纳箱104；尘袋105；吸尘软管106；吸尘风机107；盖板108；；
扫地机器人200；扫地机器人本体201；尘盒202；尘盒排尘口203；进尘端2031；排尘端2032；阀门204；阀门扭簧205；阀门转轴206；固定管207；水箱208；充电接触片209；排尘接触片210；扫地机器人主板211；充电电池212；水 箱检测器213；盒盖214；中扫215；驱动轮216；万向轮217；边刷218；219尘盒释放按钮；220尘盒进尘口；221尘盒手动打开按钮；222密封圈。
具体实施方式
为了使本发明所解决的技术问题、技术方案及有益效果更加清楚明白，以下结合附图及实施例，对本发明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用以解释本发明，并不用于限定本发明。
现有技术中，参考图1，为扫地机器人的结构图，在扫地机器人上安装尘盒释放按钮219；当按压尘盒释放按钮219时，可取出尘盒202，参考图3，为尘盒从扫地机器人取出时的状态图；针对现有技术中存在的对扫地机器人尘盒内的垃圾进行清理时所具有的清理不便以及污染环境等问题，本发明提供一种扫地机器人吸尘充电装置以及吸尘充电方法，根据扫地机器人是否安装水箱，对扫地机器人回到维护站的方向进行控制，如果没有安装水箱，则使扫地机器人的排尘接触片与维护站的维护站接触片接触，对扫地机器人进行除尘工作；当除尘结束后，扫地机器人退出维护站，并旋转一定角度，然后使扫地机器人前行，并使扫地机器人的充电接触片和维护站的维护站接触片接触，从而对扫地机器人进行充电工作；如果安装水箱，则使扫地机器人充电接触片和维护站的维护站接触片接触，只对扫地机器人进行充电工作。也就是说，本发明中，如果扫地机器人没有安装水箱，则维护站先对扫地机器人的尘盒进行真空除尘，然后进行充电；如果扫地机器人安装水箱，则维护站只对扫地机器人进行充电。本发明实现了对扫地机器人进行充电和除尘的协同控制，方便用户使用。另外，在维护站对扫地机器人进行吸尘时，能够通过真空方式将扫地机器人尘盒内的尘土等垃圾抽到维护站的尘袋中，因此，不需要从扫地机器人内取出尘盒对其清理，具有清理方便、不会对外部环境造成污染的优点。
本发明提供的扫地机器人吸尘充电装置，包括维护站100和扫地机器人200；
参考图14、图15和图18，维护站100的下部具有充电吸尘座体101，充电吸尘座体101设置维护站吸尘口103；维护站100的内部设置尘袋容纳箱104，尘袋容纳箱104的内部布置尘袋105；尘袋容纳箱104的外部并且位于维护站100的腔体中，布置吸尘风机107，吸尘风机107的吸风口与尘袋容纳箱104连通，用于使 尘袋容纳箱104产生负压；吸尘软管106的一端与尘袋105的进尘端接触，吸尘软管106的另一端与维护站吸尘口103连接固定；
参考图15，扫地机器人200具有扫地机器人本体201，扫地机器人本体201的一侧设置尘盒202；尘盒202的底部具有尘盒排尘口203；尘盒排尘口203与维护站吸尘口103相对应，可按压于维护站吸尘口103的外面，进而实现维护站吸尘口103和尘盒排尘口203的连通；图16、图17即为扫地机器人和尘盒排尘口203与维护站吸尘口103配合状态的示意图。
参考图8、图10和图12，为尘盒排尘口203在负压作用下被打开时的示意图；参考图9、图11和图13，为尘盒排尘口203在阀门扭簧的作用下关闭时的示意图。尘盒排尘口203具有进尘端2031和排尘端2032；进尘端2031的外侧安装单向阀组件；其中，单向阀组件包括阀门204、阀门扭簧205和阀门转轴206；阀门转轴206固定安装于进尘端2031的外侧；阀门204可转动安装于阀门转轴206上面；阀门204转动并按压到进尘端2031时，阀门204将进尘端2031密封；阀门扭簧205设置于阀门204的外侧面，阀门扭簧205用于向阀门204施加向进尘端2031的按压力，进而将阀门204按压于进尘端2031；在具体实现上，在阀门204的外侧面固定安装固定管207；阀门扭簧205穿过固定管207后，阀门扭簧205的左右两端分别缠绕于阀门转轴206上面。
当阀门204的外侧面处于负压时，在负压的作用下，阀门204克服阀门扭簧205的按压力而向相反方向运动，进而打开进尘端2031。如图18所示，即为阀门204被打开时，维护站100对尘盒进行真空除尘的示意图，图中箭头方向为垃圾从尘盒流向维护站尘袋时的流动方向。
实际应用中，维护站100具有用于打开尘袋容纳箱104的盖板108。
通过打开盖板，可更换维护站内的尘袋。尘袋采用一次性尘袋。
虽然本发明中，维护站通过真空除尘的方式，在不需要从扫地机器人取出尘盒时对其尘盒202进行真空除尘；但本发明中，尘盒同样设置尘盒释放按钮219，同样支持手动从扫地机器人上取下尘盒，并对其清理的功能。
扫地机器人200具有扫地的基本功能，参考图6和图7，扫地机器人200的底部设置中扫215，中扫的两侧安装驱动轮216；扫地机器人200的底部边缘安装万 向轮217和边刷218。通过驱动轮216驱动扫地机器人200移动，通过中扫215和边刷218，实现扫地的功能。
扫地机器人本体201的背面且位于尘盒排尘口203的外面，可拆卸安装水箱208；扫地机器人本体201上布置用于检测是否安装水箱208的水箱检测器213。
为满足充电和除尘两种功能，参考图22，充电吸尘座体101设置维护站接触片102；扫地机器人本体201背面的一端安装充电接触片209；扫地机器人本体201背面的另一端安装排尘接触片210；
扫地机器人本体201的内部安装扫地机器人主板211和充电电池212；扫地机器人主板211的第1引脚与排尘接触片210电性连接；扫地机器人主板211的第2引脚与充电电池212的一端连接，充电电池212的另一端与充电接触片209电性连接；扫地机器人主板211还与水箱检测器213电性连接；
维护站100安装维护站控制器，维护站控制器分别与维护站接触片102、吸尘风机107和充电控制电路连接。
本发明还提供一种扫地机器人吸尘充电装置的吸尘充电方法，包括以下步骤：
步骤1，维护站100在不同区域安装多个红外发射器，当需要对扫地机器人200进行维护时，开启各个红外发射器；各个红外发射器向不同方向发射红外信号；
扫地机器人200所布置的红外接收器接收到红外信号时，通过接收到的红外信号确定自身与维护站100之间的相对位置；然后，扫地机器人200根据相对位置向维护站100靠近；
同时，扫地机器人200通过水箱检测器213检测当前是否已安装水箱208，如果没有安装，则执行步骤2-步骤5；如果已安装，则执行步骤6-步骤7；
步骤2，扫地机器人200调整自身的方向，使扫地机器人200的安装排尘接触片210的一端朝向维护站100；此时为图15所示状态。
然后，扫地机器人200继续前行，当扫地机器人200检测到排尘接触片210与维护站100的维护站接触片102接触导通时，表明扫地机器人200已移动到位，图16即为移动到位时的状态图；此时，扫地机器人200的尘盒排尘口203正好按压 于维护站100的维护站吸尘口103；扫地机器人200控制自身停止移动；
步骤3，当扫地机器人200的排尘接触片210与维护站100的维护站接触片102接触导通时，对于维护站100，维护站控制器检测到排尘接触片210与维护站接触片102导通的排尘信号，然后，维护站控制器启动对扫地机器人200的吸尘过程；形成图18所示状态。
其中，维护站控制器启动对扫地机器人200的吸尘过程，参考图18，具体为：
步骤3.1，维护站控制器启动吸尘风机107，吸尘风机107使尘袋容纳箱104产生负压，进而使吸尘软管106产生负压；
步骤3.2，当吸尘软管106产生负压时，在负压的作用下，阀门204克服阀门扭簧205的按压力而向相反方向运动，进而打开进尘端2031，从而使尘盒排尘口203被打开；
步骤3.3，当尘盒排尘口203被打开时，在负压的作用下，尘盒202腔体内的垃圾依次通过尘盒排尘口203和维护站吸尘口103后，被吸入到吸尘软管106内，并最终被吸入到尘袋105内；
步骤3.4，当尘盒202吸尘工作结束后，维护站控制器关闭吸尘风机107；由于负压作用消失，阀门204在阀门扭簧205的作用下，按压到尘盒排尘口203的进尘端2031，将尘盒排尘口203的进尘端2031密封，进而防止尘盒202内的垃圾泄露；
步骤3.5，尘盒202除尘工作结束；
步骤4，然后，扫地机器人200退离维护站100一定距离，形成图19所示状态；然后旋转一定角度，使扫地机器人200的充电接触片209朝向维护站100，形成图20所示状态；
然后，扫地机器人200继续前行，当扫地机器人200检测到充电接触片209与维护站100的维护站接触片102接触导通时，表明扫地机器人200已移动到位，此时，扫地机器人200控制自身停止移动；形成图21所示状态。
步骤5，当扫地机器人200的充电接触片209与维护站100的维护站接触片102接触导通时，对于维护站100，维护站控制器检测到充电接触片209与维护站接触片102导通的充电信号，然后，维护站控制器启动对扫地机器人200的充电过 程，直到充电完成；
步骤6，扫地机器人200调整自身的方向，使扫地机器人200的安装充电接触片209的一端朝向维护站100；形成图20所示状态。
然后，扫地机器人200继续前行，当扫地机器人200检测到充电接触片209与维护站100的维护站接触片102接触导通时，表明扫地机器人200已移动到位，此时，扫地机器人200控制自身停止移动；形成图21所示状态。
步骤7，当扫地机器人200的充电接触片209与维护站100的维护站接触片102接触导通时，对于维护站100，维护站控制器检测到充电接触片209与维护站接触片102导通的充电信号，然后，维护站控制器启动对扫地机器人200的充电过程，直到充电完成。
本发明提供一种扫地机器人吸尘充电装置以及吸尘充电方法，具有以下优点：
(1)在扫地机器人背面不同位置，分别设置充电接触片和排尘接触片，在维护站的充电座体设置维护站接触片，当充电接触片和维护站接触片接触时，维护站对扫地机器人进行充电维护工作；当排尘接触片和维护站接触片接触时，维护站对扫地机器人的尘盒进行真空除尘工作，从而同时实现了对扫地机器人的充电和除尘维护工作，具有功能多样的优点；
(2)在维护站对扫地机器人进行除尘的维护工作时，采用真空方式将扫地机器人尘盒内的尘土等垃圾抽到维护站的尘袋中，因此，不需要从扫地机器人内取出尘盒对其清理，具有清理方便、不会对外部环境造成污染的优点。
以上所述仅是本发明的优选实施方式，应当指出，对于本技术领域的普通技术人员来说，在不脱离本发明原理的前提下，还可以做出若干改进和润饰，这些改进和润饰也应视本发明的保护范围。

Claims (8)

  1. 一种扫地机器人吸尘充电装置，其特征在于，包括维护站(100)和扫地机器人(200)；
    所述维护站(100)的下部具有充电吸尘座体(101)，所述充电吸尘座体(101)设置维护站吸尘口(103)；所述维护站(100)的内部设置尘袋容纳箱(104)，所述尘袋容纳箱(104)的内部布置尘袋(105)；所述尘袋容纳箱(104)的外部并且位于所述维护站(100)的腔体中，布置吸尘风机(107)，所述吸尘风机(107)的吸风口与所述尘袋容纳箱(104)连通，用于使所述尘袋容纳箱(104)产生负压；吸尘软管(106)的一端与所述尘袋(105)的进尘端接触，所述吸尘软管(106)的另一端与所述维护站吸尘口(103)连接固定；
    所述扫地机器人(200)具有扫地机器人本体(201)，所述扫地机器人本体(201)的一侧设置尘盒(202)；所述尘盒(202)的底部具有尘盒排尘口(203)；所述尘盒排尘口(203)与所述维护站吸尘口(103)相对应，可按压于所述维护站吸尘口(103)的外面，进而实现所述维护站吸尘口(103)和所述尘盒排尘口(203)的连通；
    所述尘盒排尘口(203)具有进尘端(2031)和排尘端(2032)；所述进尘端(2031)的外侧安装单向阀组件；其中，所述单向阀组件包括阀门(204)、阀门扭簧(205)和阀门转轴(206)；所述阀门转轴(206)固定安装于所述进尘端(2031)的外侧；所述阀门(204)可转动安装于所述阀门转轴(206)上面；所述阀门(204)转动并按压到所述进尘端(2031)时，所述阀门(204)将所述进尘端(2031)密封；所述阀门扭簧(205)设置于所述阀门(204)的外侧面，所述阀门扭簧(205)用于向所述阀门(204)施加向所述进尘端(2031)的按压力，进而将所述阀门(204)按压于所述进尘端(2031)；当所述阀门(204)的外侧面处于负压时，在负压的作用下，所述阀门(204)克服所述阀门扭簧(205)的按压力而向相反方向运动，进而打开所述进尘端(2031)。
  2. 根据权利要求1所述的一种扫地机器人吸尘充电装置，其特征在于，在所述阀门(204)的外侧面固定安装固定管(207)；所述阀门扭簧(205)穿过所述固定管(207)后，所述阀门扭簧(205)的左右两端分别缠绕于所述阀门转轴(206)上面。
  3. 根据权利要求1所述的一种扫地机器人吸尘充电装置，其特征在于，所述维护站(100)具有用于打开所述尘袋容纳箱(104)的盖板(108)。
  4. 根据权利要求1所述的一种扫地机器人吸尘充电装置，其特征在于，所述尘盒(202)具有手动打开尘盒的盒盖(214)。
  5. 根据权利要求1所述的一种扫地机器人吸尘充电装置，其特征在于，所述扫地机器人(200)的底部设置中扫(215)，中扫的两侧安装驱动轮(216)；所述扫地机器人(200)的底部边缘安装万向轮(217)和边刷(218)。
  6. 根据权利要求1所述的一种扫地机器人吸尘充电装置，其特征在于，所述扫地机器人本体(201)的背面且位于所述尘盒排尘口(203)的外面，可拆卸安装水箱(208)；所述扫地机器人本体(201)上布置用于检测是否安装所述水箱(208)的水箱检测器(213)。
  7. 根据权利要求4所述的一种扫地机器人吸尘充电装置，其特征在于，所述充电吸尘座体(101)设置维护站接触片(102)；所述扫地机器人本体(201)背面的一端安装充电接触片(209)；所述扫地机器人本体(201)背面的另一端安装排尘接触片(210)；
    所述扫地机器人本体(201)的内部安装扫地机器人主板(211)和充电电池(212)；所述扫地机器人主板(211)的第1引脚与所述排尘接触片(210)电性连接；所述扫地机器人主板(211)的第2引脚与所述充电电池(212)的一端连接，所述充电电池(212)的另一端与所述充电接触片(209)电性连接；所述扫地机器人主板(211)还与所述水箱检测器(213)电性连接；
    所述维护站(100)安装维护站控制器，所述维护站控制器分别与所述维护站接触片(102)、所述吸尘风机(107)和充电控制电路连接。
  8. 一种权利要求1-7任一项所述的一种扫地机器人吸尘充电装置的吸尘充电方法，其特征在于，包括以下步骤：
    步骤1，维护站(100)在不同区域安装多个红外发射器，当需要对扫地机器人(200)进行维护时，开启各个红外发射器；各个所述红外发射器向不同方向发射红外信号；
    扫地机器人(200)所布置的红外接收器接收到红外信号时，通过接收到的 红外信号确定自身与所述维护站(100)之间的相对位置；然后，扫地机器人(200)根据所述相对位置向所述维护站(100)靠近；
    同时，所述扫地机器人(200)通过水箱检测器(213)检测当前是否已安装水箱(208)，如果没有安装，则执行步骤2-步骤5；如果已安装，则执行步骤6-步骤7；
    步骤2，所述扫地机器人(200)调整自身的方向，使所述扫地机器人(200)的安装排尘接触片(210)的一端朝向所述维护站(100)；
    然后，所述扫地机器人(200)继续前行，当所述扫地机器人(200)检测到所述排尘接触片(210)与所述维护站(100)的维护站接触片(102)接触导通时，表明所述扫地机器人(200)已移动到位，此时，扫地机器人(200)的尘盒排尘口(203)正好按压于所述维护站(100)的维护站吸尘口(103)；所述扫地机器人(200)控制自身停止移动；
    步骤3，当所述扫地机器人(200)的排尘接触片(210)与所述维护站(100)的维护站接触片(102)接触导通时，对于所述维护站(100)，维护站控制器检测到排尘接触片(210)与维护站接触片(102)导通的排尘信号，然后，所述维护站控制器启动对所述扫地机器人(200)的吸尘过程；
    其中，所述维护站控制器启动对所述扫地机器人(200)的吸尘过程，具体为：
    步骤3.1，所述维护站控制器启动吸尘风机(107)，吸尘风机(107)使尘袋容纳箱(104)产生负压，进而使吸尘软管(106)产生负压；
    步骤3.2，当所述吸尘软管(106)产生负压时，在负压的作用下，阀门(204)克服阀门扭簧(205)的按压力而向相反方向运动，进而打开进尘端(2031)，从而使尘盒排尘口(203)被打开；
    步骤3.3，当所述尘盒排尘口(203)被打开时，在负压的作用下，尘盒(202)腔体内的垃圾依次通过所述尘盒排尘口(203)和所述维护站吸尘口(103)后，被吸入到吸尘软管(106)内，并最终被吸入到尘袋(105)内；
    步骤3.4，当尘盒(202)吸尘工作结束后，所述维护站控制器关闭吸尘风机(107)；由于负压作用消失，阀门(204)在阀门扭簧(205)的作用下，按压 到尘盒排尘口(203)的进尘端(2031)，将所述尘盒排尘口(203)的进尘端(2031)密封，进而防止所述尘盒(202)内的垃圾泄露；
    步骤3.5，尘盒(202)除尘工作结束；
    步骤4，然后，所述扫地机器人(200)退离所述维护站(100)一定距离，并旋转一定角度，使所述扫地机器人(200)的充电接触片(209)朝向所述维护站(100)；
    然后，所述扫地机器人(200)继续前行，当所述扫地机器人(200)检测到所述充电接触片(209)与所述维护站(100)的维护站接触片(102)接触导通时，表明所述扫地机器人(200)已移动到位，此时，所述扫地机器人(200)控制自身停止移动；
    步骤5，当所述扫地机器人(200)的充电接触片(209)与所述维护站(100)的维护站接触片(102)接触导通时，对于所述维护站(100)，维护站控制器检测到充电接触片(209)与维护站接触片(102)导通的充电信号，然后，所述维护站控制器启动对所述扫地机器人(200)的充电过程，直到充电完成；
    步骤6，所述扫地机器人(200)调整自身的方向，使所述扫地机器人(200)的安装充电接触片(209)的一端朝向所述维护站(100)；
    然后，所述扫地机器人(200)继续前行，当所述扫地机器人(200)检测到所述充电接触片(209)与所述维护站(100)的维护站接触片(102)接触导通时，表明所述扫地机器人(200)已移动到位，此时，所述扫地机器人(200)控制自身停止移动；
    步骤7，当所述扫地机器人(200)的充电接触片(209)与所述维护站(100)的维护站接触片(102)接触导通时，对于所述维护站(100)，维护站控制器检测到充电接触片(209)与维护站接触片(102)导通的充电信号，然后，所述维护站控制器启动对所述扫地机器人(200)的充电过程，直到充电完成。
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