WO2020200328A1 - 智能清洁系统、自主机器人和基站 - Google Patents

智能清洁系统、自主机器人和基站 Download PDF

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Publication number
WO2020200328A1
WO2020200328A1 PCT/CN2020/090085 CN2020090085W WO2020200328A1 WO 2020200328 A1 WO2020200328 A1 WO 2020200328A1 CN 2020090085 W CN2020090085 W CN 2020090085W WO 2020200328 A1 WO2020200328 A1 WO 2020200328A1
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WO
WIPO (PCT)
Prior art keywords
air duct
valve
autonomous robot
air
suction device
Prior art date
Application number
PCT/CN2020/090085
Other languages
English (en)
French (fr)
Inventor
李行
周永飞
段传林
Original Assignee
北京石头世纪科技股份有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 北京石头世纪科技股份有限公司 filed Critical 北京石头世纪科技股份有限公司
Priority to US17/599,802 priority Critical patent/US20220175206A1/en
Publication of WO2020200328A1 publication Critical patent/WO2020200328A1/zh

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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
    • A47L9/10—Filters; Dust separators; Dust removal; Automatic exchange of filters
    • A47L9/12—Dry filters
    • A47L9/122—Dry filters flat
    • 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
    • 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
    • A47L9/149—Emptying means; Reusable bags
    • 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
    • A47L11/28—Floor-scrubbing 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
    • 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
    • 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
    • A47L11/4094—Accessories to be used in combination with conventional vacuum-cleaning 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
    • 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
    • A47L9/0072—Mechanical means for controlling the suction or for effecting pulsating action
    • 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
    • A47L9/06—Nozzles with fixed, e.g. adjustably fixed brushes or the like
    • A47L9/0686—Nozzles with cleaning cloths, e.g. using disposal fabrics for covering the nozzle
    • 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
    • A47L9/12—Dry filters
    • 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
    • A47L9/20—Means for cleaning filters
    • 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
    • A47L9/24—Hoses or pipes; Hose or pipe couplings
    • A47L9/248—Parts, details or accessories of hoses or pipes
    • 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
    • A47L9/2836—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means characterised by the parts which are controlled
    • 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

Definitions

  • the present disclosure generally relates to the field of cleaning tools, and in particular to an intelligent cleaning system with a garbage collection function, an autonomous robot, and a base station.
  • a general sweeping robot is equipped with a dust box for storing garbage. After the dust box is filled with garbage, the user needs to manually take out the dust box, clean up the garbage in it, and then put the dust box into the sweeping robot. If the dust box is full of garbage and it is not cleaned up in time, it will affect the cleaning effect of the sweeping robot. Generally, the volume of the sweeping robot is small, and the volume of the dust box is correspondingly small, and the capacity of the garbage contained is limited, which is easy to fill. Therefore, in the daily use process, the user needs to manually clean the dust box filled with garbage frequently, which seriously affects the user experience. For example, when cleaning a large area, the dust box may be full before the cleaning is completed. At this time, if there is no user intervention (cleaning the dust box), the sweeping robot either does not continue to clean, or continues to clean but the cleaning effect becomes poor.
  • an intelligent cleaning system includes:
  • An autonomous robot configured to perform a cleaning function and an emptying function, including:
  • a first accommodating part, the first accommodating part is used for accommodating objects collected by the autonomous robot during the cleaning function;
  • a first air duct the first air duct is in communication with the first receiving portion
  • a suction device configured to generate a flow of air with a suction effect through the first containing portion, the suction device being capable of passing through the first air duct and the first containing portion Open and closed connection;
  • a base station configured to interface with the autonomous robot to empty and collect the target from the first containing part, including:
  • a second accommodating part, the second accommodating part is used to accommodate the target evacuated from the first accommodating part;
  • a second air duct is in communication with the second accommodating part, and the second air duct is used for allowing the target to flow into the second accommodating part along with the air flow;
  • a third air duct is in communication with the second accommodating part, and the third air duct is used for allowing the air to flow out of the second accommodating part;
  • the smart cleaning system is configured to cut off the first air duct in a state where the autonomous robot is docked with the base station to perform the emptying function, and the first receiving part passes through the second The air duct, the second receiving portion and the third air duct are in communication with the suction device.
  • an autonomous robot configured to perform a cleaning function and an emptying function, including:
  • a first accommodating part is used for accommodating objects collected by the autonomous robot during the cleaning function, and the first accommodating part can communicate with the outside through an emptying port in an open and closable manner;
  • a first air duct the first air duct is in communication with the first receiving portion
  • a suction device configured to generate a flow of air having a suction effect through the first housing portion, the suction device being capable of being openable and closable through the first air passage and the first housing portion Connected, and the suction device can openly and closably communicate with the outside through the air return port;
  • the autonomous robot when the autonomous robot performs the cleaning function, the first air duct is in an open state, and the exhaust port and the air return port are in a closed state; the autonomous robot performs the exhaust In the empty function state, the first air duct is in a closed state, and the exhaust port and the return air port are in an open state.
  • a base station for docking with any of the aforementioned autonomous robots to empty and collect the target from the autonomous robot, the base station including :
  • a second accommodating portion, the second accommodating portion is used to accommodate the target evacuated from the autonomous robot;
  • a second air duct is in communication with the second accommodating part, and the second air duct is used for allowing the target to flow into the second accommodating part along with the air flow;
  • a third air duct is in communication with the second accommodating part, and the third air duct is used for allowing the air to flow out of the second accommodating part;
  • the second air duct communicates with the first accommodating part through the exhaust port, and the third air duct communicates with the air return port through the air return port.
  • the suction device is connected.
  • Fig. 1 is a schematic diagram of a smart cleaning system according to a preferred embodiment of the present disclosure
  • Figure 2 is a perspective view of an autonomous robot according to a preferred embodiment of the present disclosure
  • Figure 3 is a perspective view of the autonomous robot shown in Figure 2 from another angle;
  • FIG. 4 is a schematic diagram of the first receiving part and the suction device of the robot shown in FIG. 2;
  • Fig. 5 is a perspective view of a base station according to a preferred embodiment of the present disclosure.
  • FIG. 6 is a schematic diagram of the second air duct, the second receiving part, and the third air duct of the base station shown in FIG. 5;
  • FIG. 7 is a schematic diagram of docking an autonomous robot with a base station according to the present disclosure.
  • FIG. 8 to 10 are structural schematic diagrams of the integrated opening and closing of the first valve and the third valve in the autonomous robot shown in FIG. 2.
  • FIG. 1 shows an intelligent cleaning system 1 including an autonomous robot 10 and a base station 20 according to the present disclosure.
  • the autonomous robot 10 is designed to be able to move autonomously on the ground to perform a cleaning function.
  • the autonomous robot 10 is also designed to be able to autonomously move to the location of the base station 20 to dock with the base station 20 (as shown in the state shown in FIG. 1) to empty the objects collected during the cleaning function.
  • the target may be trash such as paper scraps, dust, hair and the like.
  • the cleaning function of the autonomous robot 10 may include at least one of sweeping the floor and mopping the floor.
  • the autonomous robot 10 is a cleaning robot integrating sweeping and dragging.
  • the autonomous robot 10 mainly includes a cleaning unit, a sensing unit, a control unit, a driving unit, an energy unit, and a human-machine interaction unit. The units coordinate and cooperate with each other so that the autonomous robot 10 can move autonomously to realize the cleaning function.
  • the autonomous robot 10 has an approximately circular shape (the front and rear are circular), and it includes an upper cover 11, a chassis 12, and a middle frame 13 arranged between the upper cover 11 and the chassis 12.
  • the middle frame 13 serves as a basic frame for setting various functional elements.
  • the upper cover 11 and the chassis 12 respectively cover the upper and lower surfaces of the middle frame 13 to protect internal components and improve the aesthetics of the autonomous robot 10.
  • the device body may also have other shapes, including but not limited to an approximate D shape with a front and back circle.
  • the driving unit is used to provide driving force for the autonomous movement of the autonomous robot 10 and the cleaning unit to realize the cleaning function.
  • the sensing unit is used for the autonomous robot 10 to perceive the external environment such as terrain, and provide various position information and motion state information of the machine to the control unit.
  • the control unit comprehensively judges the current working state of the autonomous robot 10 based on this information (for example, crossing a threshold, putting on a carpet, being located on, above or below a cliff, being stuck, full of dust box, being picked up, etc.), and specific The situation gives a specific next action strategy. Further, the control unit can plan the most efficient and reasonable cleaning path and cleaning method based on the real-time map information, which greatly improves the working efficiency of the autonomous robot 10.
  • the human-computer interaction unit is used for the user to make function selection and/or to show the user the current state of the machine or the function selection item.
  • the energy unit is used for the functional components of each unit to provide electricity.
  • the cleaning unit is the most important core unit of the autonomous robot 10, which is used to implement the cleaning function, and includes a dry cleaning part and a wet cleaning part.
  • the dry cleaning part is mainly used to clean and collect targets such as solid particle contaminants on the cleaned surface
  • the wet cleaning part is mainly used to wipe the cleaned surface (such as the ground).
  • the dry cleaning part mainly includes a cleaning brush for picking up the target from the surface to be cleaned, and a first accommodating part and a suction device for collecting and accommodating the target.
  • the cleaning brush includes a main brush 14 and a side brush 15.
  • the main brush 14 has a rotation axis substantially parallel to the plane where the chassis 12 is located and protrudes outward from the chassis 12.
  • the bristles or blades of the main brush 14 and the cleaned surface under the chassis 12 form a certain interference.
  • the side brush 15 is set at the bottom edge position, and its rotation axis is at a certain angle with respect to the ground for moving the target to the cleaning area of the main brush 14.
  • FIG. 4 schematically shows the structure of the first receiving portion 16 and the suction device 17.
  • the suction device 17 can communicate with the first receiving portion 16 through the first air passage 18 and is configured to generate a flow of air having a suction effect through the first receiving portion 16.
  • the first receiving portion 16 has an entrance (not shown). When the main brush 14 rotates, the target on the surface to be cleaned is wound by the main brush 14 to a position close to the entrance of the first accommodating part 16, and then collected and accommodated in the first accommodating under the action of the air flow generated by the suction device 17 ⁇ 16 ⁇ .
  • the first receiving part 16 may be configured as a dust box detachably or fixedly provided inside the autonomous robot 10, and the suction device 17 may be configured as a fan.
  • the first accommodating portion 16 may also be configured as an accommodating cavity or the like provided inside the autonomous robot 10, and the suction device 17 may also be configured as a fan with a drive motor or the like.
  • a first filter device 161 may be provided in the first air duct 18, so that when the autonomous robot 10 performs the cleaning function, the target that enters the first receiving portion 16 with the air flow is retained in the first receiving portion 16. However, only clean air is allowed to flow to the suction device 17 along the first air duct 18 to prevent the suction device 17 from being damaged by particles and the like.
  • the first filter device 161 may be configured as a high efficiency air filter (HEPA) or the like.
  • a vibration device (not shown) attached to the first filter device 161 may also be provided.
  • the vibration device drives the first filter device 161 to continuously vibrate, so that the dust and the like attached to the first filter device 161 fall off under the action of the vibration, thereby keeping the first filter device 161 small
  • the air resistance increases the force of the suction device 17.
  • the wet cleaning section mainly includes a liquid storage tank and a cleaning cloth.
  • the liquid storage tank contains cleaning liquid, and the cleaning cloth is detachably arranged on the liquid storage tank. After the dry cleaning part is cleaned, the liquid in the liquid tank of the wet cleaning cloth flows to the cleaning cloth, and the cleaning cloth wipes the cleaned surface of the cleaning device after cleaning.
  • the volume of the autonomous robot 10 is small, which results in a very limited volume of the first receiving portion 16 inside.
  • the first receiving portion 16 can easily reach a state of being full of collected objects. In this state, the autonomous robot 10 is often configured to stop the cleaning work. Even if the autonomous robot 10 is forcibly ordered to continue the cleaning work, the cleaning effect will deteriorate due to the inability to continue to collect targets such as solid particle pollutants.
  • the autonomous robot 10 is also designed to be able to autonomously move to the position of the base station 20 to dock with the base station 20 (as shown in the state shown in FIG. 1) to empty the objects collected during the cleaning function. So as not to affect the cleaning function.
  • the detection device in the autonomous robot 10 for detecting the filling state of the first container 16 may send a signal indicating that the first container 16 is full to the control unit.
  • the control unit After the control unit receives the above-mentioned signal, it searches for the base station 20 according to its stored navigation algorithm, and controls the autonomous robot 10 according to the map constructed by it, its position on the map, and the location of the autonomous robot 10 and the sensing device set on the base station 20.
  • the issued instruction signal and the like move autonomously to the base station 20 to interface with the base station 20 to perform the emptying function.
  • FIG. 5 schematically show a preferred embodiment of the base station 20 according to the present disclosure.
  • a second accommodating portion 22 is provided in the base station 20.
  • the volume of the second receiving part 22 may be designed to be much larger than the volume of the first receiving part 16.
  • the base station 20 is also provided with a second air duct 21 and a third air duct 23 respectively communicating with the second accommodating part 22.
  • the second air duct 21 forms an opening 211 of the second air duct 21 on the outer surface of the base station 20
  • the third air duct 23 forms an opening 231 of the third air duct 23 on the outer surface of the base station 20.
  • the autonomous robot 10 is also provided with an exhaust port 162 and a return air port 172, which are not directly connected.
  • the emptying port 162 is in communication with the first containing portion 16, and the air return port 172 is in communication with the suction device 17.
  • the emptying port 162 of the autonomous robot 10 communicates with the opening 211 of the second air duct 21 of the base station 20, and the autonomous robot 10
  • the return air outlet 172 of the base station 20 communicates with the opening 231 of the third air duct 23 of the base station 20.
  • the first air passage 18 can be cut off, so that the suction device 17 can only communicate with the first accommodating portion 16 through the third air passage 23, the second receiving portion 22, and the second air passage 21.
  • the air flow with suction generated by the suction device 17 sequentially follows the first receiving portion 16, the emptying port 162, the opening 211 of the second air duct 21, the second air duct 21, The openings 231 of the second accommodating part 22, the third air duct 23, the third air duct 23, and the air return port 172 flow to the suction device 17, thereby driving the target contained in the first accommodating part 16 to transfer to the second housing ⁇ 22 ⁇ .
  • a seal such as a sealing ring may be provided between the exhaust port 162 and the opening 211 of the second air duct 21, and between the return air port 172 and the opening 231 of the second air duct 21 Parts to strengthen the sealing performance and avoid leakage.
  • the emptying port 162 needs to be kept closed to prevent the target in the first receiving portion 16 from leaking through the emptying port 162 and causing re-contamination of the cleaned surface.
  • the air return port 172 needs to be kept in a closed state, and the first air duct 18 is in an open state, so as to ensure that the suction force generated by the suction device 17 completely acts on the first receiving portion 16.
  • the flow path of the air flow generated by the suction device 17 when the autonomous robot 10 performs the cleaning function is smaller than the flow path of the air flow when the autonomous robot 10 performs the emptying function. Therefore, in order to ensure sufficient suction power, the autonomous robot 10 is configured such that the working power of the suction device 17 when performing the emptying function is greater than the working power when performing the cleaning function.
  • a dust bag 27 may be provided in the base station 20.
  • the dust bag 27 is detachably arranged in the second receiving part 22 to facilitate the user to clean and replace the full dust bag 27.
  • the dust bag 27 communicates with the second air duct 21 to accommodate the target evacuated from the first container 16.
  • the dust bag 27 itself may have a filtering function to keep the internal space of the dust bag 27 in fluid communication with the third air duct 23. In this way, after the air carrying the target object passes through the dust bag 27, the target object remains in the dust bag 27.
  • the clean air flows along the third air duct 23 to the suction device 17.
  • the dust bag 27 may not be provided, and the second accommodating portion 22 may be provided as an accommodating cavity or a dust box.
  • a second filter device 26 is provided at a position where the second accommodating part 22 communicates with the third air duct 23 to keep the target in the second accommodating part 22 and only allow clean air to pass through.
  • the second filter device 26 may have the same configuration as the first filter device 161.
  • a one-way valve may also be provided in the second air duct 21 or between the second air duct 21 and the second receiving portion 22.
  • the one-way valve is configured to only open toward the air flow direction in the second air duct 21 shown in FIG. 7 (that is, open toward the second accommodating portion 22), and cannot be opened in the reverse direction.
  • the one-way valve has a rotation axis extending substantially horizontally, which may be configured to open in response to the suction action of the suction device 17 and close in response to the action of gravity after the suction device 17 stops working. In this way, when the emptying function is performed, the one-way valve is opened to allow the mixed flow of the target and air to pass through. In other states, the one-way valve is closed to prevent the target in the second receiving portion 22 from leaking through the second air duct 21.
  • the detection device sends a signal that the emptying is complete to the control unit. If the command of the unfinished cleaning task is stored in the control unit at this time, the control unit controls the autonomous robot 10 to autonomously move to the position indicated by the cleaning task command after receiving the above-mentioned emptying completion signal to perform the corresponding cleaning function . And if there is no unfinished cleaning task command stored in the control unit at this time, the control unit can control the autonomous robot 10 to wait to receive the cleaning task command, for example, it can be standing by, or autonomously moving to a designated location Stand by. Alternatively, the autonomous robot 10 may be controlled to directly shut down at the same place or autonomously move to a designated position.
  • the autonomous robot 10 may also be configured to automatically move to the base station 20 to dock with the base station 20 at predetermined intervals to periodically perform the emptying function.
  • the base station 20 may be a charging post for charging the autonomous robot 10. In this way, the autonomous robot 10 can also be configured to perform an emptying function every time it is charged.
  • the suction device 17 can be switched to communicate with the first receiving portion 16 through different air channels to perform the cleaning function and the emptying function respectively. In this way, only one suction device 17 needs to be provided on the autonomous robot 10, and no additional suction device is needed on the base station 20, thereby saving cost and saving the installation space of the base station 20 to make the structure compact.
  • the switching between the different air ducts used to connect the suction device 17 and the first accommodating portion 16 can be realized by electronic components such as solenoid valves controlled by the control unit according to the control program stored in itself, or by simple mechanical The linkage between the devices is realized.
  • the opening and closing of each air duct is realized by opening and closing the valve.
  • a substantially vertical wall 164 is provided between the suction device 17 and the first receiving portion 16, and a vent 165 is provided on the wall 164.
  • the vent 165 is configured as a part of the first air duct 18.
  • the side of the wall 164 facing the suction device 17 is also provided with a first valve 171.
  • the first valve 171 can rotate about the first axis AX1.
  • the first axis AX1 is located above the vent 165 and extends in a substantially horizontal direction. It is so arranged that when the suction device 17 stops working, the first valve 171 automatically abuts on the wall 164 to cover the vent 165 in response to the action of gravity, thereby cutting off the first air duct 18.
  • the suction device 17 When the suction device 17 generates air flow with a suction effect, the first valve 171 is pushed by the air flow to rotate upward about the first axis AX1 (as shown in the state shown in FIG. 4), and the suction device 17 can pass
  • the vent 165 is in communication with the first accommodating portion 16, and it can be considered that the first air duct 18 is in an open state.
  • the autonomous robot 10 is provided with a second valve 163 at the exhaust port 162 to control the opening or closing of the exhaust port 162, and a third valve 173 is provided at the return air port 172 to control the opening or closing of the air return port 172.
  • the second valve 163 is installed inside the exhaust port 162 and can rotate about the second axis AX2. Wherein, the plane where the emptying port 162 is located is approximately horizontal. Therefore, the second valve 163 covers the emptying port 162 to close the emptying port 162 when only being subjected to gravity. Moreover, the second valve 163 needs to overcome its gravity to be able to rotate around the second axis AX2 to open the emptying port 162.
  • the plane where the emptying port 162 is located can also be inclined relative to the horizontal plane within a predetermined angle range, but the inclination angle should not be too large to prevent the effect of gravity from weakening and the second valve 163 can respond to the action of the suction device 17. And turn on.
  • the return air port 172 and the third valve 173 have the same structure as the exhaust port 162 and the second valve 163, and will not be repeated here.
  • a platform part 25 is provided on the base station 20, which is used to receive the autonomous robot 10 for docking.
  • the platform part 25 has an upper surface inclined downward in a direction away from the base station 20, which can facilitate guiding the autonomous robot 10 to move to the platform part 25 smoothly.
  • the opening 211 of the second air duct 21 and the opening 231 of the third air duct 23 are both provided on the upper surface of the platform 25.
  • the upper surface of the platform portion 25 is respectively provided with protrusions 24 at positions close to the opening 211 of the second air duct 21 and the opening 231 of the third air duct 23.
  • the protrusion 24 can push the second valve 163 to rotate inwardly in response to the docked state of the autonomous robot 10 so that the drain port 162 is opened and connected to the second
  • the openings 211 of the air duct 21 are aligned (as shown in FIG. 7 ), so that the first receiving portion 16 and the second air duct 21 are connected.
  • the third valve 173 is also opened in the same way.
  • the protrusion 24 corresponding to one of the second valve 163 and the third valve 173 may be provided, and the second valve 163 and the third valve 173 may be provided as a structure that opens and closes integrally.
  • the two are constructed as an integrally formed integral structure, or the two are formed separately, and are connected by additional connectors to realize integral opening and closing. In this way, it is possible to avoid placing too many parts on the surface of the platform part 25.
  • an extension 174 extending downward is provided under the first valve 171.
  • the positions of the first valve 171 and the third valve 173 are reasonably designed so that after the third valve 173 is opened, it abuts on the extension 174, restricting the first valve 171 in the closed state, and realizes linkage. Therefore, through the limiting effect of the third valve 173 on the first valve 171, it is ensured that when the air return port 172 is opened, the first air duct 18 must be cut off, thereby ensuring the smooth execution of the emptying function.
  • the suction device 17 is in a state of stopping, and at this time the first valve 171 is in a closed state in response to the action of gravity. Therefore, the third valve 173 can smoothly open and limit the first valve 171. When the third valve 173 is opened, the first valve 171 is in the open state and the third valve 173 cannot act on the extension 174 to limit it. Bit situation.
  • the first valve and the third valve can also be set as an integrated opening and closing structure, so that when the first valve is in the open state, the third valve must be in the closed state, and when the first valve When in the closed state, the third valve must be in the open state.
  • the first valve 271 and the third valve 273 are constructed as an integral structure.
  • the third valve 273 closes the return air opening 272.
  • the first valve 271 is away from the vent 265, and the first air duct remains unblocked.
  • the third valve 273 rotates around the rotation axis AX4 to the open position under the action of the protrusion or other components such as those described above.
  • the first valve 271 rotates integrally with the third valve 273 from the open position to the closed position covering the vent 265. This can reduce the number of parts and improve the processing efficiency during equipment assembly.
  • the first valve 271 cannot be opened in response to the suction action of the suction device, nor can it be closed in response to the action of gravity, and can only be opened and closed integrally with the third valve 273 .
  • the third valve 273 maintains a normally closed state, and the first valve 271 maintains a normally open state.
  • the first valve, the second valve, and the third valve can be integrally constructed without violating the public idea of the present disclosure. Molded structure.
  • the intelligent cleaning system, autonomous robot, and base station according to the above embodiments of the present disclosure have the beneficial effects of any combination of the following:
  • the intelligent cleaning system has its own garbage collection function, which can realize automatic garbage collection without user intervention and improve user experience.
  • the cleaning function and the emptying function share the same suction device, so there is no need to install an additional suction device on the base station, which saves costs and saves the installation space of the base station, thereby making it compact;
  • a vibration device is attached to the first filter device of the autonomous robot, which can clean the dust attached to the first filter device in time, so as to keep the first filter device working under the minimum resistance condition and improve the cleaning efficiency.

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  • Electric Vacuum Cleaner (AREA)

Abstract

一种智能清洁系统（1）、自主机器人（10）和基站（20）。自主机器人（10）配置为执行清扫功能和排空功能，包括第一容纳部（16）和能够通过第一风道（18）与第一容纳部（16）连通并且配置为产生具有抽吸作用的气流的抽吸装置（17）。基站（20）与自主机器人（10）对接以从第一容纳部（16）排空并收集目标物，包括第二容纳部（22）和分别与第二容纳部（22）连通的第二风道（21）和第三风道（23）。在自主机器人（10）与基站（20）对接到位以执行排空功能的状态下，第一风道（18）被切断，抽吸装置（17）通过第二风道（21）、第二容纳部（22）和第三风道（23）与第一容纳部（16）连通。智能清洁系统（1）、自主机器人（10）和基站（20）可以实现垃圾自动回收，提升用户使用体验，并且只需一个抽吸装置（17），可以节省成本和安装空间，使基站（20）结构紧凑。

Description

智能清洁系统、自主机器人和基站
相关申请的交叉引用
本申请要求于2019年3月29日递交的中国专利申请第201910250476.3号的优先权，在此全文引用上述中国专利申请公开的内容以作为本申请的一部分。
技术领域
本公开总体涉及清洁工具领域，具体地涉及一种具有垃圾回收功能的智能清洁系统、自主机器人和基站。
背景技术
一般的扫地机器人配备有存储垃圾的尘盒。在尘盒装满垃圾之后，需要由用户手动地将尘盒取出，清理掉其中的垃圾，然后再将尘盒装入扫地机器人中。如果尘盒装满了垃圾，没有及时清理的话，会影响扫地机器人的清扫效果。而通常扫地机器人的体积较小，相应地尘盒的容积也较小，所容纳的垃圾的容量有限，很容易装满。因此在日常使用过程中需要用户频繁地手动清理装满垃圾的尘盒，严重影响用户的使用体验。例如，在清扫大面积的空间时，可能清扫尚未完成而尘盒就已经装满。此时如果没有用户干预(清理尘盒)，扫地机器人或者不继续清扫，或者继续清扫但清扫效果变差。
因此，需提供一种具有垃圾回收功能的智能清洁系统、自主机器人和基站，以至少部分地解决上述问题。
需要说明的是，在上述背景技术部分公开的信息仅用于加强对本公开的背景的理解，因此可以包括不构成对本领域普通技术人员已知的现有技术的信息。
发明内容
在发明内容部分中引入了一系列简化形式的概念，这将在具体实施方式部分中进一步详细说明。本公开的发明内容部分并不意味着要试图限定出所要求保护的技术方案的关键特征和必要技术特征，更不意味着试图确定所要求保护的技术方案的保护范围。
为至少部分地解决上述技术问题，根据本公开的第一方面，提供了一种智能清洁系统，所述智能清洁系统包括：
自主机器人，所述自主机器人配置为执行清扫功能和排空功能，包括：
第一容纳部，所述第一容纳部用于容纳所述自主机器人在执行所述清扫功能期间收集的目标物；
第一风道，所述第一风道与所述第一容纳部连通；和
抽吸装置，所述抽吸装置配置为能够产生通过所述第一容纳部的具有抽吸作用的空气流动，所述抽吸装置能够通过所述第一风道与所述第一容纳部可开闭地连通；以及
基站，所述基站构造为与所述自主机器人对接以从所述第一容纳部排空并收集所述目标物，包括：
第二容纳部，所述第二容纳部用于容纳从所述第一容纳部排空的所述目标物；
第二风道，所述第二风道与所述第二容纳部连通，所述第二风道用于供所述目标物随所述空气流动进入所述第二容纳部；和
第三风道，所述第三风道与所述第二容纳部连通，所述第三风道用于供所述空气流动流出所述第二容纳部；
其中，所述智能清洁系统构造为在所述自主机器人与所述基站对接到位以执行所述排空功能的状态下切断所述第一风道，并且所述第一容纳部通过所述第二风道、所述第二容纳部和所述第三风道与所述抽吸装置连通。
根据本公开的第二方面，还提供一种自主机器人，所述自主机器人配置为执行清扫功能和排空功能，包括：
第一容纳部，所述第一容纳部用于容纳所述自主机器人在执行所述清扫功能期间收集的目标物，所述第一容纳部能够通过排空口与外界可开闭地连通；
第一风道，所述第一风道与所述第一容纳部连通；和
抽吸装置，所述抽吸装置配置为产生通过所述第一容纳部的具有抽吸作用的空气流动，所述抽吸装置能够通过第一风道与所述第一容纳部可开闭地连通，并且所述抽吸装置能够通过回风口与外界可开闭地连通；
其中，在所述自主机器人执行所述清扫功能的状态下，所述第一风道处于开启状态，并且所述排空口和所述回风口处于关闭状态；在所述自主机器人执行所述排空功能的状态下，所述第一风道处于关闭状态，并且所述排空口和所述回风口处于开启状态。
根据本公开的第三方面，还提供一种基站，所述基站用于与如前所述的任意一种自主机器人对接以从所述自主机器人排空并收集所述目标物，所述基站包括：
第二容纳部，所述第二容纳部用于容纳从所述自主机器人排空的所述目标物；
第二风道，所述第二风道与所述第二容纳部连通，所述第二风道用于供所述目标物随所述空气流动进入所述第二容纳部；和
第三风道，所述第三风道与所述第二容纳部连通，所述第三风道用于供所述空气流动流出所述第二容纳部；
其中，当所述自主机器人与所述基站对接到位时，所述第二风道通过所述排空口与所述第一容纳部连通，所述第三风道通过所述回风口与所述抽吸装置连通。
附图说明
为了使本公开的优点更容易理解，将通过参考在附图中示出的具体实施方式更详细地描述上文简要描述的本公开。可以理解这些附图只描绘了本公开的典型实施方式，因此不应认为是对其保护范围的限制，通过附图以附加的特性和细节描述和解释本公开。
图1为根据本公开的一种优选实施方式的智能清洁系统的示意图；
图2为根据本公开的一种优选实施方式的自主机器人的立体视图；
图3为图2所示的自主机器人的另一角度的立体视图；
图4为图2所示的机器人的第一容纳部和抽吸装置的示意图；
图5为根据本公开的一种优选实施方式的基站的立体视图；
图6为图5所示的基站的第二风道、第二容纳部和第三风道的示意图；
图7为根据本公开自主机器人与基站对接的示意图；以及
图8至图10为图2所示的自主机器人中第一阀门和第三阀门一体开闭的结构示意图。
具体实施方式
在下文的讨论中，给出了细节以便提供对本公开更为彻底的理解。然而，本领域技术人员可以了解，本公开可以无需一个或多个这些细节而得以实施。在特定的示例中，为了避免与本公开发生混淆，对于本领域公知的一些技术特征未进行详尽地描述。
图1示出了根据本公开的包括自主机器人10和基站20的智能清洁系统1。自主机器人10被设计成能够在地面上自主地移动以执行清扫功能。自主机器人10还被设计成能够自主地移动至基站20的位置处与基站20对接(如图1所示的状态)以排空其在执行清扫功能期间收集的目标物。所述目标物可以是诸如纸屑、灰尘、毛发之类的垃圾。
可以理解，自主机器人10的清扫功能可以包括扫地和拖地中的至少一个。在本实施方式中，自主机器人10为扫拖一体的清洁机器人。自主机器人10主要包括清洁单元、感知单元、控制单元、驱动单元、能源单元和人机交互单元等。各个单元相互协调配合，使自主机器人10能够自主移动以实现清扫功能。
图2和图3示例性地示出了根据本公开的自主机器人10的立体视图。从外部观察，自主机器人10具有近似圆形的形状(前后都为圆形)，其包括上封盖11、底盘12以及设置在上封盖11和底盘12之间的中框13。中框13作为设置各种功能元件的基础框架。上封盖11和底盘12分别覆盖中框13的上下表面，起到保护内部零部件的作用，并且提升自主机器人10的美观性。当然，在其他实施方式中，设备主体也可具有其他形状，包括但不限于前方后圆的近似D形形状等。
驱动单元用于为自主机器人10的自主移动以及清洁单元实现清扫功能提供驱动力。感知单元用于自主机器人10对例如地形等的外界环境进行感知，并且向控制单元提供机器的各种位置信息和运动状态信息。控制单元则根据这些信息综合判断自主机器人10当前处于何种工作状态(例如过门槛，上地毯，位于悬崖处、上方或者下方，被卡住，尘盒满，被拿起等)，并针对不同情况给出具体的下一步动作策略。进一步地，控制单元能基于即时地图信息规划最为高效合理的清扫路径和清扫方式，大大提高自主机器人10的工作效率。人机交互单元用于供用户进行功能选择并且/或者向用户展示机器当前所处状态或者功能选择项。能源单元则用于各单元的功能性元件工作提供电能。
清洁单元为自主机器人10最主要的核心单元，用于实现清扫功能，其包括干式清洁部和湿式清洁部。其中，干式清洁部主要用于清扫收集被清洁表面的诸如固体颗粒污染物的目标物，湿式清洁部主要用于对被清洁表面(如地面)进行擦拭。
具体地，干式清洁部主要包括用于从被清洁表面摄取目标物的清扫刷和用于收集容纳目标物的第一容纳部和抽吸装置。如图3所示，清扫刷包括主刷14和边刷15。其中，主刷14具有与底盘12所在的平面大致平行的旋转轴并且从底盘12向外突出。由此，主刷14的刷毛或叶片与底盘12下方的被清洁表面形成一定的干涉。边刷15设置于底部边缘位置，其旋转轴相对于地面成一定角度，以用于将目标物移动至主刷14的清扫区域中。
第一容纳部和抽吸装置设置在自主机器人10的内部。图4示意性地示出了第一容纳部16和抽吸装置17的结构。抽吸装置17能够通过第一风道18与第一容纳部16连通，并且配置为产生通过第一容纳部16的具有抽吸作用的空气流动。第一容纳部16具有入口(未示出)。当主刷14转动时，被清洁表面的目标物由主刷14卷带至靠近第一容纳部16的入口的位置，然后在抽吸装置17产生的空气流动的作用下被收集容纳在第一容纳部16内。其中，第一容纳部16可以构造为可拆卸地或固定地设置在自主机器人10的内部的尘盒，抽吸装置17可以构造为风机。此外，第一容纳部16还可以构造为设置在自主机器人10的内部的容纳腔等，抽吸装置17还可以构造为带有驱动马达的风扇等。
优选地，在第一风道18内可以设置第一过滤装置161，使得在自主机器人10执行清扫功能时，随空气流动进入第一容纳部16内的目标物保留在第一容纳部16内，而只允许干净的空气沿着第一风道18流动至抽吸装置17处，以免颗粒物等对抽吸装置17造成损坏。第一过滤装置161可以构造为高效空气过滤器(High efficiency particulate air Filter，HEPA)等。进一步优选地，还可以设置附接至第一过滤装置161的震动装置(未示出)。当自主机器人10执行清扫功能时，震动装置驱动第一过滤装置161持续震动，以使附着在第一过滤装置161上的灰尘等在震动的作用下脱落，从而使第一过滤装置161保持小的空气阻力，提高抽吸装置17的作用力。
湿式清洁部主要包括储液箱和清洁布。储液箱内容纳有清洁液，清洁布可拆卸地设置在储液箱上。干式清洁部清扫完成以后，湿式清洁布的储液箱内的液体流向清洁布，清洁布对清扫装置清扫后的被清洁表面进行擦拭。
通常，自主机器人10的体积较小，这就导致其内部的第一容纳部16的容积非常有限。在日常使用过程中，第一容纳部16很容易达到被收集的目标物充满的状态。在此状态下，自主机器人10往往配置为停止清扫工作。即使强制命令自主机器人10继续执行清扫工作，也因为不能继续收集固体颗粒污染物之类的目标物而导致清扫效果变差。
因此，根据本公开的自主机器人10还被设计成能够自主地移动至基站20的位置处与基站20对接(如图1所示的状态)以排空其在执行清扫功能期间收集的目标物，以免影响清扫功能。例如，当第一容纳部16被目标物充满时，自主机器人10内的用于检测第一容纳部16的填充状态的检测装置可以向控制单元发送指示第一容纳部16充满的信号。控 制单元接收到上述信号之后，根据自身存储的导航算法寻找基站20，并控制自主机器人10根据其所构建的地图、自身在地图中的位置以及自主机器人10和基站20上设置的传感装置所发出的指示信号等自主地移动至基站20处与基站20对接以执行排空功能。
图5和图6示意性地示出了根据本公开的基站20的一种优选实施方式。基站20内设置有第二容纳部22。第二容纳部22的容积可以设计为远大于第一容纳部16的容积。此外，基站20内还设置有分别与第二容纳部22连通的第二风道21和第三风道23。如图5所示，第二风道21在基站20的外表面形成第二风道21的开口211，第三风道23在基站20的外表面形成第三风道23的开口231。
相应地，如图4所示，自主机器人10还设置有排空口162和回风口172，二者不直接连通。其中，排空口162与第一容纳部16连通，回风口172与抽吸装置17连通。当自主机器人10以如图1所示的方式与基站20对接到位时，如图7所示，自主机器人10的排空口162与基站20的第二风道21的开口211连通，自主机器人10的回风口172与基站20的第三风道23的开口231连通。此时，可以切断第一风道18，使得抽吸装置17仅可以通过第三风道23、第二容纳部22和第二风道21与第一容纳部16连通。在此状态下，抽吸装置17所产生的具有抽吸作用的空气流动顺次地沿着第一容纳部16、排空口162、第二风道21的开口211、第二风道21、第二容纳部22、第三风道23、第三风道23的开口231、回风口172流动至抽吸装置17处，从而带动第一容纳部16内所容纳的目标物转移至第二容纳部22内。
虽然附图中没有示出，可以在排空口162与第二风道21的开口211之间，以及在回风口172与第二风道21的开口231之间设置诸如密封圈之类的密封件，以加强密封性能，避免泄露。
可以理解，当自主机器人10执行清扫功能时，排空口162需要保持关闭状态，以避免第一容纳部16内的目标物通过排空口162泄露而造成被清洁表面的再次污染。同时回风口172需要保持关闭状态，而第一风道18则处于开启状态，以保证抽吸装置17产生的抽吸力完全作用于第一容纳部16。
此外，抽吸装置17所产生的空气流动在自主机器人10执行清扫功能时的流动路径要小于该空气流动在自主机器人10执行排空功能时的流动路径。因此，为保证足够的抽吸力，自主机器人10配置为抽吸装置17在执行排空功能时的工作功率大于执行清扫功能时的工作功率。
如图6所示，可以在基站20内设置尘袋27。尘袋27可拆卸地设置在第二容纳部22内，以方便用户清理更换充满的尘袋27。尘袋27与第二风道21连通，以容纳从第一容纳部16排空的目标物。尘袋27自身可以具有过滤功能，以保持尘袋27的内部空间与第三风道23流体连通。如此，携带目标物的空气流动在经过尘袋27之后，目标物保留在尘袋27内。干净的空气则沿着第三风道23流动至抽吸装置17处。
在其他的实施方式中，还可以不设置尘袋27，而将第二容纳部22设置为容纳腔或尘 盒。在第二容纳部22与第三风道23连通的位置处设置第二过滤装置26，以将目标物保留在第二容纳部22内，只允许干净的空气通过。第二过滤装置26可以具有与第一过滤装置161相同的构造。
优选地，虽然附图中未示出，在第二风道21内或第二风道21与第二容纳部22之间，还可以设置单向阀。单向阀构造为仅可以朝向沿着图7中示出的第二风道21内的空气流动方向开启(也即朝向第二容纳部22开启)，而无法反向开启。单向阀具有大致水平延伸的转动轴线，其可以构造为响应于抽吸装置17的抽吸作用开启，并且当抽吸装置17停止工作之后响应于重力的作用而关闭。如此，当执行排空功能时，单向阀开启，以允许目标物和空气的混合流动通过。而在其他状态下，单向阀关闭，防止第二容纳部22内的目标物通过第二风道21泄露。
待第一容纳部16排空之后，检测装置向控制单元发送排空完毕的信号。如果此时控制单元内存储有尚未完成的清扫任务的命令，则控制单元在接收到上述排空完毕的信号之后控制自主机器人10自主地移动至清扫任务命令所指示的位置处执行相应的清扫功能。而如果此时控制单元内未存储有尚未完成的清扫任务的命令，则控制单元可以控制自主机器人10待机以等待接收清扫任务的命令，例如，可以是原地待机，或者自主移动至指定的位置处待机。或者也可以控制自主机器人10在原地或自主地移动至指定的位置处直接关机。
当然，自主机器人10还可以配置为，间隔预定的时间，即自主地移动至基站20处与基站20对接以定期地执行排空功能。在一个实施方式中，基站20可以是用于为自主机器人10充电的充电桩。如此，自主机器人10还可以配置为在每次充电时即执行一次排空功能。
从上述可见，根据本公开的智能清洁系统，可以通过切换抽吸装置17与第一容纳部16通过不同的风道连通以分别执行清扫功能和排空功能。这样仅需在自主机器人10上设置一个抽吸装置17即可，而无需在基站20上再设置额外的抽吸装置，从而节省成本，并且节省基站20安装空间，使其结构紧凑。
用于连通抽吸装置17和第一容纳部16的不同风道之间的切换，可以通过由控制单元根据自身存储的控制程序控制的电磁阀之类的电子元件实现，也可以通过单纯的机械装置之间的联动实现。在本实施方式中，各风道的开启和关闭通过阀门的开关实现。
如图4所示，抽吸装置17和第一容纳部16之间设置有大致竖直的壁164，而壁164上设置有通风口165。该通风口165构造为第一风道18的一部分。壁164的朝向抽吸装置17的一侧还设置有第一阀门171。第一阀门171能够绕第一轴线AX1转动。其中，第一轴线AX1位于通风口165上方并且沿着大致水平的方向延伸。如此设置，使得当抽吸装置17停止工作时，第一阀门171响应于重力的作用自动地贴靠在壁164上以覆盖通风口165，从而切断第一风道18。而当抽吸装置17产生具有抽吸作用的空气流动时，第一阀门171被空气流动推动而绕第一轴线AX1向上转动(如图4所示的状态)，此时抽吸 装置17可以通过通风口165与第一容纳部16连通，可以视为第一风道18处于开启状态。
继续参考图4，自主机器人10在排空口162处设置有第二阀门163以控制排空口162开启或关闭，在回风口172处设置有第三阀门173以控制回风口172开启或关闭。具体地，第二阀门163安装在排空口162的内侧，并且能够绕第二轴线AX2转动。其中，排空口162所在的平面大致水平，因此，第二阀门163在仅受到重力的作用时，覆盖在排空口162上以关闭排空口162。并且，对于第二阀门163，需要克服其重力才可以使其绕第二轴线AX2转动以开启排空口162。在执行清扫功能时，虽然抽吸装置17在第一容纳部16内产生的抽吸力作用于第二阀门163上，但不足以克服其重力，因此可以确保排空口162在自主机器人10执行清扫功能期间保持关闭状态，而不会在抽吸装置17的作用下开启。
可以理解，排空口162所在的平面也可以在预定的角度范围内相对于水平面倾斜，但倾斜角度不宜过大，以免重力的作用减弱而使第二阀门163能够响应于抽吸装置17的作用而开启。回风口172和第三阀门173具有与排空口162和第二阀门163相同的构造，此处不再赘述。
如图5所示，基站20上设置有平台部25，其用于接收自主机器人10以实现对接。平台部25具有沿着远离基站20的方向向下倾斜的上表面，这样可以便于引导自主机器人10顺利地移动至平台部25上。第二风道21的开口211和第三风道23的开口231均设置在平台部25的上表面。
优选地，平台部25的上表面在靠近第二风道21的开口211和第三风道23的开口231的位置分别设置有突出部24。当自主机器人10移动至平台部25的上表面以完成对接时，突出部24能够响应于自主机器人10对接到位的状态而推动第二阀门163向内侧转动以使排空口162开启并与第二风道21的开口211对齐(如图7所示的状态)，实现第一容纳部16与第二风道21连通。第三阀门173也采用同样的方式开启。
当然，也可以仅设置与第二阀门163和第三阀门173中的一个对应的突出部24，而将第二阀门163和第三阀门173设置为一体开闭的结构。例如将二者构造为一体成型的整体结构，或者二者分体成型，并且使用额外的连接件连接以实现一体地开闭。这样可以避免在平台部25的表面设置过多的零部件。
优选地，如图7所示，第一阀门171的下方设置有向下延伸的延伸部174。合理地设计第一阀门171和第三阀门173的位置，使得在当第三阀门173开启后，其抵靠在延伸部174上，将第一阀门171限制在关闭状态，实现联动。由此，通过第三阀门173对第一阀门171的限位作用，确保当回风口172开启时，第一风道18必然被切断，从而保证顺利执行排空功能。可以理解，在自主机器人10与基站20对接的过程中，抽吸装置17处于停止工作的状态，此时第一阀门171响应于重力的作用处于关闭状态。因此，第三阀门173能够顺利地开启并对第一阀门171限位，不会出现当第三阀门173开启后第一阀门171处于开启状态而第三阀门173无法作用于延伸部174对其限位的情况。
此外，在其他的实施方式中，还可以将第一阀门和第三阀门设置为一体开闭的结构， 使得当第一阀门处于开启状态时，第三阀门必然处于关闭状态，而当第一阀门处于关闭状态时，第三阀门必然处于开启状态。
如图8至图10所示，第一阀门271和第三阀门273构造为一体成型的整体结构。在执行清扫功能时，如图9所示，第三阀门273封闭回风口272，此时第一阀门271远离通风口265，第一风道保持畅通。而在执行排空功能时，如图10所示，第三阀门273在诸如上文所述的突出部或其他零部件的作用绕旋转轴线AX4转动至开启位置。同时，第一阀门271随第三阀门273一体地转动，从开启位置转动至覆盖通风口265的关闭位置。这样可以减少零部件的数量，提升设备组装时的加工效率。然而，需要注意的是，在此实施方式中，第一阀门271无法响应于抽吸装置的抽吸作用开启，也无法响应于重力的作用而关闭，只能与第三阀门273一体地开闭。换句话说，在除了执行排空功能之外的其他功能时，第三阀门273保持常闭状态，而第一阀门271保持常开状态。
此外，结合上边所述的第二阀门和第三阀门一体开闭的设置，在不违背本公开的公开思想的前提下，还可以将第一阀门、第二阀门和第三阀门整体构造为一体成型的结构。
根据上述本公开实施例的智能清洁系统、自主机器人和基站，具有以下任意组合的有益效果：
1.智能清洁系统自带垃圾回收功能，无需用户干预即可实现垃圾自动回收，提升用户使用体验。
2.清扫功能和排空功能共用一个抽吸装置，因而无需在基站上再设置额外的抽吸装置，节省成本，并且节省基站安装空间，从而可以使其结构紧凑；
3.自主机器人的第一过滤装置上附接有震动装置，可以及时清理第一过滤装置上附着的灰尘，从而保持第一过滤装置在最小阻力条件下工作，提高清扫效率。
除非另有定义，本文中所使用的技术和科学术语与本公开的技术领域的技术人员通常理解的含义相同。本文中使用的术语只是为了描述具体的实施目的，不是旨在限制本公开。本文中出现的诸如“部件”等术语既可以表示单个的零件，也可以表示多个零件的组合。本文中出现的诸如“安装”、“设置”等术语既可以表示一个部件直接附接至另一个部件，也可以表示一个部件通过中间件附接至另一个部件。本文中在一个实施方式中描述的特征可以单独地或与其他特征结合地应用于另一个实施方式，除非该特征在该另一个实施方式中不适用或是另有说明。
本公开已经通过上述实施方式进行了说明，但应当理解的是，上述实施方式只是用于举例和说明的目的，而非意在将本公开限制于所描述的实施方式范围内。

Claims (15)

  1. 一种智能清洁系统，其特征在于，所述智能清洁系统包括：
    自主机器人，所述自主机器人配置为执行清扫功能和排空功能，包括：
    第一容纳部，所述第一容纳部用于容纳所述自主机器人在执行所述清扫功能期间收集的目标物；
    第一风道，所述第一风道与所述第一容纳部连通；和
    抽吸装置，所述抽吸装置配置为能够产生通过所述第一容纳部的具有抽吸作用的空气流动，所述抽吸装置能够通过所述第一风道与所述第一容纳部可开闭地连通；以及
    基站，所述基站构造为与所述自主机器人对接以从所述第一容纳部排空并收集所述目标物，包括：
    第二容纳部，所述第二容纳部用于容纳从所述第一容纳部排空的所述目标物；
    第二风道，所述第二风道与所述第二容纳部连通，所述第二风道用于供所述目标物随所述空气流动进入所述第二容纳部；和
    第三风道，所述第三风道与所述第二容纳部连通，所述第三风道用于供所述空气流动流出所述第二容纳部；
    其中，所述智能清洁系统构造为在所述自主机器人与所述基站对接到位以执行所述排空功能的状态下切断所述第一风道，并且所述第一容纳部通过所述第二风道、所述第二容纳部和所述第三风道与所述抽吸装置连通。
  2. 根据权利要求1所述的智能清洁系统，其特征在于，所述自主机器人设置有与所述第一容纳部连通的排空口和与所述抽吸装置连通的回风口，并且所述排空口与所述回风口不直接连通；
    在所述自主机器人与所述基站对接到位的状态下，所述第二风道通过所述排空口与所述第一容纳部连通，所述第三风道通过所述回风口与所述抽吸装置连通。
  3. 根据权利要求2所述的智能清洁系统，其特征在于，所述自主机器人还设置有：
    第一阀门，所述第一阀门用于控制所述第一风道的开闭；
    第二阀门，所述第二阀门用于控制所述排空口的开闭；和
    第三阀门，所述第三阀门用于控制所述回风口的开闭；
    其中，当所述第一阀门处于开启状态时，所述第二阀门和所述第三阀门处于关闭状态，并且当所述第二阀门和所述第三阀门处于开启状态时，所述第一阀门处于关闭状态。
  4. 根据权利要求3所述的智能清洁系统，其特征在于，在所述自主机器人执行所述清扫功能的状态下，所述第一阀门构造为响应于所述抽吸装置的抽吸作用从关闭状态切换至开启状态，并且当所述抽吸装置停止工作时响应于重力作用从开启状态切换至关闭状态。
  5. 根据权利要求3所述的智能清洁系统，其特征在于，所述基站设置有突出部，在 所述自主机器人与所述基站对接到位的状态下，所述突出部推动所述第二阀门和所述第三阀门，使所述第二阀门和所述第三阀门从关闭状态切换至开启状态。
  6. 根据权利要求3所述的智能清洁系统，其特征在于，处于开启状态的所述第三阀门对所述第一阀门限位，使所述第一阀门锁定为关闭状态。
  7. 根据权利要求3所述的智能清洁系统，其特征在于，所述第一阀门、所述第二阀门和所述第三阀门中的至少两个构造为一体成型的整体结构。
  8. 根据权利要求1所述的智能清洁系统，其特征在于，所述第一容纳部和所述抽吸装置之间设置有第一过滤装置。
  9. 根据权利要求8所述的智能清洁系统，其特征在于，所述自主机器人还包括震动装置，所述震动装置接附至所述第一过滤装置，并且配置为在所述自主机器人执行所述清扫功能期间驱动所述第一过滤装置震动。
  10. 根据权利要求1所述的智能清洁系统，其特征在于，所述第二容纳部和所述第三风道之间设置有第二过滤装置。
  11. 根据权利要求1所述的智能清洁系统，其特征在于，所述第二风道内或所述第二风道与所述第二容纳部之间设置有单向阀，所述单向阀构造为朝向所述第二容纳部开启，并且无法反向开启。
  12. 根据权利要求11所述的智能清洁系统，其特征在于，所述单向阀构造为响应于所述抽吸装置的抽吸作用从关闭状态切换至开启状态，并且当所述抽吸装置停止工作时响应于重力作用从开启状态切换至关闭状态。
  13. 根据权利要求1所述的智能清洁系统，其特征在于，所述抽吸装置在所述自主机器人执行所述排空功能时的工作功率大于所述抽吸装置在所述自主机器人执行所述清扫功能时的工作功率。
  14. 一种自主机器人，其特征在于，所述自主机器人配置为执行清扫功能和排空功能，包括：
    第一容纳部，所述第一容纳部用于容纳所述自主机器人在执行所述清扫功能期间收集的目标物，所述第一容纳部能够通过排空口与外界可开闭地连通；
    第一风道，所述第一风道与所述第一容纳部连通；和
    抽吸装置，所述抽吸装置配置为产生通过所述第一容纳部的具有抽吸作用的空气流动，所述抽吸装置能够通过第一风道与所述第一容纳部可开闭地连通，并且所述抽吸装置能够通过回风口与外界可开闭地连通；
    其中，在所述自主机器人执行所述清扫功能的状态下，所述第一风道处于开启状态，并且所述排空口和所述回风口处于关闭状态；在所述自主机器人执行所述排空功能的状态下，所述第一风道处于关闭状态，并且所述排空口和所述回风口处于开启状态。
  15. 一种基站，所述基站用于与根据权利要求14所述自主机器人对接以从所述自主机器人排空并收集所述目标物，其特征在于，所述基站包括：
    第二容纳部，所述第二容纳部用于容纳从所述自主机器人排空的所述目标物；
    第二风道，所述第二风道与所述第二容纳部连通，所述第二风道用于供所述目标物随所述空气流动进入所述第二容纳部；和
    第三风道，所述第三风道与所述第二容纳部连通，所述第三风道用于供所述空气流动流出所述第二容纳部；
    其中，当所述自主机器人与所述基站对接到位时，所述第二风道通过所述排空口与所述第一容纳部连通，所述第三风道通过所述回风口与所述抽吸装置连通。
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