WO2021036025A1 - 扫地机器人基站、扫地机器人系统及其工作方法 - Google Patents

扫地机器人基站、扫地机器人系统及其工作方法 Download PDF

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Publication number
WO2021036025A1
WO2021036025A1 PCT/CN2019/119874 CN2019119874W WO2021036025A1 WO 2021036025 A1 WO2021036025 A1 WO 2021036025A1 CN 2019119874 W CN2019119874 W CN 2019119874W WO 2021036025 A1 WO2021036025 A1 WO 2021036025A1
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WO
WIPO (PCT)
Prior art keywords
sweeping robot
base station
cleaning
module
dust collection
Prior art date
Application number
PCT/CN2019/119874
Other languages
English (en)
French (fr)
Inventor
张士松
钟红风
Original Assignee
苏州宝时得电动工具有限公司
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Application filed by 苏州宝时得电动工具有限公司 filed Critical 苏州宝时得电动工具有限公司
Publication of WO2021036025A1 publication Critical patent/WO2021036025A1/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
    • 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
    • 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
    • A47L11/4094—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
    • A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation

Definitions

  • the invention relates to the field of sweeping robots, in particular to a sweeping robot base station, a sweeping robot system and a working method of the sweeping robot system.
  • Sweeping robots also known as automatic sweepers, smart vacuum cleaners, robot vacuum cleaners, etc.
  • smart sweeping robots are performing cleaning tasks.
  • the roller brush is easy to entangle foreign objects such as hair.
  • the entangled foreign objects will reduce the cleaning effect of the sweeping robot; on the other hand, it will also reduce the motor speed of the sweeping robot and increase the output power, thereby increasing power consumption. On the whole, this will have a very negative impact on the use of intelligent sweeping robots.
  • the prior art mainly has three solutions.
  • One is to set up a counter-rotating double roller brush, the other is to have a built-in cutting blade, and the third is to set a large diameter roller brush.
  • the setting of the counter-rotating double roller brush requires the use of rubber sheet hard rollers. Such a setting is not only difficult to clean the fine dust on the floor, but also will cause damage to the floor.
  • the double roller brush will occupy a larger internal space of the host;
  • the solution with the built-in cutting blade because the relative speed of the blade and the hair is not high, it is not easy to cut foreign objects such as hair;
  • the solution of setting a large-diameter roller brush can only solve part of the hair problem, but cannot solve the entanglement of long hair.
  • the large-diameter roller brush will also occupy the space inside the host. Therefore, in actual applications, facing the hair entangled on the roller brush, it is often necessary for the user to manually disassemble the roller brush for cleaning, which brings a lot of trouble and trouble to the user.
  • a sweeping robot base station is used for a movable sweeping robot.
  • the sweeping robot includes a roller brush for cleaning the surface to be cleaned.
  • the sweeping robot base station includes:
  • the power module includes a power motor arranged inside the housing, a transmission device connected to the output end of the power motor, and a cutting assembly fixed on the transmission device that abuts against the surface of the roller brush through a slot, and the cutting assembly is used on the roller brush Clean up the foreign body;
  • the control module is used to control the power motor to run or stop, and to control the transmission device to drive the cutting assembly to reciprocate to cut foreign objects on the roller brush.
  • the above-mentioned sweeping robot base station by setting a power module with a transmission device and a cutting assembly on the base station, and a control module capable of controlling the power module, can timely automatically detect foreign objects on the sweeping robot's roller brush that is parked on the sweeping robot base station. For cleaning, there is no need to change the original structure of the sweeping robot, nor does it need to be cleaned and interfered manually, the production cost is low, the cleaning effect is good and the use is convenient.
  • control module controls the transmission device to drive the cutting assembly to reciprocate between the first position and the second position in a direction parallel to the axis of the roller brush.
  • the transmission device is a belt transmission device.
  • the belt transmission device includes a timing belt and a timing belt wheel, the timing belt is arranged on the timing belt wheel, and the cutting assembly is arranged on the timing belt.
  • the cutting assembly includes at least one blade.
  • the sweeping robot base station further includes a dust collection module.
  • the dust collection module is provided with a dust collection port on the housing, and the dust collection port is located at the slot.
  • the dust collection module further includes a cavity and an air duct.
  • the cavity has The top can be opened and closed.
  • the top of the cavity is provided with a dust collection motor, a fan connected with the output end of the dust collection motor, and a cyclone separator disposed below the fan, and a dust collection chamber is provided at the bottom of the cavity.
  • the sweeping robot base station further includes a foreign body detection module, which is disposed at the dust collection port to detect the cleaning state of foreign bodies at the dust collection port.
  • the cleaning robot base station further includes an in-position detection module electrically connected to the control module.
  • the in-position detection module is used to detect the parking status of the cleaning robot and send the parking status of the cleaning robot to the control module.
  • the parking state of the robot controls the operation of the power motor.
  • the cleaning robot base station further includes a charging module electrically connected to the control module, and the charging module is a wired charging module and/or a wireless charging module.
  • the cleaning robot base station further includes a communication module electrically connected to the control module, and the communication module is arranged in the housing for communicating with the cleaning robot.
  • a sweeping robot system includes a sweeping robot and the sweeping robot base station described in any one of the above embodiments.
  • the bottom of the sweeping robot is provided with a dust suction port
  • the inside of the sweeping robot is provided with a dust box communicating with the dust suction port, wherein the dust collection port is aligned with the dust suction port and is cleaned by the dust suction module Foreign objects in the dust box.
  • a working method of a sweeping robot system is applied to the sweeping robot base station, and the method includes:
  • a stop cleaning signal is issued to control the power motor to stop running.
  • the working method of the sweeping robot system further includes:
  • a dust suction stop signal is issued to control the dust suction motor to stop running.
  • the cleaning robot base station, the cleaning robot system, and the working method of the cleaning robot system are described above. It can automatically clean the roller brush of the sweeping robot parked on the sweeping robot base station in a timely and effective manner, and inhale the cleaned foreign objects and the dust in the robot dust box into the dust collection room of the base station in time, improving the work of the sweeping machine Efficiency, reducing the time cost of manual labor, good cleaning effect and easy to use.
  • Fig. 1 is a schematic structural diagram of a base station of a sweeping robot in an embodiment
  • FIG. 2 is a schematic diagram of the structure of the power module of the base station of the cleaning robot in an embodiment
  • Fig. 3 is a schematic diagram of the structure of the sweeping robot system in an embodiment
  • Fig. 4 is a schematic diagram of a partial structure of the sweeping robot system in an embodiment
  • Figure 5 is a schematic diagram of the structure of the sweeping robot system in an embodiment
  • Figure 6 is a working flow chart of the sweeping robot system in an embodiment
  • FIG. 7 is a schematic flowchart of a working method of the sweeping robot system in an embodiment
  • Fig. 8 is a schematic flowchart of a working method of the cleaning robot system in an embodiment.
  • this application proposes a sweeping robot base station, which will be described in detail below with reference to the drawings.
  • a base station 100 of a sweeping robot is disclosed.
  • the base station 100 of the sweeping robot is used for a movable sweeping robot or a sweeping and mopping integrated machine.
  • the sweeping robot 200 has a robot housing 210 that can move on the ground.
  • the robot housing 210 is generally in the shape of a disc;
  • a controller 220 and a dust box 230 are installed inside the 210;
  • at least one roller 240 is installed at the bottom of the robot housing 210, and each roller 240 is driven to rotate by an independent motor.
  • the bottom of the robot housing 210 is also provided There is a dust suction port (not shown in the figure), and a roller brush 250 is arranged at the dust suction port.
  • the roller brush 250 is in transmission connection with a roller brush motor (not shown in the figure) and is driven to rotate by the roller brush motor. 4, the roller brush 250 has a brush shaft and bristles protruding outward from the outer wall of the brush shaft. When there are foreign objects such as hairs, these foreign objects will be wrapped around the outer wall of the brush shaft, thereby affecting the sweeping.
  • the cleaning effect of the robot 200 reduces the rotation speed of the roller brush motor, increases the output power, and increases the power consumption.
  • the sweeping robot 200 will automatically move to the sweeping robot base station 100 through GPRS, radio frequency, camera and other positioning modules, and finally stop on the sweeping robot base station 100, and then the sweeping robot base station 100 will complete the cleaning of the sweeping robot roller brush 250. .
  • the cleaning robot base station 100 is usually fixed at a wall position after being powered on through the power connection line 170, and it includes a housing 110, an in-position detection module 120, a power module 130 and a control module 140.
  • the in-position detection module 120 can also be installed on the cleaning robot 200 to detect whether it is parked on the cleaning robot base station 100. Therefore, the cleaning robot base station 100 may only include the housing 110, the power module 130, and the control module 140.
  • the sweeping robot 200 can usually move automatically on the ground and perform ground cleaning. When the sweeping robot 200 needs to clean up foreign objects or complete the cleaning work, it can move to the sweeping robot base station 100 to complete the cleaning of the foreign objects on the roller brush.
  • the control module 140 can control the power module 130 to clean the roller brush 250 of the cleaning robot according to the parking state of the cleaning robot 200.
  • the power module 130 of the sweeping robot base station 100 includes a power motor 131, a transmission device, and a cutting assembly 135.
  • the transmission device may be a belt transmission device, and the belt transmission device may further be Including timing belts, timing pulleys, gears, chains or ropes, etc.
  • the transmission device is the reducer 132, the timing belt wheel 133, and the timing belt 134 as an example for description.
  • the input end of the power motor 131 is electrically connected to the control module 140, and the output end is electrically connected to the reducer 132.
  • the output end of the reducer 132 is connected to the timing belt wheel 133 and drives the timing belt wheel 133 to run.
  • a timing belt 134 On the timing belt wheel 133, a timing belt 134 is provided, and a cutting assembly 135 is fixed on the timing belt 134.
  • the cutting assembly 135 is specifically It can be one or more blade-like cutting tools, which can be fixed on the timing belt, chain or rope by means of glue, screw fixation or clamping, and it is driven by the timing belt, chain or rope for reciprocating motion, understandable Yes, the moving direction of the cutting assembly is consistent with the running direction of the transmission device, where the running direction of the transmission device can be perpendicular to the direction in which the sweeping robot 200 enters the base station 100 or parallel to the direction in which the sweeping robot 200 enters the base station 100 Or other directions that are at a certain angle to the direction in which the sweeping robot 200 enters.
  • the running direction of the transmission device and the moving direction of the cutting assembly are perpendicular to the direction of the sweeping robot 200 entering the base station 100. direction.
  • the housing 110 of the cleaning robot base station 100 is also provided with a slot 111. After the cleaning robot 200 is accurately parked on the cleaning robot base station 100, the slot 111 will interact with the cleaning robot 200.
  • the dust suction port and the roller brush 250 are aligned, and the transmission device is arranged under the slot 111 and aligned with the roller brush 250 of the sweeping robot.
  • the cutting assembly 135 can pass through the surface of the slot 111 and the roller brush 250 In contact with each other, driven by the transmission device, the cutting assembly 135 reciprocates between two preset positions of the conveying device, so as to cut foreign objects such as hair on the roller brush 250 of the sweeping robot.
  • the above-mentioned sweeping robot base station by providing a power module with a transmission device and a cutting assembly on the base station, and a control module capable of controlling the power module, the power module on the base station can be used in time to roll the sweeping robot parked on the sweeping robot base station.
  • the brushed foreign objects are automatically cleaned, without changing the original structure of the sweeping robot, and without human cleaning and interference, the production cost is low, the cleaning effect is good, and the use is convenient.
  • the control module 140 may control the transmission device to drive the cutting assembly 135 to reciprocate between the first position and the second position in a direction parallel to the axis of the roller brush 250.
  • the first position and the second position are both preset positions, that is, when the cutting assembly moves to the corresponding first position or second position, it will send an in-position signal to the control module 140, so that the control module 140 controls the power motor 131 to drive The cutting assembly 135 stops moving or moves in the opposite direction.
  • the transmission device is a belt transmission device.
  • the belt transmission device includes a timing belt, a chain or a rope, and a timing belt wheel or gear for driving the movement of the timing belt, chain or rope.
  • the belt transmission device includes a timing belt wheel 133 and a timing belt 134, wherein the timing belt 134 is arranged on the timing belt wheel 133, and the cutting assembly 135 is arranged on the timing belt 134 Further, in order to control the running speed of the synchronous belt wheel 133 to achieve better cutting effect, a reducer 132 is usually connected between the power motor 131 and the synchronous belt wheel 133.
  • the cutting assembly includes one or more blade-like cutting tools, which can be fixed on the timing belt, chain or rope by means of glue, screw fixation, or clamping, and are made of timing belt, chain or rope. Drive reciprocating motion.
  • the cleaning robot base station 100 further includes a dust collection module 150.
  • the dust collection module 150 is provided with a dust collection port 151 on the housing 110, and the dust collection port 151 is located at the slot 111 of the housing, and the dust collection module 150 further includes a cavity 152 and an air duct ( The direction marked by the dashed line in Figure 5 is the direction of gas flow in the air duct).
  • a dust-collecting motor 153, a fan 154, and a cyclone 155 are also provided, and at the bottom of the cavity 152, a dust collection chamber 156 is provided.
  • the fan 154 is installed at the output end of the dust suction motor 153 to complete the vacuuming work together with the dust suction motor 153.
  • the cyclone separator 155 is installed below the fan 154 to separate foreign matter and gas sucked into the cavity 152. Further, during or after the power module 130 cleans the foreign matter on the roller brush 250, the dust suction module 150 can start the vacuuming work and suck the cut hair, dust and other foreign matter directly through the dust collection port. In the cyclone separator 155 in the cavity 152, the foreign matter and dust separated by the cyclone separator 155 will fall into the dust collection chamber 156 at the bottom, thereby completing the cleaning of the foreign matter.
  • the housing 110 of the sweeping robot base station 100 may be roughly L-shaped. It has a bottom that can support the ground and a side wall leaning against the wall. The outer end of the bottom may be in a slope shape to facilitate the sweeping robot 200 Move, the cavity 152 of the vacuum module 150 is installed on the side wall.
  • the dust collection port of the cleaning robot base station 100 will automatically align with the roller brush 250 of the cleaning robot 200
  • the vacuuming motor 153 will drive the fan 154 to form a vacuum environment inside the air duct and the cavity 152, so that the dust collecting port 151 generates suction, thereby turning the brush
  • the foreign matter cut off at 250 is sucked into the dust collecting port 151, and then, driven by the dust suction motor 153 and the fan 154, foreign matter such as hair and dust will enter the cyclone separator 155 from the air inlet of the cyclone separator 155 along with the gas.
  • the cyclone 155 separates the hair, dust and other foreign matter in the gas and then falls into the dust collection chamber 156 below, and the gas with impurities removed is discharged through the air outlet pipe (not shown in the figure).
  • the air outlet end of the air outlet pipe can be provided with a dust-proof net to prevent impurities such as dust from entering the air outlet pipe.
  • the top of the cavity 152 can be installed above the cavity 152 in an openable and closable manner.
  • the top of the cavity 152 can be hingedly connected to the lower half of the cavity 152.
  • Buffer devices such as rubber pads can be provided to form a closed space between the closed cavity 152 and the air duct, thereby completing the dust collection work.
  • the vacuum motor 153, the fan 154, and the cyclone 155 provided on the top of the cavity will open together with the top.
  • the foreign objects cut from the sweeping robot's roller brush can be sucked into the dust collection chamber inside the housing in time, eliminating the trouble of manual cleaning of foreign objects. Save time and effort in the process of cleaning foreign objects.
  • the cleaning robot base station further includes a foreign object detection module, which is disposed at the dust collection opening of the cleaning robot base station, and is used to detect the cleaning status of foreign objects at the dust collection opening.
  • the foreign object detection module may specifically include a light emitting sensor and a light receiving sensor.
  • the light emitting sensor and the light receiving sensor are electrically connected to the control module. They may be photoelectric sensors such as photodiodes or phototransistors. Further, light emitting sensors and light receiving sensors It can be arranged on both sides of the dust collecting port.
  • the light emitting sensor can emit energy signals such as visible light, infrared light, sound waves or ultrasonic waves.
  • the light receiving sensor can compare the received energy signal with the reference value.
  • the control module can determine that there are more foreign objects such as hair and dust at the dust collection port.
  • the control module can Make sure that the hair, dust and other foreign objects at the dust collection port are attracted relatively clean. At this time, the control module can control the dust collection motor and fan to stop working, so as to automatically complete the cleaning work of the sweeping robot base station.
  • the cleaning robot base station 100 further includes an in-position detection module 120, where the in-position detection module 120 is used to detect the parking state of the cleaning robot 200.
  • the in-position detection module 120 can be installed individually or in pairs.
  • the in-position detection module can be a communication module or a charging module separately set up in the base station; the in-position detection module can also be a magnetic strip set on the base station of the sweeping robot.
  • the sweeping machine is equipped with a geomagnetic sensor to detect the magnetic field.
  • the in-position detection module can also be a radio frequency tag set on the base station of the sweeping robot.
  • the sweeping robot is equipped with a radio frequency detection device to detect the radio frequency signal emitted by the radio frequency tag.
  • the sweeping robot It can automatically return to the sweeping robot base station, and enable the sweeping robot base station to detect the parking status of the sweeping robot.
  • the in-position detection module of the sweeping robot base station will send the parking status of the sweeping robot.
  • the control module can directly control the operation of the power motor according to the parking state of the sweeping robot, so that the sweeping robot base station can automatically clean the roller brush of the sweeping robot.
  • the cleaning robot base station further includes a charging module, which can charge the parking robot cleaning.
  • the charging module may be a wired charging module or a wireless charging module.
  • the charging module includes a charging circuit arranged inside the housing and electrically connected to the control module and arranged on the side wall of the housing. Or a charging pole piece with the bottom electrically connected to the charging circuit.
  • the charging pole piece is generally a pair, and can be set as a magnetic pole piece or an elastic pole piece to facilitate the docking with the conductive terminals of the cleaning robot.
  • the charging pole piece can guide the sweeping robot to accurately stop at the same position of the sweeping robot base station in a fixed posture every time, so as to realize that after each stop, the cutting assembly can be aligned and aligned with the roller brush on the sweeping robot. Complete the task of cleaning up foreign objects.
  • the in-position detection module on the cleaning robot base station can be integrated with the charging pole piece to realize the charging function and the in-position detection function at the same time, saving the space and manufacturing cost of the cleaning robot base station.
  • the charging module is a wireless charging module
  • the charging module may include a charging circuit and a wireless charging receiving terminal electrically connected to the charging circuit. At the same time, a wireless charging receiving module and a rechargeable battery will be installed on the sweeping robot.
  • the sweeping robot base station The wireless charging transmitter above can wirelessly transmit a charging signal to the wireless charging receiving end of the sweeping robot to transmit electric energy, and then, the wireless charging receiving end of the sweeping robot is electrically connected to a rechargeable battery to store the electric energy transmitted by the wireless charging.
  • the cleaning robot base station 100 further includes a communication module 160, and the cleaning robot base station 100 can communicate with the cleaning robot 200 through the communication module 160.
  • the sweeping robot base station 100 may send a foreign object cutting notification to the sweeping robot 200 through the communication module 160, so that the roller brush 250 of the sweeping robot 200 can rotate an angle, so that the foreign objects on the roller brush 250 can be cleaned from multiple angles. More thorough; it is also possible to send a foreign object unloading notification to the ground robot 200, so that the dust removal electrode of the cleaning robot 200 is reversed to unload the foreign matter in the dust box 230 to the dust collection port.
  • the cleaning robot 200 can also actively send a foreign object cleaning request and/or a dust box cleaning request and/or a charging request to the communication module 160 of the cleaning robot base station 100 through the communication antenna 260, that is, when the power of the cleaning robot 200 is insufficient, it can send Charge request and move to the direction of the cleaning robot base station 100; when the cleaning robot 200 is parked on the cleaning robot base station 100, the cleaning robot base station 100 can automatically clean the foreign objects on the cleaning robot roller brush 260, or it can be detected in the cleaning robot 200 When the rotation speed of the roller brush motor decreases or the output power increases, the cleaning robot base station 100 is actively requested to clean the foreign objects on the roller brush 260 after stopping. It is understandable that the specific communication process is not limited to the situations listed above, and the communication process under other conditions can be set according to actual conditions.
  • a cleaning robot system 300 which includes a cleaning robot base station 100 and a cleaning robot 200.
  • the cleaning robot base station 100 includes a housing 110, an in-position detection module 120, a power module 130, and a control module 140.
  • the cleaning robot 200 includes a robot housing 210, a controller 220, a dust box 240, at least one roller 240, a roller brush 250 and a communication antenna 260.
  • the base station 100 of the sweeping robot is usually fixed on the wall after being powered on, and the sweeping robot 200 can automatically move on the ground and perform ground cleaning work.
  • the sweeping robot 200 When the sweeping robot 200 needs to clean up foreign objects or complete the cleaning work , It can move to the base station 100 of the sweeping robot to automatically complete the cleaning of foreign objects on the roller brush.
  • the sweeping robot system 300 disclosed in this embodiment can promptly use the power module on the base station 100 to automatically clean foreign objects on the roller brushes of the parking sweeper, without changing the original structure of the sweeping robot 200, and without manual cleaning and Interference, low production cost, good cleaning effect and convenient use.
  • the bottom of the cleaning robot housing 210 is provided with a dust suction port, and a dust box 230 and a dust removal motor (not shown in the figure) communicating with the dust suction port are provided inside, wherein ,
  • the dust removal motor can provide suction for the dust suction port of the cleaning robot 200, and the sucked dust will enter the dust box 230 connected with the dust suction port.
  • the dust removal motor of the robot 200 in turn, the dust removal motor will reverse to remove the dust and other foreign objects in the dust box 230.
  • the sweeping robot base station 100 starts the dust collection function to suck out the dust and other foreign objects in the dust box 230 of the sweeping robot. This eliminates the trouble of manually cleaning the dust box of the sweeping robot.
  • the in-position detection module 120 can detect the parking state of the cleaning robot 200.
  • the control module 140 of the sweeping robot base station 100 can first control the power motor 131 to rotate forward to drive the timing belt 134 and the cutting assembly 135 fixed on the timing belt 134 to move in the direction of the transmission belt.
  • the position detector such as magnetic induction or photoelectricity on the sweeping robot base station 100 detects that the cutting assembly 135 has moved to a certain preset position
  • the power motor 131 will stop forward rotation and start reverse rotation, the same
  • the position detector in the other direction detects that the cutting assembly 135 moves to a certain preset position in the opposite direction
  • the power motor 131 will stop running.
  • the cleaning robot base station 100 can communicate with the cleaning robot 200 to make the cleaning robot 200 starts the dust removal motor for 2 seconds to remove foreign objects attached to the roller brush 250 of the sweeping robot 200.
  • the control module 140 adds 1 to the value of the counter.
  • the cutting assembly 135 After repeatedly cutting the roller brush 250 for three times, the cleaning robot base station 200 stops working, and the cleaning work of the cleaning robot base station is completed. It is understandable that the numerical values in the above embodiments are only to illustrate the working process of the sweeping robot system, and each specific numerical value can be modified according to actual conditions.
  • a working method of a cleaning robot is provided.
  • the method can be applied to the control module 140 of the cleaning robot base station 100 in the cleaning robot system 300 in FIG. 1.
  • the method includes the following step:
  • S702 According to the parking state of the sweeping robot and/or the received first communication information sent by the sweeping robot, send a foreign body cleaning signal to control the operation of the power motor and control the transmission device to drive the cutting assembly to reciprocate.
  • the roller brush of the sweeping robot is often easily entangled by foreign objects such as hairs, which will affect the cleaning effect of the sweeping robot, reduce the speed of the roller brush motor, increase the output power, and increase the power consumption.
  • the sweeping robot needs to clean up foreign objects or complete the cleaning work, it can actively move to the sweeping robot base station through GPRS, radio frequency, camera and other positioning modules and stop on the sweeping robot base station. At this time, the sweeping robot base station or the sweeping robot itself is in place
  • the detection module can detect the parking state of the sweeping robot.
  • the base station of the sweeping robot detects that the sweeping robot is docked on the base station, it can actively clean the foreign objects on the sweeping robot's roller brush, or it can check the status of the sweeping robot on the roller brush after receiving the first communication message sent by the sweeping robot.
  • the foreign body is cleaned, where the first communication information includes a foreign body cleanup request.
  • the cleaning process of the base station is as follows: the control module sends out a foreign body cleaning signal to control the operation of the power motor, and the power motor is connected to the transmission device.
  • the cutting assembly fixed on the transmission device can be divided into two Perform a reciprocating motion between the preset positions to cut foreign objects such as hair on the roller brush of the sweeping robot.
  • the two relative directions may be perpendicular to the direction in which the sweeping robot enters the base station or parallel to the direction in which the sweeping robot enters the base station.
  • a stop cleaning signal is sent to control the power motor to stop running.
  • the control module will send a stop cleaning signal.
  • the power motor will stop running.
  • the base station of the sweeping robot can also send control information to the sweeping robot through the communication module while controlling the movement of the cutting assembly, so that the roller brush of the sweeping robot can rotate an angle and continue to cut foreign objects, so as to achieve a better cleaning effect.
  • the working method of the sweeping robot further includes the following steps:
  • a dust collection signal is sent to control the operation of the dust collection motor.
  • the sweeping robot base station can actively send a vacuuming signal according to the parking state of the sweeping robot, or can passively send a vacuuming signal according to the received second communication information sent by the sweeping robot.
  • the second communication information includes a request for vacuuming.
  • the control module of the sweeping robot base station sends out a vacuuming signal, the vacuuming motor will operate according to the vacuuming signal.
  • the vacuuming motor After the vacuuming motor runs, it will drive the fan to form a vacuum environment in the air duct and the cavity, thereby making the collection
  • the dust port generates suction, so that the foreign objects that fall into the base station housing after being cut are sucked into the cyclone separator of the cavity, so that the cyclone separator separates the hair, dust and other foreign objects in the gas in the dust collection chamber below the cavity In this way, the impurity-removed gas is discharged through the air outlet pipe to complete the dust collection task.
  • the sweeping robot can start the dust collection function to suck the cut foreign objects into the dust box, and then start the operation of the dust collection motor of the base station, and send it to the dust box through the communication module.
  • the sweeping robot sends a signal to reverse the dust removal motor of the sweeping robot to unload the foreign matter in the dust box, thereby removing the foreign matter in the dust box together. In this way, it can prevent the hair or foreign matter after cutting from flying.
  • the sweeping robot base station can detect the cleaning state of foreign objects at the dust collection opening through the light emitting sensor and light receiving sensor of the foreign object detection module. Further, the light emitting sensor and the light receiving sensor can be arranged on both sides of the dust collecting port.
  • the light emitting sensor can emit energy signals such as visible light, infrared light, acoustic waves or ultrasonic waves, and the light receiving sensor can compare the received energy signal with a reference value.
  • the control module can determine that there are more foreign objects such as hair and dust at the dust collection port; when the energy value sensed by the light receiving sensor is greater than the reference value and close to the light When the energy value emitted by the sensor is emitted, the control module can determine that the hair, dust and other foreign objects at the dust collection port are attracted relatively clean.
  • a dust suction stop signal is sent to control the dust suction motor to stop running.
  • the sweeping robot base station can judge whether the cleaning task is completed according to the foreign object cleaning state detected by the foreign object detection module, and can also judge whether the cleaning task is completed according to the preset operating time of the cleaning motor. For example, when the foreign matter detection module detects that the foreign matter at the dust collection port is relatively clean, that is, when the energy value received by the light receiving sensor is greater than a certain preset value, the judgment result is complete, and the sweeping robot base station can send a signal to stop vacuuming , So as to control the dust-collecting motor to stop running, thus ending the dust-collecting task.

Abstract

一种扫地机器人基站（100），用于可移动的扫地机器人（200），扫地机器人（200）包括一用于清洁待清洁表面的滚刷（250），扫地机器人基站（100）包括：壳体（110），壳体（110）上设有开槽（111）；动力模块（130），包括设置于壳体（110）内部的动力电机（131）、与动力电机（131）输出端相连接的传动装置和固定于传动装置上通过开槽（111）与滚刷（250）表面相抵接的切割组件（135），切割组件（135）用于对滚刷（250）上的异物进行清理；控制模块（140），用于控制动力电机（131）运转或停止，以控制传动装置带动切割组件（135）做往复运动，以切割滚刷（250）上的异物。扫地机器人基站（100），可以及时的对停靠的扫地机器人（200）的滚刷（250）上的异物进行自动清理，无需改变扫地机器人（200）的原有结构，制作成本低、清理效果好且使用方便。

Description

扫地机器人基站、扫地机器人系统及其工作方法
本申请要求了申请日为2019年8月28日，申请号为201910802800.8的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
技术领域
本发明涉及扫地机器人领域，特别是涉及一种扫地机器人基站、一种扫地机器人系统以及一种扫地机器人系统的工作方法。
背景技术
扫地机器人，又被称作自动打扫机、智能吸尘器、机器人吸尘器等，是一种便捷的可以在不需要人为操作的情况下自动执行清扫任务的新型家用电器，但是，智能扫地机器人在执行清洁任务时，其滚刷很容易缠绕毛发等异物，一方面缠绕的异物会降低扫地机器人的清洁效果；另一方面也会使扫地机器人的电机转速下降，输出功率增加，从而增加耗电量。综合来看，这会对智能扫地机器人的使用带来很不利的影响。
针对上述问题，现有技术主要有三种解决方案，一是设置对转双滚刷，二是内置切割刀片，三是设置大直径滚刷。其中，设置对转双滚刷需要使用橡胶片硬滚轮，这样的设置不仅不易清扫地板上的细灰尘，而且还会对地板产生伤害，同时，设置双滚刷会占用主机较大的内部空间；而在内置切割刀片的方案中，因为刀片和毛发相对速度不高，并不容易切断毛发等异物；最后，设置大直径滚刷的方案只能解决部份头发问题，解决不了长头发的缠绕，并且，大直径滚刷同样也会占用主机内部的空间。因而，在实际应用中，面对滚刷上缠绕的头发，常常需要用户手动拆卸滚刷来进行清洁，给用户带来很多麻烦和困扰。
发明内容
基于此，有必要针对上述问题，提供一种能够有效去除缠绕在滚刷上异物的扫地机器人基站、扫地机器人系统以及该系统的工作方法。
一种扫地机器人基站，用于可移动的扫地机器人，扫地机器人包括一用于清洁待清洁表面的滚刷，扫地机器人基站包括：
壳体，壳体上设有开槽；
动力模块，包括设置于壳体内部的动力电机、与动力电机输出端相连接的传动装置和固定于传动装置上通过开槽与滚刷表面相抵接的切割组件，切割组件用于对滚刷上的异物进行清理；
控制模块，用于控制动力电机运转或停止，以控制传动装置带动切割组件做往复运动，以切割滚刷上的异物。
上述扫地机器人基站，通过在基站上设置具有传动装置和切割组件的动力模块以及能够控制动力模块的控制模块，可以及时的对停靠在扫地机器人基站上的扫地机人的滚刷上的异物进行自动清理，无需改变扫地机器人的原有结构，也无需人为清理和干涉，制作成本低、清理效果好且使用方便。
在其中一个实施例中，控制模块控制传动装置带动切割组件以平行于滚刷轴线的方向在第一位置和第二位置之间做往复运动。
在其中一个实施例中，传动装置为带传动装置。
在其中一个实施例中，带传动装置包括同步带和同步带轮，同步带设置在同步带轮上，切割组件设置在同步带上。
在其中一个实施例中，切割组件包括至少一个刀片。
在其中一个实施例中，扫地机器人基站还包括吸尘模块，吸尘模块在壳体 上设有集尘口，集尘口位于开槽处，吸尘模块还包括腔体和风道，腔体具有可开合的顶部，腔体的顶部设置有吸尘电机、与吸尘电机输出端相连接的风扇和设置于风扇下方的旋风分离器，腔体的底部设置有集尘室。
在其中一个实施例中，扫地机器人基站还包括异物检测模块，异物检测模块设置于集尘口处，以检测集尘口处的异物清理状态。
在其中一个实施例中，扫地机器人基站还包括与控制模块电连接的到位检测模块，到位检测模块用于检测扫地机器人的停靠状态，并将扫地机器人的停靠状态发送给控制模块，控制模块根据扫地机器人的停靠状态控制动力电机运转。
在其中一个实施例中，扫地机器人基站还包括与控制模块电连接的充电模块，充电模块为有线充电模块和/或无线充电模块。
在其中一个实施例中，扫地机器人基站还包括与控制模块电连接的通信模块，通信模块设置于壳体内，用于与扫地机器人进行通信。
一种扫地机器人系统，包括扫地机器人和上述任一项实施例所述的扫地机器人基站。
在其中一个实施例中，扫地机器人的底部设置有吸尘口，扫地机器人内部设置有与吸尘口相连通的尘盒，其中，集尘口与吸尘口对准，并通过吸尘模块清理尘盒内的异物。
一种扫地机器人系统的工作方法，应用于所述扫地机器人基站上，所述方法包括：
根据扫地机器人的停靠状态和/或接收到的扫地机器人发出的第一通信信息，发出异物清理信号，以控制动力电机运转并控制传动装置带动切割组件做往复运动；
根据动力电机的运转时长和/或切割组件的运动行程，发出停止清理信号，以控制动力电机停止运转。
在其中一个实施例中，扫地机器人系统的工作方法还包括：
根据扫地机器人的停靠状态和/或接收到的扫地机器人发出的第二通信信息，发出吸尘信号，以控制吸尘电机运转；
检测集尘口处的异物清理状态；
根据集尘口处的异物清理状态和/或吸尘电机的运转时长，发出停止吸尘信号，以控制吸尘电机停止运转。
上述扫地机器人基站、扫地机器人系统以及扫地机器人系统的工作方法。能够及时有效的对停靠在扫地机器人基站上的扫地机器人的滚刷进行自动清理，并将清理后的异物及机器人尘盒内的灰尘及时吸入到基站的集尘室中，提高了扫地机器的工作效率，降低了人工劳动的时间成本，清理效果好且使用方便。
附图说明
图1为一个实施例中扫地机器人基站的结构示意图；
图2为一个实施例中扫地机器人基站的动力模块的结构示意图；
图3为一个实施例中扫地机器人系统的结构示意图；
图4为一个实施例中扫地机器人系统的局部结构示意图；
图5为一个实施例中扫地机器人系统的结构示意图；
图6为一个实施例中扫地机器人系统的工作流程图；
图7为一个实施例中扫地机器人系统的工作方法的流程示意图；
图8为一个实施例中扫地机器人系统的工作方法的流程示意图。
附图标号说明：
100扫地机器人基站；110壳体；111开槽；120到位检测模块；130动力模块；131动力电机；132减速器；133同步带轮；134同步带；135切割组件；140控制模块；150吸尘模块；151集尘口；152腔体；153吸尘电机；154风扇；155旋风分离器；156集尘室；157垃圾袋；160通信模块；170电源连接线；200扫地机器人；210机器人壳体；220控制器；230尘盒；240滚轮；250滚刷；260通信天线；300扫地机器人系统。
具体实施方式
为使本发明的上述目的、特征和优点能够更加明显易懂，下面结合附图对本发明的具体实施方式做详细的说明。在下面的描述中阐述了很多具体细节以便于充分理解本发明。但是本发明能够以很多不同于在此描述的其它方式来实施，本领域技术人员可以在不违背本发明内涵的情况下做类似改进，因此本发明不受下面公开的具体实施例的限制。
针对扫地机器人滚刷易缠绕毛发等异物不易处理的问题，本申请提出了一种扫地机器人基站，下面结合附图对此扫地机器人基站进行具体介绍。
在一个实施例中，如图1至图4所示，公开了一种扫地机器人基站100，该扫地机器人基站100用于一种可移动的扫地机器人或扫拖一体机。以该扫地机器人基站100用于一种扫地机器人200为例进行说明，扫地机器人200具有一个能够在地面上移动的机器人壳体210，该机器人壳体210一般呈圆盘形；在该机器人壳体210的内部安装有控制器220和尘盒230；在机器人壳体210的底部安装有至少一个滚轮240，每一个滚轮240均被一个独立的电机做驱动回转，在机器人壳体210的底部还设置有一吸尘口(图中未标出)，吸尘口处设置有滚刷 250，滚刷250与一滚刷电机(图中未标出)传动连接，并由此滚刷电机驱动转动。其中，参照图4，滚刷250具有一个刷轴和自刷轴外壁面向外伸出的刷毛，当有毛发等异物存在时，这些异物就会被缠绕在刷轴的外壁面，从而影响到扫地机器人200的清洁效果，并且使滚刷电机的转速下降，输出功率增加，增加耗电量。此时，扫地机器人200就会通过GPRS、射频、摄像头等定位模块自动向扫地机器人基站100方向移动并最终停靠在扫地机器人基站100上，再由扫地机器人基站100完成对扫地机器人滚刷250的清理。
在本实施例中，扫地机器人基站100通过电源连接线170上电后通常会被固定在墙壁位置，它包括壳体110、到位检测模块120、动力模块130和控制模块140。其中，到位检测模块120也可以安装在扫地机器人200上，用来检测其自身是否停靠在扫地机器人基站100上，所以扫地机器人基站100可以只包括壳体110、动力模块130和控制模块140。具体的，扫地机器人200通常可以在地面上自动移动并进行地面清扫工作，当扫地机器人200需要进行异物清理或完成清扫工作时，可以移动到扫地机器人基站100处完成滚刷上异物的清理工作。在本实施例中，扫地机器人200向扫地机器人基站100方向移动并停靠在扫地机器人基站100上后，扫地机器人基站100的到位检测模块120或扫地机器人上的到位检测模块(图中未标出)就可以检测到扫地机器人200的停靠状态，继而，控制模块140就可以根据扫地机器人200的停靠状态控制动力模块130对扫地机器人的滚刷250进行清理。
具体的，参照图1和图2，扫地机器人基站100的动力模块130包括动力电机131、传动装置以及切割组件135，在本实施例中，传动装置可以为带传动装置，而带传动装置进一步可以包括同步带、同步带轮、齿轮、链条或绳索等。具体的，本实施例以传动装置为减速器132、同步带轮133以及同步带134为例 进行说明，其中，动力电机131的输入端与控制模块140电连接，其输出端与减速器132电连接，减速器132的输出端连接同步带轮133并带动同步带轮133运转，在同步带轮133上，设置有同步带134，在同步带134上固定有切割组件135，该切割组件135具体可以是一个或多个刀片类的切割工具，它可以通过胶粘、螺钉固定或卡座等方式固定在同步带、链条或绳索上，并由同步带、链条或绳索带动做往复运动，可以理解的是，切割组件的运动方向与传动装置的运行方向一致，其中，传动装置的运行方向可以是垂直于扫地机器人200驶入基站100的方向也可以是平行于扫地机器人200驶入基站100的方向或者是其他与扫地机器人200的驶入方向呈一定角度的方向，在本实施例中，如图3所示，传动装置的运行方向和切割组件的运动方向垂直于扫地机器人200驶入基站100的方向。进一步的，参照图2和图4，扫地机器人基站100的壳体110上还设有一个开槽111，当扫地机器人200准确停靠在扫地机器人基站100上之后，该开槽111会与扫地机器人200的吸尘口以及滚刷250对准，传动装置则设置于该开槽111之下并对准扫地机器人的滚刷250，进一步的，切割组件135就可以通过开槽111与滚刷250的表面相抵接，在传动装置的带动下，切割组件135在传送装置的两个预设位置之间做往复运动，以此来切割扫地机器人滚刷250上的毛发等异物。
上述扫地机器人基站，通过在基站上设置具有传动装置和切割组件的动力模块以及能够控制动力模块的控制模块，可以及时的利用基站上的动力模块对停靠在扫地机器人基站上的扫地机人的滚刷上的异物进行自动清理，无需改变扫地机器人的原有结构，也无需人为清理和干涉，制作成本低、清理效果好且使用方便。
在一个实施例中，如图2和图4所示，控制模块140可以控制传动装置带 动切割组件135以平行于滚刷250轴线的方向在第一位置和第二位置之间做往复运动。其中，第一位置和第二位置均为预设位置，即当切割组件运动到相应第一位置或第二位置之后，会向控制模块140发送到位信号，从而使控制模块140控制动力电机131带动切割组件135停止运动或向反方向运动。
在一个实施例中，传动装置为带传动装置，具体的，带传动装置包括同步带、链条或绳索以及用于带动同步带、链条或绳索运动的同步带轮或齿轮等部件。
在一个实施例中，如图1和图2所示，带传动装置包括同步带轮133和同步带134，其中，同步带134设置在同步带轮133上，切割组件135设置在同步带134上，进一步的，为了控制同步带轮133的运转速度，以实现更好的切割效果，通常还会在动力电机131和同步带轮133之间连接一个减速器132。
在一个实施例中，切割组件包括一个或多个刀片类的切割工具，它可以通过胶粘、螺钉固定或卡座等方式固定在同步带、链条或绳索上，并由同步带、链条或绳索带动做往复运动。
在一个实施例中，参照图5，扫地机器人基站100还包括吸尘模块150。在本实施例中，吸尘模块150在壳体110上设有集尘口151，并且，该集尘口151位于壳体的开槽111处，吸尘模块150还包括腔体152和风道(图5中虚线标出的方向即为风道内气体流动的方向)。在腔体152的顶部，还设置有吸尘电机153、风扇154和旋风分离器155，在腔体152的底部设置有集尘室156。其中，风扇154安装在吸尘电机153的输出端，与吸尘电机153共同完成抽真空的工作，旋风分离器155安装在风扇154的下方，用来分离吸进腔体152内异物和气体。进一步的，在动力模块130对滚刷250上的异物进行清理的过程中或清理完成后，吸尘模块150可以启动吸尘工作并将切割后的毛发、灰尘等异物直 接通过集尘口吸入到腔体152内的旋风分离器155中，然后，经过旋风分离器155分离后的异物和灰尘会掉入底部的集尘室156中，从而完成异物的清理工作。
具体的，扫地机器人基站100的壳体110可以大致呈L型，它具有一个可以支撑地面的底部和一个靠在墙壁上的侧壁部，底部的外端部可以呈斜坡状以便于扫地机器人200移动，侧壁部上则安装有吸尘模块150的腔体152，当扫地机器人200准确停靠在扫地机器人基站100之后，扫地机器人基站100的集尘口会自动对准扫地机器人200的滚刷250的下方，当扫地机器人基站100的吸尘功能被启动后，吸尘电机153会带动风扇154使风道和腔体152内部形成真空环境，从而使集尘口151产生吸力，以此将滚刷250上割断的异物吸入到集尘口151中，进而，在吸尘电机153和风扇154的带动下，毛发、灰尘等异物会随气体从旋风分离器155的进风口进入到旋风分离器155中，旋风分离器155将气体中的毛发、灰尘等异物分离出来后会掉在下方的集尘室156中，而除去了杂质的气体则经出风管(图中未标出)排出，另外，出风管的出风端可以设置防尘网来防止粉尘等杂质进入出风管中。
在本实施例中，腔体152的顶部能够以可开合的方式安装在腔体152的上方，例如腔体152的顶部可以通过铰接的方式与腔体152的下半部连接，在连接处，可以设置橡胶垫等缓冲装置使关闭状态下的腔体152与风道形成密闭空间，从而完成吸尘工作。具体的，腔体152的顶部在打开时，腔体顶部设置的吸尘电机153、风扇154和旋风分离器155会随顶部一同打开，顶部打开后，可以对腔体152下方的集尘室内的垃圾进行清理，也可以在集尘室的上方套上垃圾袋157，吸尘工作后，直接取出垃圾袋157即可完成清理。在本实施例中，通过在扫地机器人基站上设置吸尘模块，可以及时的将扫地机器人滚刷上切割下的异物吸进壳体内部的集尘室中，免去了人工清理异物的麻烦，使异物清理的 过程省时省力。
在一个实施例中，扫地机器人基站还包括异物检测模块，异物检测模块设置于扫地机器人基站的集尘口处，用来检测集尘口处的异物清理状况。具体的，该异物检测模块具体可以包括光发射传感器和光接收传感器，光发射传感器和光接收传感器与控制模块电连接，它们可以是光电二极管或光电晶体管等光电传感器，进一步的，光发射传感器和光接收传感器可以相对的设置在集尘口的两侧，光发射传感器可以发射可见光、红外光、声波或超声波等能量信号，光接收传感器可以将接收到的能量信号与参考值相比较，当感测到的能量值小于参考值时，控制模块可确定集尘口处还存在较多的毛发、灰尘等异物，当感测到的能量值大于参考值且靠近光发射传感器发射的能量值时，控制模块可确定集尘口处的毛发、灰尘等异物被吸引的相对干净了，此时，控制模块可以控制吸尘电机和风扇停止工作，以此自动完成扫地机器人基站的吸尘工作。
在一个实施例中，如图1所示，扫地机器人基站100还包括到位检测模块120，其中，该到位检测模块120用于检测扫地机器人200的停靠状态。在本实施例中，到位检测模块120可以单独设置或成对设置。例如，到位检测模块可以是单独设立在基站中的通信模块或充电模块；到位检测模块也可以为设置在扫地机器人基站上的磁条，相对应的，扫地机器上则设置有地磁传感器来检测磁条发出的磁场信号；到位检测模块还可以为设置在扫地机器人基站上的射频标签，相对应的，扫地机器人上则设置有射频检测装置来检测射频标签发出的射频信号，通过上述方式，扫地机器人可以自动回归扫地机器人基站上，并使扫地机器人基站得以检测出扫地机器人得停靠状态，当扫地机器人稳定的停靠在扫地机器人基站上之后，扫地机器人基站的到位检测模块会将扫地机器人的停靠状态发送给扫地机器人基站的控制模块，控制模块则可以根据扫地机器人 的停靠状态直接控制动力电机运转，以使扫地机器人基站实现自动清理扫地机器人滚刷的功能。
在一个实施例中，扫地机器人基站还包括充电模块，它可以对停靠的扫地机器人进行充电。具体的，该充电模块可以为有线充电模块或无线充电模块，当充电模块为有线充电模块时，该充电模块包括设置于壳体内部与控制模块电连接的充电电路和设置于壳体侧壁部或底部与充电电路电连接的充电极片。在本实施例中，充电极片一般为一对，并且可以设置成磁性极片或弹性极片以方便与扫地机器人的导电端子对接。进一步的，充电极片能够引导扫地机器人每一次都以一固定姿态准确停靠在扫地机器人基站的相同位置上，以此实现每一次停靠后，切割组件都能够与扫地机器人上的滚刷对准并完成异物清理任务。在一个优选的实施例中，扫地机器人基站上的到位检测模块可以与充电极片可以集成在一起，以同时实现充电功能和到位检测功能，节省了扫地机器人基站的空间和制作成本。当充电模块为无线充电模块时，该充电模块可以包括充电电路以及与充电电路电连接的无线充电接收端，同时，扫地机器人上会安装有无线充电接收模块和充电电池，具体的，扫地机器人基站上的无线充电发射端可以向扫地机器人的无线充电接收端无线发射充电信号以传输电能，继而，扫地机器人的无线充电接收端电性连接充电电池，以储存无线充电传输的电能。
在一个实施例中，扫地机器人基站100还包括通信模块160，扫地机器人基站100可以通过通信模块160与扫地机器人200进行通信。具体的，扫地机器人基站100可以通过通信模块160向扫地机器人200发送切割异物通知，以使扫地机器人200的滚刷250转动一个角度，从而对滚刷250上的异物进行多角度的清理，使清理更加彻底；也可以向地机器人200发送卸出异物通知，以使扫地机器人200的除尘电极反转从而卸出尘盒230内的异物到集尘口处。另外， 扫地机器人200也可以通过通信天线260向扫地机器人基站100的通信模块160主动发出异物清理请求和/或尘盒清理请求和/或充电请求，即当扫地机器人200的电量不足时，可以发出充电请求并向扫地机器人基站100的方向移动；当扫地机器人200停靠在扫地机器人基站100上之后，扫地机器人基站100可以自动对扫地机器人滚刷260上的异物进行清理，也可以在扫地机器人200检测到自身的滚刷电机转速下降或输出功率增加时，停靠之后主动请求扫地机器人基站100对滚刷260上的异物进行清理。可以理解的是，具体通信过程不限于上述列举的情况，其他状况下的通信过程可以根据实际情况设定。
在一个实施例中，如图3所示，公开了一种扫地机器人系统300，包括扫地机器人基站100和扫地机器人200。其中，扫地机器人基站100包括壳体110、到位检测模块120、动力模块130以及控制模块140。扫地机器人200包括机器人壳体210、控制器220、尘盒240、至少一个滚轮240、滚刷250以及通信天线260。在本实施例中，扫地机器人基站100上电后通常会被固定在墙壁位置，而扫地机器人200可以在地面上自动移动并进行地面清扫工作，当扫地机器人200需要进行异物清理或完成清扫工作时，可以移动到扫地机器人基站100处自动完成滚刷上异物的清理工作。本实施例公开的扫地机器人系统300可以及时的利用基站100上的动力模块对停靠的扫地机人的滚刷上的异物进行自动清理，无需改变扫地机器人200的原有结构，也无需人为清理和干涉，制作成本低、清理效果好且使用方便。
在一个实施例中，如图5所示，扫地机器人壳体210的底部设置有吸尘口，内部设置有与吸尘口相连通的尘盒230和除尘电机(图中未示出)，其中，除尘电机可以为扫地机器人200的吸尘口提供吸力，吸入的灰尘则会进入到与吸尘口连通的尘盒230中。当扫地机器人200准确停靠在扫地机器人基站100之后， 扫地机器人基站100的集尘口会自动对准扫地机器人200的吸尘口，此时，扫地机器人基站100可以与扫地机器人200通信，以启动扫地机器人200的除尘电机，继而，除尘电机会反转以卸出尘盒230内的灰尘等异物，同时，扫地机器人基站100启动吸尘功能，将扫地机器人尘盒230中的灰尘等异物吸出，以此免去了人工清理扫地机器人尘盒的麻烦。
具体的，扫地机器人系统300的一种工作流程如图6所示，在本实施例中，扫地机器人基站100上电后可以通过到位检测模块120检测扫地机器人200的停靠状态，当检测到扫地机器人200停靠在扫地机器人基站100上之后，扫地机器人基站100的控制模块140可以首先控制动力电机131正转，以带动同步带134以及固定在同步带134上的切割组件135向传动带运行的方向上运动，当扫地机器人基站100上的磁感应或光电等位置检测器(图中未标出)检测到切割组件135运动到某一预设位置时，动力电机131会停止正转并开始反转，同样的，当另一方向上的位置检测器检测到切割组件135运动到相反方向上的某一预设位置时，动力电机131会停止运转，继而，扫地机器人基站100可以与扫地机器人200通信，使扫地机器人200启动除尘电机2秒，以清除掉附着在扫地机器人200的滚刷250上的异物，最后，控制模块140会将计数器的数值加1，当计数器的数值大于或等于3时，即切割组件135反复切割了滚刷250三次之后，扫地机器人基站200停止工作，扫地机器人基站的清洁工作完毕。可以理解的是，上述是实施例中的数值只为说明扫地机器人系统的工作过程，每一个具体的数值都可以根据实际情况进行修改。
在一个实施例中，如图7所示，提供了一种扫地机器人的工作方法，该方法可以应用于图1中扫地机器人系统300中的扫地机器人基站100的控制模块140上，该方法包括以下步骤：
S702，根据扫地机器人的停靠状态和/或接收到的扫地机器人发出的第一通信信息，发出异物清理信号，以控制动力电机运转并控制传动装置带动切割组件做往复运动。
具体的，扫地机器人的滚刷经常容易被毛发等异物缠绕，这会影响到扫地机器人的清洁效果，使滚刷电机的转速下降，输出功率增加，增加耗电量。当扫地机器人需要进行异物清理或完成清扫工作时，可以通过GPRS、射频、摄像头等定位模块主动向扫地机器人基站方向移动并停靠在扫地机器人基站上，此时，扫地机器人基站或扫地机器人自身的到位检测模块就可以检测到扫地机器人的停靠状态。
进一步的，当扫地机器人基站检测到扫地机器人停靠在基站上的状态之后，可以主动对扫地机器人滚刷上的异物进行清理，也可以在接收到扫地机器人发送的第一通信信息对滚刷上的异物进行清理，其中，第一通信信息包含异物清理请求。基站的清理过程为：控制模块发出异物清理信号以控制动力电机运转，动力电机连接传动装置，在同步带、链条、绳索等传动装置的带动下，固定在传动装置上的切割组件可以在两个预设位置之间做往复运动来切割扫地机器人滚刷上的毛发等异物。其中，两个相对方向可以是垂直于扫地机器人驶入基站的方向也可以是平行于扫地机器人驶入基站的方向。
S704，根据动力电机的运转时长和/或切割组件的运动行程，发出停止清理信号，以控制动力电机停止运转。
具体的，当动力电机的运转时长达到一个预设值或切割组件运动行程达到某一个位置后，控制模块会发出停止清理信号，此时，动力电机会停止运转，。进一步的，扫地机器人基站还可以在控制切割组件运动的同时通过通信模块向扫地机器人发出控制信息，使扫地机器人的滚刷转动一个角度后继续切割异物， 以此达到更好的清理效果。
在一个实施例中，如图8所示，扫地机器人的工作方法还包括以下步骤：
S802，根据扫地机器人的停靠状态和/或接收到的扫地机器人发出的第二通信信息，发出吸尘信号，以控制吸尘电机运转。
具体的，当扫地机器人停靠在扫地机器人基站上之后，扫地机器人基站可以根据扫地机器人的停靠状态主动发出吸尘信号，也可以根据接收到的扫地机器人发出的第二通信信息被动发出吸尘信号，其中，第二通信信息包含了吸尘请求。进一步的，当扫地机器人基站的控制模块发出吸尘信号后，吸尘电机会根据该吸尘信号进行运转，吸尘电机运转后会带动风扇使风道和腔体内部形成真空环境，从而使集尘口产生吸力，以此将割断后掉入基站壳体中的异物吸入到腔体的旋风分离器中，使旋风分离器将气体中的毛发、灰尘等异物分离在腔体下方的集尘室中，并将除去了杂质的气体则经出风管排出，以此完成吸尘任务。
在另一个实施例中，当基站完成异物清理工作后，扫地机器人可以启动吸尘功能，以将切割后的异物吸入到尘盒中，然后再启动基站的吸尘电机运转，并通过通信模块向扫地机器人发送信号，使扫地机器人的除尘电机反转，以卸出其尘盒内的异物，从而将尘盒中的异物一同清除，通过这种方式，可以防止切割后的毛发或异物乱飞。
S804，检测集尘口处的异物清理状态。
具体的，扫地机器人基站可以通过异物检测模块的光发射传感器和光接收传感器来检测集尘口处的异物清理状态，进一步的，光发射传感器和光接收传感器可以相对的设置在集尘口的两侧，光发射传感器可以发射可见光、红外光、声波或超声波等能量信号，光接收传感器可以将接收到的能量信号与参考值相 比较。当光接收传感器感测到的能量值小于参考值时，控制模块可确定集尘口处还存在较多的毛发、灰尘等异物；当光接收传感器感测到的能量值大于参考值且靠近光发射传感器发射的能量值时，控制模块可确定集尘口处的毛发、灰尘等异物被吸引的相对干净了。
S806，根据集尘口处的异物清理状态和/或吸尘电机的运转时长，发出停止吸尘信号，以控制吸尘电机停止运转。
具体的，扫地机器人基站可以根据异物检测模块检测到的异物清理状态判断吸尘工作是否完成，也可以根据预设的吸尘电机运转时长判断吸尘任务是否完成。例如，当异物检测模块检测到集尘口处的异物清理的相对干净了，即光接收传感器接收到的能量值大于某预设值时，判断结果为完成，扫地机器人基站可以发出停止吸尘信号，以此控制吸尘电机停止运转，从而结束吸尘任务。
以上所述实施例的各技术特征可以进行任意的组合，为使描述简洁，未对上述实施例中的各个技术特征所有可能的组合都进行描述，然而，只要这些技术特征的组合不存在矛盾，都应当认为是本说明书记载的范围。
以上所述实施例仅表达了本发明的几种实施方式，其描述较为具体和详细，但并不能因此而理解为对发明专利范围的限制。应当指出的是，对于本领域的普通技术人员来说，在不脱离本发明构思的前提下，还可以做出若干变形和改进，这些都属于本发明的保护范围。因此，本发明专利的保护范围应以所附权利要求为准。

Claims (14)

  1. 一种扫地机器人基站，其特征在于，所述扫地机器人基站用于可移动的扫地机器人，所述扫地机器人包括一用于清洁待清洁表面的滚刷，所述扫地机器人基站包括：
    壳体，所述壳体上设有开槽；
    动力模块，包括设置于所述壳体内部的动力电机、与所述动力电机输出端相连接的传动装置和固定于所述传动装置上通过所述开槽与所述滚刷表面相抵接的切割组件，所述切割组件用于对所述滚刷上的异物进行清理；
    控制模块，用于控制所述动力电机运转或停止，以控制所述传动装置带动所述切割组件做往复运动，切割所述滚刷上的异物。
  2. 根据权利要求1所述的扫地机器人基站，其特征在于，所述控制模块控制所述传动装置带动所述切割组件以平行于所述滚刷轴线的方向在第一位置和第二位置之间做往复运动。
  3. 根据权利要求1所述的扫地机器人基站，其特征在于，所述传动装置为带传动装置。
  4. 根据权利要求3所述的扫地机器人基站，其特征在于，所述带传动装置包括同步带和同步带轮，所述同步带设置在所述同步带轮上，所述切割组件设置在所述同步带上。
  5. 根据权利要求1所述的扫地机器人基站，其特征在于，所述切割组件包括至少一个刀片。
  6. 根据权利要求1所述的扫地机器人基站，其特征在于，所述扫地机器人基站还包括吸尘模块，所述吸尘模块在所述壳体上设有集尘口，所述集尘口位于所述开槽处，所述吸尘模块还包括腔体和风道，所述腔体具有可开合的顶部，所述腔体的顶部设置有吸尘电机、与所述吸尘电机输出端相连接的风扇和设置 于所述风扇下方的旋风分离器，所述腔体的底部设置有集尘室。
  7. 根据权利要求6所述的扫地机器人基站，其特征在于，所述扫地机器人基站还包括异物检测模块，所述异物检测模块设置于所述集尘口处，以检测所述集尘口处的异物清理状态。
  8. 根据权利要求1-7任一项所述的扫地机器人基站，其特征在于，所述扫地机器人基站还包括与所述控制模块电连接的到位检测模块，所述到位检测模块用于检测所述扫地机器人的停靠状态，并将所述扫地机器人的停靠状态发送给所述控制模块，所述控制模块根据所述扫地机器人的停靠状态控制所述动力电机运转。
  9. 根据权利要求1-7任一项所述的扫地机器人基站，其特征在于，所述扫地机器人基站还包括与所述控制模块电连接的充电模块，所述充电模块为有线充电模块和/或无线充电模块。
  10. 根据权利要求1-7任一项所述的扫地机器人基站，其特征在于，所述扫地机器人基站还包括与所述控制模块电连接的通信模块，所述通信模块设置于所述壳体内，用于与所述扫地机器人进行通信。
  11. 一种扫地机器人系统，其特征在于，所述扫地机器人系统包括扫地机器人和权利要求1-10任一项所述的扫地机器人基站。
  12. 根据权利要求11所述的扫地机器人系统，其特征在于，所述扫地机器人的底部设置有吸尘口，所述扫地机器人内部设置有与所述吸尘口相连通的尘盒，其中，所述集尘口与所述吸尘口对准，并通过所述吸尘模块清理所述尘盒内的异物。
  13. 一种扫地机器人系统的工作方法，其特征在于，所述扫地机器人系统的工作方法应用于所述扫地机器人基站上，所述方法包括：
    根据所述扫地机器人的停靠状态和/或接收到的所述扫地机器人发出的第一通信信息，发出异物清理信号，以控制所述动力电机运转并控制所述传动装置带动所述切割组件做往复运动；
    根据所述动力电机的运转时长和/或所述切割组件的运动行程，发出停止清理信号，以控制所述动力电机停止运转。
  14. 根据权利要求13所述的扫地机器人的工作方法，其特征在于，所述方法还包括：
    根据所述扫地机器人的停靠状态和/或接收到的所述扫地机器人发出的第二通信信息，发出吸尘信号，以控制所述吸尘电机运转；
    检测集尘口处的异物清理状态；
    根据所述集尘口处的异物清理状态和/或所述吸尘电机的运转时长，发出停止吸尘信号，以控制所述吸尘电机停止运转。
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