WO2021120935A1 - 一种清洁机器人的基站 - Google Patents

一种清洁机器人的基站 Download PDF

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Publication number
WO2021120935A1
WO2021120935A1 PCT/CN2020/128399 CN2020128399W WO2021120935A1 WO 2021120935 A1 WO2021120935 A1 WO 2021120935A1 CN 2020128399 W CN2020128399 W CN 2020128399W WO 2021120935 A1 WO2021120935 A1 WO 2021120935A1
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WO
WIPO (PCT)
Prior art keywords
module
storage
mopping
cleaning robot
base station
Prior art date
Application number
PCT/CN2020/128399
Other languages
English (en)
French (fr)
Inventor
王彪
姚贤池
张煜
Original Assignee
苏州宝时得电动工具有限公司
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Publication of WO2021120935A1 publication Critical patent/WO2021120935A1/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
    • A47L11/40—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
    • A47L11/28—Floor-scrubbing machines, motor-driven
    • A47L11/284—Floor-scrubbing machines, motor-driven having reciprocating tools
    • 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
    • A47L11/4002—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
    • A47L11/4002—Installations of electric equipment
    • A47L11/4008—Arrangements of switches, indicators 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
    • A47L11/4011—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
    • A47L11/4036—Parts or details of the surface treating tools
    • 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
    • A47L11/4052—Movement of the tools or the like perpendicular to the cleaning surface
    • A47L11/4055—Movement of the tools or the like perpendicular to the cleaning surface for lifting the tools to a non-working position
    • 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
    • A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • 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
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • A47L2201/02—Docking stations; Docking operations
    • A47L2201/022—Recharging of batteries
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • A47L2201/02—Docking stations; Docking operations
    • A47L2201/028—Refurbishing floor engaging tools, e.g. cleaning of beating brushes
    • 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
    • A47L2201/04—Automatic control of the travelling movement; Automatic obstacle detection
    • 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
    • A47L2201/06—Control of the cleaning action for autonomous devices; Automatic detection of the surface condition before, during or after cleaning

Definitions

  • the invention relates to a base station of a cleaning robot.
  • robots play an increasingly important role in people’s lives, especially household robots, helping people to liberate people from heavy housework.
  • cleaning robots are widely favored by users due to their wide applicability. .
  • the existing cleaning robot can walk autonomously, without direct human control and operation when performing work, and also has functions such as path planning, automatic obstacle avoidance, human-computer interaction, and return charging. It can solve people's daily needs for cleaning garbage on the ground, but the existing cleaning robots usually do not have the function of mopping the floor. In addition to the needs of cleaning the ground garbage, many users also hope that the cleaning robot can mop the floor, so that the ground can maintain a relatively low level. Neat state. With regard to the mopping function of the cleaning robot, some companies at home and abroad are also making attempts. However, because the rag is easy to get dirty during the work process, if it is not replaced in time, not only the cleaning effect will be greatly reduced, but the original The clean ground becomes dirtier.
  • the existing cleaning robots cannot realize timely and automatic replacement of the mopping module of the cleaning robot. They usually use manual replacement of the mopping module. Users need to continue to pay attention to the cleaning process, which leads to the lack of intelligence of the robot. And if the user does not replace the mopping module in time, it will also pollute the cleaned ground. This problem is especially obvious for users with a relatively large indoor area.
  • a base station of a cleaning robot which includes:
  • a charging module which is arranged on the base and used to charge the cleaning robot
  • a storage module provided with a storage space for storing the mopping module of the cleaning robot
  • the storage state detection module is used to detect whether the storage state in the storage space is in a preset state
  • a reminder module configured to send a reminder message indicating that the storage state in the storage space is in the preset state
  • the control module is configured to control the reminder module to send the reminder information to the outside according to the detection result of the storage state detection module.
  • the base station further includes a transfer module for driving the mopping module to move, and the control module is also used for controlling the transfer module to autonomously drive the mopping module to move to realize automatic replacement of the mopping module .
  • the storage state detection module includes a detection element, and a movable part that is at least partially movably arranged in the storage space to trigger the detection element.
  • the storage state detection module further includes an elastic member for providing a restoring force to the movable member.
  • the movable part is arranged on an inner wall in the storage space, so that the mopping module can touch the movable part when the mopping module is stored in the storage space.
  • the storage state detection module includes a photoelectric sensor, the photoelectric sensor includes a transmitting terminal and a receiving terminal, and the connection between the transmitting terminal and the receiving terminal passes through the storage space.
  • the storage state detection module includes at least one of a Hall sensor, an infrared sensor, a reed switch, a photoelectric switch, and a micro switch.
  • the reminder module includes at least one of a light-emitting alarm device, an audible alarm device, and a wireless sending module that sends the reminder information to the outside.
  • the storage module is located above the base, and the base includes a bottom plate and a supporting part for connecting the bottom plate and the storage module, the storage module, the supporting part, and the base
  • the storage module is located above the storage cavity and includes a communication port that can be opened and closed. When the communication port is open, the storage The space communicates with the receiving cavity up and down, and when the communication port is closed, the storage space and the receiving cavity are not connected up and down.
  • the storage module includes a first storage unit for storing the dirty mopping module and a second storage unit for storing the clean mopping module, the first storage unit and the second storage unit
  • the storage unit respectively includes the storage state detection module.
  • the present invention has the beneficial effect that by setting the storage module for storing the mopping module and the storage state detection module for detecting the mopping module on the base station, the base station can automatically replace the mopping cloth. Notify the user of the storage status in the storage module in time to avoid the inability to continue to automatically replace the mop due to insufficient supply of clean mopping modules or full dirty mopping modules.
  • Fig. 1 is a perspective view of a cleaning robot system in an embodiment of the present invention.
  • Fig. 2 is a perspective view of a cleaning robot in an embodiment of the present invention.
  • Fig. 3 is a bottom view of the cleaning robot of Fig. 2.
  • Fig. 4 is a schematic diagram of a mopping module in an embodiment of the present invention.
  • Fig. 5 is a schematic diagram of a cleaning robot without a mopping module installed in an embodiment of the present invention.
  • Fig. 6 is a schematic diagram of a cleaning robot with a mopping module installed in an embodiment of the present invention.
  • FIGS 7 and 8 are schematic diagrams of the connecting components of the cleaning robot in an embodiment of the present invention.
  • Fig. 9 is a schematic diagram of the storage state detection module being a photoelectric sensor in an embodiment of the present invention.
  • Fig. 10 is a schematic diagram of opening a communication port on a base station in an embodiment of the present invention.
  • Fig. 11 is a schematic diagram of a closed connection port in the base station shown in Fig. 10.
  • Fig. 12 is a schematic diagram showing that the movable part is not triggered by the mopping module in an embodiment of the present invention.
  • Fig. 13 is a schematic diagram of the movable part shown in Fig. 12 being triggered by the mopping module.
  • the present invention provides a cleaning robot system 300, which includes a cleaning robot 100 for performing cleaning work on indoor working surfaces and a base station 200 of the cleaning robot 100.
  • the base station 200 is a docking station of the cleaning robot, which can be used to perform preset operations for the cleaning robot 100, such as charging the cleaning robot 100, replacing or cleaning the mopping module, replacing or adding accessories, or performing other preset operations on the cleaning robot 100 Wait.
  • the cleaning robot 100 includes a main body, a mobile module for driving the main body to move on the working surface, a cleaning mechanism for performing cleaning work on the working surface, a power mechanism for providing power to the cleaning robot 100, and An energy module for energy and a control unit for controlling the cleaning robot 100 to autonomously work on the work surface.
  • the moving module includes walking wheels 110. In other embodiments, the moving module may also include a crawler structure or other conventional moving methods.
  • the cleaning robot 100 is a mopping robot, and the cleaning mechanism is a mopping module 310 that performs mopping work on the work surface. In other embodiments, the cleaning robot 100 can also be a sweeping robot, a scrubbing robot, etc.
  • the cleaning mechanism can include a rolling brush, a side brush, and the like.
  • the power mechanism includes a motor and a transmission mechanism connected with the motor.
  • the transmission mechanism is connected to the mobile module.
  • the motor drives the transmission mechanism to work.
  • the transmission action of the transmission mechanism makes the mobile module move.
  • the transmission mechanism may be a worm gear mechanism, a bevel gear mechanism, etc.
  • the base station 200 is a mopping module replacement station for automatically replacing the mopping module of the cleaning robot 100, and is also a charging station for charging the cleaning robot 100.
  • the cleaning robot 100 can automatically Return to the base station 200 for charging to supplement power.
  • the base station 200 may only be a mopping module replacement station.
  • the base station 200 includes a base 253, a charging module arranged on the base 253 and used to charge the cleaning robot 100, a storage module 310 provided with a storage space and used to store the mopping module of the cleaning robot 100, and used to drive the mopping
  • the movement transfer module of the module 310 is used to control the transfer module to autonomously drive the mopping module 310 to move so as to realize the automatic replacement of the control module of the mopping module 310.
  • the storage module 210 is disposed above the base 253, and the storage module 210 and the base 253 enclose a receiving cavity 258 for accommodating the cleaning robot, wherein the storage module 210 is located above the receiving cavity 258; in other embodiments
  • the storage module 210 can also be arranged in other positions of the base 253, for example, behind or on the side of the base station 200, and so on.
  • the charging module includes a charging terminal for docking and charging with the cleaning robot 100.
  • the base 235 includes a bottom plate 2531 and a supporting part connecting the bottom plate 2532 and the storage module 210.
  • the storage module 210 includes a storage space 215 for accommodating the mopping module 310.
  • the base station 200 is a mopping module replacement station for automatically replacing the mopping module.
  • a new (clean) mopping module is required, and dirty mopping modules will also be generated.
  • storage space for accommodating these mopping modules is needed. Therefore, a storage module is provided to accommodate these mopping modules to realize automatic replacement of the mopping modules.
  • the cleaning robot 100 can automatically return to the base station 200, automatically replace the mopping module, automatically store the dirty mopping module in the storage module 210, and automatically store the clean mopping module 210 in the storage module.
  • the whole process All are automatic, without human operation.
  • the dirty mopping module 310 in the storage module 210 is full, or the clean mopping module 310 is exhausted, it is difficult for the user to find out in time. If it is not found in time, the dirty mopping module will be full or clean mopping. Insufficient supply of the ground module results in the scenario robot system 300 being unable to automatically replace the ground mopping module and cannot continue to perform the automatic ground mopping work.
  • the base station 200 further includes a storage state detection module for detecting whether the storage state in the storage space 215 is in a preset state, and a reminder for sending a reminder message indicating that the storage state in the storage space 215 is in the preset state.
  • the control module controls the reminder module to send reminder information to the outside according to the detection result of the storage state detection module.
  • the storage state in the storage space 215 refers to whether there are mopping modules in the storage space 215 and/or whether the storage quantity of the mopping modules exceeds a preset value, and so on.
  • the preset state is a factory or user-defined threshold state. For example, the state of a mopping module in the storage space 215 can be defined as the threshold state.
  • the control module controls The reminder module sends a reminder message; the state of no mopping module in the storage space 215 can also be defined as a threshold state.
  • the control module controls the reminder module to send a reminder message; also Define the state that the number of mopping modules in the storage space 215 reaches the preset value as a threshold state.
  • the control module controls the reminder module to send out reminders, etc. .
  • the reminder module may be a light-emitting alarm device, an audible alarm device, a wireless sending module that sends the reminder information to the outside, and so on.
  • the reminding module can emit corresponding lights or flashing lights through a light-emitting alarm device, or can emit an alarm sound through an audible alarm device, and can also send reminder information to the user's mobile phone app, computer, or other mobile devices through a wireless sending module.
  • the storage space 215 is located above the receiving cavity 258.
  • the storage module 210 includes an openable and closable communication port 2150. When the communication port 2150 is opened, the storage space 215 communicates with the receiving cavity 258 up and down. When the communication port 2150 is closed, the storage space 215 and the receiving cavity 258 are not connected up and down.
  • the mopping module 310 can be directly transferred up and down between the storage space 215 and the accommodating cavity 258 through the communication port, so as to automatically install the clean mopping module 310 on the base station 200 to the cleaning robot, or to remove the dirty mopping module 310 from the cleaning robot 100.
  • the ground module 310 is automatically stored in the storage space 215 in the base 200.
  • the bottom plate 2531 includes a receiving slot for accommodating the mopping module 310, so that when the mopping module 310 moves from the storage space 215 to the receiving cavity 258, the mopping module 310 is received to prevent or reduce the mopping module 310 from protruding from the surface of the bottom plate 2531.
  • the storage module 210 includes a first storage unit 211 for storing dirty mopping modules 210 and a second storage unit 212 for storing clean mopping modules 210.
  • the storage space 215 includes a storage space for storing dirty mopping modules 210.
  • the first storage space 2153 and the second storage space 2154 for storing clean mopping modules.
  • the communication port 2150 includes a first communication port 2151 and a second communication port 2152 that are respectively located below the first storage space 2153 and the second storage space 2154 and can be opened and closed.
  • the first storage space 2151 and the second storage space 2152 are located above the receiving cavity 258 side by side in the horizontal direction.
  • the corresponding bottom plate 2531 has a receiving slot for accommodating dirty mopping modules and a receiving slot for accommodating clean mopping modules.
  • the mopping module can be limited, and on the other hand, it can also prevent the mopping module from protruding too much from the bottom plate 2531. , And hinder the movement of the cleaning robot 100.
  • the accommodating cavity 258 has an opening 255 communicating with the outside for the cleaning robot 100 to move out and/or in.
  • the support part 2532 is provided on the side of the base station 200 opposite to the opening 255, so that when the cleaning robot 100 is parked, the cleaning robot 100 and the storage
  • the projections of the modules 210 in the horizontal plane are roughly overlapped, so that the base station 200 has a more compact structure in the horizontal direction and reduces the overall floor space of the cleaning robot system 300.
  • the charging terminal is located on the supporting portion 2532 or the bottom plate 2531. Of course, in some embodiments, the charging terminal may also be located at the bottom of the storage module 210, etc., so that the top of the cleaning robot 100 contacts the charging terminal for charging.
  • the cleaning robot 100 drives into the base station 200 and completes the docking
  • charging is started.
  • the cleaning robot 100 drives out of the base station 200.
  • the way for the cleaning robot 100 to return to charging further includes wireless charging
  • the charging module includes a transmitting coil
  • the cleaning robot 100 includes a receiving coil
  • the cleaning robot 100 is charged through electromagnetic induction of the transmitting coil and the receiving coil.
  • the storage state detection module 360 may be a mechanical detection structure, or a detection sensor, and so on. As shown in FIGS. 12 to 13, taking the mechanical detection structure as an example, the storage state detection module 360 includes a detection element 63, and a movable member 61 that is at least partially movably disposed in the storage space 215 to trigger the detection element 63.
  • the movable part 61 includes a triggering part 612 for triggering the detection element 63, a contact part 611 for contacting with the mopping module, and an elastic part 613 for providing a restoring force to the movable part.
  • the control module can control the reminder module to send a reminder message when the detection element 63 switches from an untriggered state to a triggered state, and it can also control the detection element 63 to send a reminder message when the detection element 63 switches from a triggered state to an untriggered state.
  • the movable element 61 is disposed on the inner wall of the storage space 215, so that when the mopping module 310 is stored in the storage space 215, pressure can be applied to the contact portion 611 to touch the movable element 61, thereby triggering the detection element 63.
  • the detection element 63 may be a photoelectric switch or a micro switch or the like.
  • the storage state in the storage space is detected by a mechanical detection structure to avoid interference from dust or external environment or other structures, and the detection structure is accurate and low in cost.
  • the storage module 210 includes a first storage unit 211 for storing dirty mopping modules 210 and a second storage unit 212 for storing clean mopping modules 210
  • the first storage unit 211 and the second storage unit 212 Each includes the storage state detection module 360.
  • the first storage space 2153 and the second storage space 2154 are respectively provided with movable parts 61
  • the base station is provided with two detection elements 63 corresponding to the movable parts 61.
  • the second storage unit 212 of the base station 200 includes a storage state detection module 360, which can detect the current state of the mopping module 310 in the second storage unit 212 and send a reminder to the user. For example, when it is detected that the second storage unit no longer has the mopping module 310, the user is reminded to add the mopping module in time to prevent the operating stability of the base station 200 from being affected.
  • the first storage unit 211 also includes a storage state detection module 360, which detects that the mopping module 310 placed in the first storage unit 211 reaches a preset value, or detects that the storage time of the mopping module in the first storage unit 211 has reached The preset value is to send a reminder message for handling the mopping module 310 to the user.
  • a reminder message for handling the mopping module 310 is sent to the user.
  • the above-mentioned preset values can be set at the factory, or can be set according to user needs.
  • the way for the base station to send reminders includes communication between the base station and mobile devices (such as mobile phones, computers, I PAD, etc.) to send reminders to users, remind users to clean the base stations in time, or remind users to add mopping modules.
  • the base station includes an indicator, which can remind the user to perform corresponding operations on the base station by means of light, sound, etc. from the indicator.
  • the storage state detection module 360 may be a photoelectric sensor.
  • the photoelectric sensor includes a transmitting terminal and a receiving terminal. The connection between the transmitting terminal and the receiving terminal passes through the storage space 215 to detect the storage space 215.
  • the photoelectric sensor can be used to detect the number of mopping modules 310 in the storage module 210 (the number includes zero), can be used to determine that the mopping modules 310 in the first storage space 2153 is full, and to determine that the second storage space 2154 is full.
  • No mopping module 310 Placed in the first storage space 2153 is the mopping module 310 separated from the main body of the cleaning robot 100, and placed in the second storage space 2154 is the mopping module 310 for the cleaning robot 100 to install.
  • the base station issues a corresponding prompt instruction.
  • the transmitting end can be set on one side of the storage space, and the receiving end is set at a corresponding position on the other side of the storage space.
  • the signal transmitted by the transmitting end can be received by the receiving end, it means that there is no obstruction between the transmitting end and the receiving end.
  • it is necessary to detect whether the first storage space 2153 is full of the mopping module 310 install a photoelectric sensor transmitter on one side of the top of the first storage space 2153, and install a photoelectric sensor receiver on the other end. If the first storage space 2153 is full of mopping
  • the ground module 310 when the transmitter transmits a signal, because the signal is blocked by the ground module 310 at the top of the first storage space 2153, the receiver cannot receive the signal.
  • the first storage space 2153 is full of tractors. ⁇ module 310. And, if it is necessary to detect whether there is a mopping module 310 that can be replaced by the cleaning robot 100 in the second storage space 2154, install the photoelectric sensor transmitter on one side of the bottom of the second storage space 2154, and install the corresponding position on the other side On the receiving end, if there is no mopping module 310 available for installation in the second storage space 2154, after the photoelectric sensor transmitting end transmits a signal, the receiving end can receive the signal because there is no blockage by the intermediate mopping module. It is determined that there is no mopping module 310 that can be installed by the cleaning robot 100 in the second storage space 2154.
  • the photoelectric sensor may be installed in other positions. For example, if it is necessary to determine that the number of mopping modules 310 in the storage space 215 is less than 2, then the second mopping module may be stacked in the storage module 210. If the photoelectric sensor is installed, the receiving end does not detect the signal, it means that the number of mopping modules 310 in the storage module is greater than or equal to two;
  • the storage state detection module may also be a Hall sensor, an infrared sensor, a reed switch, and so on.
  • the cleaning robot 100 can automatically replace the mopping module at the base station 200.
  • the mopping module 310 is detachably mounted to the cleaning robot 100.
  • Figure 5 shows the cleaning robot 100 without the mopping module 310 installed.
  • Figure 6 shows the cleaning robot 100 with the mopping module installed.
  • the state of the ground module 310, the cleaning robot 100 with the mopping module 310 installed can walk in the work area and perform cleaning work.
  • the cleaning robot 100 further includes a connection assembly 120.
  • the cleaning robot 100 can automatically install the mopping module 310 on the cleaning robot 100 through the connection assembly 120, and control the connection assembly 120 through the control unit to connect the mopping module 310. Separate from the body of the cleaning robot 100.
  • the connecting assembly 120 includes a frame 121 connected to the main body of the cleaning robot 100; a partition 122, which connects the mopping module 310 to the main body of the cleaning robot 100 through the partition 122.
  • the connecting assembly 120 includes a magnetic element, and the mopping module 310 is connected to the main body of the cleaning robot 100 through magnetism.
  • the connection component 120 can adjust the height of the mopping module 310 from the ground in response to the control signal of the control unit.
  • the control unit controls the connecting assembly 120 to lower to approach the mopping module 310, and the magnetic element on the connecting assembly 120 and the magnetic element 314 on the mopping module 310 approach Thereby attracting each other, the mopping module 310 is therefore connected to the main body of the cleaning robot 100.
  • the control unit controls the connecting assembly 120 to lift.
  • the connecting assembly 120 also includes a jack 123, which generates a downward movement to the mopping module 310. The pressure causes the mopping module 310 to be separated from the main body of the cleaning robot 100.
  • the mopping module 310 when performing cleaning work, touches the ground to perform cleaning work on the surface. In scenes where cleaning work is not performed, such as returning to charging, returning to replacing the mopping module, etc., the mopping module 310 is lifted and mopped. Module 310, to prevent the mopping module 310 from contacting the ground to prevent the dirty mopping module 310 from contaminating the cleaned work surface.
  • the connection assembly 120 the beneficial effect is that the mopping module 310 is automatically connected to the main body of the cleaning robot 100, and the mopping module 310 is automatically separated from the main body of the cleaning robot 100. This design can effectively reduce the cleaning robot 100's work Human participation.
  • the base station 200 includes a transfer module capable of moving the mopping module 310 to transfer the mopping module 310 in the storage module 210 to the cleaning robot 100 for installation, or transfer the mopping module 310 separated from the main body of the cleaning robot 100 to the storage module Storage.
  • the robot cleaning system also includes a control unit that controls the operation of the transfer module of the base station and controls the operation of the sensors on the base station.
  • the control unit is located on at least one of the base station 200 and the cleaning robot 100.
  • the robot cleaning system 300 also includes a mopping module 310 suitable for use with the base station 200 and the cleaning robot 100.
  • FIG. 4 is a design of a mopping module 310 of this embodiment.
  • the mopping module 310 includes a backplane. 311.
  • the back plate 311 is suitable for connecting the mop 312, and the mopping module 310 is provided with a notch 313.
  • the mop 312 can be a common mop or can be replaced by common means such as wet wipes and sponge wipes.
  • the back plate 311 includes an adsorption element Specifically, the adsorption element includes a magnetic element, which can be connected to the cleaning robot 100 and stored in the base station 200 through magnetic action.
  • the mop 312 is connected to the back plate 311 and the edge slightly exceeds the back plate 311, that is, the size of the mop 312 is larger than that of the back plate 311.
  • the installation method of the mopping module 310 may also include groove clamping, adhesion and other common methods in the art.
  • the corresponding cleaning robot 100 is designed to install the mopping module and the base station 200 to receive the mopping module. Corresponding changes have taken place.
  • the transfer module of the base station 200 includes a mopping module collection unit for collecting the mopping module 310 separated from the main body of the cleaning robot 100, and the transfer module also includes a mopping module providing unit for providing the cleaning robot 100 with replacement parts for the cleaning robot 100 Mopping module 310.
  • the storage module of the base station 200 includes a first storage unit 211 and a second storage unit 212. Wherein, the first storage unit 211 cooperates with the mopping module collection unit to collect the mopping module 310 separated from the main body of the cleaning robot 100 to the first storage unit 211; the second storage unit 212 cooperates with the mopping module providing unit to store The mopping module 310 in the second storage unit 212 is delivered to the cleaning robot 100 for installation through the mopping module providing unit.
  • the base station 200 includes a mopping module 310 for the cleaning robot 100 to be separated and an operating position 250 for the robot to install the mopping module 310.
  • the operating position 250 includes a first operating position 251 for the cleaning robot 100 to place the mopping module 310.
  • the second operating position 252 of the mopping module 310 is installed with the cleaning robot 100. Specifically, the cleaning robot 100 arrives at the operating position after entering the base station, and the location where the mopping module is installed on the cleaning robot 100 corresponds to the operating position on the base station 200. Specifically, when the cleaning robot 100 reaches the first operating position 251, the cleaning The robot 100 separates the mopping module 310 installed on the main body and places it in the first operating position 251.
  • the cleaning robot 100 When the cleaning robot reaches the second operating position 252, the cleaning robot 100 will place the mopping module 310 in the second operating position 252 Installed to the main body of the cleaning robot 100.
  • the operating position 250 includes an operating area that can be used to place the mopping module 310, and the area can be used for the cleaning robot 100 to separate the mopping module and/or the cleaning robot 100 to install the mopping module.
  • the first operating position 251 includes the first operating area. After the robot 100 drives into the base station to reach the first operating area, the mopping module 310 installed on the robot body is separated and placed in the first operating area. The first operating area can be stacked. Put more than one mopping module, and the second operation position 252 includes a second operation area.
  • the mopping module 310 placed in the second operation area is installed on the main body of the cleaning robot, Specifically, one or more mopping modules 310 can be placed in the second operating area, that is, the operating position of the base station 200 includes the operating area, the mopping module 310 can be placed in this area, and the cleaning robot 100 can complete the alignment in this area. Replacement of the mopping module of the cleaning robot 100.
  • the first storage unit 211 and the second storage unit 212 are arranged in parallel. Referring to FIG. 10, specifically, the bottom surfaces of the first storage unit 211 and the second storage unit 212 are substantially located on the same plane.
  • the first storage unit 211 is used to store the used dirty mopping module 310 separated from the cleaning robot 100
  • the second storage unit 212 stores the clean mopping module 310 for installation by the cleaning robot 100.
  • the first storage unit 211 and the second storage unit 212 can respectively store multiple mopping modules 310, and the multiple mopping modules 310 are stacked and arranged.
  • the capacities of the first storage unit 211 and the second storage unit 212 are approximately the same, and the number of mopping modules that can be accommodated is approximately the same.
  • the storage module 210 is arranged in the vertical direction of the operation position 250.
  • the storage module 210 is arranged above the operation position, so that the projection of the storage module on the horizontal plane roughly covers the projection of the operation area on the horizontal plane.
  • the vertical distance between the top of the cleaning robot 100 and the bottom of the storage module of the base station 200 is less than or equal to 50 mm.
  • the position of the first storage unit 211 is set corresponding to the first operating position 251 of the cleaning robot 100 on the base station floor. Specifically, the first storage unit 211 is set in the vertical direction of the first operating position 251.
  • the first storage unit 211 is disposed above the vertical direction of the first operating position 251, so that the projection of the first storage module on the horizontal plane substantially covers the projection of the first operating position on the horizontal plane.
  • the position of the second storage unit 212 is set corresponding to the second operating position 252 of the cleaning robot 100 on the base station floor.
  • the second storage unit 212 is set in the vertical direction of the second operating position 252.
  • the second storage unit 212 is disposed above the second operating position 252 in the vertical direction.
  • the storage module 210 may also be located below the operating position.
  • the module 310 is collected to the storage module, and when the cleaning robot needs to install the mopping module, the transfer module transfers the mopping module to the cleaning robot for installation through a bottom-up motion.
  • the cleaning robot 100 when the cleaning robot 100 returns to the base station 200 to replace the mopping module 310, it drives into the base station 200 to reach the first operating position 251, and the control unit controls the mopping module 310 to separate from the cleaning robot 100; the second operating position 252 is relative to The entry direction of the cleaning robot 100 is located in front of the first operating position 251.
  • the cleaning robot 100 reaches the first operating position 251, it continues to move forward and reaches the second operating position 252, where the cleaning robot 100 installs the mopping module 310.
  • the second storage unit 212 is arranged in front of the first storage unit 211 relative to the direction in which the cleaning robot 100 enters the station. Therefore, when the cleaning robot 100 enters the station, it can approach the first storage unit 211 first, and then Approach the second storage unit 212.
  • the advantage of this design in this embodiment is that the transfer module includes a mopping module collection unit, the cleaning robot 100 performs cleaning work on the work surface, and the mopping module 310 continues to contact the work surface. After a period of work, the mopping module 310 becomes If it is dirty, it needs to be replaced.
  • the mopping module of the cleaning robot 100 can return to the base station 200 for replacement after it gets dirty, preventing the dirty mopping module 310 from continuing to contaminate the work surface.
  • the mopping module collection unit automatically picks up the separated dirty mopping module and collects it in the first storage unit 211 of the storage module 210. In this way, the storage of dirty mopping modules is realized, and the working surface is tidy and orderly by storing the dirty mopping modules.
  • the transfer module includes a mopping module providing unit.
  • the mopping module 310 of the cleaning robot 100 becomes dirty after working for a period of time, and can obtain a new mopping module for replacement in time, reducing manual labor jobs.
  • the base station 200 can automatically store the storage module 210 Take out the clean mopping module 310 for the cleaning robot 100 to install, so that the cleaning robot 100 can always automatically obtain the clean mopping module 310 through the base station 200 to automatically and continuously perform cleaning work on the work surface.
  • the base station 200 can automatically collect the used and dirty mopping modules separated from the main body of the cleaning robot 100.
  • the base station can provide the cleaning robot 100 with at least one clean Mopping module for installation. This design enables the base station 200 to simultaneously collect and store the dirty mopping module 310 separated from the cleaning robot 100 for storage, and to provide the cleaning robot 100 with the clean mopping module 310 for installation.
  • the mopping module 310 connected to the main body of the robot is separated through the connecting assembly, and the mopping module collection unit of the base station 200 collects the mopping module and stores it in the first storage unit; After the cleaning robot 100 has separated the used dirty mopping module 310, it is necessary to install a clean mopping module, and the mopping module providing unit automatically takes out the clean mopping module from the second storage unit for the cleaning robot 100 Installation, so that the cleaning robot 100 can automatically separate dirty mopping modules and store them in an orderly manner, and automatically install a clean mopping module 310 to continuously perform cleaning work on the work surface.
  • the operating position of the cleaning robot 100 corresponds to the storage module 210 of the base station 200 in the vertical direction.
  • the transfer module The mopping module 310 is made to move in the vertical plane, so that the structure of the base station 200 is relatively compact, and the movement path of the mopping module 310 is shorter.
  • the storage module 210 can store multiple mopping modules 310. Specifically, in this embodiment, the storage module 210 can store approximately 10 mopping modules 310. Generally, the mopping module 310 includes a disposable mop and a washable mop. The cleaning robot system 300 in this embodiment is compatible with a disposable mop and a washable mop, and the storage module 210 can store a disposable mop and a washable mop. In one embodiment, in order to make the storage module 210 compatible with both disposable mops and washable mops, some improvements need to be made to the design of the storage module 210 itself, so that the storage module 210 is still compatible with the mops. Can guarantee better working stability.
  • the gap between the length direction and the width direction of the storage module 210 is increased, so that a larger-sized mopping module can also cooperate with the storage module 210, and when multiple mopping modules 310 are placed in the storage unit 210, the mopping module The edges of 310 may be folded.
  • the ability of the storage module 210 to store the mopping module 310 is ensured.
  • the internal space of the storage module 210 is larger than the actual size of the mopping module 310.
  • the center area of the storage module 210 is exactly aligned with the operating position, so that the mopping module can be more accurate Therefore, when storing the mopping module 310 in the storage module, the mopping module 310 should be placed in the central area of the storage module 210 as much as possible.
  • the second storage unit 212 stores the mopping module 310 to be replaced.
  • the second storage unit 212 provides a mopping module 310 to the second operating position 252 for the cleaning robot. Installation, specifically, if the mopping module 310 is to be accurately placed at the second operating position, the mopping module 310 in the second storage unit 212 needs to be dropped from the middle area.
  • the contact part of the baffle telescopic mechanism and the mopping module 310 is arranged as an inclined surface, and the part of the mopping module 310 that contacts the contact part is also designed as a corresponding inclined surface.
  • the inclined contact part can face the mopping module.
  • the force applied to the middle area of the second storage unit 212 makes the mopping module 310 move to the middle as far as possible under the action of the telescopic mechanism on both sides, and try to be in the middle area of the second storage unit 212.
  • the contact portion of the flap retractable mechanism can also be designed in other shapes, as long as the mopping module 310 can receive the force that causes it to move to the central area of the second storage unit 212. It is understandable.
  • the contact position on the mopping module 310 is also changed accordingly.
  • the cleaning robot 100 further includes a position detection sensor.
  • the control unit controls the movement of the connecting assembly 120 so that the mopping module 310 and the main body of the cleaning robot 100 Separate, the mopping module 310 moves under the action of the mopping module collection unit to collect the mopping module 310 into the first storage unit 211; the mopping module providing unit takes out the mopping module 310 from the second storage unit 212, the mopping module 310 moves under the action of the mopping module providing unit to provide the mopping module 310 to the cleaning robot 100 for installation.
  • the control unit controls the movement of the connecting assembly 120 to install the mopping Module 310.
  • the position detection sensor as a magnetic detection sensor, such as a Hall sensor
  • the cleaning robot 100 determines the relative position between the cleaning robot 100 and the base station 200 by detecting the magnetic elements provided on the base station 200. For example, when the cleaning robot 100 detects the first magnet installed on the base station 200, it is determined that the cleaning robot 100 has reached the first operating position 251; when the cleaning robot 100 detects the second magnet installed on the base station 200, it is determined that the cleaning robot 100 100 reaches the second operating position 252.

Landscapes

  • Electric Vacuum Cleaner (AREA)
  • Cleaning Implements For Floors, Carpets, Furniture, Walls, And The Like (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

一种清洁机器人（100）的基站（200），其包括基座（253）、设置于基座（253）上且用于给清洁机器人（100）充电的充电模块、设有存储空间（215）且用于存储清洁机器人（100）的拖地模块（310）的存储模块（210）、用于检测存储空间（215）内的存储状态是否处于预设状态的存储状态检测模块（360）、用于发出表示存储空间（215）内的存储状态处于预设状态的提醒信息的提醒模块及用于根据存储状态检测模块（360）的检测结果控制提醒模块向外界发出提醒信息的控制模块。

Description

一种清洁机器人的基站
本申请要求了申请日为2019年12月20日，申请号为201911327305.2和201922320324.4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
本发明涉及一种清洁机器人的基站。
背景技术
随着科技的发展，机器人在人们的生活中扮演着愈发重要的作用，尤其是家用机器人，帮助人们从繁重的家务中解放出来，其中，清洁机器人由于适用性比较广而受到用户的广泛青睐。
现有的清洁机器人能够自主行走，在执行工作时，无需人为直接控制和操作，并且还具有路径规划、自动避障、人机交互、回归充电等功能。能够解决人们日常清扫地面上的垃圾的需求，但是现有的清洁机器人通常不具有拖地的功能，很多用户除了清扫地面垃圾的需求外，还希望清洁机器人能够拖地，从而使地面保持一个较为整洁的状态。在清洁机器人拖地的功能上，国内外的一些公司也在纷纷做出尝试，但由于抹布在工作过程中很容易变脏，如果不及时更换，不仅使清洁效果大打折扣，甚至还会使原本干净的地面变得更脏。但是，现有的清洁机器人，无法实现对清洁机器人的拖地模块进行及时的自动更换，它们通常采用人工更换拖地模块的方式，用户需要持续关注清洁工作进程，导致机器人智能化程度不高，且如果用户更换拖地模块不及时，还会污染已经清洁干净的地面，这一问题对于室内面积比较大的用户来说尤其明显。
因此，有必要设计一种新的清洁机器人系统以解决上述技术问题。
发明内容
为了克服上述缺陷，本发明可采用如下技术方案：一种清洁机器人的基站，其包括：
基座；
充电模块，设置于所述基座上且用于给所述清洁机器人充电；
存储模块，设有存储空间，用于存储所述清洁机器人的拖地模块；
存储状态检测模块，用于检测所述存储空间内的存储状态是否处于预设状态；
提醒模块，用于发出表示所述存储空间内的存储状态处于所述预设状态的提醒信息；
控制模块，用于根据所述存储状态检测模块的检测结果控制所述提醒模块向外界发出所述提醒信息。
进一步的，所述基站还包括用于带动所述拖地模块运动的传递模块，所述控制模块还用于控制所述传递模块自主带动所述拖地模块运动以实现自动更换所述拖地模块。
进一步的，所述存储状态检测模块包括检测元件、至少部分可活动的设置于所述存储空间内以触发所述检测元件的可活动件。
进一步的，所述存储状态检测模块还包括用于给所述可活动件提供回复力的弹性件。
进一步的，所述可活动件设置于所述存储空间内的内壁上，以便所述拖地模块收容于所述存储空间内时可触动所述可活动件。
进一步的，所述存储状态检测模块包括光电传感器，所述光电传感器包括发射端和接收端，所述发射端与所述接收端的连线经过所述存储空间。
进一步的，所述存储状态检测模块包括霍尔传感器、红外传感器、干簧管、光电开关及微动开关中至少一个。
进一步的，所述提醒模块包括发光报警装置、发声报警装置、及向外部发送所述提醒信息的无线发送模块中的至少一个。
进一步的，所述存储模块位于所述基座上方，所述基座包括底板及用于连接所述底板与所述存储模块的支撑部，所述存储模块、所述支撑部及所述基座围成用于收容所述清洁机器人的收容腔，所述存储模块位于所述收容腔上方，所述存储模块包括可打开和闭合的连通口，在所述连通口打开的状态下，所述存储空间与所述收容腔上下连通，在所述连通口闭合的状态下，所述存储空间与所述收容腔上下不连通。
进一步的，所述存储模块包括分别用于存储脏的所述拖地模块的第一存储单元和存储干净的所述拖地模块的第二存储单元，所述第一存储单元与所 述第二存储单元分别包括所述存储状态检测模块。
与现有技术相比，本发明的有益效果是：通过在基站上设置存储拖地模块的存储模块及用于检测拖地模块的存储状态检测模块，使得基站在自动更换拖布的情况下，可及时通知用户存储模块内的存储状态，避免由于干净拖地模块供应不足，或者脏拖地模块满了而无法继续自动更换拖布。
附图说明
图1是本发明一实施例中清洁机器人系统的立体图。
图2是本发明一实施例中清洁机器人的立体图。
图3是图2的清洁机器人的仰视图。
图4是本发明一实施例中拖地模块的示意图。
图5是本发明一实施例中清洁机器人未安装拖地模块的示意图。
图6是本发明一实施例中清洁机器人已安装拖地模块的示意图。
图7、图8是本发明一实施例中清洁机器人连接组件的示意图。
图9是本发明一实施例中存储状态检测模块为光电传感器的示意图。
图10本发明一实施例中基站上的连通口打开的示意图。
图11是图10所示基站中连通口闭合的示意图。
图12是本发明一实施例中可活动件未被拖地模块触发的示意图。
图13是图12所示可活动件被拖地模块触发的示意图。
具体实施方式
有关本发明的详细说明和技术内容，配合附图说明如下，然而所附附图仅提供参考与说明，并非用来对本发明加以限制。
如图1所示，本发明提供了一种清洁机器人系统300，其包括用于对室内工作表面执行清洁工作的清洁机器人100及该清洁机器人100的基站200。基站200为清洁机器人的停靠站，其可用于给清洁机器人100执行预设操作，例如给清洁机器人100进行充电、更换或清洗拖地模块、更换或增加配件或者对清洁机器人100执行其他预设操作等。
如图2至图3所示，清洁机器人100包括主体，用于在工作表面带动主体移动的移动模块、用于在工作表面执行清洁工作的清洁机构、为清洁机器人100提供动力的动力机构、提供能量的能源模块及用于控制清洁机器人100自主在工作表面工作的控制单元。移动模块包括行走轮110，在其他实施例 中，移动模块也可以包括履带结构或其他常规的移动方式。本实施例中，清洁机器人100为拖地机器人，清洁机构为在工作表面执行拖地工作的拖地模块310。在其他实施例中，该清洁机器人100也可为扫地机器人、洗地机器人等等，对应的，其清洁机构可包括滚刷、边刷等等。动力机构包括电机以及与电机连接的传动机构，传动机构与移动模块连接，电机驱动传动机构工作，传动机构的传动作用使得移动模块运动，其中，传动机构可以是蜗轮蜗杆机构、锥齿轮机构等。
本实施例中，基站200为用于自动更换清洁机器人100的拖地模块的拖地模块更换站，同时也是给清洁机器人100充电的充电站，当清洁机器人100电量不足时，清洁机器人100可自动返回基站200进行充电，以补充电能。通过将充电与更换拖地模块的功能集成到同一基站200上，以降低成本，而且减少停靠站点，以方便用户操作或观察清洁机器人100。当然，在其他实施例中，基站200也可仅为拖地模块更换站。
基站200包括基座253、设置于基座253上且用于给清洁机器人100充电的充电模块、设有存储空间且用于存储清洁机器人100的拖地模块的存储模块310、用于带动拖地模块310运动的传递模块，用于控制传递模块自主带动拖地模块310运动以实现自动更换拖地模块310的控制模块。
本实施例中，存储模块210设置于基座253上方，存储模块210与基座253围成一用于收容清洁机器人的收容腔258，其中，存储模块210位于收容腔258上方；其他实施例中，存储模块210也可设置于基座253的其他位置，例如，基站200的后方或侧边等等。充电模块包括用于与清洁机器人100对接充电的充电端子。基座235包括底板2531和连接底板2532与存储模块210的支撑部。
存储模块210包括用于收容拖地模块310的存储空间215。本实施例中，基站200为用于自动更换拖地模块的拖地模块更换站，在进行拖地模块更换时，需要新的(干净的)拖地模块，而且也会产生脏的拖地模块，此时，需要用于收容这些拖地模块的存储空间，故，通过设置存储模块来收容这些拖地模块，以实现拖地模块的自动更换。
本实施例中，清洁机器人100可自动返回基站200，自动更换拖地模块，并将脏拖地模块自动收容于存储模块210内，并将干净的拖地模块210自动收容于存储模块，整个过程都是自动的，无需人为操作。然而，当存储模块 210内的脏拖地模块310满仓，或者干净拖地模块310用尽时，此时，用户很难及时发现，若未及时发现，则会因脏拖地模块满仓或干净拖地模块供应不足，而导致情节机器人系统300无法自动更换拖地模块，无法继续执行自动拖地的工作。
本实施例中，基站200还包括用于检测存储空间215内的存储状态是否处于预设状态的存储状态检测模块以及用于发出表示存储空间215内的存储状态处于预设状态的提醒信息的提醒模块，控制模块根据存储状态检测模块的检测结果控制提醒模块向外界发出提醒信息。存储空间215内的存储状态是指存储空间215内是否有拖地模块和/或拖地模块的存储数量是否超过预设值等状态。预设状态为出厂或用户自定义的阈值状态，例如，可定义存储空间215内有拖地模块的状态为阈值状态，当存储状态检测模块检测到存储空间内有拖地模块时，控制模块控制提醒模块发出提醒信息；也可定义存储空间215内无拖地模块的状态为阈值状态，当存储状态检测模块检测到存储空间内无拖地模块时，控制模块控制提醒模块发出提醒信息；也可定义存储空间215内拖地模块数量达到预设值的状态为阈值状态，当存储状态检测模块检测到存储空间内拖地模块数量达到预设值时，控制模块控制提醒模块发出提醒信息，等等。
提醒模块可为发光报警装置、发声报警装置、及向外部发送所述提醒信息的无线发送模块等等。例如，提醒模块可通过发光报警装置发出对应的光或闪灯等，也可通过发声报警装置发出报警声音，也可通过无线发送模块向用户手机app、电脑、或其他移动设备发送提醒信息。
如图10至图11所示，存储空间215位于收容腔258上方，存储模块210括可打开和闭合的连通口2150，在连通口2150打开的状态下，存储空间215与收容腔258上下连通，在连通口2150闭合的状态下，存储空间215与收容腔258上下不连通。拖地模块310可通过连通口直接在存储空间215和收容腔258之间上下传递，以实现自动将基站200上干净的拖地模块310安装于清洁机器人，或者将清洁机器人100上拆卸的脏拖地模块310自动存储于基座200内的存储空间215。底板2531包括用于收容拖地模块310的收容槽，以便当拖地模块310自存储空间215移动到收容腔258时，收容拖地模块310，避免或减少拖地模块310突出于底板2531表面。
存储模块210包括分别用于存储脏的拖地模块210的第一存储单元211 和存储干净的拖地模块210的第二存储单元212，对应的，存储空间215包括用于存储脏拖地模块的第一存储空间2153和用于存储干净拖地模块的第二存储空间2154。连通口2150包括分别位于第一存储空间2153与第二存储空间2154下方，且可打开和闭合的第一连通口2151和第二连通口2152。第一存储空间2151与第二存储空间2152在水平方向上并排的位于收容腔258上方。对应的底板2531上具有收容脏拖地模块的收容槽和收容干净拖地模块的收容槽，一方面，可以对拖地模块进行限位，另一方面，也可避免拖地模块过于突出底板2531，而阻碍清洁机器人100移动。
收容腔258具有与外界连通以供清洁机器人100驶出和/或驶入的开口255，支撑部2532设置于基站200与开口255相对的一侧，使得清洁机器人100停靠时，清洁机器人100与存储模块210在水平面内的投影大致重合，使得基站200在水平方向上结构更紧凑，减小清洁机器人系统300整体的占地面积。充电端子位于支撑部2532或底板2531上，当然，在一些实施例中，充电端子也可位于存储模块210底部等位置，使得清洁机器人100的顶部与充电端子接触进行充电。清洁机器人100驶入基站200完成对接后，启动充电，充电结束后，清洁机器人100驶出基站200。在其他实施例中，清洁机器人100回归充电的方式还包括无线充电，充电模块包括发射线圈，清洁机器人100包括接收线圈，通过发射线圈和接收线圈的电磁感应为清洁机器人100进行充电。通过将充电模块设置于基站200上，其有益效果在于：基站200功能的集成化，使得基站200功能复用、结构紧凑。
存储状态检测模块360可为机械检测结构、也可为检测传感器等等。如图12至图13所示，以机械检测结构为例，存储状态检测模块360包括检测元件63、至少部分可活动的设置于存储空间215内以触发检测元件63的可活动件61。可活动件61包括用于触发检测元件63的触发部612、用于与拖地模块接触的接触部611及用于给可活动件提供回复力的弹性件613。当存储空间215内的拖地模块310对接触部611施加压力时，接触部611带动触发部612运动，以触发检测元件63状态的切换，又或者，存储空间215内的拖地模块310由有到无时，在弹性件的回复力作用下，带动触发部612运动，以触发检测元件63状态的切换。根据具体情况，控制模块可控制当检测元件63由未触发状态切换到触发状态时，控制提醒模块发出提醒信息，也可控制当检测元件63由触发状态切换为未触发状态时，发出提醒信息。可活动件 61设置于存储空间215内的内壁上，以便拖地模块310收容于存储空间215内时可对接触部611施加压力，触动可活动件61，进而触发检测元件63。上述检测元件63可为光电开关或微动开关等等。本实施例中，通过机械检测结构检测存储空间内的存储状态，避免受到灰尘或外界环境或其他结构的干扰，检测结构准确且成本低。
当存储模块210包括分别用于存储脏的拖地模块210的第一存储单元211和存储干净的拖地模块210的第二存储单元212时，第一存储单元211与所述第二存储单元212分别包括所述存储状态检测模块360。如图13至图13所示，第一存储空间2153与第二存储空间2154内分别设有可活动件61，基站上设有两个与可活动件61对应的检测元件63。
具体的，基站200的第二存储单元212包括存储状态检测模块360，能够检测当前第二存储单元212内拖地模块310的状态并向用户发出提醒信息。例如，当检测第二存储单元已没有拖地模块310，提醒用户及时增加拖地模块，防止影响基站200工作稳定性。同样的，第一存储单元211也包括存储状态检测模块360，检测第一存储单元211内所放置的拖地模块310达到预设值、或检测第一存储单元211内拖地模块存放时间已到达预设值，向用户发出处理拖地模块310的提醒信息，例如，当拖地模块310的数量大于或等于预设值时，向用户发出处理拖地模块310的提醒信息。上述预设值可出厂即设定好，也可根据用户需求自行设定。
基站发出提醒信息的方式包括，基站与移动设备(例如手机、电脑、I PAD等)通信，以向用户发出提醒信息，提醒用户及时清理基站，或提醒用户增加拖地模块。在其他的实施例中，基站包括指示器，能够通过指示器发出光、声音等方式提醒用户对基站进行相应操作。
在另一实施例中，如图9所示，存储状态检测模块360可为光电传感器，光电传感器包括发射端和接收端，发射端与接收端的连线经过存储空间215，以检测存储空间215内的存储状态。光电传感器可用于检测存储模块210内拖地模块310的数量(数量包括零)，可以用于判断第一存储空间2153内拖地模块310已装满，以及用于判断第二存储空间2154内已无拖地模块310。第一存储空间2153内放置的是从清洁机器人100主体分离的拖地模块310，第二存储空间2154内放置的是供清洁机器人100安装的拖地模块310，当第一存储空间2153内已装满拖地模块310，或者第二存储空间2154内已无拖 地模块310可供清洁机器人100安装时，基站发出相应的提示指令。
发射端可设置于存储空间一侧，接收端设置于存储空间另一侧相对应的位置，当发射端发射的信号能够被接收端接收到时，表示发射端和接收端之间没有阻挡物。若需要检测第一存储空间2153是否装满拖地模块310，在第一存储空间2153顶端的一侧安装光电传感器发射器，另一端安装光电传感器接收器，若第一存储空间2153内装满拖地模块310，当发射器发射信号时，由于该信号被第一存储空间2153顶端的拖地模块310阻断，接收器无法接收到该信号，据此判断第一存储空间2153内已装满拖地模块310。以及，若需要检测第二存储空间2154内是否还有可供清洁机器人100更换的拖地模块310，在第二存储空间2154底部的一侧安装光电传感器发射端，另一侧相对应的位置安装接收端，若第二存储空间2154内已无供安装的拖地模块310，当光电传感器发射端发射出信号后，由于没有中间的拖地模块的阻挡，接收端能够接收到该信号，据此判断第二存储空间2154内已没有可供清洁机器人100安装的拖地模块310。在其他的实施例中，光电传感器可以安装于其他位置，例如若需要判断存储空间215内拖地模块310的数量为小于2，则可以在存储模块210内第二块拖地模块叠放的位置安装光电传感器，接收端检测不到信号就说明存储模块内拖地模块310的数量大于等于2，否则，说明存储模块内拖地模块310的数量小于2。
当然，在其他实施例中，存储状态检测模块还可为霍尔传感器、红外传感器、干簧管等等。
本实施例中，清洁机器人100能够在基站200自动更换拖地模块。如图5至图6所示，拖地模块310可拆卸地安装至清洁机器人100，图5示出了清洁机器人100未安装拖地模块310的状态，图6示出了清洁机器人100已安装拖地模块310的状态，已安装拖地模块310的清洁机器人100能够在工作区域内行走并执行清洁工作。在本实施例中，清洁机器人100还包括连接组件120，清洁机器人100能够通过连接组件120自动地将拖地模块310安装于清洁机器人100，以及通过控制单元控制连接组件120从而将拖地模块310与清洁机器人100本体分离。在本实施例中，参图7-8，连接组件120包括机架121，机架121与清洁机器人100主体连接；隔板122，通过隔板122连接拖地模块310至清洁机器人100主体。在本实施例中，连接组件120包 括磁性元件，通过磁性作用将拖地模块310连接至清洁机器人100主体。在本实施例中，连接组件120能够响应控制单元的控制信号调节拖地模块310距离地面的高度。在本实施例中，当清洁机器人100需要安装拖地模块310时，控制单元控制连接组件120降低以接近拖地模块310，连接组件120上的磁性元件和拖地模块310上的磁性元件314接近从而互相吸引，拖地模块310因此被连接至清洁机器人100主体。在本实施例中，当需要将拖地模块310与清洁机器人100本体分离时，控制单元控制连接组件120抬升，连接组件120还包括顶杆123，顶杆123对拖地模块310产生向下的压力，使得拖地模块310与清洁机器人100主体分离。在本实施例中，在执行清洁工作时，拖地模块310接触地面以对表面执行清洁工作，在不执行清洁工作的场景中，例如回归充电、回归更换拖地模块等场景中，抬升拖地模块310，避免拖地模块310接触地面以防止已经变脏的拖地模块310污染已经清理过的工作表面。通过设置连接组件120，其有益效果在于，使得拖地模块310自动地连接至清洁机器人100主体，以及将拖地模块310自动地与清洁机器人100主体分离，该设计能够有效减少清洁机器人100工作中人工的参与。
基站200包括能够使拖地模块310运动的传递模块，以将存储模块210中的拖地模块310传递给清洁机器人100供安装，或将从清洁机器人100主体分离的拖地模块310传递给存储模块收纳。该机器人清洁系统还包括控制单元，控制基站的传递模块工作，以及控制基站上传感器的工作，可选的，控制单元位于基站200和清洁机器人100的至少其中之一上。以及，该机器人清洁系统300还包括适于与基站200和清洁机器人100配合使用的拖地模块310，图4是本实施例的一种拖地模块310的设计，该拖地模块310包括背板311，背板311适于连接拖布312，拖地模块310上设置有缺口313，其中，拖布312既可以是普通拖布，也可以用湿巾、海绵擦等常用手段替换，背板311包括吸附元件，具体的，该吸附元件包括磁性元件，能够通过磁性作用与清洁机器人100连接以及被基站200收纳。在本实施例中，拖布312连接于背板311且边缘略微超出背板311，也就是说，拖布312的尺寸大于背板311的尺寸，通过设置拖布312的尺寸略微大于背板311的尺寸，使得当清洁机器人100需要清洁边角地区时，例如清洁墙缝时，拖地模块310能够更好的与清洁表面接触，尤其是对墙边的竖直表面有较好的清洁效果，从 而对边角地区保证较好的清洁效果。在其他实施例中，拖地模块310的安装方式还可以包括凹槽卡接、黏附等其他本领域常见手段，同时，相应的清洁机器人100安装拖地模块设计和基站200收纳拖地模块的设计也发生相应变化。
基站200的传递模块包括拖地模块收集单元，用于收集从清洁机器人100主体分离的拖地模块310，传递模块还包括拖地模块提供单元，用于向清洁机器人100提供供清洁机器人100更换的拖地模块310。以及，基站200的存储模块包括第一存储单元211，以及第二存储单元212。其中，第一存储单元211与拖地模块收集单元配合以将从清洁机器人100主体分离的拖地模块310收集至第一存储单元211；第二存储单元212与拖地模块提供单元配合以将存储在第二存储单元212的拖地模块310通过拖地模块提供单元传递给清洁机器人100供安装。基站200包括供清洁机器人100放置分离的拖地模块310和供机器人安装拖地模块310的操作位置250，进一步的，操作位置250包括清洁机器人100放置分离的拖地模块310的第一操作位置251和清洁机器人100安装拖地模块310的第二操作位置252。具体的，清洁机器人100驶入基站后到达操作位置，清洁机器人100上安装拖地模块的部位与基站200上的操作位置相对应，具体的，当清洁机器人100到达第一操作位置251时，清洁机器人100将安装于主体的拖地模块310分离并将其放置于第一操作位置251，当清洁机器人到达第二操作位置252时，清洁机器人100将放置于第二操作位置252的拖地模块310安装至清洁机器人100主体。具体的，操作位置250包括一个操作区域，该区域可以用于放置拖地模块310，以及该区域可以用于供清洁机器人100分离拖地模块和/或清洁机器人100安装拖地模块，具体的，第一操作位置251包括第一操作区域，机器人100驶入基站到达该第一操作区域后，将安装于机器人主体的拖地模块310分离并放置于第一操作区域，该第一操作区域可以叠放一个以上拖地模块，以及，第二操作位置252包括第二操作区域，机器人驶入基站到达该第二操作区域后，将放置于第二操作区域的拖地模块310安装于清洁机器人主体，具体的，第二操作区域可以放置一个及以上拖地模块310，也就是说，基站200的操作位 置包括操作区域，拖地模块310可以放置于该区域，且清洁机器人100能够在该区域完成对清洁机器人100的拖地模块的更换。在本实施例中，第一存储单元211和第二存储单元212并行设置，参图10，具体的，第一存储单元211与第二存储单元212底面大致位于同一平面。具体的，第一存储单元211用于存储从清洁机器人100分离的已经使用过的脏拖地模块310，第二存储单元212存储干净拖地模块310以供清洁机器人100安装。具体的，参图10，第一存储单元211、第二存储单元212分别可存储多块拖地模块310，且多块拖地模块310叠放设置。具体的，第一存储单元211和第二存储单元212的容量大致相同，能够容纳的拖地模块数量大致相同。在本实施例中，存储模块210设置于操作位置250的竖直方向上，具体的，存储模块210设置于操作位置的上方，使得存储模块在水平面的投影大致覆盖操作区域在水平面的投影，当清洁机器人100驶入基站200时，清洁机器人100顶部与基站200存储模块底部在竖直方向上的距离小于等于50MM。在本实施例中，第一存储单元211的位置与基站底板的清洁机器人100第一操作位置251对应设置，具体的，第一存储单元211设置于第一操作位置251的竖直方向上，更具体的，第一存储单元211设置于第一操作位置251的竖直方向的上方，使得第一存储模块在水平面的投影大致覆盖第一操作位置在水平面的投影。在本实施例中，第二存储单元212的位置与基站底板的清洁机器人100第二操作位置252对应设置，具体的，第二存储单元212设置于第二操作位置252的竖直方向上，更具体的，第二存储单元212设置于第二操作位置252的竖直方向的上方。在其他的实施例中，存储模块210也可以位于操作位置的下方，当清洁机器人100行驶至操作位置分离拖地模块时，传递模块通过自上而下的运动将从清洁机器人主体分离的拖地模块310收集至存储模块，以及，当清洁机器人需要安装拖地模块时，传递模块通过自下而上的运动将拖地模块传递给清洁机器人以供安装。在本实施例中，清洁机器人100回归基站200更换拖地模块310时，驶入基站200到达第一操作位置251，控制单元控制拖地模块310与清洁机器人100分离；第二操作位置252相对于清洁机器人100进站方向位于第一操作位置251前方，当清洁机器人100到达第一操作 位置251后继续向前行驶，到达第二操作位置252，清洁机器人100在此处安装拖地模块310。在本实施例中，第二存储单元212相对于清洁机器人100进站的方向设置于第一存储单元211前部，因此，清洁机器人100在进站时，能够先接近第一存储单元211，后接近第二存储单元212。本实施例这样设计的好处在于，传递模块包括拖地模块收集单元，清洁机器人100在工作表面执行清洁工作，拖地模块310持续与工作表面接触，经过一段时间的工作之后，拖地模块310变脏，需要进行更换，通过对基站200设置拖地模块收集单元，清洁机器人100的拖地模块变脏以后能够自行回归基站200进行更换，防止已经变脏的拖地模块310继续污染工作表面。清洁机器人100自动将拖地模块310与清洁机器人100主体分离后，通过拖地模块收集单元自动地拾取被分离的脏的拖地模块，并将其收集至存储模块210的第一存储单元211，从而实现对脏的拖地模块的收纳，通过对脏的拖地模块的收纳，使工作表面整洁有序。进一步的，传递模块包括拖地模块提供单元，通过设置该拖地模块提供单元，清洁机器人100在工作一段时间后拖地模块310变脏，能够及时获取新的拖地模块进行更换，减少人工的工作。通过设置拖地模块提供单元，当清洁机器人100将使用过的脏的拖地模块310分离后，需要安装干净的拖地模块310以继续执行清洁工作，基站200能够自动地将存储模块210中存储的干净的拖地模块310取出，供清洁机器人100安装，使得清洁机器人100始终可以自动地通过基站200获取干净的拖地模块310，以在工作表面自动地持续地执行清洁工作。进一步的，通过设置拖地模块收集单元，基站200能够自动收集从清洁机器人100主体分离的使用过的脏的拖地模块，通过设置拖地模块提供单元，基站能够向清洁机器人100提供至少一个干净的拖地模块供安装，这样的设计使得基站200能同时实现收集从清洁机器人100分离的脏的拖地模块310进行收纳，和向清洁机器人100提供干净的拖地模块310供安装的功能，当清洁机器人100需要更换拖地模块310时，先通过连接组件分离连接至机器人主体的拖地模块310，基站200的拖地模块收集单元对该拖地模块进行收集，并存放至第一存储单元；当清洁机器人100已将使用过的脏的拖地模块310分离后，需要安装干净的拖地模块，通过拖 地模块提供单元自动地从第二存储单元取出干净的拖地模块，供清洁机器人100安装，从而使得清洁机器人100既能自动分离脏的拖地模块并进行有序收纳，以及自动安装干净的拖地模块310以持续在工作表面执行清洁工作。同时，清洁机器人100在更换拖地模块310时，清洁机器人100的操作位置与基站200的存储模块210在竖直方向上对应，清洁机器人100在与基站200配合更换拖地模块310时，传递模块使得拖地模块310在竖直平面内运动，使得基站200的结构较为紧凑，且拖地模块310的运动路径较短。
存储模块210中能够存储多个拖地模块310，具体的，在本实施例中，存储模块210大约能存储10个拖地模块310。通常，拖地模块310包括一次性拖布和可水洗拖布，本实施例中的清洁机器人系统300能够兼容一次性拖布和可水洗拖布，存储模块210能够存储一次性拖布和可水洗拖布。在一个实施例中，为了使得存储模块210能够同时兼容一次性拖布和可水洗拖布，需要对存储模块210本身的设计做一些改进，以使得存储模块210在实现对拖布的兼容的情况下，依然能够保证较好的工作稳定性。具体的，增大存储模块210长度方向和宽度方向的间隙，使得较大尺寸的拖地模块也能够与存储模块210配合，以及当存储单元210内放置多个拖地模块310时，拖地模块310边缘可能会叠起，通过对增大存储单元210的内部间隙，保证了存储模块210存放拖地模块310的能力。当存储模块210两侧具有间隙时，意味着存储模块210的内部空间大于拖地模块310的实际尺寸，通常来说，存储模块210的中心区域正好对准操作位置，使得拖地模块能够较为准确的放置于相应的操作位置，所以，将拖地模块310存放至存储模块时，也要使得拖地模块310尽量放置于存储模块210中心区域。具体的，第二存储单元212中存储待更换的拖地模块310，当清洁机器人100需要更换拖地模块时，第二存储单元212将一个拖地模块310提供至第二操作位置252供清洁机器人安装，具体的，若要使得该拖地模块310准确放置于第二操作位置，需要使得第二存储单元212中的拖地模块310从中间区域掉落。具体的，挡片伸缩机构与拖地模块310接触的接触部设置成斜面，拖地模块310与该接触部接触的部分也设计成与之相对应的斜面，该斜面接触部能够对拖地模块施加向第二存储单元212中间区域运动的力，使得拖地模块310在两侧伸缩机构的作用下尽量向中间移动，尽量处于第二存储单元212的中间区域。在其他的 实施例中，该挡片伸缩机构的接触部也可以设计成其他形状，只要能使得拖地模块310受到使其向第二存储单元212中心区域移动的力即可，可理解的，拖地模块310上与之接触的位置也进行相应的改变。
在本实施例中，清洁机器人100还包括位置检测传感器，当位置检测传感器判断清洁机器人100到达第一操作位置251，此时控制单元控制连接组件120运动，使得拖地模块310与清洁机器人100主体分离，拖地模块310在拖地模块收集单元的作用下运动以将拖地模块310收集至第一存储单元211；拖地模块提供单元从第二存储单元212取出拖地模块310，拖地模块310在拖地模块提供单元的作用下运动以将拖地模块310提供给清洁机器人100供安装，当位置传感器判断清洁机器人100到达第二操作位置252，控制单元控制连接组件120运动以安装拖地模块310。一实施例中，以位置检测传感器为磁检测传感器为例，例如霍尔传感器，清洁机器人100通过检测设置在基站200上的磁性元件来判断其与基站200之间的相对位置。例如，当清洁机器人100检测到设置于基站200上的第一磁铁时，判断清洁机器人100到达第一操作位置251；当清洁机器人100检测到设置于基站200上的第二磁铁时，判断清洁机器人100到达第二操作位置252。
以上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 (9)

  1. 一种清洁机器人的基站，其特征在于，所述基站包括：
    基座；
    充电模块，设置于所述基座上且用于给所述清洁机器人充电；
    存储模块，设有存储空间，用于存储所述清洁机器人的拖地模块；
    存储状态检测模块，用于检测所述存储空间内的存储状态是否处于预设状态；
    提醒模块，用于发出表示所述存储空间内的存储状态处于所述预设状态的提醒信息；
    控制模块，用于根据所述存储状态检测模块的检测结果控制所述提醒模块向外界发出所述提醒信息；
    传递模块，所述传递模块用于带动所述拖地模块运动，所述控制模块还用于控制所述传递模块自主带动所述拖地模块运动以实现自动更换所述拖地模块。
  2. 根据权利要求1所述的基站，其特征在于，所述存储状态检测模块包括检测元件、至少部分可活动的设置于所述存储空间内以触发所述检测元件的可活动件。
  3. 根据权利要求2所述的基站，其特征在于，所述存储状态检测模块还包括用于给所述可活动件提供回复力的弹性件。
  4. 根据权利要求2所述的基站，其特征在于，所述可活动件设置于所述存储空间内的内壁上，以便所述拖地模块收容于所述存储空间内时可触动所述可活动件。
  5. 根据权利要求1所述的基站，其特征在于，所述存储状态检测模块包括光电传感器，所述光电传感器包括发射端和接收端，所述发射端与所述接收端的连线经过所述存储空间。
  6. 根据权利要求1所述的基站，其特征在于，所述存储状态检测模块包括霍尔传感器、红外传感器、干簧管、光电开关及微动开关中至少一个。
  7. 根据权利要求1所述的基站，其特征在于，所述提醒模块包括发光报警装置、发声报警装置、及向外部发送所述提醒信息的无线发送模块中的至少一个。
  8. 根据权利要求1所述的基站，其特征在于，所述存储模块位于所述基座上方，所述基座包括底板及用于连接所述底板与所述存储模块的支撑部，所述 存储模块、所述支撑部及所述基座围成用于收容所述清洁机器人的收容腔，所述存储模块位于所述收容腔上方，所述存储模块包括可打开和闭合的连通口，在所述连通口打开的状态下，所述存储空间与所述收容腔上下连通，在所述连通口闭合的状态下，所述存储空间与所述收容腔上下不连通。
  9. 根据权利要求1所述的基站，其特征在于，所述存储模块包括分别用于存储脏的所述拖地模块的第一存储单元和存储干净的所述拖地模块的第二存储单元，所述第一存储单元与所述第二存储单元分别包括所述存储状态检测模块。
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