WO2022166341A1 - Station de base et système de robot de nettoyage - Google Patents

Station de base et système de robot de nettoyage Download PDF

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Publication number
WO2022166341A1
WO2022166341A1 PCT/CN2021/134009 CN2021134009W WO2022166341A1 WO 2022166341 A1 WO2022166341 A1 WO 2022166341A1 CN 2021134009 W CN2021134009 W CN 2021134009W WO 2022166341 A1 WO2022166341 A1 WO 2022166341A1
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WO
WIPO (PCT)
Prior art keywords
signal
base station
cleaning robot
side wall
signal transmitter
Prior art date
Application number
PCT/CN2021/134009
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English (en)
Chinese (zh)
Inventor
张猛
陈令华
丁铁
张涛
宣晓刚
高东俊
Original Assignee
美智纵横科技有限责任公司
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Publication of WO2022166341A1 publication Critical patent/WO2022166341A1/fr

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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

Definitions

  • the invention belongs to the field of cleaning technology, and in particular relates to a base station and a cleaning robot system having the base station.
  • a reflective barcode is generally pasted on the front of the base station, and the cleaning robot is equipped with an LDS laser navigation module.
  • the cleaning robot scans the barcode to identify and return to the base station.
  • LDS scanning to return to the base station, the cleaning robot needs to run to the front of the base station to identify the base station, which prolongs the time it takes for the cleaning robot to return to the base station.
  • the purpose of the present invention is to at least solve the problem of time-consuming identification of the location of the base station when the cleaning robot returns to the base station. This purpose is achieved by:
  • a first aspect of the present invention provides a base station for cleaning a robot, the base station comprising:
  • a base station body the bottom of the base station body is provided with an accommodating cavity with one end open;
  • the first signal transmitter is arranged on a first side wall of the accommodating cavity, and the first side wall is arranged corresponding to the opening;
  • At least two second signal transmitters, and at least one of the second signal transmitters are respectively provided on both sides of the first signal transmitter.
  • the cleaning robot can return to the base station when returning to the base station.
  • the signals emitted by the second signal transmitters on both sides guide the cleaning robot to move to the front of the first side wall, and the signals emitted by the first signal transmitters guide the cleaning robot to straighten the fuselage, thereby effectively increasing the speed of the cleaning robot.
  • the signal receiving area during the process of returning the cleaning robot to the base station is enlarged, which improves the identification efficiency of the cleaning robot for the position of the base station, and ensures that the cleaning robot can enter the accommodation cavity quickly and accurately, so as to clean and/or charge the cleaning robot through the base station.
  • the base station according to the present invention may also have the following additional technical features:
  • two sides of the first side wall are respectively provided with a second side wall and a third side wall, the second side wall, the first side wall and the third side
  • the wall encloses the accommodating cavity, and at least one of the second signal transmitters is respectively provided on the second side wall and the third side wall.
  • the second signal transmitter is disposed near the end of the opening.
  • the base station further includes at least two third signal transmitters, and at least one of the third signal transmitters is provided on both sides of the first signal transmitter, respectively.
  • the signal transmission distance of the signal transmitter is greater than the signal transmission distance of the second signal transmitter, and the signal transmission angle range of the third signal transmitter is smaller than the signal transmission angle range of the second signal transmitter.
  • the first signal transmitter includes a partition plate and at least one signal transmission member, and the partition plate covers part of the signal transmission member, so that the first signal transmitter transmits The alignment signal is emitted at the first included angle.
  • the angle range of the first included angle is 20° ⁇ 30°.
  • the number of the signal emitting parts is two, and the partition plates are covered at positions of the two signal emitting parts that are close to each other.
  • the distance between the center line of the alignment signal emitted by the first signal transmitter and the edges on both sides of the first sidewall is equal.
  • the base station further includes:
  • a cleaning unit which is arranged in the accommodating cavity and used to clean the cleaning robot entering the accommodating cavity;
  • the charging unit is provided on the side wall of the accommodating cavity, and is used for charging the cleaning robot entering the accommodating cavity.
  • Another aspect of the present invention also provides a cleaning robot system, the cleaning robot system has the base station described in any one of the above, and the cleaning robot system further includes:
  • the cleaning robot is provided with a signal receiver, and the signal receiver is used for receiving the alignment signal emitted by the first signal transmitter and the guidance signal emitted by the second signal transmitter.
  • FIG. 1 is a schematic structural diagram of a cleaning robot system according to this embodiment
  • Fig. 2 is the front structure schematic diagram of the base station in Fig. 1;
  • FIG. 3 is a schematic structural diagram of the first signal transmitter in FIG. 2;
  • FIG. 4 is a distribution diagram of the trajectory of the signal transmitted by the base station in FIG. 1 .
  • A1 alignment signal area
  • A2 short-range guidance signal area
  • A3 long-distance guidance signal area
  • L1 the first boundary line of the alignment signal
  • L2 the second boundary line of the alignment signal
  • L3 the first boundary line of the remote pilot signal
  • L4 the second boundary line of the remote pilot signal
  • first, second, third, etc. may be used herein to describe various elements, components, regions, layers and/or sections, these elements, components, regions, layers and/or sections should not be restricted by these terms. These terms may only be used to distinguish one element, component, region, layer or section from another region, layer or section. Terms such as “first,” “second,” and other numerical terms when used herein do not imply a sequence or order unless clearly indicated by the context. Thus, a first element, component, region, layer or section discussed below could be termed a second element, component, region, layer or section without departing from the teachings of example embodiments.
  • spatially relative terms may be used herein to describe the relationship of one element or feature to another element or feature as shown in the figures, such as “inner”, “outer”, “inner” “, “outside”, “below”, “below”, “above”, “above”, etc.
  • This spatially relative term is intended to include different orientations of the device in use or operation other than the orientation depicted in the figures. For example, if the device in the figures is turned over, elements described as “below” or “beneath” other elements or features would then be oriented “above” or “above the other elements or features" above features". Thus, the example term “below” can encompass both an orientation of above and below.
  • the device may be otherwise oriented (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.
  • the cleaning robot system 1 of this embodiment includes a base station 10 and a cleaning robot 20 .
  • the cleaning robot 20 in this embodiment is an indoor cleaning robot that can automatically complete floor cleaning by virtue of certain artificial intelligence, such as a sweeping robot, a mopping robot, or a sweeping and mopping integrated robot.
  • the cleaning robot 20 may return to the base station 10 for cleaning and/or charging according to the received recharging instruction.
  • the recharge commands include internal recharge commands and external recharge commands. Internal recharge commands include but are not limited to commands issued when the power of the robot is lower than the preset threshold and when the preset cleaning task is completed.
  • External recharge commands include but not limited to It is limited to the instructions issued when the user actively controls the robot to return to the base station 10, such as the instructions issued by the user through the operation panel on the fuselage, the remote controller or the APP on other terminal devices.
  • the base station 10 in this application is one of the base stations used with the cleaning robot, and is a base station to be used by the cleaning robot for this recharging, such as a charging base station, a cleaning base station, or a base station with integrated charging and cleaning functions.
  • the base station 10 in this embodiment includes a base station body 11 , a first signal transmitter 13 and two second signal transmitters 14 .
  • the base station body 11 includes a base 111 and a housing 112.
  • the base 111 is provided with an accommodation cavity 12 with one end open.
  • the cleaning robot 20 can enter the accommodation cavity 12 through the opening, so as to perform cleaning and/or charging process of the cleaning robot 20.
  • the accommodating cavity 12 includes a first side wall 121, a second side wall 122 and a third side wall 123, and the second side wall 122 and the third side wall 123 are respectively provided on the first side wall
  • the second side wall 122 , the first side wall 121 and the third side wall 123 form the accommodating cavity 12
  • an opening is formed between the second side wall 122 and the third side wall 123 .
  • Both the height dimension and the width dimension of the opening should not be smaller than the height dimension and the width dimension of the cleaning robot 20 , so that the cleaning robot 20 can enter the accommodating cavity 12 through the opening.
  • the first signal transmitter 13 is provided on the first side wall 121
  • the second signal transmitter 14 is provided on the second side wall 122 and the third side wall 123 respectively.
  • the cleaning robot 20 is provided with a signal receiver for receiving the alignment signal transmitted by the first signal transmitter 13 and the guidance signal transmitted by the second signal transmitter 14 .
  • the first signal transmitter 13 is used to transmit an alignment signal
  • the signal receiver can receive and recognize the alignment signal transmitted by the first signal transmitter 13, and adjust the body of the cleaning robot 20 according to the received alignment signal, thereby
  • the cleaning robot 20 can be quickly and accurately entered into the accommodating cavity 12 .
  • the second signal transmitter 14 is used for transmitting a guidance signal, and the signal receiver can receive and recognize the guidance signal transmitted by the second signal transmitter 14, and guide the cleaning robot 20 to move toward the position directly opposite to the opening according to the received guidance signal, and When the cleaning robot 20 moves to the position opposite to the opening, according to the alignment signal sent by the first signal transmitter 13 received by the signal receiver, the cleaning robot 20 is set to straighten the body, and the cleaning robot 20 is driven into the accommodating cavity 12 , thereby effectively increasing the signal receiving area in the process of the cleaning robot 20 returning to the base station 10 , and improving the identification efficiency of the cleaning robot 20 on the position of the base station 10 .
  • the alignment signal emitted by the first signal transmitter 13 and the guide signal emitted by the second signal transmitter 14 are both infrared rays.
  • the cleaning robot 20 guides the cleaning robot 20 to move to the opposite side of the first side wall 121 through the signals emitted by the second signal transmitters 14 on both sides, and the signals emitted by the first signal transmitter 13 Guide the cleaning robot 20 people to straighten the fuselage, thereby effectively increasing the signal receiving area of the cleaning robot 20 in the process of returning to the base station 10, ensuring that the cleaning robot 20 can enter the accommodating cavity 12 quickly and accurately, so as to pass the base station 10 to the cleaning robot. 20 for cleaning and/or charging.
  • the second signal 14 in this embodiment is arranged near the end of the opening. , so that when the cleaning robot 20 moves to a position on both sides other than the width of the base 14, it can also return to the vicinity of the base station 10 according to the role of the guiding signal transmitted by the second signal transmitter 14, and according to the received first signal transmitter
  • the alignment signal emitted by 13 enters into the accommodating cavity 12 after aligning the fuselage.
  • the straightening of the body means that the center area of the driving wheel of the cleaning robot 20 is perpendicular to the center line of the alignment signal.
  • the second signal transmitter 14 may also be disposed at the ends of the second side wall 122 and the third side wall 123 close to the first side wall 121 , or disposed on the first side wall 121 on the first side.
  • the positions on both sides of a signal transmitter 13 can also effectively increase the signal receiving area in the process of the cleaning robot 20 returning to the base station 10, and improve the recognition efficiency of the cleaning robot 20 on the position of the base station 10.
  • the receiver 14 is placed at the end positions of the second side wall 122 and the third side wall 123 close to the opening, and the enlargement range of the signal receiving area thereof is limited.
  • the first signal transmitter 13 in this embodiment includes a partition plate 132 , at least one signal transmitting member 131 and a mounting plate 133 .
  • the number of the signal emitting parts 131 in this embodiment is two, the two signal emitting parts 131 are arranged on the mounting plate 133 at intervals, and the mounting plate 133 is further provided with a partition plate 132, and the positions of the two signal emitting parts 131 close to each other are
  • the cover is provided with a baffle plate 132 , so that the signal emission angle range of the two signal emitting elements 131 is limited by the baffle plate 132 .
  • the two signal transmitters 131 emit alignment signals at a first angle under the action of the partition plate 132, and the angle of the first angle ranges from 20° to 30°, thereby effectively illuminating the cleaning robot.
  • the rotation angle range of the cleaning robot 20 when aligning is limited, so as to ensure that the cleaning robot 20 can align the body with the smallest rotation angle, so as to quickly and accurately enter the accommodating cavity 12 and reduce the angle adjustment of the cleaning robot 20. time wasting.
  • both the signal emitting element 131 and the partition plate 132 are mounted on the mounting plate 133 , and then the mounting plate 133 is connected to the first side wall 121 , so as to facilitate the connection between the signal emitting element 131 and the first side wall 121 And disassembly, it is convenient to replace when the signal emitting part 131 is damaged.
  • the signal emitting part 131 and the partition plate 132 can also be directly placed on the first side wall 121, and the signal emitting part 131 can also emit an alignment signal to guide the cleaning robot to straighten the body.
  • a rectangular or a rectangular-like elongated signal emitting element can also be selected, and a partition 132 is arranged at the center of the elongated signal emitting element, so as to transmit signals to the elongated signal emitting element.
  • the signal emission angle of the alignment signal is limited.
  • the second signal transmitter 14 in this embodiment may also include a mounting plate 133 , a partition plate 132 and a signal transmitting member 131 , and the second signal transmitter 14 is integrally mounted on the second side wall 122 and the third side wall through the mounting plate 133 123 , and cover part of the signal emitting member 131 through the partition plate 132 , so as to limit the signal emitting angle of the signal emitting member 131 .
  • the partition plate 132 and the signal emitting element 131 can be correspondingly arranged according to the area of the pilot signal to be emitted by the second signal transmitter 14 to meet the actual requirements. The specific structure depends on the situation and will not be repeated here.
  • the distance between the center line of the alignment signal emitted by the first signal transmitter 13 in this embodiment and the edges on both sides of the first side wall 121 is equal, so as to ensure that the cleaning robot 20 can move along the accommodating cavity 12 after receiving the alignment signal.
  • the center line of the cleaning robot 20 is returned to the accommodating cavity 12 to ensure the relative position of the cleaning robot 20 and the accommodating cavity 12 during the process of returning to the base station 10 and after returning to the base station 10, and at the same time to prevent the cleaning robot 20 from returning to the base station 10.
  • the collision of the third side wall 123 ensures the cleaning and charging process of the cleaning robot 20 .
  • the base station 10 is also provided with a reflective barcode. When the cleaning robot 20 returns to the accommodating cavity 12 along the center line of the accommodating cavity 12, the cleaning robot 20 can scan the reflective barcode to further determine the center line of the accommodating cavity 12. position, complete the return action, and record the coordinate position of the base station 10 at the same time.
  • the base station 10 in this embodiment further includes two third signal transmitters (not shown in the figure), and two third signal transmitters are respectively provided on both sides of the first signal transmitter 13.
  • the third signal transmitter The signal transmission distance of the second signal transmitter 14 is greater than that of the second signal transmitter 14 , and the signal transmission angle range of the third signal transmitter is smaller than the signal transmission angle range of the second signal transmitter 14 .
  • the third signal transmitter may be similar in structure to the first signal transmitter 13 in FIG. 3 , including a mounting plate 133 , a partition plate 132 and a signal transmitting member 131 , and the third signal transmitter is separately mounted on the mounting plate 133 through the mounting plate 133 .
  • the second side wall 122 and the third side wall 123 are covered with part of the signal emitting member 131 through the partition plate 132 , so as to limit the signal emission angle of the signal emitting member 131 .
  • the area adjusts the angular emission range of the third signal transmitter.
  • the signal emitting parts of the third signal transmitter and the signal emitting parts of the second signal transmitter 14 can also be installed on the same mounting plate and arranged at intervals, by setting different specifications of signal emitting parts The device limits the signal transmission distance of the third signal transmitter and the second signal transmitter 14 .
  • the alignment signal transmitted by the first signal transmitter 13 has two boundary lines, namely the first boundary line L1 of the alignment signal and the second boundary line L2 of the alignment signal, and the first boundary line of the alignment signal
  • the included angle enclosed by L1 and the alignment signal second boundary line L2 ranges from 20° to 30°
  • the area enclosed by the alignment signal first boundary line L1 and the alignment signal second boundary line L2 is the alignment signal area A1
  • the cleaning robot 20 can move in the direction of the accommodating cavity 12 in the alignment signal area A1.
  • the pilot signal transmitted by the third signal transmitter also has two boundary lines, which are the first boundary line L3 of the long-distance pilot signal and the second boundary line L4 of the long-distance pilot signal.
  • both the second side wall 122 and the third side wall 123 are provided with a third signal transmitter.
  • the third signal transmitter on the third side wall 123 is used to transmit the signal.
  • the pilot signal (that is, the left pilot signal at the position shown in FIG. 4 ) is taken as an example to illustrate, the pilot signal emitted by the third signal transmitter on the second side wall 122 (that is, the right pilot signal at the position shown in FIG.
  • the angle range enclosed by the first boundary line L3 of the long-distance pilot signal and the second boundary line L4 of the long-distance pilot signal is 20°-25°
  • the first boundary line L3 of the long-distance pilot signal and the second boundary line of the long-distance pilot signal is the remote guidance signal area A3, and the cleaning robot 20 can move toward the base station 20 under the action of the remote guidance signal in the remote guidance signal area A3.
  • the pilot signal emitted by the second signal transmitter 14 on the third side wall 123 is used as an example for description.
  • the pilot signal emitted by the second signal transmitter 14 on the second side wall 122 ie, the right pilot signal at the position shown in FIG. 4
  • the center line of the quasi-signal area A1 is symmetrically arranged.
  • the short-range pilot signal area in this embodiment is A2, which is surrounded by pilot signals transmitted by the second signal transmitter 14.
  • the angular range of the pilot signals transmitted by the second signal transmitter 14 is greater than the angular range of the pilot signals transmitted by the third signal transmitter 14. Therefore, when the cleaning robot 20 approaches the base station 10, it can receive the guidance signal transmitted by the second signal transmitter 14 in a wide range, and enter the alignment signal area A1 according to the guidance signal, so as to prevent the cleaning robot 20 from hitting the base station 20. outer wall. at the same time.
  • the transmission distance of the guidance signal transmitted by the second signal transmitter 14 is smaller than the transmission distance of the guidance signal transmitted by the third signal transmitter, that is, the cleaning robot 20 can receive the guidance transmitted by the second signal transmitter 14 only when the cleaning robot 20 is close to the position of the base station 10 .
  • the angle range of the pilot signal transmitted by the second signal transmitter 14 is a sector-like area in FIG. 4 , and the maximum transmission distance of the pilot signal transmitted by the second signal transmitter 14 is 1.5m.
  • the cleaning robot 20 when using the cleaning robot system 1 of this embodiment to recover the cleaning robot 20, the cleaning robot 20 first enters the remote guidance signal area A3, and moves toward the base station 10 by receiving the remote guidance signal transmitted by the third signal transmitter. When the distance between the cleaning robot 20 and the base station 10 is less than 1.5m, the cleaning robot 20 enters the short-range guidance signal area A2, and records the coordinates, angle and ranging distance of the cleaning robot 20 relative to the base station 10 at this time. The cleaning robot 20 moves toward the alignment signal area A1 under the action of the short-range guidance signal, passes through the alignment signal first boundary line L1 and the center line of the alignment signal area A1 in sequence, and knows that the alignment signal second boundary is detected. Stop moving at line L2. During this movement, there is no obstacle setting.
  • the alignment signal area A1 of the triangle is determined, and the specific position of the first signal transmitter 13 is determined, thereby aligning the cleaning robot 10. fuselage, and drive the cleaning robot 20 to move toward the accommodation cavity 12, and finally determine the centerline position of the accommodation cavity 12 by scanning the reflective barcode on the base station body 11, complete the return action, and record the coordinates of the base station 10 at the same time.
  • the cleaning robot 20 During the process of returning the cleaning robot 20 to the base station 10, if it encounters an obstacle such as a wall, it will walk along the wall towards the base station 10 according to the previously recorded coordinates, angle and distance measurement information relative to the base station 10, while scanning a specific area, When the long-distance guidance signal transmitted by the third signal transmitter or the short-range guidance signal transmitted by the second signal transmitter 14 is scanned, it will return to the base station 10 along the path according to the above-mentioned obstacle-free situation.
  • the structure of the third signal transmitter may also be omitted, and the operation of returning the cleaning robot 20 to the base station 10 is directly completed through the second signal transmitter 14 and the first signal transmitter 13 . That is, only when the cleaning robot 20 enters the short-range guidance signal area A2, it can receive the guidance signal transmitted by the second signal transmitter 14, move to the alignment signal area A1 under the action of the guidance signal, and finally return to the base station 10. In the accommodating chamber 12, the cleaning robot 20 is cleaned and/or charged.
  • the cleaning robot 20 when the cleaning robot 20 does not store the orientation of the base station 10 , it is possible to effectively increase the signal reception area during the process of the cleaning robot 20 returning to the base station 10 , thereby improving the cleaning performance.
  • the identification efficiency of the position of the base station 10 by the robot 20 ensures that the cleaning robot 20 can enter the accommodating cavity 12 quickly and accurately, and reduces the collision and return time, so that the cleaning robot 20 can be cleaned and/or charged through the base station 10 .
  • the cleaning robot 20 of the present embodiment includes a box body 21 , the bottom of the box body 21 is provided with a mopping member 22 for cleaning the ground, and the interior of the box body 21 is provided with a mopping member 22 for providing moisture.
  • the top of the box body 21 is provided with a cover plate 23, and the water tank can be replenished by removing the cover plate 23.
  • the base station 10 in this embodiment further includes a cleaning unit 15 .
  • the cleaning unit 15 is disposed on the bottom surface of the accommodating cavity 12 and is used to clean the cleaning robot 20 in the accommodating cavity 12 .
  • the cleaning unit of this embodiment is a plurality of extruding pieces rotatably disposed on the bottom surface of the accommodating cavity 12 .
  • the plurality of extruding pieces protrude from the bottom surface of the accommodating cavity 12 and are in a plane parallel to the bottom surface of the accommodating cavity 12 . turn.
  • Through the rotation of the extruding member and squeezing the mopping member 22 of the cleaning robot 20 the sewage in the mopping member 22 is discharged, and the cleaning effect on the cleaning robot 20 is realized.
  • Multiple extrusions can be driven individually or collectively.
  • the multiple extrusion members in this embodiment are divided into two groups, and are symmetrically distributed on the bottom surface of the accommodating cavity 12 , so as to ensure that the mopping member 22 can be cleaned in the largest area.
  • the housing 112 is provided with a clean water tank for cleaning the mopping member 22 and a sewage tank for recycling sewage.
  • the cleaning robot 20 in this embodiment further includes a charging unit, which is provided on the side wall of the accommodating cavity 12 and is used to charge the cleaning robot 20 in the accommodating cavity 12 .
  • the charging unit may be disposed on the first side wall 121 .
  • the base station 10 in this embodiment is used for recycling and cleaning the cleaning robot 20 with the mopping function.
  • the base station 10 can also be used for recycling and cleaning the cleaning robot 20 with the mopping function.
  • the bottom of the cleaning robot 20 is provided with sweeping members, such as brushes, and the cleaning units in the accommodating cavity 12 of the base station 10 are roller brushes and side brushes.
  • the opening of the accommodating cavity 12 in this embodiment is further provided with a guide surface 16 , through the setting of the guide surface 16 , the cleaning robot 20 can move along the guide surface 16 into the accommodating cavity 12 , so as to realize the cleaning robot 20 .
  • Cleaning and charging prevent the movement trajectory of the cleaning robot 20 from being affected due to the height difference between the opening and the ground during the process of entering the cleaning robot 20 into the accommodating cavity 12 .

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  • Electric Vacuum Cleaner (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

La présente invention concerne le domaine technique du nettoyage, et en particulier, une station de base et un système de robot de nettoyage comportant celle-ci. La station de base de la présente invention est utilisée pour un robot de nettoyage, et comprend un corps de station de base, un premier émetteur de signal et au moins deux seconds émetteurs de signal. Une cavité de réception présentant une ouverture sur une extrémité est disposée au fond du corps de station de base. Le premier émetteur de signal est disposé sur une première paroi latérale de la cavité de réception. La première paroi latérale est agencée de façon à correspondre à l'ouverture. Au moins un second émetteur de signal est disposé sur deux côtés du premier émetteur de signal, respectivement. Selon la station de base de la présente invention, le robot de nettoyage est guidé par les signaux émis par les seconds émetteurs de signaux sur les deux côtés pour se déplacer vers le côté opposé de la première paroi latérale, et le robot de nettoyage est guidé par le signal émis par le premier émetteur de signal pour redresser le corps de robot, ce qui permet d'augmenter efficacement une zone de réception de signal dans le processus de retour du robot de nettoyage vers la station de base, d'améliorer l'efficacité de reconnaissance du robot de nettoyage sur la position de la station de base, et de garantir que le robot de nettoyage peut entrer rapidement et avec précision dans la cavité de réception.
PCT/CN2021/134009 2021-02-08 2021-11-29 Station de base et système de robot de nettoyage WO2022166341A1 (fr)

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CN202120365984.9 2021-02-08
CN202120365984.9U CN216454804U (zh) 2021-02-08 2021-02-08 基站及清洁机器人系统

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CN115067841A (zh) * 2022-07-14 2022-09-20 杭州萤石软件有限公司 清洁机器人的控制方法及控制装置和清洁机器人系统

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