WO2022171170A1 - 基站、清洁机器人系统 - Google Patents
基站、清洁机器人系统 Download PDFInfo
- Publication number
- WO2022171170A1 WO2022171170A1 PCT/CN2022/075840 CN2022075840W WO2022171170A1 WO 2022171170 A1 WO2022171170 A1 WO 2022171170A1 CN 2022075840 W CN2022075840 W CN 2022075840W WO 2022171170 A1 WO2022171170 A1 WO 2022171170A1
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- WO
- WIPO (PCT)
- Prior art keywords
- base station
- cleaning robot
- bin
- wiping
- dust
- Prior art date
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- 238000004140 cleaning Methods 0.000 title claims abstract description 287
- 239000000428 dust Substances 0.000 claims abstract description 227
- 238000004064 recycling Methods 0.000 claims abstract description 25
- 239000010813 municipal solid waste Substances 0.000 claims description 132
- 239000007788 liquid Substances 0.000 claims description 106
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 70
- 238000003032 molecular docking Methods 0.000 claims description 69
- 238000011084 recovery Methods 0.000 claims description 56
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Images
Classifications
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- 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
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- A47L2201/04—Automatic control of the travelling movement; Automatic obstacle detection
Definitions
- the invention relates to a base station and a robot cleaning system, in particular to a robot cleaning system capable of automatically replacing wipers and maintaining dust boxes.
- the cleaning robot generally uses a vacuuming device for vacuuming operations, and at the same time uses wipers (such as paper towels, non-woven fabrics, woven cloths, etc.) for cleaning operations. Especially solid waste, and drive the wiper to move on the work surface (such as floor, tile floor, etc.) to achieve cleaning.
- the dust box of the vacuum cleaner is gradually filled with garbage, the stains attached to the wiping member increase, and the cleaning effect becomes poor. To do this, the dust box had to be removed manually to clean up the garbage, and the dirty wipers had to be removed and replaced with clean wipers.
- the existing cleaning robot usually adopts the method of manually cleaning the dust box to replace the wiper, and the user needs to continuously pay attention to the vacuuming and cleaning process, and clean the dust box in time to replace the contaminated wiper.
- This method requires human intervention to manually clean the dust box and replace the wiper, and the user is likely to get his hands dirty in the process of cleaning the dust box and replacing the wiper, and the experience is poor.
- the problem to be solved by the present invention is to provide a base station that automatically collects dust and replaces wipers for the cleaning robot without user intervention during normal operation.
- a base station for maintaining a cleaning robot characterized in that the base station comprises: a housing formed with an installation space and a parking space for the cleaning robot to park; a wiper replacement module for replacing the cleaning robot
- the wiper includes a recycling bin and a storage bin arranged in the installation space, the recycling bin is used for storing dirty wipers, and the storage bin is used for storing new wipers; the wiper is connected to the cleaning robot, For wiping the working surface that the cleaning robot walks on;
- the garbage collection module includes a dust collecting bin and a fan arranged in the installation space, and the fan communicates with the dust collecting bin to generate dust in the dust collecting bin Negative pressure to suck out the garbage stored by the cleaning robot, and the dust collection bin is used to store the garbage.
- Functional modules for realizing various functions of the base station are installed in the installation space, and the docking space is used for docking the cleaning robot, so that the base station maintains the cleaning robot.
- the base station can provide cleaning robots with the services of replacing wipers and recycling garbage, reducing manual maintenance.
- the housing has an entrance and exit, for at least part of the cleaning robot to drive into or out of the parking space; with the direction of the entrance and exit as the front, the recovery bin and the
- the storage compartment is located on the front or upper side of the installation space in a non-operational state.
- the installation space includes a first accommodation space and a second accommodation space, the second accommodation space is arranged above the first accommodation space; the recovery bin and the storage compartment are arranged at the In the first accommodating space, the dust collecting bin and the fan are arranged in the second accommodating space.
- the recovery bin and the storage bin are located on the front side of the first receiving space when the base station is in a non-working state.
- the recovery bin and the storage bin are detachably connected to the housing, the front side of the first receiving space has a first opening, and the recovery bin and the storage bin can be The first accommodating space is disassembled and installed through the first opening.
- the dust collecting bin is detachably disposed in the second receiving space, the front side or the upper side of the second receiving space has a second opening, and the dust collecting bin can be removed from the second receiving space.
- the second opening is disassembled and inserted into the second receiving space.
- the cleaning robot includes a wiper plate, and the wiper is connected to the wiper plate;
- the wiper replacement module includes a lift provided at least in the parking space and the first accommodating space The lifting mechanism drives the wiping plate to move between the parking space and the first receiving space, so as to complete the replacement of the wiping piece on the wiping plate.
- the vertical projections of the recovery bin and the storage bin at least partially overlap.
- At least part of the dust bin and the fan are located at the same height.
- the base station further includes a liquid adding module for replenishing liquid for the cleaning robot;
- the liquid adding module includes a liquid tank for storing liquid to be added to the cleaning robot, the liquid The box is arranged in the second receiving space.
- At least parts of the dust bin, the fan and the liquid tank are located at the same height.
- the liquid tank is detachably disposed in the second receiving space, the upper side of the second receiving space further has a third opening, and the liquid tank can be removed from the third opening out and into the second receiving space.
- the base station further includes an interaction panel for interacting with the user, and the interaction panel is located above the second accommodation space.
- the dust collecting bin includes a dust collecting bag; the vertical projection of the dust collecting bag and the fan in the vertical direction at least partially overlaps the vertical projection of the interactive panel.
- the vertical projection of the liquid tank does not overlap with the vertical projection of the interactive panel.
- the housing includes a front side wall and a rear side wall, connected to the end cap above the front side wall and the rear side wall, and at least connected to the bottom wall of the lower portion of the rear side wall, At least the front side wall, the rear side wall and the end cover are connected to form the side walls of the installation space and the parking space;
- the base station also includes a base station infrared sensor for connecting with the cleaning robot The infrared sensor on the base station is docked to guide the cleaning robot to stop at a maintenance position, the base station maintains the cleaning robot at the parking position, and the base station infrared sensor is arranged in the rear side wall.
- the garbage collection module further comprises a dust collecting pipe communicated with the dust collecting bin for guiding garbage into the dust collecting bin, and the dust collecting pipe is at least partially disposed on the rear side inside the wall.
- the garbage collection module further comprises a docking port communicating with the dust collecting pipe, the docking port is docked with the cleaning robot to suck the garbage stored by the cleaning robot, the docking port arranged in the middle area of the bottom wall.
- the liquid adding module further includes a liquid supply pipe communicating with the liquid tank, and the liquid supply pipe is at least partially disposed in the rear side wall.
- the liquid adding module further includes a liquid outlet connected to the water outlet end of the liquid supply pipe, the liquid outlet is docked with the cleaning robot to replenish liquid for the cleaning robot, and the The liquid outlet is arranged on the outer surface of the rear side wall, and can move relative to the outer surface of the rear side wall.
- the base station includes a base station charging pole piece for docking with a charging pole piece of the cleaning robot to charge the cleaning robot, and the base station charging pole piece is disposed outside the rear side wall on the surface.
- the end cap includes a flip structure connected to the housing and the end cap, and the end cap is flipped relative to the housing to open or close the housing On the upper side of the bottom wall, the projection of the flip structure on the surface where the bottom wall is located at least partially does not overlap with the casing.
- a cleaning robot system includes any of the above base stations and a cleaning robot using the base station for maintenance.
- a base station for a cleaning robot to park the cleaning robot includes a wiping plate, and a flexible wiping member is replaceably attached to the wiping plate to form a wiping surface, so as to wipe the working surface on which the cleaning robot walks, the cleaning robot It also includes a dust box for collecting garbage on the working surface on which the cleaning robot walks.
- the base station includes: a storage module for storing continuous wiping substrates; a recycling bin for storing the wiping pieces; replacement of the wiping pieces The module is used for transferring the wiper to the recycling bin, and cutting the wiping base material into the wiper and installing the wiper on the wiping plate; the garbage collection module is used for sucking out the garbage stored in the dust box.
- the base station further includes a charging module for charging the cleaning robot.
- the base station further includes a casing for accommodating or partially accommodating the wiper replacement module and the garbage collection module, and the lower front end of the casing has an entrance for at least part of the fuselage of the cleaning robot into the interior of the housing.
- the wiper replacement module includes a vertical transfer module for transferring the wiper pads in a generally vertical direction, a horizontal transfer module for transferring the wiper pads in a generally horizontal direction, An acquisition module for acquiring and rotating the wiper plate, and a mounting module for mounting the wiper to the wiper plate.
- the wiper replacement module further includes a feed module for transferring the free end of the wipe substrate to the installation module where the wiper is mounted to the wiper plate.
- the garbage collection module includes a docking port that is docked with a dust discharge port of the dust box, an air intake pipeline is connected to the docking port, a garbage bin connected to the intake pipeline is connected to the garbage An exhaust pipeline connected to the bin, and a fan connected with the exhaust pipeline for generating negative pressure to suction the garbage in the dust box.
- the air intake line comprises a horizontal air intake line connected with the docking port and laid in a substantially horizontal direction, and a vertical air intake line connected with the horizontal air intake line and laid in a substantially vertical direction .
- the horizontal air intake line and the vertical air intake line are detachably linked.
- a blocking structure is detachably connected to the upper end of the vertical air intake pipeline.
- the base station further includes a water tank for providing at least one of clean water or cleaning liquid to the water tank of the cleaning robot.
- the wiper replacement module includes a wiper plate maintenance position where the wiper plate is placed
- the garbage collection module includes a docking port that interfaces with a dust discharge port of the dust box, the docking port and the wiper plate maintenance position It is arranged in the front and back inside the housing, and the docking port is closer to the base station entrance and exit than the maintenance position of the wiper plate.
- the recovery bin is located in the front part of the housing, and the recovery bin is arranged above the entrance and exit.
- a robot cleaning system comprising a cleaning robot and a base station for the cleaning robot to dock, the cleaning robot comprising: a main body; a moving module installed on the main body to drive the cleaning robot to move on a work surface; a wiping plate installed on the The main body is used for the flexible wiper to be detachably attached to form a wiping surface to wipe the working surface; the wiping plate includes a loading part, which is used to install the wiping plate on the main body; the dust box is used to collect the cleaning robot walking garbage on the working surface; the base station includes: a storage module for storing continuous wiping substrates; a recycling bin for storing the wipes; a wiper replacement module for transferring the wipes to the recycling bin, and The wiping base material is cut into wiping pieces and installed on the wiping plate; a garbage collection module is used to suck out the garbage stored in the dust box.
- the base station further includes a charging module for charging the cleaning robot.
- the base station further includes a casing for accommodating or partially accommodating the wiper replacement module and the garbage collection module, and the lower front end of the casing has an entrance for at least part of the fuselage of the cleaning robot into the interior of the housing.
- the wiper replacement module includes a wiper plate maintenance position where the wiper plate is placed
- the garbage collection module includes a docking port that interfaces with a dust discharge port of the dust box, the docking port and the wiper plate maintenance position It is arranged in the front and rear inside the casing.
- the recovery bin is located in the front part of the housing, and the recovery bin is arranged above the entrance and exit.
- the garbage collection module further includes a docking port for docking with the dust discharge port of the dust box, and a fan for generating negative pressure to extract the garbage in the dust box.
- the beneficial effects of the present invention are: the base station wipes the substrate through continuous output, the wiper replacement module transfers the wiper on the wiper board to the recovery bin, and cuts the wiper substrate into wipers and installs them to the wiper.
- the cleaning robot can completely automatically replace the wiper in the base station; the garbage collection module sucks out the garbage stored in the cleaning robot dust box, so that the cleaning robot can completely automatically clean the dust box in the base station.
- This solution integrates the mopping maintenance and sweeping maintenance of the cleaning robot into one base station, and also avoids the problems of excessive floor space and high cost when using the cleaning robot and the base station that implement the two functions respectively.
- Fig. 1 is the internal structure diagram of the base station in the first embodiment of the present invention
- FIG. 2 is a schematic diagram from a perspective of a garbage collection module of a base station in the first embodiment of the present invention
- FIG. 3 is a schematic diagram of a detachable air intake pipeline of a base station in the first embodiment of the present invention
- Fig. 4 is the schematic diagram of one perspective of the garbage collection module shown in Fig. 2;
- FIG. 5 is a schematic diagram when the upper end cover of the base station is opened in the first embodiment of the present invention
- FIG. 6 is a schematic diagram of the recovery bin of the base station in the take-out state in the first embodiment of the present invention.
- Fig. 7 is the external schematic diagram of the robot cleaning system in the first embodiment of the present invention.
- FIG. 8 is a schematic diagram of the bottom of the cleaning robot in the first embodiment of the present invention.
- FIG. 9 is an internal structural diagram of a base station in a second embodiment of the present invention.
- Fig. 10 is a schematic diagram when the upper end cover of the base station is opened in the second embodiment of the present invention.
- FIG. 11 is a perspective view of a base station in an embodiment of the present invention.
- FIG. 12 is a cross-sectional view of a base station from the right side according to an embodiment of the present invention.
- FIG. 13 is a left side sectional view of a base station in an embodiment of the present invention.
- FIG. 15 is a perspective view of the base station when the front cover is opened according to an embodiment of the present invention.
- FIG. 16 is a perspective view of the base station front cover when the front cover is closed according to an embodiment of the present invention
- 17 is a front view of a base station in an embodiment of the present invention.
- FIG. 18 is a schematic diagram of a liquid tank of a base station in an embodiment of the present invention.
- 19 is a partial cross-sectional view of a base station and a cleaning robot when docked in an embodiment of the present invention.
- FIG. 20 is a bottom view of a cleaning robot in an embodiment of the present invention.
- 21 is a side view and a partial cross-sectional view of a cleaning robot according to an embodiment of the present invention.
- the base station 100 in the first embodiment of the present invention is used for parking the cleaning robot 200.
- the cleaning robot 200 includes a main body 20 and a mobile module 25.
- the mobile module 25 is installed on the main body 20 and drives cleaning.
- the robot 200 moves on the working surface;
- the cleaning robot 200 includes a wiping plate 24, and a flexible wiping member is replaceably attached to the wiping plate 24 to form a wiping surface to wipe the working surface on which the cleaning robot 200 walks, and the wiping plate 24 is detachably installed on the
- the wiping plate 24 further includes a loading part for installing the wiping plate 24 on the main body 20; in one embodiment, the loading part is provided as a magnetic component, and the bottom surface of the cleaning robot 200 is provided with a corresponding magnetic component.
- the magnetic adsorption member is attached to the main body 20 by mutual adsorption of the magnetic member and the magnetic adsorption member.
- the loading portion can also be set to other detachable assembly of the wiper on the wiper plate 24.
- the cleaning robot 200 also includes a dust box, which is used to collect the garbage on the working surface of the cleaning robot 200 and can be discharged later.
- the dust box includes a dust inlet and a dust outlet 22.
- the dust port 22 is in a closed state; during the working process of the cleaning robot 200, the dust suction port 21 of the cleaning robot 200 is in the forward direction of the cleaning robot 200. Afterwards, the dust discharge port 22 is arranged between the two, and when the base station is parked, one side of the wiping plate 24 is close to the rear of the base station.
- the cleaning robot 200 includes an ejection mechanism for ejecting the wiper plate 24 out of the main body 20 and dropping.
- the cleaning robot 200 may be a cleaning robot having a single mopping function or a single suction function, or a mopping function and a sweeping function at the same time.
- the base station 100 includes a housing 10, a storage module, a recycling bin 11, a wiper replacement module and a garbage recycling module.
- the housing 10 is used to accommodate or partially contain the storage module, the recycling bin 11, the wiper replacement module and the garbage recycling module.
- the housing The front end of the lower part 10 is provided with an entrance and exit for at least part of the body of the cleaning robot 200 to enter the interior of the casing 10 .
- the storage module is used to store continuous wiping substrates 30.
- One end of the wiping substrate 30 is fixed on the rotating shaft, and the wiping substrate 30 is wound around the rotating shaft with the end as the starting point, and the free end of the wiping substrate 30 is connected to the body of the wiping substrate 30.
- the wiper is formed by division.
- the storage module includes a mounting bracket 17 .
- the mounting bracket 17 is installed inside the housing 10 .
- the mounting bracket 17 is matched with the rotating shaft on which the wiping substrate 30 is wound, so that the rotating shaft can be installed on the mounting frame. 17 on.
- the recovery bin 11 is used to store the wipers, especially the dirty recovery bin for storing the replaced wipers.
- the recovery bin 11 is arranged in the front part of the housing 10, above the entrance and exit, and has It can be taken out from the inside of the housing 10 to centrally clean the wipers in the recovery bin 11 out of the base station 100; optionally, the side of the recovery bin 11 exposed to the housing 10 is provided with a door structure that can be opened by the user, and the user can open the door The structure is used to centrally clean the wipers in the recovery bin 11 out of the base station 100 .
- the wiper replacement module is used for transferring the wiper to the recovery bin 11 and cutting the wiper substrate 30 into a wiper and installing the wiper on the wiper plate 24 , including a horizontal transfer module 72 , a vertical transfer module 71 , an acquisition module 73 and an installation module 74 .
- the cleaning robot 200 first enters the base station 100 on the side where the wiper plate 24 is installed, and stops at the wiper plate maintenance position.
- the wiper plate 24 with the wiper is separated from the main body 20 by the disengagement mechanism, and falls on the vertical transfer module 71 , and then the cleaning robot at least partially drives away from the base station 100 to make room for the vertical transfer module 71, the wiper plate 24 with the wiper is placed in the wiper plate maintenance position, and the vertical transfer module 71 drives the wiper plate 24 along the roughly vertical
- the straight direction moves upward to a position substantially parallel to the recovery bin 11, the acquisition module 73 acquires the wiper plate 24 with the wiper, and drives the wiper plate 24 to rotate in the direction of the recovery bin 11, and the horizontal transfer module 72 drives the acquisition module 73 and wipes
- the plate 24 moves toward the recovery bin 11 in a generally horizontal direction, and the wiper is left in the recovery bin 11.
- the horizontal transfer module 72 drives the acquisition module 73 and the wiping plate 24 without the wiper to wipe the substrate 30 in a generally horizontal direction.
- the free end moves, and the acquisition module 73 drives the wiping plate 24 to rotate in the direction of wiping the substrate 30; in one embodiment, the base station 100 includes a feeding module 75, and the feeding module 75 transfers the free end of the wiping substrate 30 to the installation position
- the installation module 74 is used to install the wiper separated into the wiper substrate 30 on the wiper plate 24;
- the horizontal transfer module 72 drives the acquisition module 73 and the wiper plate 24 with the new wiper to return to the top of the wiper plate maintenance position,
- the vertical transfer module 71 drives the wiper plate 24 with the new wiper to return to the wiper plate maintenance position, and the cleaning robot 200 stops at the wiper plate maintenance position again to pick up the wiper plate 24 .
- the wiping substrate 30 is formed by connecting several wiping pieces of standard length, and the connection strength between the wiping pieces is relatively small. There are weak connection points with weak connection strength between the pieces. When the two sides of the weak connection points are stretched by force, the wiping piece can be separated from the wiping base material 30 .
- the feed module 75 transfers the free end of the wiping substrate 30 to the mounting position and locks it on the side of the weak connection point of the wiping substrate 30; the wiping substrate 30 is mounted on the During the process, the free end of the wiping base material 30 and the body of the wiping base material 30 are pulled, so that the body of the wiping base material on one side of the weak connection point of the wiping base material 30 and the free end of the wiping base material on the other side of the wiping base material 30 are separated. , forming a wiper.
- the installation module 74 installs the free end of the wiping base material 30 on the wiping plate 24, the feeding module 75 is reversed, and the free end of the wiping base material 30 follows the wiping.
- the plate 24 stretches with the body of the wiping substrate 30, thereby breaking away from the wiping substrate 30 at the weak point of connection.
- the garbage collection module is used to suck the garbage stored in the dust box of the cleaning robot 200.
- the garbage collection module includes a docking port 411 that is docked with the dust outlet 22 of the dust box, and an air intake line 41 that communicates with the docking port 411.
- the garbage bin 14 that communicates with the air intake pipeline 41
- the exhaust pipeline 42 that communicates with the garbage bin 14
- the fan 4 that communicates with the exhaust pipeline 42 and generates negative pressure to extract the garbage in the dust box
- the housing 10 is provided with an exhaust hole 16 corresponding to the air outlet of the fan 4, and a disposable dust bag is provided in the garbage bin 14.
- the cleaned dust box is used to filter and collect dust.
- the cleaning robot 200 returns to the base station 100, the side where the cleaning robot 200 is installed with the wiping plate 24 first enters the base station 100 and stops at the suction position.
- the dust port 22 is docked with the docking port 411 at the bottom of the base station 100, the fan 4 starts to work to suck the garbage in the dust box, the dust outlet 22 is in an open state under the action of negative pressure, and the garbage enters the garbage bin 14 through the air intake line 41.
- Disposable dust bag set inside and left in the disposable dust bag.
- the cleaning robot 200 has at least two parking positions relative to the base station 100, namely, the wiping plate maintenance position and the suction position.
- the wiping plate 24 is docked with the vertical transfer module 71, and when cleaning The handover of the wiping plate 24 between the robot 200 and the vertical transfer module 71 is completed;
- the cleaning robot 200 is parked at the suction position, the dust discharge port 22 of the dust box is docked with the docking port 411 at the bottom of the base station 100 to realize suction and dust collection,
- the cleaning robot 200 is docked at the same position to load and unload the wiping plate 24 and the garbage in the vacuum box; Charging and automatically injecting the water in the water tank of the base station into the water tank inside the cleaning robot 200.
- the intake line 41 includes a horizontal intake line 415 and a vertical intake line 414.
- One end of the horizontal intake line 415 is connected to the docking port and is laid in a substantially horizontal direction, and the other end is connected to a substantially vertical direction.
- the vertical air intake line 414 laid in the direction of the vertical air intake line 414 is connected to the garbage bin 14 at the other end.
- the left and right or right side walls have a certain thickness, and the vertical air intake pipe 414 is built in the left or right side wall, preferably as shown in FIG.
- the horizontal intake pipe 415 and/or the docking port 411 can be disassembled out of the casing 10, and the other end of the vertical intake pipe 414 is respectively connected to the garbage bin 14 and detachably connected with a blocking structure 413, and the blocking structure 413 can be disassembled out
- the casing 10, the disassembly direction includes but is not limited to the left-right direction and the front-rear direction.
- the disassembly direction may not be limited to the horizontal direction.
- the intake pipe 41 is provided with a detachable structure to facilitate cleaning and prevent clogging. When each structure of the intake pipe 41 is in a connected state, the entire intake pipe 41 is in a closed state to prevent garbage from running out of the connection.
- the base station 100 further includes a water tank, a water pump and a water flow pipe.
- the water tank includes a cleaning agent tank 13 and a clean water tank 12 for injecting clean water or cleaning agent into the water tank of the cleaning robot 200 through the water pump and the water flow pipe.
- the tank can also be set up as a single tank for detergent only or fresh water only.
- the upper end of the casing 10 is open and is provided with an end cover 15, which can be opened upward, and the wiping substrate, the water tank and the garbage bin 14 can be taken out and loaded from the above-mentioned opening, and the inner surface of the end cover 15 is provided with The sealing member 151 corresponding to the opening at the upper end of the garbage bin 14 is used for sealing the garbage bin 14 .
- the maintenance positions of the wiping plate 411 and the wiping plate 24 are placed in sequence in the front-rear direction inside the housing 10 , specifically with the entrance and exit as the front, as shown in FIG. 2 , FIG. 3 , and FIG. 4 .
- the water tank and the garbage bin 14 are arranged above the recovery bin 11, the water tank is roughly L-shaped, the fan 4 is arranged at the position of the gap of the L-shaped water tank, and the exhaust pipe 42 is arranged at the rear of the water tank in a substantially horizontal direction.
- the fan 1 and the garbage bin 14 are at least partially overlapped in the front-rear direction, the left-right direction and the vertical direction.
- the water tank, the fan 4 and the garbage bin 14 are arranged at the same height, overlap in the front-rear direction, and are arranged side by side in the left-right direction;
- the straight air intake line 415 is arranged along the vertical edge inside the housing 10.
- the storage module is arranged behind the garbage bin 14 and the water tank, and the wiper replacement module is arranged below the storage module.
- the internal space of the housing 10 is maximized, the internal structure of the housing 10 is more compact, and the base station 100 is more miniaturized.
- the base station 100 further includes a charging module for charging the cleaning robot 200 .
- the base station 100 wipes the substrate 30 by continuously outputting, and the wiper replacement module transfers the wiper on the wiper plate 24 to the recovery bin 11, and divides the wiper substrate 30 into wipers and installs them on the wiper plate 24, so that the cleaning robot 200 can
- the replacement of the wiper is completely automatically realized in the base station 100 ;
- the garbage collection module sucks out the garbage stored in the dust box of the cleaning robot 200 , so that the cleaning robot 200 can completely automatically clean the dust box in the base station 100 .
- the present invention integrates the mopping maintenance and sweeping maintenance of the cleaning robot 200 into one base station 100, and also avoids the problems of large floor space and high cost when using the cleaning robot 200 and the base station 100 that implement two functions respectively.
- the cleaning robot 200 automatically returns to the base station 100 to replace the wiper and clean the dust box.
- the cleaning robot 200 does not require the user to replace the wiper to clean the dust box after suctioning and wiping the surface, and also does not require a lot of user intervention on the base station 100 and the cleaning robot 200 .
- the robot cleaning system shown in FIG. 7 includes a cleaning robot 200 and a base station 100 for the cleaning robot 200 to dock.
- a cleaning robot 200 enters the base station 100, and the cleaning robot 200 enters the base station
- the method of 100 is that the cleaning robot 200 has the wiping plate 24 behind the front suction port 21, the wiping plate 24 is disengaged from the main body 20 and placed in the wiping plate maintenance position that can be obtained by the acquisition module 73, and the dust exhaust port 22 of the dust box.
- the wiping plate 24 of the cleaning robot 200 is placed in the wiping plate maintenance position while the dust outlet 22 of the dust box is docked with the docking port 411, in other embodiments, the cleaning robot 200 wipes When the plate 24 is placed in the wiping plate maintenance position, the dust discharge port 22 of the dust box is not connected to the docking port 411 .
- the cleaning robot 200 may be a cleaning robot with a single mopping function or a single suction function, or a cleaning robot with both a mopping function and a suction function, and the base station 100 can also independently implement automatic cleaning.
- the robot 200 has the function of replacing the wiper, or independently realizes the function of automatically cleaning the dust box for the cleaning robot 200, or simultaneously realizes the function of replacing the wiper and cleaning the dust box.
- the base station 100 in the second embodiment of the present invention is used for parking the cleaning robot 200.
- the wiper of the cleaning robot 200 is replaceably attached to the wiper plate 24, and the wiper can be cleaned.
- the rest of the structures of the cleaning robot 200 are substantially the same as those of the cleaning robot in the above-mentioned first embodiment, which will not be repeated here.
- the base station 100 includes a casing 10, a cleaning module and a garbage collection module.
- the casing 10 is used to accommodate or partially accommodate the cleaning module and the garbage collection module.
- the lower front end of the casing 10 is provided with an entrance and exit for at least part of the body of the cleaning robot 200 to enter the casing. 10 Inside
- the cleaning module is used to clean the wipers on the wiper plate 24.
- the cleaning module includes a cleaning pool 55, a clean water tank 51, a water injection pump 52, a cleaning unit, a sewage tank 53 and a suction pump 54.
- the cleaning pool 55 is used to park the wiping plate 24 with the wiper
- the water injection pump 52 is connected to the clean water tank 51 for injecting the clean water in the clean water tank 51 into the cleaning pool 55 to clean the wiper
- the cleaning unit includes a scraper 61 and a scraper driving motor 62.
- the scraper 61 moves in the horizontal direction under the driving of the scraper driving motor 62 and acts on the wiping plate 24 with a wiping member placed in the cleaning pool 55.
- the water pump 54 is connected to the sewage tank 53 for pumping the sewage in the cleaning tank 55 into the sewage tank 53 .
- the garbage collection module is used to suck the garbage stored in the dust box of the cleaning robot 200.
- the garbage collection module includes a docking port 411 that is docked with the dust outlet 22 of the dust box, and communicates with the docking port 411.
- the intake pipeline 41, the garbage bin 14 communicated with the intake pipeline 41, the exhaust pipeline 42 communicated with the garbage bin 14, and the fan communicated with the exhaust pipeline 42 and generated negative pressure to extract the garbage in the dust box 4.
- the air outlet corresponding to the fan 4 on the housing 10 is provided with an exhaust hole (not shown in the figure), and a disposable dust bag is provided in the garbage bin 14 for filtering and collecting dust, and the fan 4 starts to work.
- the dust outlet 22 is open, and the garbage enters the disposable dust bag provided in the garbage bin 14 through the air intake pipe 41 and remains in the disposable dust bag.
- the airflow direction 412 is shown in FIG. 9 .
- the intake pipe 41 includes a horizontal intake pipe and a vertical intake pipe.
- One end of the horizontal intake pipe is connected to the docking port and is laid in a substantially horizontal direction, and the other end is connected to a pipe laid in a substantially vertical direction.
- Vertical air intake pipeline, the other end of the vertical air intake pipeline is connected to the garbage bin 14, preferably the vertical air intake pipeline is attached to the left or right side wall of the housing 10, or the left and right or the right side of the housing 10.
- the wall has a certain thickness, and the vertical air intake pipeline is built into the left or right side walls.
- the horizontal air intake pipeline and the vertical air intake pipeline are detachably connected, and the horizontal air intake pipeline and/or the docking port 411
- the inside of the casing 10 can be disassembled, and the other end of the vertical air intake pipe is connected to the garbage bin 14 and is detachably connected with a blocking structure.
- the blocking structure can be disassembled from the casing 10. In the front and rear direction, the direction of disassembly is not limited to the horizontal direction. For example, it can be disassembled from the inside of the casing 10 in a substantially vertical upward direction, or disassembled from the inside of the base station in a rotating manner.
- the structure is easy to clean and prevent clogging. When each structure of the intake pipe 41 is in a connected state, the entire intake pipe 41 is in a closed state to prevent garbage from running out of the connection.
- the upper end of the casing 10 is open and is provided with an end cover 15, which can be opened upward, and the wiping substrate, the water tank and the garbage bin 14 can be taken out and loaded from the above-mentioned opening, and the end cover 15
- the inner surface is provided with a sealing member 151 corresponding to the opening of the upper end of the garbage bin 14 for sealing the garbage bin 14 .
- the docking port 411 and the cleaning tank 55 are arranged in sequence in the front and rear directions inside the casing 10 , specifically with the entrance and exit as the front, as shown in FIGS. 9 and 10 , the clean water tank 51 and the sewage tank 53
- the fan 4 and the garbage bin 14 are arranged above the docking port 411 and located at the front of the casing 10 , and the vertical air intake pipeline is arranged along the vertical edge of the casing 10 . .
- the base station 100 further includes a charging module for charging the cleaning robot 200 .
- the base station 100 cleans the wiper on the wiper plate 24 through the cleaning module; the garbage collection module sucks out the garbage stored in the dust box of the cleaning robot 200, so that the cleaning robot 200 can completely automatically realize the cleaning of the wiper in the base station 100. Cleaning and cleaning of the dust box.
- the present invention integrates the mopping maintenance and sweeping maintenance of the cleaning robot 200 into one base station 100, and also avoids the problems of large floor space and high cost when using the cleaning robot and the base station that implement the two functions respectively.
- the cleaning robot 200 automatically returns to the base station 100 to clean the wipers and clean the dust box.
- the cleaning robot 200 not only does not require the user to clean the wiper to clean the dust box after suctioning and wiping the surface, but also does not require a lot of user intervention on the base station 100 and the cleaning robot 200 .
- the robot cleaning system includes the above cleaning robot 200 and a base station 100 for the cleaning robot 200 to dock.
- at least part of the body of the cleaning robot 200 enters the base station 100, and the cleaning robot 200 enters the base station 100 by cleaning
- the wiper plate 24 of the robot 200 is behind the front suction port 21, and the cleaning robot 200 has at least two parking positions relative to the base station 100, namely the wiper plate maintenance position and the suction position.
- the wiper plate When the cleaning robot stops at the wiper plate maintenance position, the wiper plate is wiped 24 is located approximately above the cleaning pool 55, when the cleaning robot is parked at the suction position, the dust outlet 22 of the dust box is docked with the docking port 411; in one embodiment, the cleaning robot is parked at the wiping plate maintenance position and suction position It is the same position, that is, the wiping plate 24 of the cleaning robot 200 is placed in the cleaning pool 55 and the dust outlet 22 of the dust box is docked with the docking port 411. In other embodiments, the wiping plate 24 of the cleaning robot 200 is placed in the cleaning pool 55.
- the dust discharge port 22 of the dust box is not butted with the docking port 411 .
- the cleaning robot 200 may be a cleaning robot with a single mopping function or a single suction function, and the base station 100 may also independently implement the function of automatically cleaning the wiper for the cleaning robot 200, or independently realize the automatic cleaning function. The function of the robot 200 to clean the dust box.
- a cleaning robot system includes a cleaning robot 200 and a base station 100 for maintaining the cleaning robot 200; the cleaning robot 200 includes a sweeping module and a mopping module, wherein: the sweeping module is used for cleaning dust, particles, etc. on the working surface on which the cleaning robot 200 walks Garbage, which also includes a dust box for collecting the above-mentioned garbage; the mopping module includes a wiping plate 24, and a replaceable flexible wiper can be attached to the wiping plate 24 to form a wiping surface, so as to wipe and clean the working surface of the robot 200; the base station 100, for the cleaning robot 200 to park and maintain; the base station 100 includes a garbage collection module, a wiper replacement module, a recycling bin 11, and a charging module: the garbage collection module includes a suction unit for suctioning the garbage stored in the dust extraction box. Stored in the garbage bin 14.
- the storage unit of the wiper replacement module stores a wipe substrate made of continuous clean wiper rolls
- the wiper replacement module separates the used wipers from the wiper plate 24 and collects them in the recovery bin 11;
- the wiper replacement module transmits the wiper substrate to the wiper replacement unit, cuts the wiper substrate into wipers and installs them on the wiper plate 24 .
- the charging module charges the cleaning robot 200 .
- the base station 100 includes an automatic water adding device for automatically replenishing clean water for the cleaning robot 200 .
- the automatic water filling device includes a water pump, a water tank and a water flow pipe.
- the wiper plate 24 may be separate or combined with the body.
- the base station 100 includes a housing 10 for accommodating or partially accommodating the wiper replacement module and the garbage collection module, the housing 10 has a compartment and a parking position where the cleaning robot 200 is parked, the compartment has an entrance and exit, and is located at the bottom of the housing 10 for cleaning At least a part of the body of the robot 200 can drive into the casing 10 through the entrance and exit by itself.
- the cleaning robot 200 is parked at at least two parking positions, a wiping plate maintenance position and a suction position; the wiping plate parking position and the suction position are the same position.
- the wiper replacement module includes a wiper plate maintenance position where the wiper plate 24 is placed and a suction position for the garbage in the dust box.
- the garbage collection module includes a docking port 411 that is docked with the dust outlet of the dust box, and the docking port 411 and the wiping plate maintenance The positions are set back and forth inside the casing 10 .
- the recovery bin 11 is placed above the entrance and exit; the recovery bin 11 can be separated from the housing 10 .
- the water tank and the garbage bin 14 are placed above the recycling bin 11 .
- the water tank and the garbage bin 14 at least partially overlap in the height direction of the base station 100 .
- the water tank and the garbage bin 14 at least partially overlap in the left-right direction of the base station 100 .
- the water tank and the garbage bin 14 at least partially overlap in the front-rear direction of the base station 100 .
- the water tank, the fan 4 and the garbage bin 14 at least partially overlap in the height direction of the base station 100 .
- the water tank, the fan 4 and the garbage bin 14 at least partially overlap in the left and right directions of the base station 100 .
- the water tank, the fan 4 and the garbage bin 14 at least partially overlap in the front and rear directions of the base station 100 .
- the storage unit of the wiper replacement module at least partially overlaps with one of the water tank and the trash bin 14 in the left and right and, or front and rear, and or up and down directions of the base station 100 .
- the base station 100 has an upper opening, and the water tank and the garbage bin 14 can be separated from the base station 100 from the upper opening; the wiping substrate can be loaded into the base station 100 through the upper opening.
- the housing 10 also includes a bottom and a side wall, and the docking port 411 is located at the bottom;
- the garbage collection module includes a fan 4 and an air flow channel, and the fan 4 generates a negative pressure to suck the garbage in the dust box and pass through the circulation docking port 411 and the garbage bin.
- the airflow channel 14 collects the garbage in the garbage bin 14 .
- the air flow passage includes an air intake line extending through the bottom to the left or right side walls.
- the cleaning robot 200 has at least two parking positions relative to the base station 100, namely the wiping plate maintenance position and the suction position.
- the wiping plate maintenance position When the cleaning machine is parked at the wiping plate maintenance position, the wiping plate 24 and/or the wiping piece are maintained; In the suction position, the dust discharge port of the dust box is docked with the docking port 411 at the bottom of the base station 100; the maintenance position of the wiper plate and the suction position are the same position.
- the cleaning robot 200 is docked at the same position of the base station 100 to maintain the wiper, vacuum the garbage in the dust box, charge and automatically inject the water in the water tank of the base station 100 into the inner water tank of the cleaning robot 200 .
- the cleaning robot system includes a cleaning robot 200 and a base station 100 for maintaining the cleaning robot 200; its workflow includes: replacing the wiper: separating the wiper plate 24, replacing the wiper on the wiper plate 24, recovering the wiper, and installing the wiper to Wipe the plate 24; recycle the garbage inside the cleaning robot 200; pour the water in the water tank inside the base station 100 into the water tank in the cleaning robot 200; charge.
- the base station 100 automatically performs corresponding actions: after completing the sweeping work, it returns to the base station 100 to recycle the garbage.
- the garbage can be collected by suction, and returns to the base station after the mopping work is completed.
- 100 Maintain the wiper which may specifically be replacing the wiper or cleaning the wiper. After sweeping and mopping the floor, return to the base station 100 to recover the garbage and maintain the wiper; the garbage recovery and the maintenance of the wiper can be performed at the same time.
- a base station 100 is provided for maintaining the cleaning robot 200 , the base station 100 includes: a housing formed with an installation space S1 and a docking space S2 for the cleaning robot 200 to dock;
- the wiper replacement module is used to replace the wiper for the cleaning robot, and includes a recovery bin 702 and a storage bin 701 arranged in the installation space S1.
- the recovery bin 702 is used to store dirty wipers, and the storage bin 701 is used to store new wipers;
- the part is connected to the cleaning robot for wiping the working surface that the cleaning robot walks on;
- the garbage collection module includes a dust collecting bin 402 and a fan 4 arranged in the installation space S1, and the fan 4 is communicated with the dust collecting bin 402 to be in the dust collecting bin 402 Negative pressure is generated inside, and the garbage stored by the cleaning robot is sucked out, and the dust collecting bin 402 is used for storing garbage.
- the base station 100 can provide the cleaning robot 200 with the services of replacing wipers and recycling garbage, thereby reducing manual maintenance.
- the housing has an entrance 106 for at least part of the cleaning robot 200 to drive into or out of the parking space S2; taking the direction of the entrance 106 as the front, the recovery bin 702 and
- the storage compartment 701 is located on the front side or the upper side of the installation space S1 in a non-operating state.
- the non-working state of the recycling bin 702 and the storage bin 701 means that the base station 100 does not perform maintenance on the cleaning robot 200 to replace and wipe parts, the recycling bin 702 and the storage bin 701 are in a stationary state relative to the base station 100, and the recycling bin 702 and the storage bin 702 are in a stationary state.
- the bin 701 is arranged on the front side or the upper side to facilitate the user to operate the recovery bin 702 and the storage bin 701 , so as to clean the dirty wipers in the recovery bin 702 and fill the storage bin 701 with new wipers.
- the base station will be installed close to the wall, so the back side wall of the base station will be close to the wall, and the back side of the base station will be inconvenient for users to operate, and users on the left or right side of the base station may also install other furniture to block recycling
- the front side of the base station is provided with an entrance and exit for the cleaning robot to enter and exit, and other furniture or interference objects are usually not installed on the upper side of the base station, and the front or upper side of the base station is usually not blocked. Therefore, arranging the recycling bin and the storage bin on the front side or the upper side of the installation space S1 is more convenient for the user to operate and take out, and at the same time, the space near the base station will not be wasted.
- the installation space S1 includes a first accommodating space S11 and a second accommodating space S12, and the second accommodating space S12 is arranged above the first accommodating space S11;
- the recovery bin 702 and the storage bin 701 are arranged in the first accommodating space S11, and the dust collecting bin and the fan are arranged in the second accommodating space S12.
- arranging the second accommodating space S12 above the first accommodating space S11 means that the plane where the dust collecting bin 402 is located and the plane where the fan 4 is located are arranged above the plane where the recycling bin 702 is located and the plane where the storage bin 701 is located.
- the dust collection bin 402 and the fan 4 can be arranged directly above the recovery bin 702 and the storage bin 701, or can be arranged above the side.
- the fan 4 and the dust collection bin 402 are reasonably arranged on the upper side of the installation space S1 and above the recovery bin 702 and the storage bin 701, so that the base station 100 is more miniaturized in the width direction and depth direction, occupies a smaller area, and has a smaller shape. Also more beautiful.
- the dust collecting bin 402 is arranged on the upper side, which is more convenient for the user to operate the dust collecting bin 402, so as to clean the garbage in the dust collecting bin 402.
- the cleaning robot includes a wiping board, and the wiping piece is connected to the wiping board;
- the wiping piece replacement module includes a lifting mechanism arranged at least in the docking space S2 and the first accommodation space S11, and the lifting mechanism drives the wiping board in the docking space S2 and the first accommodating space S11. Move between the accommodating spaces S11 to complete the replacement of the wiper on the wiper plate. Since the lifting mechanism needs to drive the wiping plate to move between the docking space S2 and the first accommodating space S11, in its running trajectory, there cannot be interference and blocking of other components, so the dust collecting bin 402 and the fan 4 are arranged in the first Above the storage space S11, so that it will not affect the operation of the lifting mechanism, and the layout is more reasonable.
- the recovery bin 702 and the storage bin 701 are located at the front side of the first storage space S11 when the base station is in a non-working state.
- the recovery bin 702 and the storage bin are detachably connected to the housing, the front side of the first accommodation space S11 has a first opening S111, and the recovery bin 702 and the storage bin 701 can be disassembled and loaded into the first accommodation space through the first opening S111 S11.
- the recycling bin 702 and the storage bin 701 can be disassembled and loaded from the front side of the first opening S111, which is further convenient for the user to operate.
- the wiper can avoid getting dirty hands when taking out the dirty wiper directly from the recovery bin 702, and it is more flexible when filling new wipers.
- the dust collecting bin 402 is detachably disposed in the second receiving space S12, and the front side or the upper side of the second receiving space S12 has a second opening S121, which collects the dust.
- the dust bin can be removed from the second opening S121 and installed in the second receiving space S12. It is convenient for the user to operate, and the user can remove the dust collecting bin 402 from the second opening S121 out of the base station 100 to dump the garbage.
- the dust collecting bin 402 includes a dust collecting box that can be used multiple times or a dust collecting bag that can be used single or multiple times.
- the dust collecting bag or the dust collecting box is installed in the installation space S1 for storing garbage in the collecting space. In the dust bag or dust box, at the same time, dust leakage is avoided to contaminate the components in the base station 100 or the external environment.
- the base station 100 has a height direction H, a width direction W, and a depth direction D.
- the projections of the recovery bin 702 and the storage bin 701 in the vertical direction at least partially overlap. Further, the vertical projections of the recovery bin 702 and the storage bin 701 completely overlap. In this way, the recovery bin 702 and the storage bin 701 are at least partially or completely located in the same depth and the same width in the base station 100 .
- the waste of the installation space S1 in the depth direction D and the width direction W of the base station 100 is avoided, the width and depth of the base station 100 are reduced, and the miniaturization of the base station 100 is realized.
- At least part of the dust collecting bin 402 and the fan 4 are located at the same height.
- the position of the dust collecting bin 402 and the fan 4 is limited to be on the same height plane, so as to avoid waste of the installation space S1 in the height direction H, reduce the height of the base station 100 and further miniaturize the base station 100 .
- the dust collecting bin 402 and the top surface of the fan 4 are located at the same height.
- the dust collection bin 402 includes a dust collection box that can be used multiple times or a dust collection bag that can be used single or multiple times.
- the box is placed horizontally, and the installation space S1 is reduced in the height direction H, which further reduces the height of the base station 100 .
- the dust bag or dust box has height, width and length corresponding to the height direction H, width direction W and depth direction D of the base station. When the dust bag or dust box is placed horizontally, its height is relative to the width and length. minimum.
- the base station 100 further includes a liquid filling module for replenishing liquid for the cleaning robot;
- the liquid filling module includes a liquid tank for storing the liquid to be added to the cleaning robot, and the liquid tank is disposed in the second Inside the storage space S12.
- the arrangement of the liquid tank in the second accommodating space S12 means that the plane where the liquid tank 601 is located is located above the plane where the recovery bin 702 is located and the plane where the storage bin 701 is located.
- the liquid tank 601 can be disposed directly above the recovery bin 702 and the storage bin 701, or can be disposed above the side.
- the liquid tank 601 is reasonably arranged on the upper side of the installation space S1 and above the recovery bin 702 and the storage bin 701, so that the base station 100 is more miniaturized in the width and depth directions, occupies a smaller area, and has a more beautiful appearance. Meanwhile, the liquid tank 601 is disposed on the upper side, which is more convenient for the user to operate the liquid tank 601 , so as to supplement the liquid tank 601 with liquid.
- the liquid tank is detachably arranged in the second receiving space S12, the upper side of the second receiving space S12 also has a third opening S122, and the liquid tank can be disassembled from the third opening S122 and loaded into the second receiving space S122. 2.
- the liquid tank 601 can be removed and installed from the third opening S122, which is convenient for the user to operate. The user can remove the liquid tank 601 from the base station 100 to replenish liquid.
- the liquid tank 601 may contain water, cleaning liquid or a mixture of cleaning liquid and water.
- At least parts of the dust collecting bin 402 , the fan 4 and the liquid tank 601 are located at the same height. Restricting the positions of the dust collecting bin 402, the fan 4 and the liquid tank 601 to be on the same height plane avoids waste of the installation space S1 in the height direction H, reduces the height of the base station 100, and further miniaturizes the base station 100. Further, the projections of the liquid tank 601 and the dust collecting bin 402 on the surface where the side wall 103 is located at least partially overlap. The liquid tank 601 and the dust bin 402 are at least partially at the same depth of the base station 100 .
- the overlapping of the liquid tank 601 and the dust collecting bin 402 in the depth direction D avoids waste of the installation space S1 in the depth direction D of the base station 100 and reduces the depth of the base station 100 . Furthermore, the projections of the liquid tank 601 and the fan 4 on the surface where the rear side wall 102 is located at least partially overlap. The liquid tank 601 and the fan 4 are at least partially within the same width in the base station 100 . The overlapping of the liquid tank 601 and the fan 4 in the width direction W avoids wasting the installation space S1 in the width direction W of the base station 100 and reduces the width of the base station 100 .
- the liquid tank 601 is provided with a special-shaped structure, and the special-shaped structure is irregularly shaped to fit the remaining installation space S1 after the wiper replacement module and the garbage collection module are installed. The waste of the installation space S1 is reduced, and the base station 100 is reduced.
- the base station 100 further includes an interaction panel 1041 for interacting with the user, and the interaction panel 1041 is located above the second accommodation space S12 .
- the plane where the interactive panel 1041 is located is located above the plane where the liquid tank 601 is located, the plane where the dust collecting bin 402 is located, and the plane where the fan 4 is located.
- the interactive panel 1041 at least partially exposes the outer surface of the housing to display information of the base station 100 and/or the cleaning robot 200 and to be operated by the user.
- the interactive panel 1041 is arranged on the upper side to facilitate the user to observe the operation.
- the dust collection bin 402 includes a dust collection bag, and the projection of the dust collection bag and the fan 4 in the vertical direction at least partially overlaps with the projection of the interactive panel 1041 in the vertical direction.
- the fan 4 and the interactive panel 1041 are at least partially at the same depth of the base station 100, and the dust bag and the interactive panel 1041 are at least partially at the same depth.
- the overlapping of the fan 4, the interactive panel 1041, the dust bag and the interactive panel 1041 in the depth direction D avoids waste of the installation space S1 in the depth direction D of the base station 100, reduces the depth of the base station 100, and further realizes the miniaturization of the base station 100.
- the projection of the liquid tank 601 in the vertical direction does not overlap with the projection of the interactive panel 1041 in the vertical direction.
- the liquid needs to be taken out from the upper side of the base station 100.
- the liquid tank 601 and the interactive panel 1041 cannot overlap in the width direction W and the depth direction D.
- the housing includes a front side wall 101 and a rear side wall 102 , an end cap 104 connected to the front side wall 101 and the rear side wall 102 , and at least the rear side wall 102
- the lower bottom wall 105 connects at least the front side wall 101 , the rear side wall 102 and the end cover 104 to form the side wall 103 of the installation space S1 and the parking space S2 .
- the bottom wall 105 is connected to the lower part of the rear side wall 102 and the side wall 103
- the side wall 103 is connected to the front side wall 101 , the rear side wall 102 , the end cover 104 and the bottom wall 105 .
- the side wall 103 is connected with the front side wall 101 , the end cover 104 of the rear side wall 102 and the bottom wall 105 to form an installation space S1 , the support effect is better, and the base station 100 is more stable.
- the base station 100 further includes a base station infrared sensor 801 for docking with the infrared sensor on the cleaning robot 200 to guide the cleaning robot 200 to stop at the maintenance position, where the base station 100 maintains the cleaning robot 200, and the base station infrared sensor 801 is disposed in the rear side wall 102 .
- the base station infrared sensor 801 is disposed on the rear side wall 102 to facilitate docking with the infrared sensor on the cleaning robot 200 .
- the garbage collection module further includes a dust collecting pipe 401 communicating with the dust collecting bin 402 , and the dust collecting pipe 401 is at least partially disposed at the rear side of the installation space S1 .
- the dust collecting duct 401 is used to guide dust into the dust collecting bin 402 .
- the dust collecting pipe 401 is at least partially disposed inside the rear side wall 102 . Since the base station infrared sensor 801 is arranged inside the rear side wall 102 , and the base station infrared sensor 801 has a certain depth, it is arranged inside the rear side wall 102 so that the rear side wall 102 also has a certain thickness. Disposing the dust collecting pipe 401 in the rear side wall 102 prevents the dust collecting pipe 401 from occupying additional installation space S1 , reduces the waste of space in the base station 100 , and miniaturizes the base station 100 .
- the garbage collection module further includes a docking port 403 communicating with the dust collecting pipe 401 , the docking port 403 is docked with the cleaning robot 200 to suck the garbage stored by the cleaning robot 200 , and the docking port 403 is arranged in the middle of the bottom wall 105 area.
- the cleaning robot 200 includes a dust box for collecting garbage on a work surface on which the cleaning robot 200 walks, and the dust box includes a dust outlet. The dust outlet is arranged in the middle area of the cleaning robot 200 body.
- the dust discharge port of the dust box is docked with the docking port 403, and the fan 4 generates negative pressure in the dust collection pipe 401 and the dust collection bin 402, so as to remove the dust inside the dust box.
- the collected garbage is sucked to the dust collecting bin 402 .
- the docking port 403 and the dust discharge port are respectively arranged in the middle area of the base station 100 and the middle area of the cleaning robot 200 body.
- the docking port 403 cooperates with the dust outlet arranged in the middle area of the cleaning robot 200, and is arranged in the middle area of the bottom wall 105 of the base station 100, so that the docking space S2 can be adapted to the size of the cleaning robot 200 and can effectively control the docking space.
- the size of S2 realizes miniaturization of the base station 100 .
- the air outlet at the connection between the fan 4 and the dust collection bin 402 is far away from the dust inlet at the connection between the dust collection pipe 401 and the dust collection chamber 402 .
- the dust inlet is arranged on the side of the dust bag or the dust box and is close to the rear side wall 102
- the air outlet is arranged on the side of the dust bag or the dust box and is close to the front side wall 101 . This arrangement avoids blocking the dust inlet, so that the garbage can be kept in the dust bag or the dust box.
- the projections of the fan 4 and the dust collecting bin 402 on the surface where the side walls 103 are located at least partially overlap. Please refer to FIG. 12 and FIG.
- the fan 4 and the dust collecting bin 402 are at least partially at the same depth of the base station 100 .
- the overlapping of the fan 4 and the dust bin 402 in the depth direction D avoids waste of the installation space S1 in the depth direction D of the base station 100 , reduces the depth of the base station 100 , and further realizes the miniaturization of the base station 100 .
- the liquid adding module further includes a liquid supply pipe 602 communicating with the liquid tank 601 , and the liquid supply pipe 602 is at least partially disposed at the rear side of the installation space S1 . Furthermore, the liquid supply pipe 602 is at least partially disposed inside the rear side wall 102 . Similarly, the liquid supply pipe 602 is arranged in the rear side wall 102 to prevent the liquid supply pipe 602 from occupying additional installation space S1, reduce the waste of space in the base station 100, and make the base station 100 miniaturized
- the liquid adding module also includes a liquid outlet 603 connected to the water outlet end of the liquid supply pipe 602 .
- the liquid outlet 603 is docked with the cleaning robot 200 to replenish liquid for the cleaning robot 200 .
- the liquid outlet 603 is disposed at the rear side of the installation space S1 .
- the cleaning robot 200 includes a water tank for wetting the wiper, and the water tank includes a water filling port.
- the water injection port is arranged on the side of the fuselage.
- the liquid outlet 603 is disposed on the rear side wall 102 and can move relative to the rear side wall 102 within a certain range so as to be accurately connected with the water injection port.
- the liquid outlet 603 is arranged on the rear side wall 102 in cooperation with the water injection port on the side of the fuselage, so that the layout of the liquid outlet 603 is more reasonable.
- the base station 100 further includes a circuit board 902 having electronic components for implementing various functions of the base station 100 , and the circuit board 902 is disposed inside the rear side wall 102 .
- the circuit board 902 is arranged in the rear sidewall 102 with a certain thickness to avoid additionally occupying the installation space S1 and not exposing the circuit board 902 to the outside can effectively ensure the security of the base station 100 .
- the base station 100 includes a base station charging pole piece 901 for docking with the charging pole piece of the cleaning robot 200 to charge the cleaning robot 200 .
- the charging pole piece of the cleaning robot 200 is arranged on the side of the fuselage.
- the base station charging pole piece 901 cooperates with the cleaning robot charging pole piece arranged on the side of the fuselage, and is arranged on the rear side wall 102 to make the layout more reasonable.
- the end cap 104 includes a flip structure 1043 , and the flip structure 1043 is connected to the housing and the end cap 104 , so that the end cap 104 is flipped relative to the housing to open or close the upper side of the housing , the projection of the flip structure 1043 on the surface where the bottom wall 105 is located does not overlap the housing at least in part.
- the flip structure 1043 is partially disposed outside the rear side wall 102. When the end cover 104 is flipped and fully opened, the projection of the end cover 104 on the surface where the bottom wall 105 is located does not overlap the casing. This arrangement can prevent the inversion structure 1043 and the end cap 104 from occupying more installation space S1 in the depth direction D. As shown in FIG.
- the end cover 104 can be opened or closed relative to the base station 100.
- the dust bag or the dust box can be removed from the upper side or loaded into the second accommodating space S12, and when the end cover 104 is closed
- the dust bag or dust box is hidden inside the base station 100 to avoid exposure, which makes the base station 100 more beautiful as a whole, and can also prevent dust from polluting the environment outside the base station 100 .
- the liquid tank 601 can be removed from the upper side or loaded into the second accommodation space S12.
- the end cover 104 is closed, the liquid tank 601 is hidden inside the base station 100 to avoid exposure and make the base station 100 more beautiful as a whole. .
- the front side wall 101 includes a front cover 1011 , and the front cover 1011 can be opened or closed relative to the base station 100 .
- the front cover 1011 when the front cover 1011 is opened, the recovery compartment 702 and the storage compartment 701 can be removed from the front side or loaded into the first accommodation space S11 , please refer to FIG. 15 , when the front cover 1011 is closed, the recovery compartment 702 and the storage compartment 701 are hidden. Inside the base station 100, exposure is avoided, so that the base station 100 is more beautiful as a whole.
- the base station 100 further includes a fragrance structure for purifying the air, and the fragrance structure is arranged above the fan 4 .
- the fragrance structure includes a fragrance box 1042 .
- the fragrance box 1042 is adapted to the remaining installation space S1 after the fan 4 is installed. This arrangement can not only reduce the waste of the installation space S1, but also purify the environment. Specifically, the odor in the fragrance box 1042 is volatilized to the outside of the base station 100 by the airflow generated inside and outside the base station 100 by the fan 4 .
- the present invention further provides a cleaning robot 200 system, including the base station 100 in any of the above-mentioned embodiments and the cleaning robot 200 using the above-mentioned base station 100 for maintenance.
- the cleaning robot 200 includes: a body 2001; a wiping plate 2003, which is arranged at the bottom of the body 2001, and a flexible wiping member can be replaceably attached to the wiping plate 2003 to form a wiping surface, so as to wipe the working surface on which the cleaning robot 200 walks; a dust box 2004, for collecting garbage on the work surface on which the cleaning robot 200 walks.
- the dust box 2004 includes a dust outlet 2002, the base station 100 includes a docking port 403, and the dust exhaust port 2002 is docked with the docking port 403, so that the base station 100 can suck out the garbage in the dust box 2004; please refer to FIG. 19, FIG. 20 and FIG. 21.
- the dust discharge port 2002 is arranged in the middle area of the body 2001
- the docking port 403 is arranged in the middle area of the bottom wall 105 .
- the docking port 403 cooperates with the dust outlet 2002 arranged in the middle area of the fuselage 2001, and is arranged in the middle area of the bottom wall 105 of the base station 100, so that the docking space S2 can be adapted to the size of the fuselage 2001, and the docking space S2 can be effectively controlled
- the size of the base station 100 can be miniaturized.
- the cleaning robot 200 includes a water tank for wetting the wiper, the water tank includes a water filling port, the base station 100 includes a liquid filling module, and the liquid outlet 603 of the liquid filling module is docked with the water filling port, so that the base station 100 can replenish the water tank with liquid;
- the water filling port is set On the side of the body 2001 and close to the wiping plate 2003 , the liquid outlet 603 is disposed on the rear side wall 102 and can extend or retract from the inner surface of the rear side wall 102 .
- the liquid outlet 603 is arranged on the rear side wall 102 in cooperation with the water injection port provided on the side of the fuselage 2001 , so that the layout of the liquid outlet 603 is more reasonable.
- the cleaning robot 200 includes a cleaning robot charging pole piece 2005
- the base station 100 includes a base station charging pole piece 901
- the cleaning robot charging pole piece 2005 is arranged on the side of the fuselage 2001 and is close to the wiping plate 2003
- the base station charging pole piece 901 is arranged on the rear side wall 102 .
- the base station charging pole piece 901 cooperates with the cleaning robot charging pole piece 2005 arranged on the side of the fuselage 2001, and is arranged on the rear side wall 102, so that the layout is more reasonable.
- the wiping plate 2003 is closer to the parking space S2 than the dust box 2004 , and the bottom wall 105 is provided with a wiping plate maintenance position 703 , and the cleaning robot 200 will wipe
- the plate 2003 is disassembled to the wiper plate maintenance position 703, and the wiper plate 2003 is reinstalled at the wiper plate maintenance position 703;
- the traveling direction of the cleaning robot 200 as the front, the dust box 2004 and the wiping plate 2003 are distributed front and rear relative to the body 2001 . Relative to the traveling direction of the cleaning robot 200, the cleaning robot 200 retreats into the base station 100 for maintenance.
- the infrared sensor of the cleaning robot 200 is arranged on the rear side of the cleaning robot 200 and is connected with the infrared sensor 801 of the base station. Guide the cleaning robot 200 to drive into the base station 100 and park at the maintenance position correctly.
- the base station 100 can replace wipers, recycle garbage, replenish liquid, and charge the cleaning robot 200 .
- the cleaning robot 200 stops at the same maintenance position of the base station 100 .
- the docking structure of the base station 100 and the cleaning robot 200 is simpler, and the docking control is also simplified.
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Electric Vacuum Cleaner (AREA)
- Cleaning In General (AREA)
- Electric Suction Cleaners (AREA)
- Cleaning Implements For Floors, Carpets, Furniture, Walls, And The Like (AREA)
Abstract
Description
Claims (23)
- 一种基站,用于维护清洁机器人,其特征在于,所述基站包括:壳体,形成有安装空间和供所述清洁机器人停靠的停靠空间;擦拭件更换模块,用于为所述清洁机器人更换擦拭件,包括设置于所述安装空间的回收仓和存储仓,所述回收仓用于收纳脏擦拭件,所述存储仓用于存储新擦拭件;所述擦拭件连接于所述清洁机器人时用于擦拭所述清洁机器人行走过的工作表面;垃圾回收模块,包括设置于所述安装空间的集尘仓和风机,所述风机与所述集尘仓连通以在所述集尘仓内产生负压,抽吸出所述清洁机器人存储的垃圾,所述集尘仓用于存储垃圾。
- 根据权利要求1所述的基站,其特征在于,所述壳体具有出入口,供所述清洁机器人的至少部分机身驶入或驶出所述停靠空间;以所述出入口所在方向为前,所述回收仓和所述存储仓在所述基站处于非工作状态时位于所述安装空间的前侧或上侧。
- 根据权利要求2所述的基站,其特征在于,所述安装空间包括第一收容空间和第二收容空间,所述第二收容空间设置于所述第一收容空间上方;所述回收仓和所述存储仓设置于所述第一收容空间内,所述集尘仓和所述风机设置于所述第二收容空间内。
- 根据权利要求3所述的基站,其特征在于,所述回收仓和所述存储仓在所述基站处于非工作状态时位于所述第一收容空间的前侧。
- 根据权利要求4所述的基站,其特征在于,所述回收仓和所述存储仓可拆卸的连接于所述壳体,所述第一收容空间的前侧具有第一开口,所述回收仓和所述存储仓能够通过所述第一开口拆出和装入所述第一收容空间。
- 根据权利要求4所述的基站,其特征在于,所述集尘仓可拆卸的设置于所述第二收容空间,所述第二收容空间的前侧或上侧具有第二开口,所述集尘仓能够从所述第二开口拆出和装入所述第二收容空间。
- 根据权利要求3所述的基站,其特征在于,所述清洁机器人包括有擦拭板,所述擦拭件连接于所述擦拭板;所述擦拭件更换模块包括至少设置于所述停靠空间和所述第一收容空间的升降机构,所述升降机构带动所述擦拭板在所述停靠空间和所述第一收容空间之间运动,以完成更换所述擦拭板上的擦拭件。
- 根据权利要求3所述的基站,其特征在于,在非工作状态下,所述回收仓和所述存储仓在竖直方向上的投影至少具有部分重叠。
- 根据权利要求3所述的基站,其特征在于,所述集尘仓和所述风机的至少部分位于同一高度。
- 根据权利要求3所述的基站,其特征在于,所述基站还包括加液模块,用于为所述清洁机器人补充液体;所述加液模块包括液体箱,用于存储待加入所述清洁机器人的液体,所述液体箱设置于所述第二收容空间内。
- 根据权利要求10所述的基站,其特征在于,所述集尘仓、所述风机和所述液体箱的至少部分位于同一高度。
- 根据权利要求10所述的基站,其特征在于,所述液体箱可拆卸的设置于所述第二收容空间,所述第二收容空间的上侧还具有第三开口,所述液体箱能够从所述第三开口拆出和装入所述第二收容空间。
- 根据权利要求11所述的基站,其特征在于,所述基站还包括与用户进行交互的交互面板,所述交互面板位于所述第二收容空间的上方。
- 根据权利要求13所述的基站,其特征在于,所述集尘仓包括集尘袋;所述集尘袋和所述风机在竖直方向上的投影与所述交互面板在竖直方向上的投影至少部分重叠。
- 根据权利要求13所述的基站,其特征在于,所述液体箱在竖直方向上的投影与所述交互面板在竖直方向上的投影不重叠。
- 根据权利要求10所述的基站,其特征在于,所述壳体包括前侧壁和后侧壁,连接于所述前侧壁和所述后侧壁上方的端盖,至少连接所述后侧壁下部的底壁,至少连接所述前侧壁、所述后侧壁和所述端盖以形成所述安装空间和所述停靠空间的边侧壁;所述基站还包括基站红外传感器,用于与所述清洁机器人上的红外传感器对接以引导所述清洁机器人停靠在维护位置,所述基站在所述停靠位置对所述清洁机器人进行维护,所述基站红外传感器设置于所述后侧壁内。
- 根据权利要求16所述的基站,其特征在于,所述垃圾回收模块还包括与所述集尘仓连通的集尘管,用于将垃圾引导至集尘仓内,所述集尘管至少部分设置于所述后侧壁内。
- 根据权利要求17所述的基站,其特征在于,所述垃圾回收模块还包括与所述集尘管连通的对接口,所述对接口与所述清洁机器人对接以抽吸所述清洁机器人存储的垃圾,所述对接口设置于所述底壁的中间区域。
- 根据权利要求16所述的基站,其特征在于,所述加液模块还包括与所述液体箱连通的供液管,所述供液管至少部分设置于所述后侧壁内。
- 根据权利要求19所述的基站,其特征在于,所述加液模块还包括与所述供液管的出水端连接的出液口,所述出液口与所述清洁机器人对接以为所述清洁机器人补充液体,所述出液口设置于所述后侧壁的外表面上,且可相对后侧壁的外表面活动。
- 根据权利要求16所述的基站,其特征在于,所述基站包括基站充电极片,用于与所述清洁机器人的充电极片对接以为所述清洁机器人充电,所述基站充电极片设置于所述后侧壁的外表面上。
- 根据权利要求16所述的基站,其特征在于,所述端盖包括翻转结构,所述翻转结构连接于所述壳体和所述端盖,使所述端盖相对所述壳体翻转以打开或关闭所述壳体的上侧,所述翻转结构在所述底壁所在的表面上的投影至少部分不与所述壳体重叠。
- 一种清洁机器人系统,包括权利要求1-22中任意一项所述的基站以及应用所述基站进行维护的清洁机器人。
Priority Applications (5)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
EP22752330.5A EP4292490A1 (en) | 2021-02-10 | 2022-02-10 | Base station and cleaning robot system |
KR1020237030765A KR20230142605A (ko) | 2021-02-10 | 2022-02-10 | 기지국, 로봇 청소 시스템 |
JP2023548291A JP2024505741A (ja) | 2021-02-10 | 2022-02-10 | ベースステーション、掃除ロボットシステム |
CN202280010654.5A CN116782810A (zh) | 2021-02-10 | 2022-02-10 | 基站、清洁机器人系统 |
US18/231,663 US20230389769A1 (en) | 2021-02-10 | 2023-08-08 | Base station and robot cleaner system |
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CN202110182763.2 | 2021-02-10 | ||
CN202110182763 | 2021-02-10 |
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US18/231,663 Continuation US20230389769A1 (en) | 2021-02-10 | 2023-08-08 | Base station and robot cleaner system |
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WO2022171170A1 true WO2022171170A1 (zh) | 2022-08-18 |
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PCT/CN2022/075840 WO2022171170A1 (zh) | 2021-02-10 | 2022-02-10 | 基站、清洁机器人系统 |
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US (1) | US20230389769A1 (zh) |
EP (1) | EP4292490A1 (zh) |
JP (1) | JP2024505741A (zh) |
KR (1) | KR20230142605A (zh) |
CN (2) | CN218500623U (zh) |
WO (1) | WO2022171170A1 (zh) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
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WO2024051685A1 (zh) * | 2022-09-05 | 2024-03-14 | 苏州宝时得电动工具有限公司 | 维护基站、清洁系统、维护基站检测擦拭件安装在位的方法 |
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CN107088025A (zh) * | 2016-02-17 | 2017-08-25 | 东芝生活电器株式会社 | 电动清扫装置 |
US20200077858A1 (en) * | 2016-12-16 | 2020-03-12 | Yunjing Intelligence Technology (Dongguan) Co.,Ltd. | Base station and cleaning robot system |
CN111920349A (zh) * | 2020-08-13 | 2020-11-13 | 杭州匠龙机器人科技有限公司 | 一种拖吸机器人的集成站 |
WO2021004546A1 (zh) * | 2019-07-11 | 2021-01-14 | 苏州宝时得电动工具有限公司 | 清洁机器人系统及其控制方法、基站 |
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2022
- 2022-02-10 EP EP22752330.5A patent/EP4292490A1/en active Pending
- 2022-02-10 WO PCT/CN2022/075840 patent/WO2022171170A1/zh active Application Filing
- 2022-02-10 KR KR1020237030765A patent/KR20230142605A/ko unknown
- 2022-02-10 CN CN202220274478.3U patent/CN218500623U/zh active Active
- 2022-02-10 JP JP2023548291A patent/JP2024505741A/ja active Pending
- 2022-02-10 CN CN202280010654.5A patent/CN116782810A/zh active Pending
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2023
- 2023-08-08 US US18/231,663 patent/US20230389769A1/en active Pending
Patent Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
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CN107088025A (zh) * | 2016-02-17 | 2017-08-25 | 东芝生活电器株式会社 | 电动清扫装置 |
US20200077858A1 (en) * | 2016-12-16 | 2020-03-12 | Yunjing Intelligence Technology (Dongguan) Co.,Ltd. | Base station and cleaning robot system |
WO2021004546A1 (zh) * | 2019-07-11 | 2021-01-14 | 苏州宝时得电动工具有限公司 | 清洁机器人系统及其控制方法、基站 |
CN111920349A (zh) * | 2020-08-13 | 2020-11-13 | 杭州匠龙机器人科技有限公司 | 一种拖吸机器人的集成站 |
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Publication number | Priority date | Publication date | Assignee | Title |
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WO2024051685A1 (zh) * | 2022-09-05 | 2024-03-14 | 苏州宝时得电动工具有限公司 | 维护基站、清洁系统、维护基站检测擦拭件安装在位的方法 |
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JP2024505741A (ja) | 2024-02-07 |
CN218500623U (zh) | 2023-02-21 |
KR20230142605A (ko) | 2023-10-11 |
CN116782810A (zh) | 2023-09-19 |
US20230389769A1 (en) | 2023-12-07 |
EP4292490A1 (en) | 2023-12-20 |
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