WO2023019939A1 - 基站和清洁机器人系统 - Google Patents

基站和清洁机器人系统 Download PDF

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Publication number
WO2023019939A1
WO2023019939A1 PCT/CN2022/082323 CN2022082323W WO2023019939A1 WO 2023019939 A1 WO2023019939 A1 WO 2023019939A1 CN 2022082323 W CN2022082323 W CN 2022082323W WO 2023019939 A1 WO2023019939 A1 WO 2023019939A1
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WO
WIPO (PCT)
Prior art keywords
cleaning
base station
bracket
station according
support
Prior art date
Application number
PCT/CN2022/082323
Other languages
English (en)
French (fr)
Inventor
李行
成盼
林翔
Original Assignee
北京石头世纪科技股份有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 北京石头世纪科技股份有限公司 filed Critical 北京石头世纪科技股份有限公司
Priority to JP2024507960A priority Critical patent/JP2024530670A/ja
Priority to AU2022331896A priority patent/AU2022331896A1/en
Priority to EP22857258.2A priority patent/EP4388962A1/en
Publication of WO2023019939A1 publication Critical patent/WO2023019939A1/zh

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    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • 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
    • A47L11/28—Floor-scrubbing machines, motor-driven
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4036—Parts or details of the surface treating tools
    • A47L11/4041—Roll shaped surface treating tools
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/408—Means for supplying cleaning or surface treating agents
    • A47L11/4083—Liquid supply reservoirs; Preparation of the agents, e.g. mixing devices

Definitions

  • the present disclosure relates to the technical field of smart home, and in particular to a base station and a cleaning robot system.
  • the current cleaning robots such as sweeping and mopping integrated cleaning robots, usually include a sweeping roller brush and a flat mop. After the flat mop is used, it usually needs to be cleaned manually, or directly replaced with a new flat mop, which is extremely inconvenient to use.
  • An embodiment of the present disclosure provides a base station, which is used as a cleaning system for cleaning and cleaning robots.
  • the base station includes: a base station body; a cleaning component, the cleaning component is movably arranged on the base station body, and the cleaning component includes an The first cleaning part, the first cleaning part cleans the cleaning system of the cleaning robot by interfering with the cleaning system of the cleaning robot.
  • the cleaning assembly includes: a bracket and a driving part, the driving part is used to drive the bracket to move in a first direction relative to the base station body;
  • the first cleaning part includes a cleaning body and a supporting part, and the cleaning body is adapted to interfere with the cleaning system , the supporting part connects the cleaning body and the bracket; wherein, the supporting part is an elastic member.
  • the support portion includes a first connection section, a transition section, and a second connection section connected in sequence, the second connection section is arranged at the bottom of the cleaning body, and the transition section is from the second connection section to the first connection section. It is arranged obliquely downward, and the bracket is provided with a slot suitable for the first connecting section.
  • the bracket along the moving direction of the bracket relative to the base station body, the bracket is further provided with support seats located on both sides of the support part, and the end of the cleaning body away from the support part is higher than the support seats.
  • the number of support parts is one or at least two, and at least two support parts are distributed at intervals along the length direction of the cleaning body; and/or along the length direction of the cleaning body, a gap is provided between the cleaning body and the bracket .
  • the cleaning assembly further includes: a second cleaning part, arranged on the support, and arranged parallel to the first cleaning part; wherein, the second cleaning part includes cleaning rollers suitable for interfering with the cleaning system, and the cleaning rollers are opposite to each other. It is rotatably arranged on the bracket.
  • the cleaning assembly further includes: a water outlet device, the water outlet device is arranged on the bracket and arranged parallel to the first cleaning part and the second cleaning part.
  • the base station body includes a cleaning tank located below the cleaning assembly, at least one side of the cleaning tank is provided with a sewage outlet; the cleaning assembly also includes a cleaning piece arranged towards the bottom of the cleaning tank, and the cleaning piece is used to clean the cleaning tank The sundries inside move closer to the sewage outlet.
  • the cleaning member includes a connecting portion and an abutting portion, the connecting portion is connected to the bracket, and the abutting portion is a flexible member adapted to abut against the bottom of the cleaning tank.
  • At least two protruding structures are arranged at intervals on a side of the abutting portion away from the sewage outlet.
  • the length of the abutting portion is equal to the inner width of the bottom of the cleaning tank.
  • the cleaning element is located at the bottom of the support on a side away from the sewage outlet.
  • the cleaning element is detachably connected to the bracket.
  • one of the connecting portion and the bracket is provided with a limiting portion, and the other is provided with a positioning portion adapted to the limiting portion; wherein, the limiting portion includes a hook, and the positioning portion includes a slot; And/or the limiting part includes a magnetic part, and the positioning part includes a magnetic attraction part.
  • the number of cleaning components is one or at least two, and the at least two cleaning components are spaced apart for interfering with different cleaning systems.
  • An embodiment of the present disclosure provides a cleaning robot system, including: a cleaning robot, including a cleaning system; and the base station according to any one of the above-mentioned first aspects. object removed.
  • FIG. 1 is a schematic structural diagram of a cleaning robot system according to some embodiments of the present disclosure
  • Fig. 2 is a schematic structural diagram of a cleaning robot according to some embodiments of the present disclosure
  • Fig. 3 is a structural schematic diagram of a viewing angle of the embodiment shown in Fig. 2;
  • Fig. 4 is a partial exploded schematic diagram of the embodiment shown in Fig. 3;
  • Fig. 5 is a schematic structural diagram of a base station according to some embodiments of the present disclosure.
  • Fig. 6 is a structural schematic diagram of a viewing angle of the embodiment shown in Fig. 5;
  • Fig. 7 is a partial structural schematic diagram of another viewing angle of the embodiment shown in Fig. 6;
  • Fig. 8 is a schematic structural diagram of a cleaning assembly according to some embodiments of the present disclosure.
  • Fig. 9 is a schematic structural diagram of a first cleaning element according to some embodiments of the present disclosure.
  • Fig. 10 is a structural schematic diagram of a viewing angle of the embodiment shown in Fig. 8;
  • Fig. 11 is a structural schematic diagram of another viewing angle of the embodiment shown in Fig. 8;
  • Fig. 12 is a schematic structural diagram of a cleaning element according to some embodiments of the present disclosure.
  • Fig. 13 is a structural schematic diagram of a viewing angle of the embodiment shown in Fig. 12;
  • Fig. 14 is a schematic structural diagram of a base station according to some embodiments of the present disclosure.
  • Fig. 15 is a structural schematic diagram of another viewing angle of the embodiment shown in Fig. 8;
  • Fig. 16 is a structural schematic diagram of a viewing angle of the embodiment shown in Fig. 15;
  • Fig. 17 is a partially enlarged schematic diagram of A in the embodiment shown in Fig. 16;
  • FIG. 18 is a partially enlarged schematic diagram of part B of the embodiment shown in FIG. 16 .
  • 10 cleaning robot 110 machine main body, 111 forward part, 112 backward part, 120 perception system, 121 determining device, 122 buffer, 130 control module, 140 driving system, 141 driving wheel module, 142 driven wheel, 150 cleaning system , 151 dry cleaning system, 152 side brush, 160 energy system, 170 human-computer interaction system, 153 wet cleaning system, 1531 cleaning head, 1532 drive unit, 1533 drive platform, 1534 support platform, 20 base station body, 21 cleaning tank, 211 Sewage Outlet, 30 Cleaning Assembly, 31 First Cleaning Part, 311 Cleaning Body, 312 Supporting Part, 313 First Connecting Section, 314 Second Connecting Section, 315 Transition Section, 32 Bracket, 321 Supporting Seat, 322 Gap, 33 No. Two cleaning parts, 34 driving part, 341 gear, 342 rack, 36 cleaning part, 361 connecting part, 362 abutting part, 363 protruding structure, 37 cleaning component a, 38 cleaning component b, 40, liquid supply part.
  • an embodiment of the present disclosure provides a base station and a cleaning robot 10 system, wherein, as shown in FIG. 1 , the cleaning robot system includes a cleaning robot 10 and a base station, that is, the base station and the cleaning robot 10 used together.
  • the cleaning robot 10 may include a machine body 110 , a perception system 120 , a control module 130 , a driving system 140 , a cleaning system 150 , an energy system 160 and a human-computer interaction system 170 .
  • the cleaning robot 10 can be a self-moving cleaning robot 10 or other cleaning robots 10 that meet the requirements.
  • the self-moving cleaning robot 10 is a device that automatically performs cleaning operations in a certain area to be cleaned without user operation. Wherein, when the self-mobile cleaning robot 10 starts to work, the automatic cleaning equipment starts from the base station to perform cleaning tasks. When the self-mobile cleaning robot 10 completes the cleaning task or needs to stop the cleaning task in other situations, the self-mobile cleaning robot 10 can return to the base station for charging or other operations.
  • the main body 110 of the machine includes a forward portion 111 and a rearward portion 112, and has an approximately circular shape (both front and rear are circular), and may also have other shapes, including but not limited to an approximate D shape with a front and rear circles. Rectangular or square shape in shape and front and rear.
  • the perception system 120 includes a position determination device 121 located on the main body 110 of the machine, a collision sensor and a proximity sensor disposed on the buffer 122 of the forward portion 111 of the main body 110 of the machine, and is arranged on the lower part of the main body 110 of the machine.
  • the cliff sensor as well as the magnetometer, accelerometer, gyroscope, odometer and other sensing devices arranged inside the main body 110 of the machine, are used to provide various position information and motion state information of the machine to the control module 130 .
  • the location determining device 121 includes but is not limited to a camera and a laser distance measuring device (LDS, full name Laser Distance Sensor).
  • the forward portion 111 of the machine body 110 can carry a buffer 122 , and when the driving wheel module 141 propels the cleaning robot 10 to walk on the ground during the cleaning process, the buffer 122 passes through a sensor system disposed thereon, such as The infrared sensor detects one or more events in the travel path of the cleaning robot 10.
  • the cleaning robot 10 can control the driving wheel module 141 to make the cleaning robot 10 respond to the events detected by the buffer 122, such as obstacles and walls. Events, such as moving away from obstacles.
  • the control module 130 is arranged on the main board of the main body 110 of the machine, and includes a computing processor, such as a central processing unit, an application processor, and a non-transitory memory, such as a hard disk, a flash memory, and a random access memory.
  • a computing processor such as a central processing unit, an application processor, and a non-transitory memory, such as a hard disk, a flash memory, and a random access memory.
  • the device uses a positioning algorithm, such as Simultaneous Localization and Mapping (SLAM, full name Simultaneous Localization And Mapping), to draw an instant map of the environment where the cleaning robot 10 is located.
  • SLAM Simultaneous Localization and Mapping
  • drive system 140 may steer machine body 110 across the ground based on drive commands having distance and angular information (eg, x, y, and theta components).
  • the driving system 140 includes a driving wheel module 141, which can simultaneously control the left wheel and the right wheel.
  • the driving wheel module 141 preferably includes a left driving wheel module 141 and a right driving wheel module 141 respectively.
  • the left and right drive wheel modules 141 are disposed along a transverse axis defined by the machine body 110 .
  • the cleaning robot 10 may include one or more driven wheels 142 , and the driven wheels 142 include but are not limited to universal wheels.
  • the driving wheel module 141 includes traveling wheels, a driving motor and a control circuit for controlling the driving motor.
  • the driving wheel module 141 can also be connected with a circuit for measuring driving current and an odometer.
  • the drive wheels may have a biased drop suspension system, be movably secured, eg rotatably attached, to the machine body 110, and receive a spring bias biased downward and away from the machine body 110.
  • the spring bias allows the drive wheels to maintain contact and traction with the ground with a certain ground force, while the cleaning elements of the cleaning robot 10 also contact the ground with a certain pressure.
  • Energy system 160 includes rechargeable batteries, such as NiMH and Lithium batteries.
  • the rechargeable battery can be connected with a charging control circuit, a battery pack charging temperature detection circuit and a battery undervoltage monitoring circuit, and the charging control circuit, a battery pack charging temperature detection circuit, and a battery undervoltage monitoring circuit are connected with the single-chip microcomputer control circuit.
  • the main unit is charged by being connected to the charging pile through the charging electrodes arranged on the side or the bottom of the fuselage.
  • the human-computer interaction system 170 includes buttons on the panel of the host computer, which are used for the user to select functions; and may also include a display screen and/or an indicator light and/or a horn, and the display screen, the indicator light and the horn show the user the current state of the machine or Functional options; may also include mobile phone client programs.
  • the mobile phone client can show the user a map of the environment where the equipment is located, as well as the location of the machine, and can provide users with more abundant and user-friendly functional items.
  • the cleaning system 150 may be a dry cleaning system 151 and/or a wet cleaning system 153 .
  • the dry cleaning system 151 may include a roller brush, a dust box, a fan, and an air outlet.
  • the roller brush that has a certain interference with the ground sweeps up the garbage on the ground and rolls it to the front of the dust suction port between the roller brush and the dust box, and then is sucked into the dust box by the suction gas generated by the fan and passed through the dust box.
  • the dry cleaning system 151 may also include a side brush 152 having an axis of rotation angled relative to the floor for moving debris into the area of the roller brush of the cleaning system 150 .
  • the wet cleaning system 153 may include: a cleaning head 1531 , a driving unit 1532 , a water delivery mechanism, a liquid storage tank, and the like.
  • the cleaning head 1531 can be arranged under the liquid storage tank, and the cleaning liquid inside the liquid storage tank is transported to the cleaning head 1531 through the water delivery mechanism, so that the cleaning head 1531 performs wet cleaning on the surface to be cleaned.
  • the cleaning liquid inside the liquid storage tank may also be directly sprayed onto the plane to be cleaned, and the cleaning head 1531 cleans the plane by spreading the cleaning liquid evenly.
  • the cleaning head 1531 is used to clean the surface to be cleaned
  • the driving unit 1532 is used to drive the cleaning head 1531 to reciprocate substantially along the target surface, and the target surface is a part of the surface to be cleaned.
  • the cleaning head 1531 reciprocates along the surface to be cleaned, and the contact surface between the cleaning head 1531 and the surface to be cleaned is provided with a cleaning cloth or a cleaning plate, which generates high-frequency friction with the surface to be cleaned through reciprocating motion, thereby removing stains on the surface to be cleaned .
  • the driving unit 1532 may further include a driving platform 1533 and a supporting platform 1534.
  • the driving platform 1533 is connected to the bottom surface of the machine body 110 for providing driving force.
  • the supporting platform 1534 is detachably connected.
  • the driving platform 1533 is used to support the cleaning head 1531 and can be driven up and down by the driving platform 1533 .
  • the wet cleaning system 153 may be connected to the machine main body 110 through an active lifting module.
  • the cleaning robot 10 stops at the base station to clean the cleaning head 1531 of the wet cleaning system 153, and fills the liquid storage tank;
  • the wet cleaning system 153 is lifted by the active lifting module.
  • the cleaning head 1531, the driving platform 1533, the supporting platform 1534, the water delivery mechanism, and the liquid storage tank can be powered by one motor or multiple motors.
  • the energy system 160 provides power and energy for the motor, and is overall controlled by the control module 130 .
  • the water delivery mechanism in the embodiment of the present disclosure may include a water outlet device, and the water outlet device may be directly or indirectly connected to the liquid outlet of the liquid storage tank, wherein the cleaning liquid may flow to the water outlet device through the cleaning liquid outlet of the liquid storage tank, and It can be evenly applied to the surface to be cleaned by the water outlet device.
  • a connecting piece may be provided on the water outlet device, and the water outlet device is connected with the cleaning liquid outlet of the liquid storage tank through the connecting piece.
  • a distribution port is provided on the water outlet device, and the distribution port can be a continuous opening or a combination of several disconnected small openings, and several nozzles can be arranged at the distribution port. The cleaning liquid flows to the distribution port through the cleaning liquid outlet of the liquid storage tank and the connection piece of the water outlet device, and is evenly coated on the surface to be cleaned through the distribution port.
  • the liquid storage tank also includes a water replenishment port, which may be located on the side wall of the water tank.
  • a water replenishment port which may be located on the side wall of the water tank.
  • the base station includes a base station body 20 and a cleaning component 30 , and the cleaning component 30 can be movably arranged on the base station body 20 .
  • the cleaning assembly 30 can move relative to the base station body 20 along a first direction.
  • the first direction is the left-right direction of the base station
  • the cleaning assembly 30 can reciprocate along the left-right direction of the base station.
  • the left-right direction of the base station is shown in FIG. 5 Indicated by the solid arrow.
  • the cleaning assembly 30 includes a first cleaning member 31 that can float up and down relative to the base station body 20 , and the first cleaning member 31 removes sundries on the cleaning system 150 by interfering with the cleaning system 150 .
  • the cleaning assembly 30 is opposite to the cleaning system 150, and the first cleaning member 31 interferes with the cleaning system 150, and the cleaning assembly 30 moves relative to the base station body 20.
  • the debris on the cleaning system 150 is removed, that is, the cleaning robot 10 can realize automatic cleaning on the cleaning component 30 of the base station, thereby eliminating the need for manual cleaning of the cleaning system 150 or replacement of a new cleaning system 150,
  • the manual operation is simplified, the manual cleaning experience is improved, and the cleaning cost is reduced, which is suitable for popularization and application.
  • the first cleaning member 31 can float up and down relative to the base station body 20, so that the position and its own characteristics of the cleaning system 150 of the cleaning robot 10 can be effectively adapted to make the first cleaning
  • the member 31 can effectively and reliably interfere with the cleaning system 150, so that the friction between the first cleaning member 31 and the cleaning system 150 is within a certain range, so that the cleaning work can be carried out and a good cleaning effect can be ensured.
  • the friction between the first cleaning part 31 and the cleaning system 150 will be relatively large, which will affect the movement of the first cleaning part 31 relative to the base station body. 20
  • the sensitivity of the movement which in turn affects the cleaning efficiency. If the amount of contact between the cleaning system 150 and the first cleaning part 31 is too small, the friction between the first cleaning part 31 and the cleaning system 150 is small, and there is a problem of incomplete cleaning, which will affect the performance of the first cleaning part 31. Cleaning effect.
  • the cleaning system 150 is thicker or more scalable, the interference between the first cleaning component 31 and the cleaning system 150 is insufficient, resulting in the problem that the part of the cleaning system 150 far away from the first cleaning component 31 cannot be cleaned. If the thickness of the cleaning system 150 is small or the stretchability is small, there is a problem that the first cleaning member 31 interferes with the cleaning system 150 (for example, the contact between the two is too large) and the cleaning system 150 is damaged. Therefore, the present disclosure enables the first cleaning member 31 to float up and down relative to the base station body 20, thereby automatically adjusting the amount of abutment between the first cleaning member 31 and the cleaning system 150 to ensure that the amount of abutment between the two is within an appropriate range.
  • the frictional force between the first cleaning part 31 and the cleaning system 150 is within an appropriate range, so as to ensure that the first cleaning part 31 has a good cleaning effect and ensure a high cleaning efficiency, and at the same time, reduce the impact on the cleaning system 150 wear, prolong the service life of the cleaning system 150, and improve user satisfaction.
  • the floating amount of the first cleaning part 31 relative to the base station body 20 can be reasonably set to meet the cleaning requirements of the cleaning system 150 at different locations and with different characteristics, thereby expanding the range of use of the product.
  • the cleaning assembly 30 includes a bracket 32 connected to the base station body 20 and a driving part 34 , and the driving part 34 is used to drive the bracket 32 to move relative to the base station body 20 along a first direction.
  • the driving part 34 drives the support 32 to move relative to the base station body 20 , that is to say, the support 32 can move in an approximately horizontal plane relative to the base station body 20 , such as reciprocating along the left and right directions of the base station body 20 .
  • the first cleaning part 31 is disposed on the bracket 32 , wherein the first cleaning part 31 includes a cleaning body 311 and a support part 312 , the cleaning body 311 is adapted to interfere with the cleaning system 150 , and the support part 312 connects the cleaning body 311 and the bracket 32 . That is to say, the bracket 32 moves relative to the base station body 20, drives the cleaning body 311 to move relative to the base station body 20 through the support part 312, and when the cleaning body 311 interferes with the cleaning system 150, the sundries on the cleaning system 150 are removed. Remove to realize the automatic cleaning of the cleaning system 150.
  • the drive part 34 moves relative to the base station body 20 synchronously with the bracket 32
  • the drive part 34 may include a motor and a gear 341, the motor drives the gear 341 to rotate
  • the base station body 20 may be provided with a rack 342, so that the gear 341 moves along the extension direction of the rack 342, so that the drive part 34 and the bracket 32 of the cleaning assembly 30 move synchronously on the base station body 20 to realize the cleaning of the first cleaning element. 31 Movement relative to the base station body.
  • both ends of the bracket 32 are provided with racks 342 , correspondingly, there may be at least two gears 341 , and the at least two gears 341 mesh with the two racks 342 respectively.
  • the support portion 312 is an elastic member, through the support portion 312 of the elastic member, the cleaning body 311 can be driven to float up and down under the action of an external force, such as the force of the cleaning system 150, so that the cleaning body 311 can automatically Adjust the amount of interference with the cleaning system 150 to ensure that the amount of interference between the two is within an appropriate range so that the friction between the cleaning body 311 and the cleaning system 150 is within an appropriate range to ensure a good cleaning effect and ensure High cleaning efficiency.
  • the cleaning body 311 may be a cleaning scraper, or other cleaning structures that meet requirements.
  • the number of support parts 312 can be one or at least two, such as the number of support parts 312 is one, two, three or other numbers that meet the requirements. structure and the need for different setup locations. At least two supporting parts 312 are distributed at intervals along the length direction of the cleaning body 311, which can reduce the materials used for the supporting parts 312 on the basis of ensuring that the cleaning body 311 is reliably connected to the bracket 32 and that the floating amount of the cleaning body 311 is within a reasonable range. Reduce manufacturing costs.
  • the support portion 312 includes a first connection section 313 , a transition section 315 and a second connection section 314 connected in sequence, wherein the second connection section 314 is disposed at the bottom of the cleaning body 311 , that is, the support portion 312 is located on the side of the cleaning body 311 away from the cleaning system 150 of the cleaning robot 10 , the bracket 32 is provided with a slot, and the first connecting section 313 is adapted to the slot.
  • the first cleaning part 31 provided by the embodiment of the present disclosure can realize the detachable connection between the first cleaning part 31 and the bracket 32 through the first connecting section 313 being adapted to the slot on the bracket 32, thereby facilitating Detaching the first cleaning part 31 from the bracket 32 for cleaning and maintenance is beneficial to improving the cleaning experience of the first cleaning part 31 and reducing replacement costs.
  • the transition section 315 is arranged obliquely downward from the second connecting section 314 to the first connecting section 313. Since the supporting part 312 is an elastic member, the transition section 315 can be an elastic member, thereby making the first connecting section 313 and the second connecting section 313 The vertical distance between the two connecting sections 314 can be adjusted so that the cleaning body 311 can float up and down in the vertical direction, so that the first cleaning part 31 can float up and down relative to the base station body 20 to improve the cleaning effect. Further, the support part 312 has an integrated structure, which is beneficial to improve the support strength of the support part 312 . It can be understood that the support part 312 may also be a split structure, which is not specifically limited in the present disclosure.
  • the cleaning body 311 and the supporting part 312 are integrally formed, which facilitates processing and production.
  • the cleaning body 311 and the support portion 312 are of a split structure. Due to the interference between the cleaning body 311 and the cleaning system 150, there will be a problem of high failure rate or wear rate.
  • the cleaning body 311 and the support portion 312 provided by the split structure can be used. The cleaning body 311 is replaced or repaired separately to further reduce the maintenance cost or use cost.
  • the bracket 32 is also provided with support bases 321 located on both sides of the support portion 312
  • the end of the cleaning body 311 away from the support portion 312 is higher than the support seat 321 , wherein the part of the cleaning body 311 higher than the support seat 321 is used to interfere with the cleaning system 150 of the cleaning robot 10 for cleaning operations.
  • the support part 312, or the support part 312 and part of the cleaning body 311 can be supported, so as to avoid the first cleaning part 31 and the cleaning system 150 of the cleaning robot 10 during the movement of the bracket 32 relative to the base station body 20.
  • the interference causes the first cleaning element 31 to undergo a relatively large displacement along the moving direction of the bracket 32 , thereby affecting the amount of abutment between the first cleaning element 31 and the cleaning system 150 .
  • the setting of the support seat 321 can reduce the displacement of the first cleaning part 31 along the moving direction of the bracket 32 during the cleaning process, which is conducive to making the first cleaning part 31 abut against the cleaning system 150 reliably, thereby ensuring good cleaning effect.
  • the number of support seats 321 on either side of the support part 312 is multiple, and the support seats 321 on both sides of the support part 312 are distributed in a staggered manner.
  • the seat 321 makes the displacement of the first cleaning part 31 smaller along the moving direction of the bracket, improves the reliability of the contact between the first cleaning part 31 and the cleaning system 150, and can meet the design requirements of the base station with compact structure and small volume.
  • a gap 322 is provided between the cleaning body 311 and the bracket 32, and the setting of the gap 322 can ensure
  • the cleaning body 311 floats up and down reliably and flexibly relative to the bracket 32 under the action of the supporting portion 312 , thereby improving the cleaning efficiency and cleaning effect of the first cleaning element 31 .
  • the support portion 312 is connected to the bottom of the cleaning body 311 and connected to the bracket 32 located at the bottom of the cleaning body 311, while the width direction of the cleaning body 311 is separated from the bracket 32, such as between the support seat and the cleaning body 311.
  • the gap like this, makes there be movable gap between the peripheral side of cleaning body 311 and support 32, makes cleaning body 311 can float up and down.
  • the length direction of the cleaning body 311 is perpendicular to the moving direction of the support 32 relative to the base station body 20, that is, when the support 32 moves left and right relative to the base station body 20, the length direction of the cleaning body 311 is perpendicular to the movement direction of the base station body 20.
  • the front direction of the cleaning body 311 is consistent with the front direction. As shown in FIG. 16 and FIG. Since the bracket 32 moves relative to the base station body 20, the first cleaning member 31 interferes with the cleaning system 150 so that the debris removed by the cleaning system 150 can be guided by the cleaning body 311 to the end of the cleaning body 311 in the length direction.
  • the gap 322 between the end of the cleaning body 311 in the length direction and the bracket can reduce the deposition of foreign matter (such as sand) between the cleaning body 311 and the bracket 32 and cause the cleaning body 311 to be stuck on the bracket 32 and cannot The possibility of floating up and down, thereby ensuring the flexibility of the floating of the first cleaning piece.
  • the cleaning assembly 30 also includes a second cleaning member 33 arranged on the support 32 , that is to say, the support 32 acts as a moving part to ensure that the first cleaning member 31 And the second cleaning part 33 can move accordingly, so as to ensure that the first cleaning part 31 and the second cleaning part 33 interfere with different positions of the cleaning system 150 to ensure the cleaning effect.
  • the second cleaning part 33 and the first cleaning part 31 are arranged on the bracket 32 in parallel.
  • the second cleaning part 33 can be arranged in parallel on any side of the first cleaning part 31, as there are multiple second cleaning parts 33, the second cleaning part 33 can also be distributed in parallel on any side or both sides of the first cleaning part 31. side.
  • the second cleaning member 33 includes cleaning rollers, and the cleaning rollers are rotatably arranged relative to the bracket 32 , and the cleaning rollers interfere with the cleaning system 150 to remove debris on the cleaning system 150 .
  • brushes and/or blades are provided on the outer surface of the cleaning roller, and the brushes and/or blades can penetrate deep into the cleaning system 150 to bring out the dirt hidden therein, further improving the cleaning effect.
  • the base station body 20 includes a cleaning tank 21 located below the cleaning component 30 , and the cleaning tank 21 is used to accommodate the cleaning component 30 moving up from the cleaning system 150 .
  • the sundries removed will facilitate the follow-up treatment of the sundries, and help to improve the cleanliness of the environment near the base station.
  • the cleaning tank 21 is provided with a sewage outlet 211 , through which the sundries in the cleaning tank 21 can be removed to the outside of the cleaning tank 21 .
  • the bottom of the cleaning tank 21 may be inclined toward the sewage outlet 211 to facilitate the movement of impurities in the cleaning tank 21 to the sewage outlet 211 .
  • the sundries removed from the cleaning system 150 may include sewage, hair, debris, particle dust, or other sundries that meet requirements, which is not specifically limited in the present disclosure.
  • the cleaning assembly 30 also includes a cleaning part 36, the cleaning part 36 is towards the bottom of the cleaning tank 21, and the debris in the cleaning tank 21 is moved closer to the sewage outlet 211 by the cleaning part 36, such as by the groove of the cleaning part 36 and the cleaning tank 21
  • the cleaning member 36 moves the sundries in the cleaning tank 21 closer to the sewage outlet 211, so that the sundries can be concentrated, quickly and smoothly discharged through the sewage outlet 211, In turn, it is beneficial to improve the sewage discharge efficiency and sewage discharge effect of the base station, and improve user satisfaction.
  • the base station can also include a sewage discharge mechanism, which communicates with the sewage discharge port 211, so as to transport the debris in the cleaning tank 21 to the cleaning tank 21 through the sewage discharge port 211 through the suction action and pumping action of the sewage discharge mechanism.
  • the exterior of the base station further improves the sewage discharge effect of the base station.
  • the sewage discharge mechanism may include a fan assembly or a pump body assembly, or a sewage discharge assembly that meets requirements, which is not specifically limited in the present disclosure.
  • the base station also includes a collection box, which is connected to the cleaning tank 21 through the sewage outlet 211, so that the debris in the cleaning tank 21 is transported to the collection box through the sewage discharge mechanism, so as to prevent the debris in the cleaning tank 21 from overflowing and affecting The cleaning effect of the cleaning parts will not cause the working environment to be dirty.
  • the setting of the collection box is conducive to ensuring a good cleaning effect and is conducive to the centralized treatment of the collected sundries.
  • the cleaning member 36 includes a connecting portion 361 and an abutting portion 362, the connecting portion 361 is connected to the bracket 32, the abutting portion 362 may be a flexible member and It is suitable for abutting against the bottom of the cleaning tank 21, that is to say, the bracket 32, as a moving part, drives the first cleaning part 31 and the cleaning part 36 to move relative to the base station body 20, thereby realizing the removal of debris from the cleaning system 150.
  • the sundries in the cleaning tank 21 are moved closer to the sewage outlet 211, and the structure is simple, which can meet the design requirements of the compact structure of the base station.
  • multiple supports 32 may be set on the base station, and the first cleaning element 31 and the cleaning element 36 may also be set on different supports 32 , and the base station controller controls the movement of the multiple supports 32 respectively.
  • the abutting portion 362 of the cleaning member 36 abuts against the bottom of the cleaning tank 21, and then when the cleaning assembly 30 moves relative to the base station body 20, the sundries in the cleaning tank 21 are considered towards the sewage outlet 211, and the structure is simple , easy to implement and suitable for popularization and application.
  • the abutment portion 362 is a flexible member, which is beneficial to reduce the wear of the abutment portion 362 under the condition that the cleaning member 36 is tightly and reliably abutted against the bottom of the cleaning tank 21, thereby improving the service life of the cleaning member 36, and This setting is not easy to cause scratches and other damages to the cleaning tank 21 .
  • At least two protruding structures 363 may be arranged at intervals on the side of the abutting portion 362 of the cleaning member 36 away from the drain outlet 211, so that the bracket 32 drives the cleaning member 36 away from the drain outlet 211.
  • the side of the abutment part 362 provided with the raised structure 363 abuts against the bottom of the cleaning tank 21. It will pass through the gap between at least two protruding structures 363 and move towards the sewage outlet 211 .
  • the bracket 32 drives the cleaning member 36 to move towards the direction close to the sewage outlet 211
  • the side of the abutting portion 362 that is not provided with the raised structure 363 abuts against the bottom of the cleaning tank 21, if the abutting portion 362 is not provided
  • One side of the protruding structure 363 is a smooth structure, that is, the smooth structure abuts against the bottom of the cleaning tank 21, and then the sundries located on the side of the contact portion 362 close to the sewage outlet 211 will move toward the direction close to the sewage outlet 211, And draw close to near the sewage outlet 211.
  • the arrangement of the smooth structure on one side of the abutting portion 362 can make the cleaning member 36 closely contact with the bottom of the cleaning tank 21 during the movement toward the sewage outlet 211, which is beneficial to improve the thoroughness of debris collection.
  • the debris collection provided on the cleaning assembly 30 can be used to scrape the debris in the cleaning tank 21 to the sewage outlet 211. side.
  • the raised structure 363 is arranged on the left side of the abutment portion 362, and the right side of the abutment portion 362 is a straight-edge structure, such as a smooth surface.
  • the number of protruding structures 363 can be at least two, such as the number of protruding structures 363 is two, three, four, or other numbers that meet the requirements, and the different numbers of protruding structures 363 The requirements of different structures and different sizes of the protruding structure 363 can be met.
  • at least two protruding structures 363 are distributed along the length direction of the abutting portion 362 , wherein the length direction of the abutting portion 362 is perpendicular to the moving direction of the bracket 32 relative to the base station body 20 .
  • the protruding structures 363 may be bumps, bumps, or other protruding structures 363 that meet requirements.
  • the length of the abutting portion 362 can be equal to the width in the groove of the bottom of the cleaning tank 21, so that the end of the abutting portion 362 along the length direction can be matched with the side wall of the cleaning tank 21, and avoid the abutting portion 362 and the cleaning tank 21.
  • the gap between the side walls of the cleaning tank 21 is large, so that foreign matter is missed between the gaps and affects the collection effect.
  • the flexibility of base body movement That is to say, by reasonably setting the length of the abutting portion 362 to make the length of the abutting portion 362 equal to the inner width of the bottom of the cleaning tank 21 , it is beneficial to ensure good collection effect and efficiency.
  • the length direction of the abutting portion 362 is consistent with the width direction of the cleaning tank 21, and the width direction of the cleaning tank 21 is perpendicular to the moving direction of the support 32 along the base station body 20, such as when the cleaning assembly 30 moves left and right along the base station body 20, cleaning
  • the width direction of the groove 21 is the front-rear direction of the base station body 20, that is, the length direction of the abutting portion 362 is consistent with the front-rear direction of the base station body 20, and the front-rear direction of the base station body 20 is shown by the dotted arrow in FIG. 5 .
  • the cleaning piece 36 can be located on the side of the bracket 32 away from the sewage outlet 211, which is beneficial to increase the farthest distance between the cleaning piece 36 and the sewage outlet 211, thereby increasing the collection range of the cleaning piece 36 and improving the collection efficiency.
  • the cleaning part 36 is located at the bottom of the bracket 32, which is beneficial to reduce the volume of the cleaning part 36, thereby meeting the requirement of a compact structure of the cleaning assembly 30 and expanding the application range of the product.
  • the cleaning part 36 is detachably connected to the bracket 32, and the cleaning part 36 can be removed from the bracket 32 for cleaning and maintenance, thereby improving the cleaning experience of the cleaning part 36, improving maintenance efficiency, and reducing replacement costs. Suitable for promotion and application. It can be understood that, in some possible cases, the cleaning part 36 can also be fixed on the bracket 32, such as the bracket 32 and the cleaning part 36 are integrally formed, which is convenient for production and simplifies the assembly process. Alternatively, the cleaning piece 36 is bonded to the bracket 32 by an adhesive, which is beneficial to improve the reliability of the connection between the cleaning piece 36 and the bracket 32 . In some embodiments, the cleaning member 36 may be a scraper or other structures meeting requirements.
  • one of the connecting portion 361 and the bracket 32 is provided with a limiting portion, and the other is provided with a positioning portion.
  • the cleaning member 36 and the bracket can be realized. 32 detachable connection, simple structure, easy to use.
  • the limiting part includes a hook
  • the positioning part includes a slot.
  • the hook is set on the connecting part 361
  • the slot is set on the bracket 32
  • the hook is set on the bracket 32
  • the slot is set on the connecting portion 361 .
  • the detachable connection between the cleaning part 36 and the bracket 32 can be realized quickly and conveniently by the hook and the slot.
  • the structure is simple, easy to process, and low in cost. The reliability of the connection can ensure a good cleaning effect of the cleaning member 36 .
  • the limiting part includes a magnetic part
  • the positioning part includes a magnetic part, such as the magnetic part is arranged on the connecting part 361, and the magnetic part is arranged on the bracket 32, or the magnetic part is arranged on the bracket 32, and the magnetic part Set on the connection part 361.
  • the detachable connection between the cleaning part 36 and the bracket 32 can be realized quickly and conveniently through the attraction and separation of the magnetic parts and the magnetic parts.
  • the reliability of the connection between the cleaning element 36 and the support 32 can be ensured, thereby ensuring a good cleaning effect of the cleaning element 36 .
  • the limiting part includes a hook and a magnetic part
  • the positioning part includes a slot and a magnetic part, such as the hook and the magnetic part are arranged on the connecting part 361, and the slot and the magnetic part are arranged on the bracket 32, or , the hook and the magnetic piece are set on the bracket 32 , and the slot and the magnetic piece are set on the connecting portion 361 .
  • the magnetic part may be a magnetic strip, a magnetic steel or other structures that meet requirements
  • the magnetic attraction part may be a magnet or other structures that meet requirements, which is not specifically limited in the present disclosure.
  • the number of cleaning components 30 is one or at least two, wherein at least two cleaning components 30 are spaced apart and used to interfere with different cleaning systems 150 .
  • a base station may include a cleaning assembly 30 , and cleaning pieces of a cleaning assembly 30 interfere with a cleaning system 150 of a cleaning robot 10 to clean them.
  • a base station can also include two, three or other required cleaning assemblies 30 , and different cleaning assemblies 30 can respectively clean different parts of the cleaning system of the cleaning robot 10 , thus expanding the cleaning efficiency of the base station.
  • the cleaning assembly 30 includes a first cleaning assembly 37 and a second cleaning assembly 38, and the first cleaning assembly 37 and the second cleaning assembly 38 are simultaneously arranged on the base station body 20 and are independent of each other.
  • Work can carry out automatic cleaning for the cleaning system of two cleaning robots 10 at the same time, realize the self-cleaning of cleaning system 150 as the first cleaning assembly 37 interferes with the cleaning system 150 of a cleaning robot 10, the second cleaning assembly 38 and another
  • the cleaning system 150 of a cleaning robot 10 interferes to realize the self-cleaning of the cleaning system 150, which expands the use range of the product and is suitable for popularization and application.

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Abstract

本公开提供一种基站和清洁机器人系统，其中，基站用于清洗清洁机器人的清洁系统。基站包括：基站本体；清洗组件，清洗组件可移动地设置在基站本体上，清洗组件包括相对于基站本体可上下浮动的第一清洗件，第一清洗件通过与清洁系统的干涉，以将清洁系统上的杂物移除。

Description

基站和清洁机器人系统
相关申请的交叉引用
本申请要求于2021年8月20日递交的中国专利申请第202121975661.8号的优先权，在此全文引用上述中国专利申请公开的内容以作为本申请的一部分。
技术领域
本公开涉及智能家居技术领域，尤其涉及一种基站和一种清洁机器人系统。
背景技术
目前的清洁机器人，如扫拖一体清洁机器人，通常包括扫地滚刷和平面拖布，在平面拖布使用完毕后，通常需要人工对其进行清洁，或直接更换新的平面拖布，使用极其不便。
发明内容
在本部分中引入了一系列简化形式的概念，这将在具体实施方式部分中进一步详细说明。本公开的此部分并不意味着要试图限定出所要求保护的技术方案的关键特征和必要技术特征，更不意味着试图确定所要求保护的技术方案的保护范围。
本公开实施例提供了一种基站，用于清洗清洁机器人的清洁系统，基站包括：基站本体；清洗组件，清洗组件可移动地设置在基站本体上，清洗组件包括相对于基站本体可上下浮动的第一清洗件，第一清洗件通过与清洁机器人清洁系统的干涉，以对清洁机器人的清洁系统进行清洗。
在一些实施例中，清洗组件包括：支架和驱动部，驱动部用于驱动支架相对于基站本体沿第一方向移动；第一清洗件包括清洗本体和支撑部，清洗本体适于与清洁系统干涉，支撑部连接清洗本体和支架；其中，支撑部为弹性件。
在一些实施例中，支撑部包括依次连接的第一连接段、过渡段、第二连接段，第二连接段设置于清洗本体的底部，过渡段由第二连接段至第一连接段的方向倾斜向下设置，支架上设置有与第一连接段相适配的插槽。
在一些实施例中，沿支架相对于基站本体的移动方向，支架上还设置有位于支撑部两侧的支撑座，清洗本体远离支撑部的端部高于支撑座。
在一些实施例中，支撑部的数量为一个或至少两个，至少两个支撑部沿清洗本体的长度方向间隔分布；和/或沿清洗本体的长度方向，清洗本体与支架之间设置有缝隙。
在一些实施例中，清洗组件还包括：第二清洗件，设置于支架上，并与第一清洗件平行设置；其中，第二清洗件包括适于与清洁系统干涉的清洗辊子，清洗辊子相对于支架可转动地设置。
在一些实施例中，清洗组件还包括：出水装置，该出水装置设置于支架上，并于第一 清洗件和第二清洗件平行设置。
在一些实施例中，基站本体包括位于清洗组件下方的清洁槽，清洁槽的至少一侧设置有排污口；清洗组件还包括朝向清洁槽的槽底设置的清理件，清理件用于将清洁槽内的杂物向排污口靠拢。
在一些实施例中，清理件包括连接部和抵接部，连接部与支架连接，抵接部为柔性件并适于与清洁槽的槽底抵接。
在一些实施例中，抵接部远离排污口的一侧间隔设置有至少两个凸起结构。
在一些实施例中，抵接部的长度与清洁槽的槽底的槽内宽度相等。
在一些实施例中，清理件位于支架远离排污口一侧的底部。
在一些实施例中，清理件与支架可拆卸连接。
在一些实施例中，连接部和支架中的一个上设置有限位部，另一个上设置有与限位部相适配的定位部；其中，限位部包括卡勾，定位部包括卡槽；和/或限位部包括磁性件，定位部包括磁吸件。
在一些实施例中，清洗组件的数量为一个或至少两个，至少两个清洗组件间隔分布，用于与不同的清洁系统干涉。
本公开实施例提供了一种清洁机器人系统，包括：清洁机器人，包括清洁系统；以及上述第一方面任一项的基站，第一清洗件通过与清洁系统的干涉，以将清洁系统上的杂物移除。
附图说明
本公开的下列附图在此作为本公开实施例的一部分用于理解本公开。附图中示出了本公开的实施例及其描述，用来解释本公开的原理。
附图中：
图1为根据本公开的一些实施例的清洁机器人系统的结构示意图；
图2为根据本公开的一些实施例的清洁机器人的结构示意图；
图3为图2所示实施例的一个视角的结构示意图；
图4为图3所示实施例的部分爆炸示意图；
图5为根据本公开的一些实施例的基站的结构示意图；
图6为图5所示实施例的一个视角的结构示意图；
图7为图6所示实施例的又一个视角的部分结构示意图；
图8为根据本公开的一些实施例的清洗组件的结构示意图；
图9为根据本公开的一些实施例的第一清洗件的结构示意图；
图10为图8所示实施例的一个视角的结构示意图；
图11为图8所示实施例的又一个视角的结构示意图；
图12为根据本公开的一些实施例的清理件的结构示意图；
图13为图12所示实施例的一个视角的结构示意图；
图14为根据本公开的一些实施例的基站的结构示意图；
图15为图8所示实施例的再一个视角的结构示意图；
图16为图15所示实施例的一个视角的结构示意图；
图17为图16所示实施例的A处局部放大的示意图；
图18为图16所示实施例的B处局部放大的示意图。
附图标记说明
10清洁机器人，110机器主体，111前向部分，112后向部分，120感知系统，121确定装置，122缓冲器，130控制模块，140驱动系统，141驱动轮模块，142从动轮，150清洁系统，151干式清洁系统，152边刷，160能源系统，170人机交互系统，153湿式清洁系统，1531清洁头，1532驱动单元，1533驱动平台，1534支撑平台，20基站本体，21清洁槽，211排污口，30清洗组件，31第一清洗件，311清洗本体，312支撑部，313第一连接段，314第二连接段，315过渡段，32支架，321支撑座，322缝隙，33第二清洗件，34驱动部，341齿轮，342齿条，36清理件，361连接部，362抵接部，363凸起结构，37清洗组件a，38清洗组件b，40、供液部。
具体实施方式
在下文的描述中，给出了大量具体的细节以便提供对本公开所提供的技术方案更为彻底的理解。然而，对于本领域技术人员而言显而易见的是，本公开所提供的技术方案可以无需一个或多个这些细节而得以实施。
应予以注意的是，这里所使用的术语仅是为了描述具体实施例，而非意图限制根据本公开的示例性实施例。如在这里所使用的，除非上下文另外明确指出，否则单数形式也意图包括复数形式。此外，还应当理解的是，当在本说明书中使用术语“包含”和/或“包括”时，其指明存在所述特征、整体、步骤、操作、元件和/或组件，但不排除存在或附加一个或多个其他特征、整体、步骤、操作、元件、组件和/或它们的组合。
现在，将参照附图更详细地描述根据本公开的示例性实施例。然而，这些示例性实施例可以多种不同的形式来实施，并且不应当被解释为只限于这里所阐述的实施例。应当理解的是，提供这些实施例是为了使得本公开的公开彻底且完整，并且将这些示例性实施例的构思充分传达给本领域普通技术人员。
如图1至图18所示，本公开的实施例提供了一种基站和一种清洁机器人10系统，其中，如图1所示，清洁机器人系统包括清洁机器人10和基站，即基站与清洁机器人10配合使用。
进一步地，如图2和图3所示，清洁机器人10可以包括机器主体110、感知系统120、控制模块130、驱动系统140、清洁系统150、能源系统160和人机交互系统170。可以理解的是，清洁机器人10可以为自移动清洁机器人10或满足要求的其他清洁机器人 10。自移动清洁机器人10是在无使用者操作的情况下，在某一待清洁区域自动进行清洁操作的设备。其中，当自移动清洁机器人10开始工作时，自动清洁设备从基站出发进行清洁任务。当自移动清洁机器人10完成清洁任务或其他需要中止清洁任务的情况时，自移动清洁机器人10可以返回基站进行充电或其他操作。
如图2所示，机器主体110包括前向部分111和后向部分112，具有近似圆形形状(前后都为圆形)，也可具有其他形状，包括但不限于前方后圆的近似D形形状及前方后方的矩形或正方形形状。
如图2所示，感知系统120包括位于机器主体110上的位置确定装置121、设置于机器主体110的前向部分111的缓冲器122上的碰撞传感器、近距离传感器，设置于机器主体110下部的悬崖传感器，以及设置于机器主体110内部的磁力计、加速度计、陀螺仪、里程计等传感装置，用于向控制模块130提供机器的各种位置信息和运动状态信息。位置确定装置121包括但不限于摄像头、激光测距装置(LDS，全称Laser Distance Sensor)。
如图2所示，机器主体110的前向部分111可承载缓冲器122，在清洁过程中驱动轮模块141推进清洁机器人10在地面行走时，缓冲器122经由设置在其上的传感器系统，例如红外传感器，检测清洁机器人10的行驶路径中的一个或多个事件，清洁机器人10可通过由缓冲器122检测到的事件，例如障碍物、墙壁，而控制驱动轮模块141使清洁机器人10来对事件做出响应，例如远离障碍物。
控制模块130设置在机器主体110内的电路主板上，包括与非暂时性存储器，例如硬盘、快闪存储器、随机存取存储器，通信的计算处理器，例如中央处理单元、应用处理器，应用处理器根据激光测距装置反馈的障碍物信息利用定位算法，例如即时定位与地图构建(SLAM，全称Simultaneous Localization And Mapping)，绘制清洁机器人10所在环境中的即时地图。并且结合缓冲器122上所设置传感器、悬崖传感器、磁力计、加速度计、陀螺仪、里程计等传感装置反馈的距离信息、速度信息综合判断清洁机器人10当前处于何种工作状态、位于何位置，以及清洁机器人10当前位姿等，如过门槛，上地毯，位于悬崖处，上方或者下方被卡住，尘盒满，被拿起等等，还会针对不同情况给出具体的下一步动作策略，使得清洁机器人10有更好的清扫性能和用户体验。
如图3所示，驱动系统140可基于具有距离和角度信息(例如x、y及θ分量)的驱动命令而操纵机器主体110跨越地面行驶。驱动系统140包含驱动轮模块141，驱动轮模块141可以同时控制左轮和右轮，为了更为精确地控制机器的运动，优选驱动轮模块141分别包括左驱动轮模块141和右驱动轮模块141。左、右驱动轮模块141沿着由机器主体110界定的横向轴设置。为了清洁机器人10能够在地面上更为稳定地运动或者更强的运动能力，清洁机器人10可以包括一个或者多个从动轮142，从动轮142包括但不限于万向轮。驱动轮模块141包括行走轮和驱动马达以及控制驱动马达的控制电路，驱动轮模块141还可以连接测量驱动电流的电路和里程计。驱动轮可具有偏置下落式悬挂系统，以可移动方式紧固，例如以可旋转方式附接到机器主体110，且接收向下及远离机器主体 110偏置的弹簧偏置。弹簧偏置允许驱动轮以一定的着地力维持与地面的接触及牵引，同时清洁机器人10的清洁元件也以一定的压力接触地面。
能源系统160包括充电电池，例如镍氢电池和锂电池。充电电池可以连接有充电控制电路、电池组充电温度检测电路和电池欠压监测电路，充电控制电路、电池组充电温度检测电路、电池欠压监测电路再与单片机控制电路相连。主机通过设置在机身侧方或者下方的充电电极与充电桩连接进行充电。
人机交互系统170包括主机面板上的按键，按键供用户进行功能选择；还可以包括显示屏和/或指示灯和/或喇叭，显示屏、指示灯和喇叭向用户展示当前机器所处状态或者功能选择项；还可以包括手机客户端程序。对于路径导航型自动清洁设备，在手机客户端可以向用户展示设备所在环境的地图，以及机器所处位置，可以向用户提供更为丰富和人性化的功能项。
清洁系统150可为干式清洁系统151和/或湿式清洁系统153。
如图3所示，本公开实施例所提供的干式清洁系统151可以包括滚刷、尘盒、风机、出风口。与地面具有一定干涉的滚刷将地面上的垃圾扫起并卷带到滚刷与尘盒之间的吸尘口前方，然后被风机产生并经过尘盒的有吸力的气体吸入尘盒。干式清洁系统151还可包括具有旋转轴的边刷152，旋转轴相对于地面成一定角度，以用于将碎屑移动到清洁系统150的滚刷区域中。
如图3和图4所示，本公开实施例所提供的湿式清洁系统153可以包括：清洁头1531、驱动单元1532、送水机构、储液箱等。其中，清洁头1531可以设置于储液箱下方，储液箱内部的清洁液通过送水机构传输至清洁头1531，以使清洁头1531对待清洁平面进行湿式清洁。在本公开其他实施例中，储液箱内部的清洁液也可以直接喷洒至待清洁平面，清洁头1531通过将清洁液涂抹均匀实现对平面的清洁。
其中，清洁头1531用于清洁待清洁表面，驱动单元1532用于驱动清洁头1531沿着目标面基本上往复运动的，目标面为待清洁表面的一部分。清洁头1531沿待清洁表面做往复运动，清洁头1531与待清洁表面的接触面表面设有清洁布或清洁板，通过往复运动与待清洁表面产生高频摩擦，从而去除待清洁表面上的污渍。
在本公开实施例中，如图4所示，驱动单元1532还可以包括驱动平台1533和支撑平台1534，驱动平台1533连接于机器主体110底面，用于提供驱动力，支撑平台1534可拆卸的连接于驱动平台1533，用于支撑清洁头1531，且可以在驱动平台1533的驱动下实现升降。
作为本公开的一些实施例，湿式清洁系统153可以通过主动式升降模组与机器主体110相连接。当湿式清洁系统153暂时不参与工作，例如，清洁机器人10停靠基站对湿式清洁系统153的清洁头1531进行清洗、对储液箱进行注水；或者遇到无法采用湿式清洁系统153进行清洁的待清洁表面时，通过主动式升降模组将湿式清洁系统153升起。
在本公开实施例所提供的湿式清洁系统153中，清洁头1531、驱动平台1533、支撑 平台1534、送水机构以及储液箱等可以通过一个电机或多个电机提供动力。能源系统160为该电机提供动力和能源，并由控制模块130进行整体控制。
其中，本公开实施例中的送水机构可以包括出水装置，出水装置可以与储液箱的出液口直接或间接相连接，其中，清洁液可以经储液箱的清洁液出口流向出水装置，并可以通过出水装置均匀地涂在待清洁表面上。出水装置上可以设有连接件，出水装置通过连接件与储液箱的清洁液出口连接。出水装置上设有分配口，分配口可以是连续的开口，也可以由若干断开的小开口组合而成，分配口处可以设有若干喷嘴。清洁液经储液箱的清洁液出口和出水装置的连接件流向分配口，经分配口均匀地涂在待清洁表面上。
在本公开实施例中，储液箱还包括补水口，补水口可以位于水箱侧壁，当清洁机器人10停靠基站时，基站可以通过该补水口向清洁机器人10的储液箱注水。
在本公开实施例中，如图5、图8和图9所示，基站包括基站本体20和清洗组件30，清洗组件30可以移动地设置在基站本体20上。在一些实施例中，清洗组件30能够沿第一方向相对于基站本体20移动，如第一方向为基站的左右方向，清洗组件30能够沿基站的左右方向往复运动，基站的左右方向如图5中的实线箭头所示。其中，清洗组件30包括相对于基站本体20可上下浮动的第一清洗件31，第一清洗件31通过与清洁系统150的干涉，以将清洁系统150上的杂物移除。
也就是说，当清洁机器人10移动至基站本体20时，清洗组件30与清洁系统150的位置相对，第一清洗件31通过与清洁系统150的干涉，并在清洗组件30相对于基站本体20移动的过程中，将清洁系统150上的杂物移除，即清洁机器人10能够在基站的清洗组件30上实现自动清洁，进而省去了人工清洁清洁系统150或更换新的清洁系统150的操作，简化了人工操作，提升了人工的清洁体验，并有利于降低清洁成本，适于推广应用。
进一步地，如图8和图9所示，第一清洗件31相对于基站本体20可上下浮动，这样，可以有效地适应清洁机器人10的清洁系统150的位置和自身特性，以使第一清洗件31能够有效、可靠地与清洁系统150干涉，使得第一清洗件31和清洁系统150之间的摩擦力在一定范围之内，促使清洗工作可以进行，并保证良好的清洁效果。
举例而言，如清洁系统150与第一清洗件31之间抵接量过大，使得第一清洗件31和清洁系统150之间的摩擦力较大，影响第一清洗件31相对于基站本体20移动的灵敏度，进而影响清洁效率。若清洁系统150与第一清洗件31之间抵接量过小，使得第一清洗件31和清洁系统150之间的摩擦力较小，存在清洁不彻底的问题，影响第一清洗件31的清洁效果。若清洁系统150的厚度较大或可伸缩性较大，存在第一清洗件31与清洁系统150干涉量不足而导致远离第一清洗件31的部分清洁系统150无法清洁干净的问题。若清洁系统150的厚度较小或可伸缩性较小，存在第一清洗件31与清洁系统150干涉量较大(如二者的抵接量过大)而损坏清洁系统150的问题。因此，本公开通过第一清洗件31相对于基站本体20能够上下浮动，进而能够自动调节第一清洗件31与清洁系统150的抵接量 的大小，保证二者的抵接量在合适范围内，使得第一清洗件31和清洁系统150之间的摩擦力在合适范围内，以确保第一清洗件31具有良好的清洁效果，并保证较高的清洁效率，同时，降低对清洁系统150的磨损，延长清洁系统150的使用寿命，提高用户使用的满意度。
可以理解的是，可以通过合理设置第一清洗件31相对于基站本体20上下浮动的浮动量，以满足不同位置、不同自身特性的清洁系统150的清洁需求，进而扩大产品的使用范围。
在上述实施例中，如图9所示，清洗组件30包括与基站本体20相连接的支架32和驱动部34，驱动部34用于驱动支架32沿第一方向相对于基站本体20移动。如沿水平方向，驱动部34驱动支架32相对于基站本体20移动，也就是说，支架32相对于基站本体20可以在近似水平面内移动，如沿基站本体20的左右方向往复运动。第一清洗件31设置在支架32上，其中，第一清洗件31包括清洗本体311和支撑部312，清洗本体311适于与清洁系统150干涉，支撑部312连接清洗本体311和支架32。也就是说，支架32相对于基站本体20移动，通过支撑部312带动清洗本体311相对于基站本体20移动，并在清洗本体311与清洁系统150干涉的情况下，将清洁系统150上的杂物去除，实现对清洁系统150的自动清洁。
进一步地，如图5、图7和图8所示，驱动部34与支架32同步相对于基站本体20移动，例如，驱动部34可以包括电机和齿轮341，电机驱动齿轮341转动，而基站本体20上可以设置有齿条342，从而使得齿轮341沿着齿条342的延伸方向移动，以此使得驱动部34与清洗组件30的支架32同步在基站本体20上移动，以实现第一清洗件31相对于基站本体的移动。在一些实施例中，支架32的两端侧均设置有齿条342，相应地，齿轮341可以为至少两个，该至少两个齿轮341分别与两个齿条342相啮合。
其中，支撑部312为弹性件，通过弹性件的支撑部312，即可在外力的作用下，如清洁系统150的作用力下，带动清洗本体311沿上下方向浮动，进而使得清洗本体311能够自动调节与清洁系统150的干涉量的大小，保证二者的干涉量在合适范围内，以使清洗本体311与清洁系统150之间的摩擦力在合适范围内，以确保良好的清洁效果，并保证较高的清洁效率。在一些实施例中，清洗本体311可以是清洁刮子，或满足要求的其他清洗结构。
进一步地，支撑部312的数量可以为一个或至少两个，如支撑部312的数量为一个、两个、三个或满足要求的其他数量个，支撑部312的不同数量能够满足支撑部312不同结构和不同设置位置的需求。至少两个支撑部312沿清洗本体311的长度方向间隔分布，能够在确保清洗本体311与支架32可靠连接、清洗本体311的浮动量在合理范围的基础上，减小支撑部312的用料，降低制造成本。
在本公开实施例中，如图9所示，支撑部312包括依次连接的第一连接段313、过渡段315和第二连接段314，其中，第二连接段314设置于清洗本体311的底部，即支撑部 312位于清洗本体311远离清洁机器人10的清洁系统150的一侧，支架32上设置有插槽，第一连接段313与插槽相适配。也就是说，本公开实施例提供的第一清洗件31，通过第一连接段313与支架32上的插槽相适配，能够实现第一清洗件31与支架32的可拆卸连接，进而便于将第一清洗件31从支架32上拆卸下来进行清洁和维修，有利于提升第一清洗件31的清洁体验，并降低换件成本。
其中，过渡段315由第二连接段314至第一连接段313的方向倾斜向下设置，由于支撑部312为弹性件，即过渡段315可以为弹性件，进而使得第一连接段313和第二连接段314之间的竖直距离可调节，以实现清洗本体311能够沿竖直方向上下浮动，使得第一清洗件31相对于基站本体20可上下浮动提高的清洁效果。进一步地，支撑部312为一体式结构，有利于提高支撑部312的支撑强度。可以理解的是，支撑部312也可以为分体式结构，本公开不做具体限定。
在一些实施例中，清洗本体311与支撑部312为一体成型结构，这样方便加工和生产。或者，清洗本体311与支撑部312为分体式结构，由于清洗本体311与清洁系统150干涉会存在故障率或磨损率较高的问题，通过分体式结构设置的清洗本体311和支撑部312，可以单独对清洗本体311进行更换或维修，进一步降低维修成本或使用成本。
在本公开实施例中，如图15、图16、图17和图18所示，沿支架32相对于基站本体20的移动方向，支架32上还设置有位于支撑部312两侧的支撑座321，清洗本体311远离支撑部312的端部高于支撑座321，其中，清洗本体311高于支撑座321的部分用于与清洁机器人10的清洁系统150干涉进行清洁操作。通过支撑座321的设置，能够对支撑部312、或者支撑部312和部分清洗本体311进行支撑，避免支架32相对于基站本体20移动过程中，第一清洗件31与清洁机器人10的清洁系统150干涉，使得第一清洗件31沿支架32移动方向发生较大位移而影响第一清洗件31与清洁系统150的抵接量。也就是说，支撑座321的设置，能够减小第一清洗件31在清洁过程中沿支架32移动方向的位移量，有利于使第一清洗件31与清洁系统150可靠抵接，进而确保良好的清洁效果。
进一步地，如图17和图18所示，支撑部312任一侧的支撑座321的数量为多个，支撑部312两侧的支撑座321交错分布，这样的设置，能够用较少的支撑座321，使第一清洗件31沿支架的移动方向的位移量较小，提高第一清洗件31与清洁系统150抵接的可靠性，且能够满足基站结构紧凑、体积较小的设计需求。
在本公开实施例中，如图15、图16、图17和图18所示，沿清洗本体311的长度方向，清洗本体311与支架32之间设置有缝隙322，缝隙322的设置，能够确保清洗本体311在支撑部312的作用下相对于支架32可靠、灵活的上下浮动，进而提高第一清洗件31的清洁效率和清洁效果。可以理解的是，支撑部312与清洗本体311的底部连接，并与位于清洗本体311底部的支架32连接，而清洗本体311宽度方向与支架32分离设置，如支撑座与清洗本体311之间具有间隙，这样，使得清洗本体311的周侧与支架32之间具有活动间隙，使得清洗本体311能够上下浮动。
在一些实施例中，清洗本体311的长度方向垂直于支架32相对于基站本体20的移动方向，也就是说，支架32相对于基站本体20左右移动时，清洗本体311的长度方向与基站本体20的前方方向一致，如图16和图17所示，清洗本体311沿长度方向的任一端与支架32之间设置有缝隙322。由于支架32相对于基站本体20移动过程中，第一清洗件31与清洁系统150干涉使清洁系统150移除的杂物能够在清洗本体311的导向作用下，向清洗本体311的长度方向的端部和支架32之间流动，若清洗本体311的长度方向的端部与支架32之间的缝隙322的宽度太小，会存在杂物淤积而使清洗本体311卡死的问题，因此，通过合理设置清洗本体311沿长度方向的端部与支架之间的缝隙322，能够降低杂物(如泥沙)淤积在清洗本体311与支架32之间而导致清洗本体311卡死在支架32上而不能下上下浮动的可能性，进而确保第一清洗件浮动的灵活性。
在本公开实施例中，如图8和图11所示，清洗组件30还包括设置在支架32上的第二清洗件33，也就是说，支架32作为一个移动部件，保证第一清洗件31和第二清洗件33能够随之移动，以此保证第一清洗件31和第二清洗件33与清洁系统150的不同位置干涉，保证清洁效果。其中，第二清洗件33和第一清洗件31平行设置在支架32上。第二清洗件33可以平行设置于第一清洗件31的任何一侧，如存在多个第二清洗件33，第二清洗件33也可以平行分布于第一清洗件31的任何一侧或两侧。
在上述实施例中，第二清洗件33包括清洗辊子，且清洗辊子相对于支架32可转动地设置，清洗滚子与清洁系统150干涉，能够将清洁系统150上的杂物移除。进一步地，清洗辊子外表面设置毛刷和/或叶片，毛刷和/或叶片可以深入清洁系统150，将藏于其中的脏污带出，进一步提高清洁效果。
在本公开的实施例中，如图5、图8、图10所示，基站本体20包括位于清洗组件30下方的清洁槽21，清洁槽21用于容置清洗组件30从清洁系统150上移除的杂物，进而方便对杂物进行后续处理，并有利于提高基站附近环境的清洁性。
进一步地，如图6所示，清洁槽21的至少一侧设置有排污口211，通过排污口211，能够将清洁槽21内的杂物移除至清洁槽21的外部。在本公开实施例中，清洁槽21底部可以向排污口211方向处倾斜设置，以利于清洁槽21内杂质向排污口211处运动。可以理解的是，从清洁系统150上移除的杂物可以包括污水、毛发、碎屑、颗粒灰尘、或满足要求的其他杂物，本公开不做具体限定。
通过清洗组件30还包括清理件36，清理件36朝向清洁槽21的槽底，通过清理件36将清洁槽21内的杂物向排污口211靠拢，如通过清理件36与清洁槽21的槽底抵接，清洗组件30相对于基站本体20移动的过程中，清理件36将清洁槽21内的杂物向排污口211靠拢，使得杂物能够集中、快速、顺畅地经排污口211排出，进而有利于提高基站的排污效率和排污效果，提高用户使用的满意度。可以理解的是，基站还可以包括排污机构，排污机构与排污口211连通，以通过排污机构的抽吸动作、泵送动作等将清洁槽21内的杂物通过排污口211输送至清洁槽21的外部，进一步提高基站的排污效果。在一些 实施例中，排污机构可以包括风机组件或泵体组件，或满足要求的排污组件，本公开不做具体限定。
进一步地，基站还包括收集箱，收集箱通过排污口211与清洁槽21相连通，从而将清洁槽21内的杂物通过排污机构输送至收集箱，以免清洁槽21内的杂物溢出而影响清洗件的清洁效果，并造成工作环境脏污，收集箱的设置，有利于保证良好的清洁效果，并利于对收集的杂物进行集中处理。
在本公开的实施例中，如图10、图12和图13所示，清理件36包括连接部361和抵接部362，连接部361与支架32连接，抵接部362可以为柔性件并适于与清洁槽21的槽底抵接，也就是说，支架32作为一个移动部件，带动第一清洗件31和清理件36相对于基站本体20移动，进而实现对清洁系统150的杂物移除，并将清洁槽21内的杂物向排污口211靠拢，结构简单，能够满足基站结构紧凑的设计需求。在本公开其他实施例中，基站上可设置多个支架32，第一清洗件31和清理件36也可设置于不同支架32，并由基站控制器分别控制多个支架32的运动。
清理件36的抵接部362通过与清洁槽21的槽底抵接，进而在清洗组件30相对于基站本体20移动的过程中，将清洁槽21内的杂物向排污口211考虑，结构简单，易于实现，适于推广应用。而抵接部362为柔性件，有利于在确保清理件36与清洁槽21的槽底紧密、可靠抵接的情况下，降低抵接部362的磨损，进而提高清理件36的使用寿命，并且该设置不容易对清洁槽21造成剐蹭等损坏。
在上述实施例中，进一步地，清理件36的抵接部362背离排污口211的一侧可以间隔设置有至少两个凸起结构363，这样，在支架32带动清理件36向远离排污口211的方向移动的过程中，抵接部362设置有凸起结构363的一面与清洁槽21的槽底抵接，这样，使清洁槽21内位于抵接部362远离排污口211一侧的杂物会从至少两个凸起结构363之间的间隙内通过，并向排污口211处运动。进而，在支架32带动清理件36向靠近排污口211的方向移动的过程中，抵接部362未设置凸起结构363的一面与清洁槽21的槽底抵接，如抵接部362未设置凸起结构363的一侧为光滑结构，即光滑结构与清洁槽21的槽底抵接，进而会将位于抵接部362靠近排污口211一侧的杂物向靠近排污口211的方向移动，并靠拢在排污口211附近。抵接部362一侧光滑结构的设置，可以使清理件36在向排污口211方向运动过程中与清洁槽21的槽底紧密接触，有利于提高杂物收集的彻底性。
也就是说，通过该凸起结构363的设置，可以在清洗组件30相对于基站本体20左右移动时，将清洁槽21内的杂物刮向其中一边。在一些实施例中，为了将清洁槽21内的杂物经排污口211顺利排出，可以利用清洗组件30上所设置的杂物收集将将清洁槽21内的杂物刮向设置有排污口211的一侧。具体的，当清洁槽21的右侧设置有排污口211，凸起结构363设置于抵接部362的左侧，抵接部362的右侧为直边结构，如为光滑面，在这种设置情况下，当清洗组件30向右运动时，抵接部362的光滑面和清洁槽21的槽底接 触，将清洁槽21内的杂物刮向排水口附近；当清洗组件30向左运动时，抵接部362的凸起结构363与清洁槽21的槽底接触，凸起结构363之间和清洁槽21的底部之间形成间隙，使清洁槽21内的杂物可以从间隙内通过，不会被大量刮向未远离排水口的一侧，进而提高了排污效率和排污的彻底性。
在上述实施例中，凸起结构363的数量可以为至少两个，如凸起结构363的数量为两个、三个、四个、或满足要求的其他数量个，凸起结构363的不同数量能够满足凸起结构363不同结构、不同尺寸的需求。其中，至少两个凸起结构363沿抵接部362的长度方向分布，其中，抵接部362的长度方向与支架32相对于基站本体20的移动方向垂直。在一些实施例中，凸起结构363可以为凸点、凸块、或满足要求的其他凸起结构363。
其中，抵接部362的长度可以与清洁槽21槽底的槽内宽度相等，这样使得抵接部362沿长度方向的端部能够与清洁槽21的侧壁相匹配，避免抵接部362与清洁槽21的侧壁之间的缝隙较大而使杂物遗漏在缝隙之间而影响收集效果，同时，避免抵接部362与清洁槽21的槽壁过度抵接而影响清洗组件30相对于基座本体移动的灵活性。也就是说，通过合理设置抵接部362的长度，使抵接部362的长度与清洁槽21的槽底的槽内宽度相等，有利于确保良好的收集效果和收集效率。其中，抵接部362的长度方向与清洁槽21的宽度方向一致，清洁槽21的宽度方向与支架32沿基站本体20的移动方向垂直，如当清洗组件30沿基站本体20左右移动时，清洁槽21的宽度方向为基站本体20的前后方向，即抵接部362的长度方向与基站本体20的前后方向一致，基站本体20的前后方向如图5中的虚线箭头所示。
进一步地，清理件36可以位于支架32远离排污口211一侧，有利于增加清理件36与排污口211之间的最远距离，进而增大清理件36的收集范围，提高收集效率。同时，清理件36位于支架32的底部，有利于减小清理件36的体积，进而能够满足清洗组件30结构紧凑的需求，扩大了产品的使用范围。
进一步地，清理件36与支架32可拆卸连接，可以将清理件36从支架32上拆卸下料进行清洁和维修，进而提高了清理件36的清洁体验，并提高维修效率，降低换件成本，适于推广应用。可以理解的是，在一些可能的情况下，也可以将清理件36固定在支架32上，如支架32与清理件36为一体成型结构，便于生产，简化了组装的过程。或者，清理件36通过粘结剂粘结在支架32上，有利于提高清理件36与支架32连接的可靠性。在一些实施例中，清理件36可以为刮条或满足要求的其他结构。
在上述实施例中，进一步地，连接部361和支架32中的一个上设置有限位部，另一个上设置有定位部，通过限位部和定位部相适配，能够实现清理件36和支架32的可拆卸连接，结构简单，使用方便。
进一步地，一方面，限位部包括卡勾，定位部包括卡槽，如卡勾设置在连接部361上，卡槽设置在支架32上，或者，卡勾设置在支架32上，卡槽设置在连接部361上。通过卡勾和卡槽卡接，能够快速、便利地实现清理件36和支架32的可拆卸连接，结构简 单，便于加工，成本较低，且卡勾和卡槽能够确保清理件36与支架32连接的可靠性，进而能够确保清理件36良好的清洁效果。
另一方面，限位部包括磁性件，定位部包括磁吸件，如磁性件设置在连接部361上，磁吸件设置在支架32上，或者，磁性件设置在支架32上，磁吸件设置在连接部361上。通过磁性件和磁吸件吸合和分离，能够快速、便利地实现清理件36和支架32的可拆卸连接。且通过合理设置磁性件和磁吸件的吸合力，能够确保清理件36与支架32连接的可靠性，进而能够确保清理件36良好的清洁效果。
再一方面，限位部包括卡勾和磁性件，定位部包括卡槽和磁吸件，如卡勾和磁性件设置在连接部361上，卡槽和磁吸件设置在支架32上，或者，卡勾和磁性件设置在支架32上，卡槽和磁吸件设置在连接部361上。通过卡勾和卡槽卡接，以及磁性件和磁吸件吸合和分离，使得利用双重结构实现清理件36和支架32的可拆卸连接，有利于进一步提高清理件36与支架32连接的可靠性，进而能够确保清理件36良好的清洁效果。在一些实施例中，磁性件可以为磁条、磁钢或满足要求的其他结构，磁吸件可以为磁铁或满足要求的其他结构，本公开不做具体限定。
在本公开的实施例中，如图14所示，清洗组件30的数量为一个或至少两个，其中，至少两个清洗组件30间隔分布并用于与不同的清洁系统150干涉。也就是说，一个基站可以包括一个清洗组件30，一个清洗组件30的清洗件与一个清洁机器人10的清洁系统150进行干涉以对其进行清洁。一个基站也可以包括两个、三个或满足要求的其他数量个清洗组件30，不同的清洗组件30能够分别对清洁机器人10的清洁系统的不同部位进行清洗，进而扩大了基站的清洗效率。
在一些实施例中，如图14所示，清洗组件30包括第一清洗组件37和第二清洗组件38，第一清洗组件37和第二清洗组件38同时设置于基站本体20上，并相互独立工作，这样，可以同时为两个清洁机器人10的清洁系统进行自动清洁，如第一清洗组件37与一个清洁机器人10的清洁系统150干涉实现清洁系统150的自清洁，第二清洗组件38与另一个清洁机器人10的清洁系统150干涉实现清洁系统150的自清洁，扩大了产品的使用范围，适于推广应用。
本公开已经通过上述实施例进行了说明，但应当理解的是，上述实施例只是用于举例和说明的目的，而非意在将本公开限制于所描述的实施例范围内。此外本领域技术人员可以理解的是，本公开并不局限于上述实施例，根据本公开的教导还可以做出更多种的变型和修改，这些变型和修改均落在本公开所要求保护的范围以内。本公开的保护范围由附属的权利要求书及其等效范围所界定。

Claims (17)

  1. 一种基站，用于清洗清洁机器人的清洁系统，包括：
    基站本体；
    清洗组件，所述清洗组件可移动地设置在所述基站本体上，所述清洗组件包括相对于所述基站本体可上下浮动的第一清洗件，所述第一清洗件通过与所述清洁机器人的清洁系统的干涉，以对所述清洁机器人的清洁系统进行清洗。
  2. 根据权利要求1所述的基站，其中，所述清洗组件包括：
    支架和驱动部，所述驱动部用于驱动所述支架相对于所述基站本体沿第一方向移动。
  3. 根据权利要求2所述的基站，其中，
    所述第一清洗件包括清洗本体和弹性支撑部，所述清洗本体适于与所述清洁系统干涉，所述支撑部连接所述清洗本体和所述支架。
  4. 根据权利要求3所述的基站，其中，
    所述弹性支撑部包括依次连接的第一连接段、过渡段、第二连接段，所述第二连接段设置于所述清洗本体的底部，所述过渡段由所述第二连接段至所述第一连接段的方向倾斜向下设置，所述支架上设置有与所述第一连接段相适配的插槽。
  5. 根据权利要求4所述的基站，其中，
    沿所述支架相对于所述基站本体的移动方向，所述支架上还设置有位于所述支撑部两侧的支撑座，所述清洗本体远离所述支撑部的端部高于所述支撑座。
  6. 根据权利要求3所述的基站，其中，
    所述支撑部的数量为一个或至少两个，至少两个所述支撑部沿所述清洗本体的长度方向间隔分布。
  7. 根据权利要求3所述的基站，其中，所述清洗本体的两端与所述支架之间设置有缝隙。
  8. 根据权利要求2所述的基站，其中，所述清洗组件还包括：
    第二清洗件，所述第二清洗件设置于所述支架上，并与所述第一清洗件平行设置；
    其中，所述第二清洗件包括适于与所述清洁系统干涉的清洗辊子，所述清洗辊子相对于所述支架可转动地设置。
  9. 根据权利要求8所述的基站，其中，所述清洗组件还包括：
    出水装置，所述出水装置设置于所述支架上，并与所述第一清洗件和所述第二清洗件平行设置。
  10. 根据权利要求1至9中任一项所述的基站，其中，
    所述基站本体包括位于所述清洗组件下方的清洁槽，所述清洁槽的至少一侧设置有排污口；
    所述清洗组件还包括朝向所述清洁槽的槽底设置的清理件，所述清理件用于将所述清洁槽内的杂物向所述排污口靠拢。
  11. 根据权利要求10所述的基站，其中，
    所述清理件包括连接部和抵接部，所述连接部与所述支架连接，所述抵接部为柔性件并适于与所述清洁槽的槽底抵接。
  12. 根据权利要求11所述的基站，其中，
    所述抵接部背离所述排污口的一侧间隔设置有至少两个凸起结构。
  13. 根据权利要求11所述的基站，其中，
    所述抵接部的长度与所述清洁槽的槽底的槽内宽度相等。
  14. 根据权利要求9所述的基站，其中，
    所述清理件位于所述支架远离所述排污口一侧的底部。
  15. 根据权利要求11所述的基站，其中，
    所述连接部和所述支架中的一个上设置有限位部，另一个上设置有与所述限位部相适配的定位部；
    其中，所述限位部包括卡勾，所述定位部包括卡槽；和/或
    所述限位部包括磁性件，所述定位部包括磁吸件。
  16. 根据权利要求1至9中任一项所述的基站，其中，
    所述清洗组件的数量为多个，所述多个清洗组件沿所述清洗组件的移动方向间隔分布。
  17. 一种清洁机器人系统，包括：
    清洁机器人，包括清洁系统；以及
    如权利要求1至16中任一项所述的基站。
PCT/CN2022/082323 2021-08-20 2022-03-22 基站和清洁机器人系统 WO2023019939A1 (zh)

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Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20200121153A1 (en) * 2018-10-18 2020-04-23 Michael Letsky Floor cleaning robot and docking station therefore
CN212465887U (zh) * 2020-05-20 2021-02-05 深圳市杉川机器人有限公司 清洗装置
CN112869673A (zh) * 2021-03-23 2021-06-01 深圳市银星智能科技股份有限公司 清洁基站以及清洁机器系统
CN113040664A (zh) * 2021-04-19 2021-06-29 深圳市银星智能科技股份有限公司 清洁基站及清洁机器系统
CN213551560U (zh) * 2020-05-29 2021-06-29 深圳市银星智能科技股份有限公司 清洁基站以及清洁机器人系统

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20200121153A1 (en) * 2018-10-18 2020-04-23 Michael Letsky Floor cleaning robot and docking station therefore
CN212465887U (zh) * 2020-05-20 2021-02-05 深圳市杉川机器人有限公司 清洗装置
CN213551560U (zh) * 2020-05-29 2021-06-29 深圳市银星智能科技股份有限公司 清洁基站以及清洁机器人系统
CN112869673A (zh) * 2021-03-23 2021-06-01 深圳市银星智能科技股份有限公司 清洁基站以及清洁机器系统
CN113040664A (zh) * 2021-04-19 2021-06-29 深圳市银星智能科技股份有限公司 清洁基站及清洁机器系统

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