Base station

Abstract

The utility model provides a base station which comprises a movable part and a fixed part, the movable part and the fixed part are of a split structure, the movable part can carry a cleaning main machine so that the cleaning main machine can cross some obstacles which cannot be crossed by the cleaning main machine, and therefore the application scene of the cleaning main machine is expanded, and the cleaning efficiency is improved. For example, the cleaning main machine can clean different floors and is not limited to plane cleaning any more; meanwhile, the fixing part can maintain the cleaning main machine, so that the cleaning main machine can be maintained when the cleaning main machine needs to be maintained, and the use effect of the cleaning main machine can be guaranteed; according to the base station with the structure, the function of the base station is modularized, and the setting is flexible, so that the base station can be used in more scenes.

Description

Technical Field

[0001] The present application relates to the technical field of household appliances, and in particular to a base station. Background Art

[0002] At present, indoor cleaning robots can only move on flat ground, and every time the indoor cleaning robots need to be charged or maintained, they need to return to the base station for maintenance. However, the existing base stations only have some basic charging and maintenance functions, which results in the application scenarios of the base stations being relatively single and their use being limited. Summary of the invention

[0003] In view of this, the present application provides a base station to solve or at least partially solve the problem that the current base station application scenarios are limited.

[0004] In order to achieve the above objectives, this application provides the following technical solutions:

[0005] A base station is at least configured to carry and maintain a cleaning host, comprising: a movable part, configured to carry the cleaning host and drive the cleaning host to move; a fixed part, configured to perform maintenance operations on the cleaning host; wherein the movable part and the fixed part are separate structures.

[0006] Optionally, the movable part is a transport device, which includes: a main body; a load-bearing component, which is arranged on the main body and configured to carry the cleaning host; and a displacement component, which is arranged on the main body and configured to enable the main body to walk; wherein the transport device is configured to carry the cleaning host through the load-bearing component and to walk through the displacement component, and the transport device and the cleaning host are separate structures.

[0007] By setting the movable part as a carrying device, the cleaning host can be carried to enable the cleaning host to cross an obstacle, so that the cleaning host can clean the first space and the second space located above, below or on both sides of the obstacle, and the carrying device and the cleaning host are separate structures. When the cleaning host cleans on a flat ground without crossing an obstacle, the cleaning host can be separated from the carrying device to work independently, so that the cleaning host can maintain a smaller size, and the cleaning host can be moved to the bottom of the furniture to achieve sufficient cleaning of the ground.

[0008] Optionally, the fixed part is a base station body, the base station body includes a functional split body, and the functional split body is configured to perform maintenance operations on the cleaning host, wherein the maintenance operations include at least one of the following operations: dust collection, fluid replenishment, renewal of wipers, and charging.

[0009] By modularizing the functions of the fixed part, for example, by setting corresponding functional divisions according to needs, the base station can perform corresponding maintenance operations on the cleaning host, and the setting is flexible.

[0010] It should be noted that the fixed part provided in the present disclosure is usually a part that does not need to be moved, such as a fan for dust collection maintenance, a water pump for fluid replenishment maintenance, etc. Considering that these parts are usually heavy and usually do not need to be moved, they can be used as fixed parts.

[0011] Optionally, the base station body includes at least two functional split bodies, at least two of the functional split bodies are connected in a loadable and detachable manner, and the at least two functional split bodies are configured to be assembled to form the base station body; wherein the at least two functional split bodies have different functions, and one of them has a wiper maintenance function.

[0012] Considering that the cleaning robot may be provided with a wiping piece (such as a mop, etc.) for wiping the floor, in order to achieve maintenance of such a cleaning robot, the functional body of the base station body provided in the present disclosure may be provided with a functional body having a wiping piece maintenance function.

[0013] Optionally, at least one of the two functional split bodies is a functional split body for replacing the wiper or a functional split body for cleaning the wiper, so that the base station body has the wiper maintenance function of replacing the wiper or cleaning the wiper.

[0014] Optionally, at least two of the functional split bodies are arranged in parallel, wherein each of the functional split bodies corresponds to a maintenance station.

[0015] Optionally, the maintenance stations corresponding to at least two of the functional split bodies are located on the same horizontal plane or are arranged in a stepped manner, or the maintenance stations of at least two of the functional split bodies at least partially overlap in the height direction.

[0016] Optionally, when maintaining the cleaning host, the maintenance station is located below the cleaning host; or, when maintaining the cleaning host, the cleaning host drives onto the maintenance station via the movable part to perform maintenance operations; wherein the movable part is a transport device.

[0017] Optionally, the transport device includes a displacement component and a bearing component for bearing the cleaning host;

[0018] When maintaining the cleaning host, the cleaning host is loaded on the carrying component of the transport device, so that the transport device is in a loading and unloading mode of carrying the cleaning host; the transport device is configured to lift the cleaning host by lifting the carrying component; the cleaning host is configured to move to the corresponding maintenance station through the displacement component of the transport device; when the component to be maintained of the cleaning host is aligned with the corresponding maintenance station, the functional split is configured to perform corresponding maintenance on the cleaning host.

[0019] Optionally, the transport device has multiple working modes, wherein the working modes include at least two of a loading and unloading mode, a flat-ground transfer mode, an up-and-down stairs mode, and a base station maintenance mode; in different working modes, the height of the platform of the transport device above the ground is different.

[0020] Optionally, the displacement component of the transport device adopts any one of the following: a spoke-type displacement component, a foot-type displacement component, a single-track displacement component, a multi-stage crawler displacement component, and a limb-type displacement component; that is, the transport device includes but is not limited to a spoke-type transport device, a foot-type transport device, a single-track transport device, a multi-stage crawler transport device, and a limb-type transport device, as long as the transport can be achieved, and the present disclosure does not impose any restrictions on this.

[0021] Optionally, the transport device is further configured to transport the cleaning host from the first space to the second space, wherein there is a height difference between the second space and the first space.

[0022] The base station provided in the present application includes a movable part and a fixed part, and the movable part and the fixed part are split structures, wherein the movable part can carry the cleaning host so that the cleaning host can cross some obstacles that it cannot cross by itself, such as obstacles higher than 40 mm, so that the application scenarios of the cleaning host are expanded, such as cleaning of different floors, stair steps, door thresholds, etc.; at the same time, the fixed part can maintain the cleaning host, so that the cleaning host can be maintained when maintenance is required, which is conducive to ensuring the use effect of the cleaning host; the base station of the above structure, by modularizing the functions of the base station and flexibly setting it as a split movable part and fixed part, can not only realize the transportation of the cleaning host and expand the application scenarios of the cleaning host; but also can realize the maintenance of the cleaning host when the cleaning host needs maintenance, to ensure the use effect of the cleaning host, so that the base station can be used in more scenarios; further, by modularizing the fixed part again, that is, laying out different functional splits according to needs (such as floors, maintenance needs), corresponding maintenance of the cleaning host is achieved. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying any creative work.

[0024] Figure 1 A schematic diagram of the structure of the cleaning host in the cleaning system provided in this application;

[0025] Figure 2 It is a schematic diagram of the structure of the transport device in the cleaning system;

[0026] Figure 3 A schematic diagram of the structure in which the cleaning host is carried on a transport device provided with a protective cover;

[0027] Figure 4 A schematic diagram of the structure of a handling device with a spoke-type displacement assembly carrying a cleaning host;

[0028] Figure 5 A schematic diagram of the structure of a handling device with a foot-type displacement component carrying a cleaning host;

[0029] Figure 6 A schematic diagram of the structure of a cleaning main machine moving into position on a handling device having a crawler-type displacement assembly;

[0030] Figure 7 This is a schematic diagram of the cleaning host on the transport device ready to climb the stairs;

[0031] Figures 8 to 10 A schematic diagram of a process in which a handling device with a spoke-type displacement assembly can carry a cleaning host back to a base station for maintenance;

[0032] Fig.11 A schematic diagram of a transport device with a (single) crawler displacement assembly carrying a cleaning host back to a base station for maintenance;

[0033] Fig.12 A schematic diagram of a handling device with a foot-type displacement component carrying a cleaning host during maintenance at a base station;

[0034] Fig.13 A schematic diagram of the structure of a modular base station provided by the present disclosure;

[0035] Fig.14 A schematic diagram of the structure of another modular base station provided by the present disclosure;

[0036] Fig.15 and Fig.16 This is a schematic diagram of the functional division of the modular base station being independently deployed on different floors;

[0037] Figure 17 to Figure 18 A schematic diagram of a process of a handling device with a multi-stage crawler displacement assembly carrying a cleaning host and returning it to a modular base station with a wiper replacement function for maintenance;

[0038] Figure 19 to Figure 20 A schematic diagram of a process in which a handling device having a multi-stage crawler displacement assembly carries a cleaning host and returns it to a modular base station having a wiper cleaning function for maintenance;

[0039] Fig.21 A schematic diagram of a handling device with a spoke-type displacement assembly carrying an article;

[0040] Fig. 22 A schematic diagram of a handling device with a spoke-type displacement assembly carrying a cleaning host and other items at the same time;

[0041] Fig.23 It is a front view of a handling device having a segmented displacement assembly;

[0042] Fig.24 A schematic diagram of the structure of a handling device with a segmented displacement component carrying a cleaning host;

[0043] Fig.25 A three-dimensional diagram of a handling device with a segmented displacement assembly carrying a cleaning host;

[0044] Fig.26 and Fig. 27 A schematic diagram of a process in which a handling device with a segmented displacement component carries a cleaning host and returns to a modular base station with a wiper replacement function for maintenance; wherein the maintenance stations are on the same plane;

[0045] Fig.28 A schematic diagram of a handling device with a segmented displacement component carrying a cleaning host for maintenance at a modular base station with a wiper cleaning function;

[0046] Figures 29 to 38 A schematic diagram of a process in which a handling device with a segmented displacement component carries a cleaning host and returns to a modular base station with a wiper replacement function for maintenance; wherein the maintenance stations are arranged in a stepped manner;

[0047] Fig.39 A schematic diagram of a handling device with a built-in dust collection module carrying a host to perform wiper maintenance at a base station with a wiper maintenance function;

[0048] Fig.40 A schematic diagram of a handling device with a built-in dust collection module carrying a host to perform dust collection maintenance at a base station with a wiper maintenance function;

[0049] Fig.41A schematic diagram of the structure of a transport device carrying a cleaning host in a first storage position of a base station having two host storage positions;

[0050] Fig.42 A schematic diagram of a structure for independently returning a cleaning host to a second storage position of a base station having two host storage positions;

[0051] Fig.43 It is a structural schematic diagram of a cleaning host in the second storage position of a base station having two host storage positions. DETAILED DESCRIPTION

[0052] The present application provides a transport device that can transport a cleaning host and enable the cleaning host to overcome obstacles to meet the needs of more scenarios.

[0053] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0054] like Figure 1-Figure 7 As shown, the embodiment of the present application first provides a transport device 100 and a cleaning system having the transport device 100, the cleaning system is mainly used for automatically cleaning indoors, and mainly includes a cleaning host 100 and a transport device 200. Among the two parts, the cleaning host 100 is a device for automatically cleaning the floor, which mainly includes a body, a moving component arranged on the body and enabling the body to move on the floor, and a cleaning component for cleaning the floor, the cleaning component includes sweeping components such as a sweeping roller brush, a negative pressure fan, a dust collection box, and mopping and sweeping components such as a mop, a water tank, and a water pump, all of which are arranged on the body, and the moving component includes a roller arranged at the bottom of the body and a motor driving the roller to rotate, so that the cleaning host 100 can automatically clean the floor. 0 can complete a series of ground cleaning tasks such as sweeping and mopping, and can also return to the base station 300 autonomously. The specific structures of the above-mentioned components of the cleaning host 100 can refer to the prior art; the transport device 200 includes a main body 201, a carrying component 202 arranged on the main body 201 and used to carry the cleaning host 100, and a displacement component 222 arranged on the main body 201 and enabling the main body 201 to move and walk. That is to say, the transport device 200 is used to carry the cleaning host 100 and transport the cleaning host 100 so that the cleaning host 100 can reach an area that it cannot reach by itself. The transportation mainly refers to transporting the cleaning host 100 from the first space to the second space. There is a height difference between the second space and the first space, which makes the cleaning host unable to reach by itself.

[0055] In one embodiment, there is an obstacle 400 between the second space and the first space, resulting in a height difference between the two spaces. Transporting from the first space to the second space refers to climbing or crossing the obstacle 400. This obstacle 400 generally refers to an obstacle that is raised relative to the ground and has a height greater than 40 mm, such as climbing stairs commonly seen in indoor scenes, or crossing barriers, thresholds, etc., or it can also be a pool or a receiving tank that is sunken relative to the ground. In addition, transportation can also be a translation on a flat ground (such as a floor). With respect to the prior art, one of the main improvements to the above two parts is to set the transport device 200 and the cleaning host 100 as a split structure. That is to say, the cleaning host 100 and the transport device 200 are independent devices relative to each other, and each can work independently. At least when it is necessary to cross the obstacle 400, the cleaning host 100 will move to the transport device 200 to be carried and transported by the transport device 200.

[0056] By such a configuration, on the one hand, when the cleaning host 100 needs to cross the obstacle 400 to clean the area that it cannot reach by itself, it can cross the obstacle 400 with the help of the carrying and transportation of the transport device 200, for example, it can climb the stairs with the help of the transport device 200 (for the convenience of description later, "climbing stairs" will be referred to as "climbing stairs"), so that the cleaning host 100 can be transferred between different floors to meet the cleaning needs of multi-story houses; on the other hand, when the cleaning host 100 does not need to cross the obstacle 400, that is, when performing cleaning operations on the floor of a certain floor, the cleaning host 100 is separated from the transport device 200 to work independently, so that the cleaning host 100 with a smaller volume can be moved to a small space, such as the bottom of furniture, to achieve full cleaning of the floor. Therefore, the cleaning system achieves a balance between transfer between different floors and full cleaning of the floor of each floor, which significantly improves the use effect of the cleaning system.

[0057] In the above structure, if Figure 2 and Figure 6As shown, since the cleaning host 100 needs to be moved to the transport device 200, the transport device 200 includes a main body 201 and a bearing assembly 202 arranged on the main body 201. The cleaning host 100 can be moved to the bearing assembly 202 under the guidance of the guide component, and the cleaning host 100 and / or the transport device 200 are provided with an in-place detection component. In this structure, the main body 201 is the main structure of the transport device 200, and the bearing assembly 202 is a structure of the transport device 200 specifically used to carry the cleaning host 100. When the cleaning host 100 moves to the bearing assembly 202, the transport device 200 can carry the cleaning host 100. The reason for setting the guiding component and the in-place detection component is to enable the cleaning host 100 to be automatically and accurately moved to the transport device 200. Of course, it is also possible not to set the guiding component and the in-place detection component, but to manually carry and place the cleaning host 100 on the transport device 200.

[0058] like Figure 2 As shown, the bearing assembly 202 includes a carrier 2021, and a buffer slope 2022 is provided at the entrance of the carrier 2021. The carrier 2021 is the main structure of the bearing assembly 202, and the cleaning host 100 is carried on the carrier 2021. Other components of the bearing assembly 202 include a connector that connects the carrier 2021 to the main body 201, and the above-mentioned guide components and in-place detection components provided on the transport device 200. The buffer slope 2022 is provided at the entrance of the carrier 2021, so that the bearing surface of the carrier 2021 can be smoothly connected to the ground, which provides convenience for the cleaning host 100 to get on and off the platform 221.

[0059] In the present application, the cleaning host 100 and the transport device 200 can cooperate in different ways to achieve the crossing of the obstacle 400. In the first cooperation mode, the transport device 200 is provided with a communication component 211 connected to the displacement component 222. When the cleaning host 100 is located on the carrying component 202, the communication component 211 can be connected to the carried cleaning host 100, and then the carried cleaning host 100 is connected to the displacement component 222 through the communication component 211, so as to realize the control of the displacement component by the cleaning host 100, and then the displacement component 222 of the transport device 200 can cross the obstacle 400 under the control of the cleaning host 100. That is to say, in this cooperation mode, the cleaning host 100 acts as a "driver" to drive the movable transport device 200 to climb stairs. In this way, there is no need to set components on the transport device 200 to realize its autonomous climbing (these components include, for example, controllers, sensors, and memories, etc.), which simplifies the structure of the transport device 200. In addition, since the cleaning host 100 has the functions of autonomous mapping, planning, positioning, movement, obstacle avoidance, etc., the components for realizing these functions can also be used to control the transport device 200 to climb stairs. Therefore, allowing the cleaning host 100 to control the transport device 200 to climb stairs can realize the reuse of the original components, or enable the transport device 200 and the cleaning host 100 to share a control system, thereby eliminating the need to add components, saving costs, avoiding structural changes, and providing great convenience for achieving the purpose of climbing stairs. Among them, the implementation components include: a second sensor 101 horizontally arranged on the body of the cleaning host 100 for horizontal detection, this second sensor 101 can be a laser sensor (LDS) for detecting environmental information, and the horizontal dotted line in the figure is the laser emitted by the second sensor 101; a downward-looking sensor 102 arranged at the bottom of the cleaning host 100 to vertically detect objects at the bottom of the cleaning host 100 (such as the ground, the step surface of the stairs), and there are multiple downward-looking sensors 102 at the bottom of the cleaning host 100, and the vertical detection distance thereof is not less than 20mm, and the accuracy is + / -3mm. The longitudinal dotted line in the figure is the virtual detection line of the downward-looking sensor; the controller of the cleaning host 100 is a component for controlling the transport device 200 to perform the climbing action described later. In order to facilitate the distinction from the following first controller arranged on the transport device 200, this application refers to the controller of the cleaning host 100 as the second controller.

[0060] In addition, the cleaning host 100 and the transport device 200 can also adopt a second cooperation mode to achieve the crossing of the obstacle 400, that is, the transport device 200 includes a first controller for controlling its own displacement component 222, and a first sensor 221 for detecting the obstacle 400, and the transport device 200 carrying the cleaning host 100 can cross the obstacle 400 under the cooperation of the first controller and the first sensor 221, that is, the first controller controls the displacement component 222 to move according to the information detected by the first sensor 221, so that the transport device 200 carrying the cleaning host 100 can cross the obstacle 400. In other words, in this cooperation mode, the transport device 200 can achieve autonomous climbing, the cleaning host 100 does not participate in climbing, and the cleaning host 100 only serves as a "passenger" of the transport device 200. Through such a setting, the transport device 200 can achieve independent crossing of the obstacle 400, so that the transport device 200 can play other functions besides transporting the cleaning host 100, such as the maintenance function described later.

[0061] The above-mentioned coordination method will not be limited due to the different structures of the transport device 200, that is, no matter whether the transport device 200 is provided with the crawler displacement assembly 212, the spoke displacement assembly or the foot displacement assembly described later, the stair climbing process can be completed only under the control of the cleaning host 100 and the transport device 200.

[0062] In the first combination method mentioned above:

[0063] like Figure 2 As shown, the communication component 211 provided on the transport device 200 may be a wired connection structure, for example, a communication interface. A communication connector is provided on the cleaning host 100. When the cleaning host 100 is moved onto the transport device 200 and moved into position, the communication connector and the communication interface are in contact to realize the electrical connection between the cleaning host 100 and the transport device 200. The transmission of electric energy and / or the transmission of signals between the cleaning host 100 and the transport device 200 may be realized through the electrical connection, so that the cleaning host 100 may realize the control of the transport device 200 or realize the coordination with the transport device 200. Of course, the communication device may also be other types of components, that is, the connection between the transport device 200 and the cleaning host 100 may be a wireless connection (a wireless connection may also be referred to as a signal connection). The communication component 211 may be, for example, a wireless signal receiver, which realizes the communication connection between the cleaning host 100 and the transport device 200 by receiving the wireless control signal sent by the cleaning host 100. Specifically, it may be an antenna, a wifi module or a Bluetooth module.

[0064] Specifically, the main body 201 of the transport device 200 includes a head and a tail, which can be simply understood as the two ends of the transport device 200 in the moving direction, and the direction facing the head is the forward direction of the transport device 200, and the direction facing the tail is the backward direction of the transport device 200.

[0065] like Figure 2 As shown, the transport device 200 includes: the above-mentioned main body 201; a rotating assembly 203, which is arranged on the main body 201 and can drive the carrying assembly 202 and the cleaning host 100 carried by it to rotate, so that the cleaning host 100 (specifically, the second sensor 101 of the cleaning host 100) can always remain horizontal during the process of the head 2011 of the main body 201 being supported. When the transport device 200 carries the cleaning host 100 to climb the stairs (that is, when the obstacle 400 between the first space and the second space is a staircase, and the staircase has at least one step), the recognition method for each step of the staircase is to make the second sensor 101 of the cleaning host 100 or the first sensor 221 of the transport device 200 detect the vertical surface of each step.

[0066] In the present application, the structure of the transport device 200 for achieving climbing can have various forms, and different matching modes can be selected to have different forms that are more suitable or have good working effects and outstanding performance. In the first matching mode, for example Figure 2 As shown, the preferred transport device 200 includes: a crawler displacement assembly 212, which is arranged on the main body 201 to drive the main body 201 to move, and extends from the head 2011 of the main body 201 to the tail 2012 of the main body 201; a support assembly 213, which is rotatably arranged on the main body 201 and can support the head 2011 from the working surface (the working surface is, for example, the ground or the step surface, etc.) by rotating, and the support assembly 213 can at least make the height of the head 2011 and the second sensor 101 of the cleaning host 100 greater than the height of the bottom step 402 of the stairs. Figure 7 As shown, when the support assembly 213 props up the head 2011 of the transport device 200, the height of the head 2011 is greater than the height of the bottom step 402 of the stairs, which can ensure that the head 2011 can smoothly overlap the bottom step 402 when it falls to achieve the crossing of the bottom step 402, and the height of the second sensor 101 of the cleaning host 100 is greater than the height of the bottom step 402 of the stairs, in order to ensure that the first floor stair map described later can be smoothly determined and the stairs can be climbed smoothly. In this way, through the cooperation of the crawler displacement assembly 212 and the support assembly 213, the transport device 200 can smoothly go up and down the stairs.

[0067] Specifically, Figure 2As shown, the support assembly 213 includes: a support rod 2131, one end of which is rotatably connected to the head 2011 of the transport device 200; and a roller 2132, which is rotatably arranged at the other end of the support rod 2131 for rolling contact with the ground. In this structure, the support rod 2131 can rotate clockwise and counterclockwise relative to the transport device 200. The head 2011 can be lifted by rotating the support rod 2131 clockwise, and the head 2011 can be lowered by rotating the support rod 2131 counterclockwise. The roller 2132 is arranged on the end of the support rod 2131 for contacting the ground or the step, so that rolling friction can be achieved between the support rod 2131 and the ground or the step surface, so that the transport device 200 can move more smoothly on the ground.

[0068] In order to optimize the use effect of the transport device 200, Figure 3 As shown, a protective cover 214 covering the crawler track is also provided on the top of the crawler displacement assembly 212 .

[0069] Further, such as Figure 2 As shown, an energy interface 204 and a perspective window 205 are also provided on the transport device 200, wherein the energy interface 204 is used to connect to the charging interface of the cleaning host 100 to receive the electric energy provided by the cleaning host 100; the perspective window 205 is set at the bottom of the carrier 2021, and the downward sensor 102 of the cleaning host 100 can detect the ground and step surface at the bottom of the transport device 200 through this perspective window 205.

[0070] In addition, the above-mentioned transport device 200 with a crawler-type displacement assembly can also be applicable to the second matching method.

[0071] In the second combination method mentioned above:

[0072] Since the carried cleaning host 100 only rides on the carrying device 200 as a "passenger", the carrying device 200 needs to complete climbing the stairs independently, so the carrying device 200 includes a main body 201, a carrying component 202, a displacement component 222, a lifting component 223, a first controller, a first sensor 221, a memory, an energy source, a drive component, a charging interface and a communication device, etc.

[0073] The main body 201 is the main structure of the transport device 200. Since the transport device 200 can move, the main body 201 can be understood as a vehicle body, a frame, etc.; the bearing assembly 202 is the same as the bearing assembly 202 in the first matching mode described above, and will not be repeated here; the displacement assembly 222 is arranged on the main body 201 to drive the main body 201 to move. In this second matching mode, the displacement assembly 222 is preferably a spoke-type displacement assembly or a foot-type displacement assembly, wherein, Figure 4As shown, the spoke-type displacement assembly 222 includes two groups of structures, each group of structures includes two climbing wheel groups, a total of four climbing wheel groups, each climbing wheel group includes a driving spindle 2221 rotatably connected to the main body 201, three spokes 2222 radially radiating from the driving spindle 2221 and evenly distributed circumferentially, and a small wheel 2223 is installed at the end of each spoke 2222. When climbing stairs, the motor of the driving assembly drives the driving spindle 2221 to rotate through the reduction transmission mechanism, and the driving spindle 2221 drives the three small wheels 2223 to rotate around it. During the rotation process, each small wheel 2223 is sequentially overlapped on the upper step or the lower step of the stairs to achieve climbing; Figure 5 As shown, the foot displacement assembly 222 includes four climbing feet, each of which is rotatably connected by at least two electric joints 2224. It can perform crawling movements driven by a motor and a transmission mechanism, so that different climbing feet can fall on the upper step or the lower step of the stairs in turn to achieve climbing.

[0074] In addition, the handling device 200 having the above-mentioned spoke-type displacement assembly or foot-type displacement assembly is also applicable to the first matching mode.

[0075] The present disclosure provides a base station for maintaining cleaning equipment (such as a cleaning robot), including a base station body, wherein the base station body includes a functional split body, and the functional split body can implement maintenance operations on the cleaning equipment, wherein the maintenance operations include at least one of the following operations: dust collection, fluid replenishment (such as automatic water addition), updating of wiping parts (such as replacing a mop or cleaning a mop), charging, etc.

[0076] In order to realize the multifunctionality of the base station, in one embodiment, the base station body includes at least two functional split bodies, at least two functional split bodies can be separated from each other, at least two functional split bodies can be assembled with each other, and the at least two functional split bodies are assembled to form the base station body; wherein the functions of the at least two functional split bodies are different, and one of them has a wiper maintenance function.

[0077] The functional divisions are modularized, and each functional division is an independent module; of course, some functional divisions can also be used as an independent module. Such a setting will simplify the manufacturing, assembly, module upgrade, maintenance and repair of each functional division, and reduce the production and use costs of the base station system.

[0078] Considering the problem of how to arrange multiple functional divisions, in one embodiment, at least two functional divisions can be arranged in the same plane. For example, at least two functional divisions are arranged in parallel. In other words, the base station has multiple (two or more) functional divisions arranged in parallel, wherein the functional divisions correspond to maintenance stations, and these maintenance stations at least partially overlap in the height direction. In one embodiment, the position of the maintenance station is higher than the working surface; when maintaining the cleaning equipment, these maintenance stations are all located below the cleaning equipment (such as the cleaning host). In other words, the cleaning equipment needs to drive onto the maintenance station for maintenance operations.

[0079] In one embodiment, different maintenance stations are on a plane at the same height.

[0080] In another embodiment, at least two of the different maintenance stations have a height difference, for example, at least two of the different maintenance stations are stepped at different heights.

[0081] In view of the height difference between the working surface and the maintenance station, and considering how the cleaning equipment can be driven onto the maintenance station, in one embodiment, the cleaning equipment can be driven onto the maintenance station by a transport device. Taking the cleaning equipment as a cleaning host as an example, when maintaining the cleaning host, the cleaning host is loaded on the bearing assembly (such as a carrier) of the transport device, and the transport device lifts the cleaning host so that the bottom (lowest end) of the transport device is slightly higher than the base station (in design, the maximum displacement of the carrier in the height direction can be aligned with the maintenance station of the base station, so that the bottom of the transport device is slightly higher than the base station), and the cleaning host is moved horizontally into the base station through the movement of the transport device. After the cleaning host enters, align the parts of the cleaning host to be maintained (such as the mopping work head or dust box) with the corresponding maintenance station, and the functional split of the base station can perform corresponding maintenance on the cleaning equipment.

[0082] Reference Figure 8 , Fig. 9 and Fig.10 The following briefly describes the maintenance of the cleaning host 100 by taking the displacement component of the transport device 200 as a spoke-type displacement component as an example:

[0083] When the cleaning host 100 needs to return to the base station 300 for maintenance, the cleaning host 100 can first establish communication with the transport device 200 to log in to the carrying component (such as the carrier 2021); the purpose of establishing communication here is to find the location of the transport device, for example, the location of the transport device can be determined through beacon recognition or wireless signal interaction (such as Bluetooth) in order to log in to the carrier.

[0084] The cleaning host 100 enters the carrier 2021 through the entrance and exit of the transport device 200, is fixed, and completes energy and signal docking with the carrier, for example, energy docking is completed through the energy interface 204, and signal docking is completed through the signal interface (not shown in the figure, for example, due to overlap with the energy interface).

[0085] The transport device 200 can lift the carrier 2021 through the lifting assembly 223, so that after the cleaning host 100 is lifted to a preset height, the bottom (lowest end) of the transport device 200 is slightly higher than the base station, and the transport device moves through the spoke-type displacement assembly 222 and returns to the corresponding maintenance station of the base station 300 to complete the corresponding maintenance operation. Of course, in other embodiments, the carrier can be lifted only when the transport device 200 brings the cleaning host 100 to the base station 300, so that the bottom (lowest end) of the transport device is slightly higher than the base station; or, the transport device first lifts the carrier to a first height, for example, to prevent affecting the movement of the spoke-type displacement assembly; when the transport device brings the cleaning host to the base station, the carrier is adjusted (either lifted or lowered) to a second height, so that the bottom (lowest end) of the transport device is slightly higher than the base station, so as to perform maintenance operations.

[0086] It should be noted that the meaning of "slightly higher" in the present disclosure refers to the fact that the lowest end of the transport device and the base station do not interfere with each other. Therefore, slightly higher may refer to a gap height of 1 cm, 1 mm, or 0.1 mm, which is determined according to dimensional accuracy and error and is not limited here. In addition, Figure 8 It is also schematically shown that the main body 201 of the transport device 200 has a top platform, so that the transport device 200 has an item transport mode capable of transporting items (such as water cups) or an item transport mode capable of moving items (such as chairs) and resetting.

[0087] Reference Fig.11 The following briefly describes the maintenance of the cleaning host by taking the displacement component of the transport device 200 as a (single) crawler displacement component 212 as an example:

[0088] When the cleaning host 100 needs to return to the base station 300 for maintenance operations, the cleaning host 100 enters the platform 2021 through the entrance and exit of the platform 2021, completes fixation, and completes energy and signal docking with the platform 2021.

[0089] The transport device 200 drives the cleaning host 100 to return to the position near the base station 300 through the crawler displacement assembly 212, and the support assembly 213 is lifted to lift the carrier 2021 so that the bottom (lowest end) of the transport device is slightly higher than the base station. During the lifting process, the carrier 2021 always remains in a horizontal state, so that the cleaning host 100 remains in a horizontal state. The transport device 200 moves through the crawler displacement assembly 212 to the corresponding maintenance station of the base station 300 to complete the corresponding maintenance operation.

[0090] It should be noted that Fig.11 The interactive module 2062 and the shooting module 2061 of the transport device are also schematically indicated, so that the transport device has interactive and security functions.

[0091] Reference Fig.12 The following briefly describes the maintenance of the cleaning host by taking the displacement component 222 of the transport device 200 as a foot-type displacement component as an example:

[0092] When the cleaning host 100 needs to return to the base station 300 for maintenance operations, the cleaning host 100 drives into the carrier 2021 through the entrance and exit of the carrier, completes fixation, and completes energy and signal docking with the carrier 2021.

[0093] After completing the energy and signal connection, the transport device 200 drives the cleaning host 100 to move above the base station 300 through the foot displacement assembly 222, and reaches the corresponding maintenance station to complete the corresponding maintenance operation.

[0094] Among them, the main ways in which the transport device drives the cleaning host to move above the base station through the foot displacement component are:

[0095] Method 1: After completing the energy and signal docking, the transport device lifts the carrier so that the cleaning host is lifted to a preset height, and the bottom (lowest end) of the transport device is slightly higher than the base station. The transport device moves through the spoke-type displacement assembly and returns to the corresponding maintenance station of the base station to complete the corresponding maintenance operation.

[0096] Method 2: After completing the energy and signal docking, the carrier of the transport device is not lifted. When the transport device brings the cleaning host to the base station, the carrier is lifted so that the bottom (lowest end) of the transport device is slightly higher than the base station for maintenance operations;

[0097] Method 3: After completing the energy and signal docking, the transport device first lifts the platform to a first height, for example, to prevent affecting the movement of the foot-type displacement assembly; when the transport device brings the cleaning host to the base station, the platform is adjusted (either raised or lowered) to a second height, so that the bottom (lowest end) of the transport device is slightly higher than the base station to facilitate maintenance operations.

[0098] It should be noted that the above method is also applicable to handling devices of other types of displacement assemblies, such as handling devices of multi-stage crawler displacement assemblies (such as Figures 17 to 20 etc.), a handling device for a segmented displacement assembly (such as Figures 26 to 37 ) etc., which will not be elaborated in detail here.

[0099] In one embodiment, the at least two functional split bodies include a first functional split body, a second functional split body and a third functional split body arranged in a horizontal direction; one of the first functional split body, the second functional split body and the third functional split body is a wiper maintenance module having a wiper maintenance function.

[0100] In one embodiment, the first functional split body is arranged on the left side, and is a wiper maintenance module 3012 having a wiper maintenance function; the third functional split body is arranged on the right side, and the second functional split body is arranged between the first functional split body and the third functional split body.

[0101] For example, refer to Fig.13 In one embodiment, the first functional body is a replacement module for replacing and maintaining wipers of the cleaning device.

[0102] In order to realize the replacement operation of the wiping piece, in one embodiment, the first functional split body includes a clean cloth box 301 for storing new wiping pieces, and the clean cloth box cooperates with the cleaning equipment to install the new wiping piece on the cleaning equipment; for example, a lifting tray capable of carrying the new wiping piece can be provided in the clean cloth box, and during installation, the lifting tray contacts with the mop board of the cleaning equipment, and the new wiping piece is installed on the mop board of the cleaning equipment through the action force therebetween (such as adhesive force and pressure).

[0103] Of course, in order to realize the recycling of dirty wiping pieces, in other embodiments, the first functional split also includes a dirty cloth box 302 for collecting dirty wiping pieces; in one embodiment, a cloth removing mechanism 3021 is provided on the dirty cloth box, which can cooperate with the cleaning equipment to realize the removal of the dirty mop.

[0104] In one embodiment, the second functional body includes a dust collection module 3034 for maintaining the dust box of the cleaning device.

[0105] In order to achieve dust collection maintenance for the dust box, in one embodiment, the dust collection module includes a dust collection bag 303 for collecting garbage and a dust collection fan 304 for providing dust collection power (such as negative pressure).

[0106] In one embodiment, the third functional body includes a liquid replenishing module for maintaining a water tank of the cleaning device.

[0107] To achieve fluid replenishment, in one embodiment, the fluid replenishment module includes a clean water tank 305 for providing liquid.

[0108] In one embodiment, the third functional split body has a charging port 306 for charging the cleaning device; considering how to improve the docking accuracy, in one embodiment, the third functional split body also includes a docking sensor 307 for docking detection of the charging position and / or the refilling position of the cleaning device and the base station, so that the two can accurately dock to achieve charging operations and / or refilling operations.

[0109] In order to increase the dust collection capacity, in one embodiment, refer to Fig.13 The dust bag 303 (also called a dust box) is arranged on one side of the dust collecting fan 304, that is, the two can be arranged in parallel; in addition, considering the space utilization problem of the base station, in one embodiment, the dust collecting fan 304 is arranged at the lower part, and other functional parts are arranged at the upper part of the dust collecting fan. For example, the control module 308 of the base station 300, the clean water tank 305 for replenishing the water tank of the cleaning equipment, or the charging module (such as the charging port 306) for charging the cleaning equipment are arranged at the upper part of the dust collecting fan 304.

[0110] That is, considering that there is still spare space for placing a dust collection fan, an additional water purification tank and / or charging port is provided to make full use of the space of the base station.

[0111] The above-mentioned base station has corresponding functional divisions, so as to realize functions such as dust collection, mop replacement, and automatic water addition.

[0112] For example, refer to Fig.14 In another embodiment, the first functional body is a cleaning module for cleaning and maintaining the wiper of the cleaning device.

[0113] In order to realize the cleaning operation of the wiping member, in one embodiment, the cleaning module includes a cleaning tray 3051 for temporarily storing the wiping member, and a clean water tank 305 for providing clean liquid (e.g., clean water). The clean water tank 305 can be used as a liquid source for cleaning the wiping member (e.g., a mop) on the cleaning device, and can also be used as a liquid source for replenishing the water tank of the cleaning device (e.g., a cleaning host), which is not limited in the present disclosure.

[0114] Of course, in order to realize the recovery of dirty liquid, in other embodiments, the cleaning module also includes a sewage tank 309 for storing dirty liquid (such as sewage).

[0115] In one embodiment, the second functional body includes a dust collection module 3034 for maintaining a dust box of a cleaning device (eg, a cleaning host).

[0116] In order to achieve dust collection maintenance for the dust box, in one embodiment, the dust collection module 3034 includes a dust collection bag 303 for collecting garbage and a dust collection fan 304 for providing dust collection power (such as negative pressure).

[0117] In one embodiment, the third functional split body has a charging port 306 for charging the cleaning device; considering how to improve the docking accuracy of charging, in one embodiment, the third functional split body also includes a docking sensor 307 for docking detection of the charging position of the cleaning device and the base station so that the two can be accurately docked to achieve charging operations.

[0118] Of course, in other embodiments, the third functional body may also be additionally provided with a liquid replenishing module for maintaining the water tank of the cleaning device. In order to achieve liquid replenishment, in one embodiment, the liquid replenishing module includes a clean water tank (not shown in the figure, and its setting position can be referred to as Fig.13 , which will not be elaborated here).

[0119] In order to increase the dust collection capacity, in one embodiment, refer to Fig.14 The dust bag 303 (also called a dust box) is arranged on one side of the dust collecting fan 304, that is, the two can be arranged in parallel; in addition, considering the space utilization problem of the base station 300, in one embodiment, the dust collecting fan 304 is arranged at the lower part, and other functional parts are arranged at the upper part of the dust collecting fan 304, for example, the control module 308 of the base station, the charging port 306 for charging the cleaning equipment, the docking sensor 307, etc. are arranged at the upper part of the dust collecting fan.

[0120] That is, considering that there is still spare space for placing functional parts such as the charging port, a dust collection fan is additionally installed under the charging port, etc., so as to make full use of the space of the base station.

[0121] The above-mentioned base station has corresponding functional divisions, so that the base station has functions such as dust collection, mop cleaning, automatic charging, etc.

[0122] It can be understood that the clean water tank can be used for replenishing other equipment, replenishing the clean water tank, adding liquid to the cleaning tray, draining sewage from the cleaning tray, draining sewage from the sewage tank, etc., for example, by suction via a pump (not shown in the figure), and the present disclosure will not go into details about this.

[0123] Considering the connection problem between the functional parts, in one embodiment, the functional parts can be connected by snap connection and / or thread connection. For example, the adjacent functional parts are positioned and pre-connected by a bump slot structure.

[0124] It should be noted that the base station can also integrate or add functional components for self-maintenance functions such as roller brush maintenance (such as hair cutting), replacement of roller brushes, side brushes, cleaning of drive wheels, etc. That is, since the base station adopts a modular design, the corresponding maintenance operations can be achieved by simply adding functional components of the base station.

[0125] It should be pointed out that in one embodiment, when there are multiple functional divisions, the maintenance order can be set according to demand, for example, determined according to the location of the maintenance station of the functional division. Taking the base station having functions such as dust collection, mop replacement, and automatic water addition as an example, the maintenance order can be to first separate and collect the dirty wiping parts into the dirty cloth box of the base station, and then install the new mop and collect dust at the same time.

[0126] Of course, in other embodiments, the functional parts can also be stacked in the vertical direction. For example, the at least two functional parts include a first functional part, a second functional part, and a third functional part stacked in the vertical direction;

[0127] Among them, the first functional split body is arranged at the bottom, the third functional split body is arranged at the top, the second functional split body is arranged between the first functional split body and the third functional split body, and the wiper maintenance split body among the first functional split body, the second functional split body and the third functional split body has the wiper maintenance function.

[0128] Given that quite a number of households have multiple floors, and often the floors other than the first floor are soft floors such as carpets, which do not require mopping, while the first floor is usually hard floors such as tiles or floors, which require mopping in addition to a small amount of vacuuming. For this reason, base stations can be modularly separated or merged, and can be deployed according to the cleaning categories or cleaning needs of different floors.

[0129] Reference Fig.15 and Fig.16 , the first floor is hard ground, and the second floor is mainly soft ground such as carpet, then the wiping piece maintenance module 3012 (such as a replacement module or a cleaning module) of the base station can be arranged on the first floor; the dust collection module 3034 of the base station can be arranged on the second floor; in this way, the cleaning equipment can perform specific high-frequency maintenance operations on the same floor, reducing the time wasted in going back and forth between floors; it should be pointed out that, in one embodiment, the maintenance station is located at the upper part of the functional split of the base station. At this time, the cleaning host 100 can be lifted to the corresponding maintenance station for maintenance under the carrying device 200; the figure only schematically shows the structure of a transport device 200, and it should not be understood as a limitation of the present disclosure; in fact, any type of transport device is suitable for the maintenance scenario of the split deployment of the base station.

[0130] The modular and separable design of the base station disclosed in the present invention will greatly facilitate the user's layout, reduce the user's cost, and help reduce the number of times the cleaning equipment or handling device goes up and down the stairs for maintenance, thereby improving work efficiency.

[0131] The present disclosure also provides a base station, comprising a movable part (referred to as the movable part) and a fixed part (referred to as the fixed part), the movable part and the fixed part can be adapted to form a whole, for example, at least during maintenance, the movable part and the fixed part can be adapted to form the base station, so as to achieve maintenance of the cleaning host or the movable part;

[0132] Among them, when the environment requires more maintenance locations or there are multiple maintenance locations, that is, when there are multiple maintenance locations, such as the maintenance locations are on different floors or at different locations on the same floor, the fixed part is modularly designed as needed, such as the dust collecting part, charging part, fluid replenishing part, wiping piece maintenance part and other fixed parts adopt a modular design; it can be understood that the fixed part can be set on different floors or at different locations on the same floor as needed, and in order to adapt to different scenes, the dust collecting part, charging part, fluid replenishing part, wiping piece maintenance part, etc. can be multiple, and the corresponding multiple maintenance locations mentioned above are set according to needs; in addition, when multi-position maintenance is required, the same movable part can be shared.

[0133] In one embodiment, the movable part is a transport device, wherein the transport device can be any type of transport device mentioned in the present disclosure, including but not limited to a spoke-type transport device, a foot-type transport device, a (single) crawler-type transport device, a multi-stage crawler-type transport device, and a segmented transport device.

[0134] In one embodiment, the fixed part is the base station body mentioned above, and the base station body includes a functional split body, which can realize maintenance operations on the cleaning equipment, wherein the maintenance operations include at least one of the following operations: dust collection, fluid replenishment (such as automatic water addition), updating of wiping parts (such as replacing the mop or cleaning the mop), charging, etc.

[0135] In order to realize the multifunctionality of the base station, in one embodiment, the base station body includes at least two functional split bodies, at least two functional split bodies can be separated from each other, at least two functional split bodies can be assembled with each other, and the at least two functional split bodies are assembled to form the base station body; wherein the functions of the at least two functional split bodies are different, and one of them has a wiper maintenance function.

[0136] The functional divisions are modularized, and each functional division is an independent module; of course, some functional divisions can also be used as an independent module. Such a setting will simplify the manufacturing, assembly, module upgrade, maintenance and repair of each functional division, and reduce the production and use costs of the base station system.

[0137] Considering the problem of how to arrange multiple functional divisions, in one embodiment, at least two functional divisions can be arranged in the same plane. For example, at least two functional divisions are arranged in parallel. In other words, the base station has multiple (two or more) functional divisions arranged in parallel, wherein the functional divisions correspond to maintenance stations, and these maintenance stations at least partially overlap in the height direction. In one embodiment, the position of the maintenance station is higher than the working surface; when maintaining the cleaning equipment, these maintenance stations are all located below the cleaning equipment (such as the cleaning host). In other words, the cleaning equipment needs to drive onto the maintenance station for maintenance operations.

[0138] In view of the height difference between the working surface and the maintenance station, and considering how the cleaning equipment can be driven onto the maintenance station, in one embodiment, the cleaning equipment can be driven onto the maintenance station by a transport device. Taking the cleaning equipment as a cleaning host as an example, when maintaining the cleaning host, the cleaning host is loaded on the bearing assembly (such as a carrier) of the transport device, and the transport device lifts the cleaning host so that the bottom (lowest end) of the transport device is slightly higher than the base station (in design, the maximum displacement of the carrier in the height direction can be aligned with the maintenance station of the base station, so that the bottom of the transport device is slightly higher than the base station), and the cleaning host is moved horizontally into the base station through the movement of the transport device. After the cleaning host enters, align the parts of the cleaning host to be maintained (such as the mopping work head or dust box) with the corresponding maintenance station, and the functional split of the base station can perform corresponding maintenance on the cleaning equipment.

[0139] It should be noted that the maintenance stations can be on the same horizontal plane or can be arranged at different heights in a stepped manner. For this, please refer to the relevant records of the present disclosure and no further elaboration will be given here.

[0140] In one embodiment, the transport device includes at least a load-bearing component and a displacement component. The load-bearing component includes a platform that can be used to carry the cleaning host, so that the transport device has a plane transport mode (also called a flat ground transport mode) that can carry the cleaning host for transport on the same horizontal plane; at the same time, the transport device has a climbing mode and an obstacle crossing mode that can carry the cleaning host to cross different heights; in addition, since the transport device as a movable part can be adapted to the fixed part, the transport device also has a base station maintenance mode that can maintain the transport device itself and at least one of the cleaning host.

[0141] It should be pointed out that the carrier is provided with a communication and energy interface, which can be docked with the carried cleaning host; the specific docking process can refer to the aforementioned embodiment, and will not be elaborated here.

[0142] In one embodiment, the carrying assembly may also include a second platform to carry the cleaning host or other items, so that the transport device has an item transport mode that can transport items (such as cups, etc.) to the destination and an item moving mode that can move and reposition items (such as chairs, etc.) to facilitate cleaning of dead corners.

[0143] It should be pointed out that the detailed discussion of the various modes of the transport device can be found in the relevant records of the present disclosure, and in order to save space, it will not be repeated here.

[0144] In one embodiment, the functional split of the fixed part can be deployed on different floors as needed; for example, the first floor is deployed with a functional split with a wiping cleaning function suitable for hard floors; the second floor is deployed with a functional split with a dust collection function suitable for soft floors.

[0145] The handling device provided by the present disclosure may have the following multiple working modes, and the heights of at least two mode unloading platforms from the ground in different working modes are different:

[0146] Loading and unloading mode: used for loading and unloading the cleaning robot.

[0147] Flat-ground transfer mode: used to transfer the cleaning robot from the base station to the stairwell for easy going up and down the stairs.

[0148] Stair climbing mode: mode for going up and down stairs.

[0149] Base station maintenance mode: The transport device enters the base station for maintenance, so that the base station can maintain at least one of the transport device and the cleaning host. The transport device and the base station at least partially overlap in the lateral projection direction or in the direction perpendicular to the ground plane. During the maintenance process, the transport device moves relative to the base station in a direction parallel to the horizontal plane, for example, the transport device can be moved to different maintenance stations to achieve corresponding maintenance.

[0150] Object moving mode: used to move and reposition large objects, such as chairs around a dining table in a restaurant, to facilitate the cleaning robot to clean the floor around the dining table in the restaurant.

[0151] Item delivery mode: used to deliver small items.

[0152] For base station maintenance mode:

[0153] like Fig.17 and Fig.18 As shown, the displacement component of the transport device is a multi-stage crawler displacement component, and the base station includes a replacement wiper, dust collection and charging maintenance function. The maintenance of the cleaning host is briefly described as an example:

[0154] When the cleaning host needs to return to the base station for maintenance, the cleaning host can first establish communication with the transport device and log on to the platform; the cleaning host drives into the platform through the platform entrance and exit of the transport device, completes fixation, and completes energy and signal docking with the platform. At this time, the transport device is in the loading and unloading mode of carrying the cleaning host.

[0155] The transport device carries the cleaning host back to the vicinity of the base station, and lifts the platform by twisting the front and rear crawler mechanisms, so that after the cleaning host is lifted to a preset height, the bottom (lowest end) of the transport device is slightly higher than the base station. The transport device drives the cleaning host back to the base station through the movement of the front and rear crawler mechanisms, and reaches the corresponding maintenance station of the base station to complete the corresponding maintenance operation. For example, refer to Fig.18 The transport device drives the cleaning host to move to the dirty cloth removal station of the base station. At the removal station, the dirty wiping piece is peeled off (separated from the cleaning host) by the cloth removal mechanism, and the separated dirty wiping piece falls into the dirty cloth box.

[0156] After the dirty wiping piece is stripped off, the transport device drives the cleaning host to move to the new cloth installation station of the base station to complete the installation of the new wiping piece (the new wiping piece is installed on the cleaning host), and the replacement of the new wiping piece is completed.

[0157] Of course, in other embodiments, the replacement of new wiping pieces (or the removal of dirty wiping pieces) can be carried out simultaneously with dust collection, charging, fluid replenishment, and other operations. That is, when the cleaning host arrives at the new cloth installation station (or the dirty cloth removal station), the cleaning host also arrives at the dust collection station, the charging station and / or the fluid replenishment station, so that dust collection maintenance or charging maintenance or fluid replenishment maintenance can be performed while the new cloth is installed.

[0158] Another example: Fig.19 and Fig. 20 Taking the displacement component of the transport device as a multi-stage crawler displacement component, the base station includes a cleaning wiper, dust collection and charging maintenance function, as an example, the maintenance process of the cleaning host is briefly described:

[0159] When the cleaning host needs to return to the base station for maintenance, the cleaning host can first establish communication with the transport device and log on to the platform; the cleaning host drives into the platform of the transport device, completes fixation, and completes energy and signal docking with the platform.

[0160] Reference Fig.19 and Fig. 20The transport device carries the cleaning host back to the vicinity of the base station, and lifts the carrier through the twisting of the front and rear crawler mechanisms, so that after the cleaning host is lifted to a preset height, the bottom (lowest end) of the transport device is slightly higher than the base station. The transport device drives the cleaning host back to the base station through the movement of the front and rear crawler mechanisms, and completes docking with the base station, for example, reaching the corresponding maintenance station of the base station to complete the corresponding maintenance operation.

[0161] For example, refer to Fig. 20 The transport device drives the cleaning host to move to the cleaning station of the base station, where the dirty wiper is cleaned by a cleaning module (e.g., in a cleaning tray of the base station). During the cleaning process, the dirty wiper may or may not be separated from the cleaning host.

[0162] While the dirty wiping piece is cleaning, the dust collection module of the base station can collect dust from the dust box of the cleaning host, or the charging port of the base station can charge the cleaning host.

[0163] In other words, when the cleaning main body arrives at the cleaning station, the cleaning main body is also in the dust collection station and the charging station, so that dust collection maintenance or charging maintenance can be performed while performing cleaning of the wiper.

[0164] Of course, in other embodiments, the base station may also have a functional module for fluid replenishment operations, and fluid replenishment maintenance may be performed while cleaning, dust collection or charging.

[0165] It should be noted that the order of maintenance operations can be set according to needs. For example, in other embodiments, the cleaning of the wiper (or replacement of the wiper) can be performed sequentially with dust collection, charging, fluid replenishment, and other operations. This disclosure will not go into details about this.

[0166] It should be pointed out that, in the process of the transport device carrying the cleaning host back to the base station and moving it to the maintenance station for maintenance, the movement of the displacement component can be controlled by the cleaning host or by the transport device, and this is not limited in the present disclosure.

[0167] In addition, the present disclosure provides a cleaning system (also called a service robot system), which can be composed of a cleaning robot host, a handling device, and a base station. In combination with the above-mentioned embodiments, in addition to flat floor cleaning, the service robot system can at least complete at least one of the household service tasks such as stair cleaning, security, interaction, and handling.

[0168] Among them, the base station of the service robot system has at least one of the functions of dust collection, mop replacement, automatic water addition, etc.

[0169] The base station of the service robot system can be fixed or self-moving.

[0170] The base station of the service robot system has a plurality of maintenance stations arranged in parallel, which at least partially overlap in the height direction. During maintenance, these maintenance stations are all located below the main machine.

[0171] The functional divisions or maintenance stations of the base station of the service robot system are modularly arranged, and each functional division is an independent module; of course, the functional division part can also be an independent module. Such an arrangement will simplify the manufacturing, assembly, module upgrade, maintenance and repair of each station, and reduce the production and use costs of the system.

[0172] The handling device of the service robot system has multiple modes: transfer mode, stair climbing mode, base station maintenance mode, obstacle crossing mode, etc. In different modes, or during mode switching, the platform can have different heights. For example, when performing maintenance, the host is loaded on the handling device, and the handling device lifts the host to the highest horizontal position, so that the bottom of the platform is slightly higher than the base station, and drives into the base station horizontally. After driving in, the parts to be maintained (working head or dust box) are aligned with different maintenance stations in turn for maintenance.

[0173] For example, the base station in the above illustrated embodiment has functions such as dust collection, mop replacement, and automatic water addition.

[0174] Specifically, the base station has a dirty cloth loading and unloading station, and the dirty mop loading and unloading station has a disassembly mechanism, and the disassembly mechanism is an inverted hook type.

[0175] The base station has a new cloth installation station, which is arranged parallel to the dirty cloth loading and unloading station for installing new mops. There is a new cloth tray (or lifting tray) in the new cloth installation station, on which a certain number of new mops are loaded, and an ejection device under the tray for ejecting the new mops upwards and installing them on the mops of the cleaning robot.

[0176] The base station has a dust collecting station, in which a dust collecting interface, a dust collecting container, a dust collecting air duct and a dust collecting fan are arranged.

[0177] The base station has an automatic water-adding station, in which a clean water tank and a water-adding interface are arranged, and is used for automatically adding water to the water tank of the cleaning robot loaded on the transport device.

[0178] The base station has an automatic charging station, and a charging interface is arranged in the automatic charging station, which is used to charge the battery pack of the cleaning robot loaded on the transport device or the battery pack of the transport device.

[0179] The base station has a docking sensor for guiding the transport device to enter and exit the base station.

[0180] The base station has an information interaction module and a control module, which are used to exchange information with the handling device or the cleaning robot and control each workstation to cooperate with the handling device to perform maintenance work at each workstation.

[0181] During maintenance, the transport device docks the loaded cleaning robot with each station of the base station in turn, and the climbing robot (transport device and / or cleaning host) moves relative to the base station at each maintenance station. The maintenance sequence in this embodiment is to first separate and collect the dirty mop into the dirty mop bin of the dirty mop module set in the base station, and then install the new mop and collect dust at the same time.

[0182] For another example, the base station of the above-mentioned another illustrated embodiment has functions such as dust collection, mop cleaning, and automatic water addition.

[0183] Specifically, the base station has a dirty cloth cleaning station, and a cleaning brush arranged in the cleaning station is used to clean a flat-plate mop; or a cleaning tank is used to clean a rotary disc mop.

[0184] The base station has a dust collecting station, in which a dust collecting interface, a dust collecting container, a dust collecting air duct and a dust collecting fan are arranged.

[0185] The base station has an automatic water-adding station, in which a clean water tank and a water-adding interface are arranged, and is used for automatically adding water to the water tank of the cleaning robot loaded on the transport device.

[0186] The base station has an automatic charging station, and a charging interface is arranged in the automatic charging station, which is used to charge the battery pack of the cleaning robot loaded on the transport device or the battery pack of the transport device.

[0187] The base station has a docking sensor for guiding the transport device to enter and exit the base station.

[0188] The base station has an information interaction module and a control module, which are used to exchange information with the handling device or the cleaning robot and control each workstation to cooperate with the handling device to perform maintenance work at each workstation.

[0189] During maintenance, the transport device will dock the loaded cleaning robot with each station of the base station in turn, and the climbing robot (the transport device or the cleaning host or the combination of the transport device and the cleaning robot) and the base station will have relative movement during each maintenance station. The maintenance sequence in this embodiment is to clean the mop first, then collect dust and automatically add water.

[0190] By analogy, the base station can also integrate or add a roller brush maintenance (such as hair cutting) station for replacing or cleaning the roller brush, a roller brush maintenance (such as hair cutting) station for replacing or cleaning the side brush; a drive wheel maintenance station for cleaning the drive wheel and other self-maintenance functions.

[0191] After the base station adopts modularization, it will be extremely simple to add or change the maintenance function of the base station, and the modular function split setting will also greatly facilitate large-scale production.

[0192] It should be noted that the above-mentioned transport device has a transport function, so in addition to carrying the cleaning host as mentioned above, in other embodiments, the transport device can also transport other objects, such as cups and other items, so that the transport device has an item transport mode.

[0193] For ease of understanding, the following briefly describes the object transport mode using a transport device having a spoke-type displacement assembly.

[0194] Reference Fig.21 , briefly described using a handling device using a spoke-type displacement assembly:

[0195] Since the top of the main body of the transport device has a platform (also called the second carrier 2013), the transport device can also transport objects 800 such as water cups.

[0196] Of course, in other embodiments, the transport device can also transport items such as water cups while transporting the cleaning host. Fig. 22 , still using the handling device using the spoke-type displacement assembly for explanation:

[0197] The cleaning host 100 is located on the carrier of the transport device, and items 800 such as water cups are located on the platform on the top of the transport device body, thereby achieving simultaneous transport of the cleaning host and other items such as water cups.

[0198] In view of the fact that some transport devices may not have a top platform like the foot-type displacement assembly transport device, in order to realize the transport of other items, it is possible to consider adding a transport platform to realize the transport of other items, that is, the transport device may also include a second carrier to carry other items. Other items may of course also include a cleaning host, so that the transport device can realize the transport of multiple cleaning hosts.

[0199] In summary, in the above modes, the height of the platform from the ground is different between different modes of the handling device and will change to adapt to different working modes or maintenance modes;

[0200] Both the transport device and the cleaning robot have driving devices. After the cleaning robot is docked with the transport device on its self-propelled vehicle, the transport device and the cleaning robot can be regarded as a robot assembly. When the assembly is working, with the help of the transport device, the cleaning robot can move in the horizontal direction parallel to the ground plane or in the vertical direction perpendicular to the ground plane. In this way, it can not only realize cleaning and maintenance work at different heights, but also enable the cleaning robot to cross obstacles with larger sizes in the height direction.

[0201] Reference Fig.23 and Fig.24 The present disclosure also provides a transport device, which includes a main body, a bearing assembly, and a displacement assembly; the difference from the above-mentioned transport device is that the displacement assembly adopts a limb motion mechanism.

[0202] In one embodiment, the carrying device is composed of three limbs that can move up and down relative to each other. The up and down relative movement of the limbs enables climbing stairs and crossing larger obstacles.

[0203] That is to say, the limb motion mechanism includes a first limb 22291, a second limb 22292 and a third limb 22293 which are connected in sequence. In one embodiment, the first limb and the second limb, the third limb and the second limb are respectively connected by a motion connection part 22294. For example, by setting the motion connection part 22294, the first limb, the second limb and the third limb can move in the height direction, so the motion connection part can also be called a lifting component; the first limb, the second limb and the third limb can move up and down in the height direction, so that the carrying device can move between spaces with height differences, so that the carrying device can climb stair steps and cross larger obstacles.

[0204] It should be noted that, for example, the motion connection part can connect the first limb and the second limb, and the second limb and the third limb together so that they can move up and down relative to each other but cannot be separated. In one embodiment, a reciprocating motion mechanism is also provided in the motion connection part, which can be driven by a motor under the control of a controller and realize the up and down relative motion of the corresponding limb. In order to realize the up and down relative motion with precise size, at least one of the transporting device or the cleaning host is provided with a detection sensor, such as a distance sensor or an angle sensor, and the distance of the up and down relative motion is measured by the distance sensor or the angle sensor, and is fed back to the controller by the distance sensor or the angle sensor, so that accurate lifting distance closed-loop control can be realized. Among them, the above-mentioned controller can be, for example, the first controller of the transporting device (if any); it can also be the second controller of the cleaning host. For this, please refer to the aforementioned embodiment, and no further elaboration is made here.

[0205] The above-mentioned limb-type transport device has a forward direction. According to the direction of its forward direction, the main body is divided into three limb segments, namely the front limb segment, the middle limb segment and the hind limb segment, which can move up and down relative to each other; in other words, the first limb segment is also called the front limb segment, the second limb segment is also called the middle limb segment, and the third limb segment is also called the hind limb segment.

[0206] In order to enable the transport device to move horizontally, the first segment includes a first moving wheel 22281, and the third segment includes a third moving wheel 22283; wherein at least one of the first moving wheel 22281 and the third moving wheel 22283 is a driving wheel, so that the transport device has the power to move horizontally.

[0207] In one embodiment, the first moving wheel 22281 is a supporting wheel, such as a universal wheel; and the third moving wheel 22283 is a driving wheel.

[0208] Of course, considering that when the transport device carries the cleaning host in the stair climbing mode, there is a situation where only the middle segment contacts the steps, therefore, in order to ensure the smooth progress of the stair climbing mode and improve the movement stability and reliability of the transport device, in other embodiments, the second segment may also include a second moving wheel 22282; further, the second moving wheel 22282 adopts a driving wheel.

[0209] Considering that in actual scenarios, quite a few stairs are equipped with carpets on the step surfaces, and the thickness of the carpets sometimes exceeds 12.7mm. The weight of the cleaning host is generally around 5KG, and the weight of the transport device is approximately below 15KG, that is, the weight of the transport device plus the host is less than or equal to 20KG. In order to support this weight, in one embodiment, the diameter of the drive wheel should be greater than or equal to 40mm, and further, the diameter of the drive wheel is greater than or equal to 60mm; taking the setting of the drive wheel at the posterior limb section and the middle limb section as an example, under the weight of the above-mentioned transport device plus the host, after actual testing, the diameter of the drive wheel set at the posterior limb section or the middle limb section must be greater than or equal to 40mm, and further, the diameter of the drive wheel set at the posterior limb section or the middle limb section is greater than or equal to 60mm.

[0210] In order to reduce the weight of the transport device, in one embodiment, the transport device is made of aluminum alloy or plastic profile. For example, the frames of the front, middle and rear limbs can be made of aluminum alloy or plastic profile, and the outside of the frames can also be covered with plastic decorative parts to improve the aesthetics. Of course, in other embodiments, the frames of the front, middle and rear limbs can also be aluminum die-cast or injection-molded parts, and the outside is covered with plastic decorative parts.

[0211] In one embodiment, a platform 2021 is provided on the middle section of the transport device, wherein the cleaning host can drive into or out of the platform 2021 autonomously.

[0212] In order to be able to carry the cleaning host and prevent the cleaning host from accidentally falling, in one embodiment, the thickness of the middle limb section is greater than the thickness of the front and rear limb sections, for example, the thickness of the middle limb section is equivalent to twice or more of the thickness of the front and rear limb sections.

[0213] Considering that the width of the cleaning robot (ie, the cleaning host) is generally less than or equal to 380 mm, in order to ensure that the cleaning host can smoothly enter and exit the carrier, in one embodiment, the opening size of the transport device is slightly larger than the width of the cleaning robot.

[0214] In order to enable the cleaning robot to easily enter or exit the platform, in one embodiment, the front and rear limbs adopt an inverted U-shaped structure, which forms an entrance and exit for the cleaning robot to enter and exit the platform.

[0215] The U-shaped opening of the rear limb segment faces the ground to form an entrance and exit for the cleaning robot to enter and exit the carrier, and when the rear limb segment moves up and down in the height direction relative to the middle limb segment, the rear limb segment does not interfere with the cleaning robot and the carrier.

[0216] In order to achieve the crossing of stair steps, in one embodiment, the ground clearance dimension H5 of the U-shaped sealing portion of the rear segment (the end opposite to the opening) satisfies: H5 ≥ H1 + H2 + H3 + H4, H1 represents the maximum height of a single step of the stairs specified in the building standards, H2 represents the thickness of the platform; H3 represents the height of the cleaning host; H4 is the safety distance of the inverted U-shaped opening, and the value of H4 is generally greater than or equal to 3 mm.

[0217] Similarly, the U-shaped opening of the front limb section also faces the ground to form an entrance and exit for the cleaning robot to enter and exit the platform, and when the front limb section moves up and down relative to the middle limb section in the height direction, the front limb section does not interfere with the cleaning robot and the platform. In order to achieve the crossing of stair steps, in one embodiment, the ground clearance dimension H6 of the U-shaped sealing portion of the front limb section (the end opposite to the opening) satisfies: H6 ≥ H1 + H2 + H3 + H4, H1 represents the maximum height of a single step of the staircase specified in the building standard, H2 represents the thickness of the platform; H3 represents the height of the cleaning host; H4 is a safety distance, and the value of H4 is generally greater than or equal to 3 mm.

[0218] For example, in one embodiment, according to building standards, the maximum height H1 of the stairs for residents is 200 mm, the thickness H2 of the platform is 10-20 mm to ensure strength, and the height H3 of the cleaning robot is less than 110 mm to ensure passability; the safety distance H4 of the inverted U-shaped opening of the hind limb of the cleaning robot is 10-30 mm, then the height H5 of the inverted U-shaped opening of the hind limb of the cleaning robot = H1+H2+H3+H4=330-360 mm.

[0219] The U-shaped opening of the front limb segment is similar to the U-shaped opening of the rear limb segment to facilitate modular production; therefore, in one embodiment, the height of the inverted U-shaped opening of the front limb segment of the cleaning robot is H6 = H1 + H2 + H3 + H4 = 330-360 mm.

[0220] Considering that the transport device is in the climbing mode (see below), since a platform is arranged on the middle limb segment and the middle limb segment has an independent landing stage, and at least one of the front and rear limb segments of the transport device must be provided with driving wheels, and the other must be provided with supporting wheels; therefore, the thickness of the middle limb segment should be as large as possible. In one embodiment, the thickness B of the middle limb segment is greater than the thickness C of the front limb segment, and the thickness B of the middle limb segment is greater than the thickness A of the rear limb segment; further, the thickness of the middle limb segment is set to be at least twice the thickness of the front limb segment or twice the thickness of the rear limb segment, that is, B≥2*A, and B≥2*C; in one embodiment, in order to realize the modular production of the front and rear limb segment frames, the thickness of the front limb segment is equal to the thickness of the rear limb segment, that is, A=C.

[0221] Considering that in the process of the transport device climbing stairs (see below), it can be found that there is at least one process in which the front and middle limbs or the rear and middle limbs will touch the same horizontal step surface (tread surface) of the stairs at the same time. Therefore, the sum of the thickness of the front and middle limbs or the rear and middle limbs will be less than or equal to the width dimension W of the horizontal step surface (tread surface). That is, A+B≤W, B+C≤W.

[0222] In addition, considering that according to the building standards, the tread width W of indoor stairs in residential buildings is generally 260 mm, and the length of the cleaning robot is generally longer than 300 mm, that is, the length of the cleaning robot is greater than the width of the tread surface, the parking position of the cleaning robot's platform on the steps cannot exceed the front end surface of the middle segment, otherwise motion interference will occur during the process of going up and down the stairs. To this end, in one embodiment, the opening of the platform faces the rear segment.

[0223] The carrier is arranged on the middle limb. Similarly, in order to realize the communication between the transport device and the cleaning host, in one embodiment, the carrier has an interface connected to the cleaning robot, and the interface includes an energy interface and a communication interface, so as to connect the energy and signal with the cleaning robot, so that the energy and signal can be transmitted between the cleaning robot and the transport device; wherein, the energy is mainly the electric energy of the energy source (such as a battery or a battery pack) stored in the cleaning robot or the transport device; the signal includes the sensor information generated by the sensor arranged in the cleaning robot or the transport device and the control / feedback instructions and information interacting between the second controller arranged in the cleaning host of the cleaning robot or the first controller in the transport device; for the sake of ease of understanding, the signal includes a series of information such as environmental information and platform status information.

[0224] Of course, in other embodiments, the signal transmission may also be performed through wireless communication modules respectively provided on the cleaning host and the transport device of the cleaning robot.

[0225] In order to make the docking process more stable and reliable, in one embodiment, a small amount of energy source, such as one or two batteries, may be disposed inside the transport device.

[0226] The transport device realizes energy and information interaction with the cleaning host by setting an interface.

[0227] The platform has an opening, which faces the rear segment. In one embodiment, the platform 2021 is U-shaped, with the opening of the U-shaped platform facing the rear segment, for example, the opening of the U-shaped platform is aligned with the direction of the cleaning robot entering and exiting the platform to facilitate the cleaning robot to enter the platform.

[0228] In order to dock with the base station in the base station maintenance mode, the carrier is designed to be U-shaped, which can realize corresponding maintenance operations. For example, at the dust collection station during dust collection maintenance, the dust collection port needs to pass through the U-shaped part from the lower surface of the carrier to the upper surface of the carrier, and finally dock with the dust outlet of the dust box of the cleaning host to realize the dust collection operation; in addition, the U-shaped carrier can also avoid the relevant stations for maintaining the base station to ensure the smooth progress of other maintenance operations. For example, when the dust collection station is higher than other stations (such as the liquid replenishing station), the U-shaped carrier can avoid the dust collection station and smoothly reach the liquid replenishing station, thereby realizing the liquid replenishing operation.

[0229] In view of the fact that the length of the cleaning host is usually long, generally longer than 300 mm; in one embodiment, referring to Fig.23 The projection of the carrier 2021 and the hind limb segment 22293 in the direction perpendicular to the paper surface partially overlaps, which is beneficial to the carrying of the cleaning host and prevents the host from falling.

[0230] It should be noted that the length of the two arms of the U-shaped platform (referring to the part excluding the opening and the end opposite to the opening) does not have to be longer than the length of the cleaning robot, but should meet the following requirements: being greater than the wheelbase of the driving wheel and the supporting wheel (such as universal wheels) of the cleaning robot; further, the length of the two arms of the U-shaped platform (referring to the part excluding the opening and the end opposite to the opening) is greater than the distance from the front of the cleaning main body of the cleaning robot to the axis of the driving wheel; the width of the two arms of the U-shaped load-bearing part meets the requirement of being greater than the width of the driving wheel.

[0231] In order to facilitate the maintenance of the cleaning equipment, in one embodiment, the width of the opening of the U-shaped platform is greater than the width of the dust collection port of the base station, and the width of the opening of the U-shaped platform is greater than the width of the dust outlet of the dust box 103 of the cleaning robot. When the transport device is docked at the base station for dust collection and maintenance operations, the opening of the U-shaped platform forks into the dust collection port of the base station, so that the dust collection port of the base station docks with the dust outlet of the dust box of the cleaning robot; it can be understood that because the dust outlet of the cleaning host is not lower than the moving wheel of the cleaning host, and the platform has a certain thickness, in order to achieve dust collection, the height of the dust collection port needs to be able to dock with the dust outlet, so the dust collection port needs to be higher than the upper surface of the platform and extend to the dust outlet of the host, so the opening of the U-shaped platform should fork into the dust collection port of the base station.

[0232] Since the cleaning host is provided with a laser distance measuring sensor 110 (LDS for short) to detect the surrounding environment, in order to prevent the handling device from interfering with the laser optical path of the LDS on the cleaning robot, especially when the handling device and the cleaning host share the sensor system of the cleaning host, in one embodiment, the handling device is used to prevent the handling device from interfering with the sensor system. Fig.23 and Fig.25 , a perspective window 205 is provided in the middle segment, for example, a perspective window is provided on at least two sides of the middle segment. The perspective window and the inverted U-shaped openings of the front and rear segments together form a LDS window area as large as possible, so that the detection light path of the LDS can be emitted or transmitted, so that when the transport device carries the cleaning host and moves (for example, climbing stairs), the cleaning system with the transport device and the cleaning host can obtain information about the environment, obstacles, etc. in a timely manner and respond accurately;

[0233] It should be noted that the cleaning host has a forward-looking sensor 111 (such as an image sensor) that can detect the environment ahead; since the front segment has an inverted U-shaped structure, the detection range of the forward-looking sensor 111 will not be affected; of course, in other embodiments, the opening size of the front segment or the lifting height of the carrier can be adjusted to avoid affecting the field of view of the forward-looking sensor.

[0234] In one embodiment, the transport device provided by the present disclosure has multiple working modes, including but not limited to loading and unloading mode, flat ground transfer mode, up and down stairs mode (also known as climbing mode), base station maintenance mode, and item transportation mode. The height of the platform above the ground is different in different working modes.

[0235] Taking into account that the cleaning robot randomly stops at the stairwell each time, it is not conducive to the smooth implementation of the cleaning work, for example, it may cause problems such as missed sweeping and mopping, and the location of the stairwell may block the user's way, which has low safety. In order to facilitate the orderly operation of the transport device and improve safety at the same time, the present disclosure provides a solution for the temporary docking of the transport device. In one embodiment, a designated mark is designed for the cleaning system to indicate the docking position, such as a QR code, a bar code, etc., wherein the mark can be placed at a preset position by the user according to needs.

[0236] To facilitate understanding, the present disclosure provides a postable QR code sticker that can be posted by the user at a suitable place (temporary stopping point). After the transport device carries the cleaning robot to another floor or another high obstacle (such as another area on the same floor whose height exceeds the obstacle crossing height of the cleaning robot), it will search for and identify the QR code and stop at this code. The cleaning robot will unload from the transport device for cleaning. After cleaning, the cleaning robot will return to this stopping point and dock with the transport device.

[0237] In the process of the cleaning host returning to the docking point after cleaning, in order to improve the recognition rate of the designated identification, in one embodiment, a passive identification (such as a QR code or a bar code) or a wireless beacon module (such as a Bluetooth module) is provided on the transport device (such as the surface of the transport device) to facilitate the positioning of the cleaning host so as to accurately reach the docking point.

[0238] The specific process of the handling device docking plan is as follows:

[0239] The transport device carries the cleaning host to a certain floor (for example, the second floor), identifies the designated mark, moves and stops at the preset position (temporary stop) where the designated mark is located, and the cleaning host can update the preset position to the internal navigation map;

[0240] The middle section of the transport device descends to the ground, the transport device stands by at a preset position, the cleaning host separates from the transport device, and starts to perform cleaning work.

[0241] When the cleaning host finishes its work and returns to the docking point or needs to carry a transport device, the cleaning host can run to the vicinity of the transport device's standby position (the approximate direction where the transport device is docked) according to the preset position of the navigation map, and then rely on the visual sensor set on the cleaning host to identify the designated logo to determine the precise position of the transport device.

[0242] Furthermore, in order to improve the recognition rate, a passive identification or a low-power wireless beacon module is set on the surface of the transport device. The cleaning host can identify the passive identification or wireless beacon module and determine the position of the transport device more accurately.

[0243] The cleaning host enters the carrier of the transport device and docks with the transport device, and the transport device carries the cleaning host to leave the temporary parking position.

[0244] It should be noted that the schematic use of the segmented transport device is only for the convenience of explaining the above-mentioned temporary docking process and should not be understood as a limitation to the present disclosure. In fact, any type of transport device can adopt the above-mentioned temporary docking solution.

[0245] That is, in one embodiment, after the transport device drives away from the stairwell to a temporary stop in a transfer mode, the middle segment touches the ground to unload the cleaning robot.

[0246] Base station maintenance mode:

[0247] Combine the following Fig.26 and Fig. 27 Taking the displacement component of the transport device as a segmented displacement component, the base station includes the functional divisions of fluid replenishment, mop replacement, dust collection and charging, as an example, the maintenance of the cleaning host is briefly described:

[0248] The cleaning host, the transport device, and the base station constitute a cleaning system. When the cleaning host needs to return to the base station for maintenance, the cleaning host can first establish communication with the transport device and log on to the carrier of the transport device.

[0249] The cleaning host drives into the transport device and completes energy and signal docking with the transport device. At this time, the transport device carries the cleaning host back to the base station for maintenance.

[0250] After the docking is completed, the middle segment is lifted, so that the cleaning host is lifted, and the middle segment is lifted to the return height, where the return height is that the bottom of the middle segment is slightly higher than the height of the maintenance station, so that the transport device and the base station do not interfere with each other during maintenance. The transport device carries the cleaning host back to the base station.

[0251] The transport device carries the cleaning host to the first maintenance station (for example, the station for replenishing liquid and / or separating wiping elements), and completes docking with the base station. The replenishing module of the base station can replenish clean water to the cleaning host. At the same time, the cleaning host detaches the wiping elements (such as a mop) it carries, so that the detached wiping elements fall into the dirty cloth box of the base station.

[0252] The transport device continues to move with the cleaning host and arrives at the second maintenance station (for example, a station for installing new wiping pieces and / or collecting dust and charging). The replacement module of the base station installs the new wiping pieces on the cleaning host. At the same time, the dust collection module of the base station performs dust collection maintenance on the dust box of the cleaning host, and the charging port of the base station performs charging maintenance on the cleaning host.

[0253] Of course, in other embodiments, refer to Fig.28 The base station may also have a wiping piece cleaning function, that is, the base station is adapted with a functional split body with a wiping piece cleaning function, such as replacing the functional split body for replacing wiping pieces (including a dirty cloth box and a new cloth box); at this time, when the transport device carries the cleaning host back to the base station and arrives at the third maintenance station (such as a wiping piece cleaning, refilling and / or dust collection, charging station), the wiping piece is cleaned in the cleaning tray (or cleaning tank) of the base station, and at the same time, the refilling module of the base station performs refilling maintenance on the cleaning host, and the dust collection module and charging port of the base station respectively perform dust collection and charging actions on the cleaning host.

[0254] The heights of the above-mentioned maintenance stations are basically in the same plane, for example, the maintenance stations are at the same height.

[0255] Considering that the height of the maintenance station can be different, the following Figures 29 to 38 , still taking the displacement component of the transport device as a segmented displacement component, the base station includes functional divisions for refilling, changing mops, collecting dust and charging, and the height of the maintenance station is stepped as an example to briefly explain the maintenance of the cleaning host:

[0256] Reference Fig.29When the transport device carries the cleaning host back to the base station for maintenance, the middle section where the cleaning host is located is lifted so that the middle section is in a suspended state off the ground.

[0257] Reference Fig.30 The transport device carries the cleaning host close to the base station, and the cover of the dirty cloth box is opened. The purpose of setting the cover of the dirty cloth box is to reduce odor and prevent the odor from attracting other animals to enter. The cleaning host lowers the mop board 311 equipped with the wiping piece to the first position (for example, the lowest point), and the transport device carries the cleaning host to move the mop board to the maintenance station above the dirty cloth box, and the middle limb descends, so that the mop board of the cleaning host enters the dirty cloth box through the opening of the dirty cloth box.

[0258] Reference Fig.31 , the limbs in the transport device rise, causing the mop board of the cleaning host to rise. During the rising process, the wiping pieces on the mop board are torn off by the disassembly mechanism (such as a hook claw) provided on the dirty cloth box (such as the opening), so that the wiping pieces are separated from the cleaning host; the torn off wiping pieces fall into the dirty cloth box under the action of gravity; the cover of the dirty cloth box is closed.

[0259] Reference Fig.32 The transport device carries the cleaning host and continues to move until it reaches the maintenance station above the clean cloth box. The cover of the clean cloth box is opened. The purpose of setting the cover of the clean cloth box is to prevent other objects or garbage from entering and contaminating the wiping parts.

[0260] Reference Fig.33 , the middle limb of the transport device descends, and the mop board of the cleaning host descends to the new cloth installation position (for example, the opening) of the clean cloth box. At this time, the lifting tray arranged in the clean cloth box of the base station is started, and at least one new wiping piece carried on the lifting tray (when there are multiple wiping pieces, the multiple wiping pieces are arranged in a stacked manner) is lifted to the new cloth installation position (for example, the opening) of the clean cloth box, and the uppermost new wiping piece is engaged with the mop board of the cleaning host (for example, by bonding) to achieve the installation of the new wiping piece.

[0261] Reference Fig.34 , the limbs in the transport device rise, and the mop board of the cleaning host rises to take away the new wiping pieces on the top layer, and the remaining wiping pieces remain in the clean cloth box, or as the lifting tray descends to the initial position (reset), the cover on the clean cloth box is closed.

[0262] Reference Fig.35 , the limbs in the transport device rise, and the mop plate of the cleaning host rises to the original position (for example, the highest point).

[0263] Reference Fig.36 The transport device carries the cleaning host and continues to move to the dust collection maintenance station above the dust collection port of the base station, so that the dust box outlet of the cleaning host can be docked with the dust collection port of the base station for dust collection maintenance.

[0264] Reference Fig.37 , the limbs in the transport device descend, the dust outlet of the dust box on the chassis of the cleaning host fits into the dust collecting port of the base station, the dust collecting fan of the base station starts, and the garbage in the dust box of the cleaning host is emptied, thereby realizing the dust collection operation.

[0265] Reference Fig.38 While the base station is collecting dust, the cleaning host on the transport device is connected to the charging port (e.g., charging pole) of the base station, and the base station performs charging operation on the cleaning host. At the same time, the water tank in the cleaning host is connected to the water supply pipe 3055 of the clean water tank 305 of the base station, and the clean water tank of the base station performs liquid replenishment operation for the cleaning host. In other words, the dust collection station, liquid replenishment station, and charging station are the same station, so that the base station can perform liquid replenishment, dust collection, and charging maintenance at the same time, which is conducive to reducing maintenance time and improving maintenance efficiency.

[0266] The advantage of the above-mentioned maintenance stations being arranged in a stepped manner is that it is convenient for the cleaning robot to form a seamless connection with the base station, thereby achieving better maintenance operations.

[0267] In summary, the maintenance base station has a plurality of maintenance stations arranged in parallel, and these stations at least partially overlap in the height direction. During maintenance, these maintenance stations are all located below the cleaning host.

[0268] The functional divisions of maintenance (and their corresponding maintenance stations) are modularized, and each division is an independent module; of course, some stations can also be independent modules. Such a setting will simplify the manufacturing, assembly, module upgrade, maintenance and repair of each station, and reduce the production and use costs of the system.

[0269] During maintenance, the cleaning machine is loaded on the platform, which lifts the cleaning machine to the highest horizontal position, making the bottom of the platform slightly higher than the base station, and drives horizontally into the base station. After driving in, the parts to be maintained (working head or dust box) are aligned with different maintenance stations in turn for maintenance.

[0270] Similarly, the articulated transport device can also form a cleaning system together with the cleaning host and the base station. Combined with the aforementioned embodiments, the cleaning system can complete a series of household service tasks such as cleaning, security, interaction, and transport.

[0271] It can be understood that the cleaning system (also called the service robot system) is composed of a cleaning host, a handling device, and a maintenance base station. In combination with the above-mentioned embodiments, in addition to flat floor cleaning, the service robot system can at least complete at least one of the household service tasks such as stair cleaning, security, interaction, and handling.

[0272] The base station of the cleaning system has at least one of the functions of dust collection, mop replacement, automatic water addition, etc.

[0273] The base station in the cleaning system can be fixed or self-moving.

[0274] The base station of the cleaning system has a plurality of maintenance stations arranged in parallel, which at least partially overlap in the height direction. During maintenance, the maintenance stations are all located below the main machine.

[0275] The maintenance stations are modularly arranged, and each station is an independent module; of course, some stations can also be an independent module.

[0276] The structure of the maintenance base station coordinated with the segmented transport device is basically the same as that of the aforementioned embodiment. In one embodiment, the structure of the maintenance base station can also be basically different. The difference is that the height of the base station maintenance station can also be stepped. The advantage of such a setting is that it facilitates seamless docking between the cleaning robot and the base station, thereby achieving better maintenance operations.

[0277] The base station in one illustrated embodiment has functions such as dust collection, mop replacement, and automatic water (liquid replenishment). In one embodiment, the maintenance sequence may be to first separate and collect the dirty mop into the dirty mop bin of the dirty mop module provided in the base station, and then install the new mop and collect dust at the same time; another illustrated embodiment has functions such as dust collection, mop cleaning, and automatic water (liquid replenishment). In one embodiment, the maintenance sequence may be to first clean the mop and then perform dust collection and automatic water addition. By analogy, the base station may also integrate or add self-maintenance functions such as roller brush maintenance (such as hair cutting), replacement of roller brushes, side brushes, and cleaning of drive wheels. After adopting modularization, it is only necessary to simply increase the functional separation of base station maintenance and the corresponding maintenance stations.

[0278] From the above, we can see that the maintenance sequence can be further subdivided according to needs. Please refer to the previous article for this, and I will not go into details here.

[0279] In view of the fact that there is still a certain amount of remaining space in the upper part of the middle segment of the segmented transport device, as an improvement, in one embodiment, a fluid replenishment module can be arranged in the upper space of the middle segment, so that the transport device has a fluid replenishment function; or a dust collection module can be arranged in the upper space of the middle segment, so that the transport device has a dust collection function, wherein when the cleaning host is docked with the carrier, the dust collection bag can be docked with the dust box outlet of the chassis of the cleaning host through the dust collection pipe to realize the dust collection operation, that is, part of the maintenance function of the base station is arranged on the transport device, or in other words, the transport device at least has the function of performing partial maintenance on the cleaning host. In this way, the volume and space occupied by the fixed base station can be reduced.

[0280] When the transport device is provided with a dust collection module, for a cleaning robot that only has a sweeping function, the maintenance base station will be very simple, and only the charging and dust collection fan power-on functions need to be set.

[0281] In summary, the transport device uses a built-in dust collection module, such as a dust collection fan and dust bag in a built-in base station dust collection module. When the cleaning host is docked with the transport device, the dust outlet of the cleaning host is docked with the dust collection pipe of the transport device. Users can deploy one or more power supply bases at home. When the dust box of the host needs to be emptied, the transport device carries the cleaning host back to the power supply base. The transport device connects to the power supply interface on the power supply base, and the built-in dust collection fan of the transport device is started to suck the garbage in the dust box of the host into the dust bag. At this time, the transport device or base station can also charge the host. After the built-in dust collection module transport device is docked with the power supply base, it is equivalent to a fully functional dust collection base station. The host can independently enter and exit the platform, collect dust and charge on standby.

[0282] Similarly, when the transport device is provided with a dust collection module, the maintenance base station of the cleaning robot with sweeping and mopping functions will be greatly simplified. Fig.39 The maintenance base station may only have the functional split of the wiping piece maintenance function. Of course, in order to realize the refilling, the maintenance base station may also be provided with a refilling module; for example, the maintenance base station only has a clean cloth box and a dirty cloth box to realize the wiping piece replacement function (i.e., removing the dirty mop and replacing it with a new mop), or, the maintenance base station only has a clean water tank to realize automatic refilling.

[0283] It should be noted that the base station has a power supply interface and a power socket to realize dust collection and charging functions, such as Fig.40 The transport device carries the cleaning host back to the base station with the mop maintenance function. The transport device is connected to the power supply interface, and the built-in dust collection fan of the transport device is started to suck the garbage in the dust box of the cleaning host into the dust collection bag.

[0284] In other words, the transport device with built-in dust collection module can be used with a base station with independent mop maintenance. When performing maintenance, the cleaning host is loaded on the transport device, and the transport device is used to lift the cleaning host to a specified position (for example, to the highest horizontal position, maximum stroke), so that the bottom of the platform of the transport device is slightly higher than the base station, and then the transport device can enter the base station horizontally. After entering the base station, the parts of the cleaning host to be maintained (for example, the cleaning work head or the dust box) are aligned with different maintenance stations in turn for maintenance.

[0285] In order to reduce the complexity of maintenance operations, in one embodiment, referring to Fig.41The multifunctional maintenance base station 300 is provided with two storage positions for the cleaning host 100, namely, a first storage position 310 and a second storage position 320, wherein the first storage position is also called a high maintenance position, and the second storage position is also called a low maintenance position; for example, the cleaning host can enter the first storage position by carrying a transport device 200. After entering, the transport device can align the parts of the cleaning host to be maintained (such as a cleaning work head or a dust box) with different maintenance positions in turn for maintenance, such as dust collection, replacement of mops, etc.

[0286] Reference Fig.42 and Fig.43 The multifunctional maintenance base station can also be provided with a second storage position for the cleaning host at the bottom. The cleaning host can return to the base station daily for charging (the charging port 306 is schematically shown in the figure), replenishing fluid (the water filling port 3055 is schematically shown in the figure) or standby, and can enter the second storage position without relying on the help of the transport device. This simplifies the return docking process, reduces the space requirement in the front of the base station, and does not require frequent starting of the transport device.

[0287] The article conveying mode of the conveying device can be referred to the above description, and will not be elaborated here.

[0288] One of the purposes of the invention disclosed herein is to organically integrate the loading and maintenance of the articulated handling device and the cleaning robot into a complete service robot system.

[0289] The basic principles of the present application are described above in conjunction with specific embodiments. However, it should be noted that the advantages, strengths, effects, etc. mentioned in the present application are only examples and not limitations, and it cannot be considered that these advantages, strengths, effects, etc. are required by each embodiment of the present application. In addition, the specific details disclosed above are only for the purpose of illustration and ease of understanding, not for limitation, and the above details do not limit the present application to being implemented by adopting the above specific details.

[0290] It should also be noted that in the apparatus, device and method of the present application, each component or each step can be decomposed and / or recombined. Such decomposition and / or recombination should be regarded as equivalent solutions of the present application.

[0291] The above description has been given for the purpose of illustration and description. In addition, this description is not intended to limit the embodiments of the present application to the forms disclosed herein. Although multiple example aspects and embodiments have been discussed above, those skilled in the art will recognize certain variations, modifications, changes, additions and sub-combinations thereof.

Claims

1. A base station, characterized in that: The base station is at least configured to carry and maintain the cleaning host, including: The movable part is configured to carry the cleaning host and drive the cleaning host to move; A fixing part, configured to perform maintenance operations on the cleaning host; Wherein, the movable part and the fixed part are separate structures.

2. The base station according to claim 1, characterized in that The movable part is a transport device, and the transport device includes: a main body; A bearing assembly, disposed on the main body and configured to bear the cleaning host; a displacement assembly, disposed on the main body and configured to enable the main body to walk; Wherein, the transport device is configured to carry the cleaning host through the carrying component and move through the displacement component, and the transport device and the cleaning host are separate structures.

3. The base station according to claim 1, characterized in that The fixed part is a base station body, and the base station body includes a functional split body, and the functional split body is configured to perform maintenance operations on the cleaning host, wherein the maintenance operations include at least one of the following operations: dust collection, fluid replenishment, renewal of wipers, and charging.

4. The base station according to claim 3, characterized in that The base station body comprises at least two functional parts, the at least two functional parts are connected in a detachable manner, and the at least two functional parts are configured to form the base station body by being assembled; The at least two functional split bodies have different functions, and one of them has a wiper maintenance function.

5. The base station according to claim 4, characterized in that At least one of the two functional parts is a functional part for replacing the wiper or a functional part for cleaning the wiper, so that the base station body has the wiper maintenance function of replacing the wiper or cleaning the wiper.

6. The base station according to claim 4, characterized in that At least two of the functional divisions are arranged in parallel; each of the functional divisions corresponds to a maintenance station.

7. The base station according to claim 6, characterized in that The maintenance stations corresponding to at least two of the functional split bodies are located on the same horizontal plane or are arranged in a stepped manner; or, the maintenance stations of at least two of the functional split bodies at least partially overlap in the height direction.

8. The base station according to claim 6 or 7, characterized in that: When maintaining the cleaning host, the maintenance station is located below the cleaning host; or, when maintaining the cleaning host, the cleaning host drives onto the maintenance station via the movable part to perform maintenance operations; the movable part is a transport device.

9. The base station according to claim 8, characterized in that The transport device includes a displacement component and a bearing component for bearing the cleaning host; When the cleaning host is maintained, the cleaning host is loaded on the carrying assembly of the transport device, so that the transport device is in a loading and unloading mode for carrying the cleaning host; the transport device is configured to lift the cleaning host by lifting the carrying assembly; The cleaning host is configured to move to the corresponding maintenance station through the displacement assembly of the transport device; When the component to be maintained of the cleaning host is aligned with the corresponding maintenance station, the functional split body is configured to perform corresponding maintenance on the cleaning host.

10. The base station according to claim 2, characterized in that: The transport device has multiple working modes, wherein the working modes include at least two of a loading and unloading mode, a flat-ground transfer mode, an up-and-down stairs mode, and a base station maintenance mode; in different working modes, the height of the platform of the transport device from the ground is different.

11. The base station according to claim 2, characterized in that: The displacement assembly of the transport device adopts any one of the following: a spoke-type displacement assembly, a foot-type displacement assembly, a single-track displacement assembly, a multi-stage track displacement assembly, and a limb-type displacement assembly.

12. The base station according to claim 2, characterized in that: The transport device is further configured to transport the cleaning host from the first space to the second space, wherein there is a height difference between the second space and the first space.

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