Charging station, robot and intelligent charging system

Abstract

The present application discloses a charging stand, a robot, and an intelligent charging system. The charging stand includes: a charging stand electrode, a transmitter, and a first spacer; the charging stand electrode is embedded in the side wall of the charging stand; the transmitter includes a first transmitter and a second transmitter, the first transmitter and the second transmitter being used to respectively transmit optical signals for the robot to sense and locate; the first spacer is disposed between the first transmitter and the second transmitter and is used to block part of the optical signal; wherein the transverse length of the first spacer is a first dimension; the transverse length of the charging stand electrode is a third dimension; and the third dimension is greater than the first dimension. After the charging stand and the robot are docked, at least a portion of the charging stand electrode contacts the corresponding machine charging electrode of the robot.

Description

Technical Field

[0001] The present application relates to the technical field of robots, and in particular to a charging stand, a robot, and an intelligent charging system. Background Art

[0002] A normal cleaning robot can perform cleaning tasks and charging tasks. When the battery is low, the cleaning robot will automatically search for the charging station, move to the vicinity of the charging station, and dock with the charging station to charge. When the cleaning robot is near the charging station, the cleaning robot will receive the transmission signal from the charging station, and the cleaning robot will adjust according to the transmission signal from the charging station to achieve precise docking with the charging station. When the cleaning robot drives near the charging station, it continuously fine-tunes the driving direction so that the charging electrode of the cleaning robot can successfully dock with the charging electrode of the charging station. However, due to factors such as unreasonable size settings of the charging electrode of the cleaning robot and / or the charging electrode of the charging station, it takes a long time for the charging electrode of the cleaning robot to successfully dock with the charging electrode of the charging station, thereby affecting the charging efficiency. Summary of the Invention

[0003] The purpose of the embodiments of the present application is to provide a charging stand, a robot, and an intelligent charging system.

[0004] In order to solve the above technical problems, an embodiment of the present application provides a charging base, comprising: a charging base electrode, a transmitter and a first spacer. The charging base electrode is embedded in the side wall of the charging base; the transmitter comprises a first transmitter and a second transmitter, the first transmitter and the second transmitter being used to respectively transmit light signals for the robot to sense and locate; the first spacer is provided between the first transmitter and the second transmitter, and is used to block part of the light signal. Wherein, the transverse length of the first spacer is the first dimension; the transverse length of the charging base electrode is the third dimension, the first direction is a direction parallel to the surface to be cleaned and parallel or tangent to the charging base electrode; the third dimension is greater than the first dimension; and then, after the charging base is docked with the robot, at least a portion of the charging base electrode contacts the machine charging electrode corresponding to the robot.

[0005] In one embodiment, the charging base is further provided with a receiving groove for accommodating an elastic member and the charging base pole piece; the elastic member is located between the end wall of the receiving groove and the charging base pole piece, and is used to hold at least a portion of the charging base pole piece against the outside of the side wall; in a natural state, the length of the charging base pole piece exposed outside the side wall is greater than the movable distance of the charging base pole piece relative to the end wall of the receiving groove.

[0006] In one embodiment, the first size ranges from 8 mm to 10 mm, 10 mm to 13 mm, or 13 mm to 15 mm. The third size ranges from 8 mm to 13 mm, 13 mm to 30 mm, 30 mm to 34 mm, 34 mm to 40 mm, or 40 mm to 50 mm.

[0007] In one embodiment, a fireproof material is provided within a range of at least 3 mm around the charging stand electrode, and the fireproof grade of the fireproof material is UL 94V0 or above.

[0008] The present application also provides a robot comprising: a machine charging electrode and a receiver. The machine charging electrode is embedded in the bottom cover of the robot; the receiver is used to receive optical signals emitted by a first transmitter and a second transmitter of a charging base, so that the robot can determine its relative position with respect to the charging base; the charging base comprises: a first spacer, which is disposed between the first transmitter and the second transmitter and is used to block a portion of the optical signal. The transverse length of the first spacer is a first dimension, and the transverse length of the machine charging electrode is a fourth dimension; the fourth dimension is greater than or equal to the first dimension.

[0009] In one embodiment, the receiver includes a first receiver and a second receiver, and the robot further includes a second spacer; the second spacer is arranged between the first receiver and the second receiver, and is used to block part of the light signal; wherein the lateral length of the second spacer is a second size; the second size is less than or equal to the first size.

[0010] In one embodiment, the range of the second size is: 8mm~10mm or 10mm~12mm; the range of the fourth size is: 8mm~17mm or 17mm~30mm or 30mm~50mm or 50mm~80mm or 80mm~150mm; the range of the first size is: 8mm~10mm or 10mm~13mm or 13mm~15mm.

[0011] In one embodiment, the robot further comprises a top cover and a side cover positioned between the top cover and the bottom cover. The bottom cover is provided with an inclined portion at least on an edge of the charging electrode facing the side cover, wherein the angle of the inclined portion relative to the surface to be cleaned ranges from 5° to 45°.

[0012] In one embodiment, a fireproof material is provided within a range of at least 3 mm around the charging electrode of the machine, and the fireproof grade of the fireproof material is UL 94V0 or above.

[0013] The embodiment of the present application also provides an intelligent charging system, including: a charging base and a robot. The charging base includes a charging base electrode, a transmitter and a first spacer; the transmitter includes a first transmitter and a second transmitter, the first transmitter and the second transmitter are used to respectively transmit light signals for the robot to sense and locate; the first spacer is arranged between the first transmitter and the second transmitter, and is used to block part of the light signal. The robot includes a receiver and a machine charging electrode, the receiver is used to receive the light signals emitted by the first transmitter and the second transmitter, and for the robot to determine the relative position with the charging base. The transverse length of the first spacer is the first dimension; the transverse length of the charging base electrode is the third dimension, and the transverse length of the machine charging electrode is the fourth dimension; the sum of the third dimension and the fourth dimension is greater than or equal to the first dimension.

[0014] In one embodiment, the third size is greater than or equal to the first size.

[0015] In one embodiment, the fourth size is greater than or equal to the first size.

[0016] In one embodiment, the range of the first size is: 8mm~10mm or 10mm~13mm or 13mm~15mm; the range of the third size is: 2.5mm~13mm or 13mm~30mm or 30mm~34mm or 34mm~40mm or 40mm~50mm; the range of the fourth size is: 8mm~17mm or 17mm~30mm or 30mm~50mm or 50mm~80mm or 80mm~150mm.

[0017] In one embodiment, the robot further includes a second spacer; the second spacer is disposed between the first receiver and the second receiver and is used to block part of the light signal; wherein the lateral length of the first spacer is a second size; the second size is less than or equal to the first size.

[0018] In one embodiment, the second size ranges from 8 mm to 10 mm or from 10 mm to 12 mm.

[0019] In one embodiment, the charging base includes a side wall, the charging base electrode passes through the side wall, and at least a portion of the charging base electrode is exposed outside the side wall; the robot includes a side cover, the machine charging electrode passes through the side cover, and at least a portion of the machine charging electrode is exposed outside the side cover; wherein, the side cover has an inclination angle, the number of the machine charging electrodes includes two, and the two machine charging electrodes are spaced apart along the inclination direction of the side cover; the horizontal distance between the two machine charging electrodes at one end away from the side cover is greater than the distance between the portion of the charging base electrode exposed outside the side wall and the side wall.

[0020] The present application also provides an intelligent charging system, including a charging base and a robot, wherein the charging base includes the charging base described in the above embodiments.

[0021] The present application also provides an intelligent charging system, including a charging station and a robot, wherein the robot includes the robot described in the above embodiments.

[0022] In the embodiment of the present application, the size of the charging base electrode and / or the size of the machine charging electrode are set to be greater than or equal to the size of the first spacer. This ensures that when the robot is docked with the charging base, the robot's machine charging electrode and the charging base electrode of the charging base will at least partially overlap and contact each other, thereby achieving an electrical connection between the robot and the charging base. Through the electrical connection between the machine charging electrode and the charging base electrode, the robot is charged, thereby reducing the docking time required for the robot and the charging base, thereby improving the robot's charging efficiency and enhancing the user experience of the intelligent charging system of the robot and the charging base. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1a Schematic diagram of a smart charging system according to an embodiment of the present application.

[0024] Figure 1b This is a schematic diagram of a smart charging system according to another embodiment of the present application.

[0025] Figure 1c Schematic diagram of the docking path of the smart charging system according to an embodiment of the present application.

[0026] Figure 1d This is a schematic diagram of the positions of the first spacer, the charging seat electrode, and the machine charging electrode during the docking process of the intelligent charging system of one embodiment of the present application.

[0027] Figure 2 This is a three-dimensional diagram of a charging base according to an embodiment of the present application.

[0028] Figure 3 Schematic diagram of a transmitter and a first spacer according to an embodiment of the present application.

[0029] Figure 4a It is a front view of a charging base according to an embodiment of the present application.

[0030] Figure 4b It is a side view of a charging stand according to an embodiment of the present application.

[0031] Figure 4c 2 is a side cross-sectional view of a charging base according to an embodiment of the present application.

[0032] Figure 5 It is a three-dimensional diagram of a charging base according to another embodiment of the present application.

[0033] Figure 6 This is a circuit system diagram of a charging base according to an embodiment of the present application.

[0034] Figure 7 It is a front schematic diagram of a robot according to an embodiment of the present application.

[0035] Figure 8 Schematic diagram of a receiver and a second spacer according to an embodiment of the present application.

[0036] Figure 9a This is a side view of a robot according to an embodiment of the present application.

[0037] Figure 9b It is a side schematic diagram of a robot according to an embodiment of the present application.

[0038] Figure 10 It is a three-dimensional diagram of a robot according to another embodiment of the present application.

[0039] Figure 11 This is a structural block diagram of a cleaning robot according to an embodiment of the present application.

[0040] Figure 12 This is a circuit system diagram of a robot according to an embodiment of the present application. DETAILED DESCRIPTION

[0041] The technical solutions in the embodiments of the present application will be described clearly and completely below in conjunction with the accompanying drawings in the embodiments of the present application.

[0042] Please also refer to Figures 1a to 1dThe intelligent charging system 10 of the charging base 100 and the robot 200 provided in each embodiment of the present application limits the sizes of the first spacer 130 (of the charging base 100) and the charging base pole piece 110 of the charging base 100, as well as the machine charging pole piece 210 (of the robot 200), so that the sum of the size d3 of the charging base pole piece 110 and the size d4 of the machine charging pole piece 210 is greater than the size d1 of the first spacer 130, thereby enabling the charging base 100 to charge the robot 200.

[0043] like Figure 1c and Figure 1d As illustrated, during the docking process of some robots 200 and charging bases 100, as the robot 200 gradually approaches and docks with the charging base 100, the swing amplitude of the robot 200 to adjust the driving direction gradually decreases, and the distance of the robot 200's swing amplitude in the first direction a gradually tends to the size of dimension d1. During the docking with small swings of the robot 200, the machine charging electrode 210 and the charging base electrode 110 gradually approach each other. Based on the size relationship d3+d4≥d1, when the machine charging electrode 210 and the charging base electrode 110 are both located in the first direction a, the machine charging electrode 210 and the charging base electrode 110 at least partially overlap (e.g., Figure 1d As shown), the machine charging electrode 210 and the charging base electrode 110 can contact each other more quickly, thereby realizing the electrical connection between the charging base 100 and the robot 200, and then the charging base 100 charges the robot 200.

[0044] In some other docking processes between the robot 200 and the charging base 100, the robot 200 has a small swing amplitude to adjust the driving direction. Based on the size relationship d3+d4≥d1, the robot 200 can quickly dock the pole piece on the robot 200 with the pole piece on the charging base 100 and achieve charging during the docking process with a small swing amplitude.

[0045] Please also refer to Figures 1a to 6 In one embodiment, a charging station 100 includes two or more charging station pole pieces 110, at least one first processor 142, and two or more transmitters 120. When the robot 200 switches from the working mode to the recharging mode, the robot 200 begins to search for the charging station 100 and uses the charging station 100 to charge the robot 200.

[0046] like Figures 1a to 6As illustrated, the number of charging base pole pieces 110 of the charging base 100 is illustrated as two, one of which is a positive charging base pole piece and the other is a negative charging base pole piece. It should be understood that in other embodiments, the number of charging base pole pieces 110 can also be other numbers; for example: the charging base pole piece 110 can also include a grounded charging base pole piece.

[0047] The charging base electrode 110 is provided on the charging base 100 and is used to electrically connect to the machine charging electrode 210 of the robot 200 and charge the robot 200. It should be understood that the two charging base electrode pieces 110 shown in the example can be one located on the left side of the charging base 100 and the other on the right side of the charging base 100; alternatively, the charging base electrode pieces 110 can be spaced apart from each other along the top to the bottom of the charging base 100. In the embodiments of the present application, two charging base electrode pieces 110 are spaced apart from each other as an example, but this is not limiting.

[0048] In some embodiments, a fireproof material (not shown) is provided around the charging station electrode 110, and the fireproof material may have a fire rating of UL 94V0 or higher. The fireproof material is located at least within a 3mm radius around the charging station electrode 110 to reduce the possibility of the charging station 100 burning due to a short circuit or other fault in the charging station electrode 110, thereby reducing the probability of accidents.

[0049] Please also refer to Figures 1a to 6 The input power supply 146 inputs electrical energy through the input power interface 144 and is used to power the at least one first processor 142 and the transmitter 120, and transmits the electrical energy to the robot 200 through the charging base pole piece 110. The at least one first processor 142 is electrically connected to the transmitter 120, the output power interface 144 and the charging base pole piece 110.

[0050] like Figure 2 and Figure 3 , the transmitters 120 are arranged at intervals on the charging base 100 and are located on one side or around any charging base pole piece 110. Each transmitter 120 is used to transmit a light signal to form a corresponding sensing area for the receiver 220 of the robot 200 to sense. It should be understood that the transmitter 120 includes a first transmitter 121 and a second transmitter 122, and the first transmitter 121 and the second transmitter 122 are used to transmit light signals for the robot 200 to sense and locate. Among them, the light signal emitted by the first transmitter 121 forms a first sensing area, and the light signal emitted by the second transmitter 122 forms a second sensing area; the first sensing area and the second sensing area are used for the robot 200 to sense so that the robot 200 determines its relative position with the charging base 100, and then the robot 200 moves and adjusts according to the transmitted signals in the first sensing area and the second sensing area to achieve docking with the charging base 100.

[0051] In one embodiment, a first spacer 130 is disposed between adjacent emitters 120. The first spacer 130 is configured to block a portion of the optical signal emitted by the first emitter 121 toward the second emitter 122, and to block a portion of the optical signal emitted by the second emitter 122 toward the first emitter 121. Furthermore, the first spacer 130 defines the angle and range of the first sensing zone of the first emitter 121 and the second sensing zone of the second emitter 122.

[0052] In one embodiment, the first spacer 130 includes a first blocking portion 135 , which is located in front of the transmitter 120 and laterally disposed relative to the adjacent transmitter 120 ; the first blocking portion 135 is located between the transmitter 120 and the exterior of the charging station 100 .

[0053] Please refer to Figure 2 and Figure 3 The length of the first spacer 130 in the first direction a is a first dimension d1. In the various embodiments illustrated in this application, the first dimension d1 is the transverse length of the first spacer. The length of the charging base electrode piece 110 in the first direction a is a third dimension d3. In the various embodiments illustrated in this application, the third dimension d3 is the transverse length of the charging base electrode piece 110.

[0054] It should be understood that in some embodiments, the horizontal length of the charging base electrode piece 110 may refer to the length from the left side to the right side of the charging base electrode piece 110 (relative to the charging base 100) when the charging base 100 is placed horizontally and in normal use. The horizontal length of the first spacer 130 may refer to the length from the left side to the right side of the first spacer 130 (relative to the charging base 100) when the charging base 100 is placed horizontally and in normal use.

[0055] In terms of engineering design, the charging base 100 of the present application is designed to simplify the design by making the third dimension d3 greater than or equal to the first dimension d1 (i.e., d3 ≥ d1). Based on the design of d3 ≥ d1, the robot 200 can quickly successfully dock the electrode on the robot 200 with the electrode on the charging base 100 during the docking process with a small swing, and achieve charging. After the charging base 100 and the robot 200 are docked, at least a portion of the charging base electrode 110 contacts the corresponding machine charging electrode 210 of the robot 200.

[0056] It should be understood that during the docking with a small swing of the robot 200, the machine charging electrode 210 and the charging base electrode 110 gradually approach each other. Based on the size relationship of d3≥d1, when the machine charging electrode 210 and the charging base electrode 110 are both located in the first direction a at the same time, the machine charging electrode 210 and the charging base electrode 110 at least partially overlap, so that the machine charging electrode 210 and the charging base electrode 110 can contact each other more quickly, thereby realizing the electrical connection between the charging base 100 and the robot 200, and then the charging base 100 charges the robot 200.

[0057] It should be understood that since the first spacer 130 is disposed between the first radiator 121 and the second radiator 122, and the first spacer 130 further includes a first blocking portion 135 disposed between the first radiator 121 and the second radiator 122, the length of the first blocking portion 135 in the first direction a can refer to the length of the first spacer 130 in the first direction a; therefore, the lateral length of the first blocking portion 135 (or the length of the first blocking portion 135 in the first direction a) can also be referred to as the first dimension d1.

[0058] Please refer to Figure 4a In one embodiment, both charging base electrode pieces 110 are strip-shaped and include opposing short and long sides. It should be understood that the strip shape may include a rectangular, racetrack-shaped, fan-shaped, or wavy shape. The two charging base electrode pieces 110 are spaced apart along their short sides, with the long side of each charging base electrode piece 110 extending along the first direction a.

[0059] In one embodiment, the two charging base electrodes 110 are spaced apart along the short sides and can be staggered a certain distance along the long sides. Specifically, one of the two charging base electrodes 110 can be located in the middle of the charging base 100, correspondingly between the first and second sensing areas. This facilitates accurate alignment of the charging base electrode 110 of the charging base 100 with the robot 200's charging electrode 210 after the charging base 100 and the robot 200 are docked.

[0060] Please also refer to Figure 1b and Figure 5 In one embodiment, both charging base electrodes 110 are in a sheet-like shape; the sheet-like shape may include square, rectangular, circular, or oval shapes. The two sheet-like charging base electrodes 110 are spaced apart and positioned on the charging base 100 to contact the machine charging electrode 210 of the robot 200.

[0061] In one embodiment, the number of transmitters 120 is a predetermined even number; the even number of transmitters 120 is spaced apart on the charging base 100, and the first dimension d1 of the first spacer 130 located between the first sensing area and the second sensing area is less than or equal to the third dimension d3 of the charging base pole piece 110; wherein the predetermined even number is an even number of two, four or more than four.

[0062] In one embodiment, Figure 3 In the example of transmitters 120, there are four transmitters 120, including two first transmitters 121 and two second transmitters 122. It should be understood that in other embodiments, the number of first transmitters 121 and second transmitters 122 may vary, thereby enabling the first sensing zone to be larger than the second sensing zone to accommodate the corresponding usage environment. The optical signals emitted by the first transmitter 121 and the second transmitter 122 may be encoded differently for identification by the receiver 220.

[0063] In one embodiment, the number of transmitters 120 is an odd number greater than or equal to three; the odd number of transmitters 120 are spaced apart on the charging base 100, and the first dimension d1 of the first spacer 130 located between the first sensing area and the second sensing area is less than or equal to the third dimension d3 of the charging base pole piece 110.

[0064] Please also refer to Figure 1a 、 Figure 2 、 Figure 4b and Figure 4c In one embodiment, the charging station 100 includes a top wall 142 and a side wall 144. The side wall 144 is provided with a receiving groove 146 for accommodating an elastic member 148 and the charging station pole piece 110. The transmitter 120 is disposed on the top wall 142 or the side wall 144 and faces the outside of the charging station 100. The elastic member 148 is disposed between the end wall of the receiving groove 146 and the charging station pole piece 110, and the elastic member 148 holds at least a portion of the charging station pole piece 110 against the outside of the side wall 144.

[0065] In one embodiment, the number of the receiving slots 146 is one or two. Figure 4c In the example shown, there are two elastic members 148. The number of elastic members 148 is greater than or equal to two. For example, the number of elastic members 148 is four, and every two elastic members 148 are used to abut against one charging base electrode 110. When the charging base electrode 110 is squeezed by an external force (for example, the robot 200 moves and generates a force on the charging base electrode 110), the charging base electrode 110 and the elastic members 148 generate a relative force. Based on the elastic deformation characteristics of the elastic members 148, the charging base electrode 110 has a certain movable distance.

[0066] In a natural state (i.e., when the charging base electrode 110 is not squeezed), the length of the charging base electrode 110 exposed outside the side wall 144 is greater than the movable distance of the charging base electrode 110 relative to the end wall of the receiving groove 146. Furthermore, when the charging base electrode 110 is squeezed and the elastic member 148 is fully compressed or the charging base electrode 110 is pressed against the end wall of the receiving groove 146, a portion of the charging base electrode 110 is still located outside the side wall 144. This portion of the charging base electrode 110 located outside the side wall 144 can contact the machine charging electrode 210 of the robot 200.

[0067] For a specific implementation scenario, please refer to Figure 4c In the natural state, the distance between the portion of the charging seat electrode 110 located outside the side wall 144 of the charging seat 100 and the side wall 144 is a. The distance between the portion of the charging seat electrode 110 located inside the charging seat 100 and the end wall of the receiving groove 146 is b, and the distance b is the movable distance of the charging seat electrode 110. The relationship between a and b is: a is greater than b. In this way, even if the charging seat electrode 110 is compressed to contact the end wall of the receiving groove 146, there is still a portion of the charging seat electrode 110 exposed outside the side wall 144, and then the portion of the charging seat electrode 110 exposed outside the side wall 144 can contact the machine charging electrode 210 of the robot 200, thereby realizing the electrical connection between the charging seat 100 and the robot 200.

[0068] Please refer to 1b and Figure 5 In one embodiment, the charging base 100 includes a main body 102 and a carrying portion 104. The structure of the main body 102 is similar to that of the charging base in the above embodiment; that is, the main body 102 includes a top wall 142 and a side wall 144. The transmitter 120, the first processor 142 and other components are arranged on the main body 102, and the charging base pole piece 110 is arranged on the carrying portion 104. In this embodiment, the carrying portion 104 is located on the side of the side wall 144 away from the top wall 142, and is used to carry (or fix) at least part of the robot 200 after the charging base 100 is docked with the robot 200. Among them, the carrying portion 104 is generally a plate-shaped structure, and is fixedly connected or detachably connected to the side wall 144 of the main body 102.

[0069] In one embodiment, the first dimension d1 ranges from 8 mm to 15 mm (e.g., 9 mm, 10 mm, 11 mm, 12 mm, 13 mm, 14 mm). The third dimension d3 ranges from 8 mm to 50 mm, including, for example, 8 mm to 13 mm (e.g., 10 mm, 11 mm, 12 mm, 13 mm), 13 mm to 20 mm (e.g., 15 mm, 16 mm, 17 mm, 18 mm), 20 mm to 30 mm (e.g., 24 mm, 25 mm, 26 mm, 27 mm), 30 mm to 34 mm (e.g., 31 mm, 32 mm, 33 mm), 34 mm to 40 mm (e.g., 35 mm, 36 mm, 37 mm, 38 mm), or 40 mm to 50 mm (e.g., 41 mm, 42 mm, 43 mm, 44 mm). It should be understood that the ranges of the first dimensions d1 and the third dimensions d3 mentioned above all include the endpoint values.

[0070] Please also refer to Figure 1a 、 Figure 1b ,as well as Figures 7 to 12 In one embodiment, the robot 200 provided in the present application includes two or more machine charging electrodes 210, two or more receivers 220, at least one second processor 242, a cleaning unit 260, a storage unit 270, an obstacle detection unit 280 and a driving unit 290.

[0071] The robot 200 is generally disc-shaped. The robot 200 may also be shaped in other ways, such as a square. The robot 200 also includes a forward portion 201 and a rearward portion 202. The forward portion 201 is the portion of the robot 200 that faces forward. The rearward portion 202 is the portion opposite the forward portion 201.

[0072] The machine charging electrode 210 can be set on the side or bottom of the robot 200. Figure 1a In the smart charging system shown, the machine charging electrode 210 is set on the side of the robot 200; Figure 10 In the smart charging system shown, the machine charging electrode 210 is set at the bottom of the robot 200.

[0073] The driving unit 290 is connected to the cleaning unit 260, the driving wheel 248b and the guide wheel 248a. Under the control of the second processor 242, the driving unit 290 can drive the cleaning unit 260, the driving wheel 248b and the guide wheel 248a.

[0074] Please also refer to Figure 1a 、 Figure 10 and Figure 12In some embodiments, the wheels 248 of the robot 200 include a guide wheel 248a and at least two drive wheels 248b. The drive wheels 248b generally include a left drive wheel (not labeled) and a right drive wheel (not labeled), which are symmetrically arranged on opposite sides of the bottom of the robot 200. During the execution of the task, the robot 200 performs movement operations including forward movement, backward movement and rotation. The guide wheel 248a can be set at the front or rear of the robot 200. Figure 10 As illustrated, the guide wheels 248 a are provided on the forward portion 201 of the robot 200 .

[0075] like Figures 7 to 12 As shown, the number of machine charging electrodes 210 is exemplified as two, one of which is a positive charging base electrode and the other is a negative charging base electrode. It should be understood that in other embodiments, the number of charging base electrodes 110 can also be other numbers without limitation; for example: the machine charging electrode 210 can also include a grounded machine charging electrode.

[0076] The machine charging electrode 210 is provided on the robot 200 and is used to electrically connect to the charging base electrode 110 of the charging base 100 .

[0077] In one embodiment, the two machine charging electrodes 210 may be one located on the left side of the robot and the other located on the right side of the robot. Figure 1a 、 Figure 7 and Figure 9b In the illustrated robot 200, two machine charging electrodes 210 are spaced apart from each other along the direction from the top to the bottom of the robot 200. Figure 1a The structure of the charging stand 100 is illustrated in the embodiment of the present application by arranging two machine charging electrodes 210 spaced apart from each other in an upper and lower manner, but is not limited thereto.

[0078] In some embodiments, a fireproof material (not shown) is provided around the machine charging electrode 210, and the fireproof material may have a fire rating of UL 94V0 or higher. The fireproof material is located at least within a 3mm radius around the machine charging electrode 210 to reduce the possibility of the robot 200 being burned due to a short circuit or other malfunction of the machine charging electrode 210, thereby reducing the probability of accidents.

[0079] In some embodiments, the outer shells of the charging station 100 and the robot 200 may both be made of plastic material with a fire rating of UL 94V0 or above, thereby improving the fire resistance of the charging station 100 and the robot 200.

[0080] Please also refer to Figure 1b and Figure 10In one embodiment, the two machine charging electrodes 210 may be spaced apart at the bottom of the robot 200 , and the two machine charging electrodes 210 are used to contact the charging seat electrode 110 located on the carrier 104 , so that the robot 200 can be charged.

[0081] Please also refer to Figures 6 to 12 In the robot 200, at least one second processor 242 is used to control the receiver 220, detect the connection status between the robot 200 and the charging station 100, and control the robot 200 to perform corresponding operations based on the connection status. The receiver 220 includes a first receiver 221 and a second receiver 222.

[0082] After the robot 200 docks with the charging station 100, the robot charging electrode 210 stores the electrical energy from the input power source 146 in the rechargeable battery 246 via the charging circuit 244. There can be one or more rechargeable batteries 246, which are used to ensure the normal operation of the robot 200. The robot 200 may also include a battery parameter detection component for detecting battery parameters such as voltage, current, and battery temperature.

[0083] In one embodiment, when the machine charging electrode 210 of the robot 200 is connected to the charging base electrode 110 of the charging base 100, at least one second processor 242 determines that the robot 200 is successfully docked with the charging base 100 and controls the robot 200 to stop moving; when the machine charging electrode 210 of the robot 200 is not connected to the charging base electrode 110 of the charging base 100, at least one second processor 242 determines that the robot 200 and the charging base 100 are not docked, and controls the robot 200 to move to dock again until the robot 200 is successfully docked with the charging base 100.

[0084] Please also refer to Figure 1a 、 Figure 1b 、 Figure 7 and Figure 8 The first receiver 221 and the second receiver 222 can be located on the side of the robot 200, or on the side of or around any of the machine charging pads 210. The first receiver 221 and the second receiver 222 are used to respectively receive optical signals from the charging base 100, and the information received by the first receiver 221 and the second receiver 222 is processed by at least one second processor 242. This allows the robot 200 to identify its current relative position with the charging base 100, and the robot 200 moves and adjusts accordingly until it successfully docks with the charging base 100. It should be understood that the first receiver 221 and the second receiver 222 can be located on the side of the machine charging pad 210 or around the machine charging pad 210. Figure 8One first receiver 221 and one second receiver 222 are shown as an example, but the number of the first receiver 221 and the second receiver 222 should not be limited thereto.

[0085] It should be understood that the transmitter 120 and the receiver 220 can be respectively arranged inside the charging base 100 and the robot 200, rather than being directly reflected on the surface of the charging base 100 and the robot 200. For ease of understanding, Figure 2 and Figure 3 ,as well as Figure 7 and Figure 8 The accompanying drawings are only for schematic illustration.

[0086] In one embodiment, Figure 5 The charging station shown and Figure 10 In the illustrated robot, the length of the machine charging electrode 210 in the second direction b is a fourth dimension d4. In the various embodiments illustrated in this application, the fourth dimension d4 is the transverse length of the machine charging electrode 210. It should be understood that in some embodiments, the transverse length of the machine charging electrode 210 may refer to: the length from the left to the right side of the machine charging electrode 210 (relative to the robot 200) when the robot 200 is placed horizontally and in normal use; or the length of the machine charging electrode 210 relative to the line connecting the two drive wheels 248b.

[0087] In terms of engineering design, the robot 200 of the present application is designed to simplify the fourth dimension d4, which is greater than or equal to the first dimension d1 (i.e., d4 ≥ d1). Based on the design of d4 ≥ d1, the robot 200 can quickly successfully dock the pole piece on the robot 200 with the pole piece on the charging base 100 during the docking process with a small swing, and charging can be achieved.

[0088] During the docking with a small swing of the robot 200, the machine charging electrode 210 and the charging base electrode 110 gradually approach each other. Based on the size relationship d4≥d1, when the machine charging electrode 210 and the charging base electrode 110 are located in the first direction a or the second direction b at the same time, the machine charging electrode 210 and the charging base electrode 110 at least partially overlap, so that the machine charging electrode 210 and the charging base electrode 110 can contact each other more quickly, thereby realizing the electrical connection between the charging base 100 and the robot 200, and then the charging base 100 charges the robot 200.

[0089] For example, the charging station 100 is stationary. Under normal circumstances, the first direction a of the charging station 100 is relatively fixed relative to the external environment. However, due to the mobile cleaning nature of the robot 200, the second direction b of the robot 200 may frequently change relative to the external environment. However, it should be understood that, using the robot 200 itself as a reference, the second direction b is also relatively fixed. After the charging station 100 and the robot 200 are docked, at least a portion of the machine charging electrode 210 contacts the corresponding charging station electrode 110 of the charging station 100. At this point, the first direction a and the second direction b are parallel (or can be understood as overlapping).

[0090] Please refer to Figure 7 In one embodiment, the machine charging electrode 210 is in a strip shape and includes opposite short sides and long sides. The strip shape may also include a rectangular, racetrack, fan-shaped, or wavy shape. The two machine charging electrode sheets 210 are spaced apart along the direction of their short sides; wherein the long side of each machine charging electrode sheet 210 extends along the second direction b. It should be understood that Figure 7 The robot 200 shown in FIG. Figure 2 The charging stand 100 is matched, that is, Figure 1a The smart charging system shown.

[0091] The two machine charging electrodes 210 are spaced apart along the short side and can be staggered by a certain distance along the second direction b. That is, one of the two machine charging electrodes 210 can be located in the middle area of ​​the robot 200 to achieve accurate alignment.

[0092] Please also refer to Figure 5 and Figure 10 In one embodiment, the two machine charging electrodes 210 are in sheet shape; the sheet shape may include square, rectangular, circular or oval shapes. The two sheet-shaped machine charging electrodes 210 are spaced apart at the bottom of the robot 200 to contact the charging base electrode 110 located on the carrying portion 104 of the charging base 100. It should be understood that Figure 10 The robot 200 shown in FIG. Figure 5 The charging station 100 is compatible with the Figure 1b The smart charging system shown.

[0093] In one embodiment, the shapes of the charging stand electrode 110 and the machine charging electrode 210 may be the same or different, and the types (e.g., materials) and specifications (e.g., sizes) of the charging stand electrode 110 and the machine charging electrode 210 may be the same or different.

[0094] Please refer to Figure 8In one embodiment, the receiver 220 includes a first receiver 221 and a second receiver 222. A second spacer 230 is provided between the first receiver 221 and the second receiver 222. The second spacer 230 is configured to block the first receiver 221 from receiving a portion of the optical signal emitted from the direction of the second receiver 222, and to block the second receiver 222 from receiving a portion of the optical signal emitted from the direction of the first receiver 221.

[0095] In one embodiment, a second blocking portion 235 is provided on the second spacer 230 , and the second blocking portion 235 is located in front of the receiver 220 and is arranged laterally relative to the adjacent receiver 220 ; wherein the second blocking portion 235 is located between the receiver 220 and the exterior of the relative robot 200 .

[0096] In one embodiment, the length of the second spacer 230 in the second direction b is a second dimension d2. In the various embodiments illustrated in this application, the second dimension d2 is the lateral length of the second spacer 230. The second dimension d2 is less than or equal to the first dimension d1 (i.e., d2 ≤ d1). By defining the length of the second spacer 230 by d2 ≤ d1, the arrangement of the second spacer 230 can effectively limit the signal reception field of view of the receiver 220. Within this limited signal reception field of view, the robot 200 can more accurately dock with the charging base 100 through the signals received by the receiver 220, thereby improving docking efficiency. The length of the second blocking portion 235 in the second direction b can refer to the length of the second spacer 230 in the second direction b; therefore, the length of the second blocking portion 235 in the second direction b can also be referred to as the second dimension d2.

[0097] It should be understood that in some embodiments, the lateral length of the second spacer 230 may refer to: the length of the second spacer 230 or the second blocking portion 235 (relative to the robot 200) from the left to the right when the robot 200 is placed horizontally and in normal use; or, the length of the second spacer 230 or the second blocking portion 235 relative to the direction of the line connecting the two driving wheels 248b.

[0098] In one embodiment, the second dimension d2 ranges from 8 mm to 12 mm (e.g., 9 mm, 10 mm, 11 mm). The fourth dimension d4 ranges from 8 mm to 17 mm (e.g., 9 mm, 10 mm, 11 mm, 12 mm, 13 mm), or from 17 mm to 30 mm (e.g., 18 mm, 19 mm, 20 mm, 22 mm, 24 mm), or from 30 mm to 50 mm (e.g., 32 mm, 34 mm, 36 mm, 38 mm, 40 mm), or from 50 mm to 80 mm (e.g., 55 mm, 60 mm, 65 mm, 70 mm, 75 mm), or from 80 mm to 150 mm (e.g., 85 mm, 90 mm, 100 mm, 120 mm, 140 mm). It should be understood that the ranges of the second dimensions d2 and the fourth dimensions d4 mentioned above all include the values ​​of the endpoints.

[0099] Please also refer to Figure 9a and Figure 10 In one embodiment, the robot 200 includes a housing 202, which includes a top cover 204, a bottom cover 208, and a side cover 206 located between the top cover 204 and the bottom cover 208. The top cover 204 and the side cover 206 can be an integrated top shell structure to improve the robot 100's resistance to deformation and drop.

[0100] It should be understood that, in general, the bottom cover 208 is generally parallel to the surface to be cleaned. When the machine charging electrode 210 is located at the bottom cover 208 of the robot 200, the second direction b may refer to the direction between the two driving wheels 248b (i.e., Figure 10 shown).

[0101] The two machine charging electrodes 210 are embedded in the side cover 206. The two machine charging electrodes 210 extend through the side cover 206, and at least a portion of the machine charging electrodes 210 is exposed outside the side cover 206 (or at least a portion of the machine charging electrodes 210 is located outside the side of the top shell structure). The receiver 220 is located on the top cover 204 or the side cover 206 and faces the outside of the robot 200.

[0102] Please also refer to Figure 9a and Figure 9b In some embodiments, the bottom cover 208 of the robot 200 is provided with an inclined portion 250 on at least one edge facing the two machine charging electrodes 210. The inclined portion 250 is used to facilitate the robot 200 to lift the portion of the body that passes over the protrusion when the robot 200 encounters a protrusion, thereby allowing the robot 200 to pass over the protrusion as a whole and continue to perform the relevant task.

[0103] Please refer to Figure 9a and Figure 10In some embodiments, the bottom cover 208 of the robot 200 is provided with inclined portions 250 on at least the edges corresponding to the two machine charging electrodes 210. The inclined portions 250 are used to facilitate the robot 200 to lift the portion of the body that passes over the protrusion when it encounters a protrusion, thereby allowing the entire robot 200 to pass over the protrusion and continue to perform the relevant task.

[0104] Relative to the working plane or the surface to be cleaned (which may also be a horizontal plane in some embodiments), the angle of inclination α of the inclined portion 250 in each embodiment ranges from 5° to 45°. The inclination angle α of the inclined portion 250 may be 20°, 30°, or 40°.

[0105] In some embodiments, the inclined portion 250 may be in a planar shape or a curved shape, and the curved shape may be, for example, an arc shape, etc. When the inclined portion 250 is in a curved shape, the inclination angle α of the inclined portion 250 refers to the angle between the tangent of the curved surface and the surface to be cleaned (or the bottom cover). During the process of the robot 200 and the charging base 100 docking and contacting, the inclined portion 250 can also be used to provide the robot 200 with a force in the direction of the top cover 204 of the robot 200. This force enables the robot 200 to smoothly climb onto the supporting portion 104 of the charging base 100. Thereby, it is convenient for the robot 200 to dock with the charging base 100; and it can avoid the situation where the robot 200 presses against and pushes the charging base 100 to move due to the bottom wall of the charging base 100 being too high, thereby avoiding the unsuccessful docking of the robot 200 with the charging base 100.

[0106] Please refer to Figures 1a to 12 Based on the above charging base 100 and robot 200, in the intelligent charging system 10 of the present application, the sum of the third dimension d3 and the fourth dimension d4 is greater than or equal to the first dimension d1 (i.e., d3+d4≥d1). Due to the swing amplitude of the robot 200 during docking with the charging base 100, the movement distance of the robot 200 in the first direction a is close to or equal to the size of the first dimension d1. Therefore, during the docking with a small swing amplitude of the robot 200, the machine charging electrode 210 and the charging base electrode 110 gradually approach each other. Based on the relationship d3+d4≥d1, when the charging base electrode 110 and the machine charging electrode 210 are simultaneously located in the first direction a, the charging base electrode 110 and the machine charging electrode 210 can at least partially overlap and contact each other, thereby achieving rapid docking and charging the robot 200.

[0107] In some embodiments, when the charging station 100 and the robot 200 are placed on the ground (or the surface to be cleaned), the charging station electrode 110 and the machine charging electrode 210 are at the same height or substantially the same height relative to the ground, or at least corresponding portions of the charging station electrode 110 and the machine charging electrode 210 are at the same height. Thus, after the robot 200 is docked with the charging station 100, at least a portion of the machine charging electrode 210 can contact the charging station electrode 110, thereby achieving electrical connection.

[0108] During the docking process, when the first receiver 221 of the robot 200 receives the light signal emitted by the first transmitter 121 , it means that at least a portion of the robot 200 is located within the first sensing area (eg, the left sensing area).

[0109] Please also refer to Figures 1a to 1d In one embodiment, if the second receiver 222 of the robot 200 also receives the light signal emitted by the first transmitter 121, the robot 200 as a whole is within the range of the first sensing zone (i.e., the robot 200 as a whole is in the area to the left of the charging base). To approach the charging base 100 for docking, the robot 200 moves toward the second sensing zone (e.g., the right sensing zone). When the robot 200 moves to the point where the second receiver 222 receives the light signal emitted by the second transmitter 122, one possible scenario is that the first receiver 221 simultaneously receives the light signals emitted by the first transmitter 121 and the second transmitter 122; that is, the first receiver 221 (or the robot 200) is located between the first sensing zone and the second sensing zone (in some embodiments, the area between the first sensing zone and the second sensing zone is also referred to as the intermediate signal area). Another possible scenario is that the first receiver 221 receives the light signal emitted by the second transmitter 122. Based on these two situations, the robot 200 as a whole is biased towards the range of the second sensing area. The robot 200 is controlled to move and adjust towards the direction of the first sensing area, and the first receiver 221 receives the light signal emitted by the first transmitter 121, thereby shortening the distance to the charging base 100.

[0110] In some embodiments, during the movement and adjustment process of the robot 200, the robot 200 may repeat the adjustment actions shown above multiple times; however, at the same time, the robot 200 gradually moves forward and shortens the distance from the charging base 100. Similarly, the range of movement of the robot 200 gradually decreases, and the movement distance of the robot 200 in the first direction a gradually approaches the first dimension d1.

[0111] Please also refer to Figure 1a 、 Figure 2 and Figure 7 , or please refer to Figure 1b 、 Figure 5 and Figure 10 In one embodiment, as the robot 200 approaches the charging station 100, the area between the first sensing area and the second sensing area (or the intermediate signal area) becomes narrower. Consequently, as the robot 200 approaches the charging station 100, the robot 200's swing amplitude also decreases, and the amplitude of the swing amplitude in the first direction a approaches the first dimension d1.

[0112] To aid understanding, take the example of dropping a ping-pong ball (analogous to the robot 200) into a funnel (the bottom of the funnel is analogous to the charging stand 100, and the side walls of the funnel are analogous to the range of the first sensing area and the second sensing area). The falling ping-pong ball will bounce on the side walls of the funnel and gradually descend, and the horizontal rebound distance of the ping-pong ball will gradually decrease and tend to the size of the bottom of the funnel (i.e., analogous to the first size d1 of the charging stand 100). Finally, the ping-pong ball falls to the bottom of the funnel (i.e., analogous to the docking of the robot 200 and the charging stand 100).

[0113] Please also refer to Figure 1a 、 Figure 2 and Figure 7 , or please refer to Figure 1b 、 Figure 5 and Figure 10 In one embodiment, the region between the first sensing area and the second sensing area (or the intermediate signal region) is parallel. That is, the width of the intermediate signal region is substantially the same as the first dimension d1. Consequently, during docking with the charging station 100, the robot 200 swings with a small or substantially constant amplitude, and the amplitude of the swing in the first direction a is substantially the same as the first dimension d1.

[0114] Please also refer to Figure 1a 、 Figure 2 and Figure 7 , or please refer to Figure 1b 、 Figure 5 and Figure 10 In one embodiment, if the second receiver 222 receives the optical signal emitted by the second transmitter 122, the robot 200 is positioned directly in front of the charging station 200. This is a relatively ideal situation, in which the first direction a and the second direction b are also parallel or coincident. Thus, the robot is controlled to move in this direction (i.e., the direction in which the first receiver 221 receives the optical signal emitted by the first transmitter 121 and the second receiver 222 receives the optical signal emitted by the second transmitter 122) to achieve docking with the charging station 100.

[0115] Please also refer to Figure 9a and Figure 9bIn some embodiments, the side cover 206 of the robot 200 has an inclination angle β. The two machine charging electrodes 210 are spaced apart along the inclination direction of the side cover 206. Furthermore, the horizontal distance between the ends of the two machine charging electrodes 210 away from the side cover 206 is c. The relationship between a and c is such that a is greater than c. Therefore, after the robot 200 is docked with the charging base 100, even if the side cover 206 of the robot 200 has an inclination angle, contact between the charging base electrode 110 and the machine charging electrode 210 is ensured, thereby preventing the machine charging electrode 210 from failing to contact the charging base electrode 110.

[0116] It should be understood that the tilt angle β can be an angle intentionally formed on the side cover 206 during the design and manufacturing process, or it can be an angle caused by process errors during the manufacturing process, without limitation. The tilt angle β can range from 0° to 45°. For example, when the tilt angle β is 0°, that is, the side cover 206 is substantially perpendicular to the bottom cover 208, the value of c is equal to 0, and the two machine charging electrodes 210 are spaced apart along the direction from the top cover 204 to the bottom cover 208.

[0117] Please also refer to Figure 10 and Figure 11 The cleaning unit 260 includes: a main brush 261 and one or more side brushes 262. The main brush 261 is installed at the bottom of the robot 200. Optionally, the main brush 261 is a drum-shaped rotating brush that rotates relative to the contact surface in a roller type. The side brushes 262 are installed at the left and right edge portions of the front end of the bottom surface of the robot 200. That is, the side brushes 262 are roughly installed in front of the two driving wheels 248b. The side brushes 262 are used to clean the cleaning areas that the main brush 261 cannot clean. The side brushes 262 can not only rotate in place, but also be installed to protrude to the outside of the robot 200, so that the area cleaned by the robot 200 can be expanded.

[0118] The storage unit 270 is used to store instructions and data, including but not limited to map data and temporary data generated when controlling the operation of the autonomous mobile device, such as the position data and speed data of the robot 200. The second processor 242 can read the instructions stored in the storage unit 270 to execute corresponding functions.

[0119] The obstacle detection unit 280 is used to detect the surrounding environment of the robot 200, thereby detecting environmental objects such as obstacles, walls, steps, and the charging base 100 used to charge the robot 200. The obstacle detection unit 280 includes a position determination device 282, which can be a laser radar. The obstacle detection unit 280 is also used to provide various position information and motion state information of the robot 200 to the second processor 242. The obstacle detection unit 280 may include a cliff sensor, an ultrasonic sensor, an infrared sensor, a magnetometer, a three-axis accelerometer, a gyroscope, an odometer, an LDS, an ultrasonic sensor, a camera, a Hall sensor, etc. This embodiment does not limit the number and location of the obstacle detection units 280.

[0120] In some embodiments, the robot 200 may further include an image acquisition unit, an input / output unit, a position measurement unit, a wireless communication unit, a display unit, etc. The connection relationship between the various units or components in the robot 200 is not limited to the connection relationship between the various units or components in FIG. Figure 10 For example, the second processor 242 and other units or components may be connected via a bus.

[0121] In some embodiments, the robot 200 may further include other units or components, or include only some of the aforementioned units or components, or even lack some of the aforementioned units or components. For example, in other embodiments, the robot 200 may not include an image acquisition unit; or, the robot 200 may not include the cleaning unit 260, so that the robot 200 performs only wet mopping. This embodiment is not limited to this, and will only use the aforementioned robot 200 as an example for illustration.

[0122] The above is a specific implementation method of the present application. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present application. These improvements and modifications are also considered to be within the scope of protection of the present application.

Claims

1. An intelligent charging system, characterized in that: include: A charging base and a robot; the charging base includes a charging base electrode, a transmitter and a first spacer; the transmitter includes a first transmitter and a second transmitter, the first transmitter and the second transmitter being used to respectively transmit light signals for sensing positioning by the robot; the first spacer is arranged between the first transmitter and the second transmitter and is used to block part of the light signals; the robot includes a receiver and a machine charging electrode, the receiver being used to receive the light signals emitted by the first transmitter and the second transmitter, and for the robot to determine its relative position with the charging base; the transverse length of the first spacer is a first dimension; the transverse length of the charging base electrode is a third dimension, and the transverse length of the machine charging electrode is a fourth dimension; The sum of the third size and the fourth size is greater than or equal to the first size; The charging base includes a side wall, the charging base electrode piece passes through the side wall, and at least a portion of the charging base electrode piece is exposed outside the side wall; The robot includes a side cover, the machine charging electrode penetrates the side cover, and at least a portion of the machine charging electrode is exposed outside the side cover; The side cover has an inclination angle, and the number of the machine charging electrodes includes two, and the two machine charging electrodes are spaced apart along the inclination direction of the side cover; the horizontal distance between the ends of the two machine charging electrodes away from the side cover is greater than the distance between the portion of the charging seat electrode exposed outside the side wall and the side wall; The transverse length of the first spacer is a second dimension, and the second dimension ranges from 8 mm to 10 mm or from 10 mm to 12 mm.

2. The intelligent charging system according to claim 1, wherein: The third size is greater than or equal to the first size.

3. The intelligent charging system according to claim 1, wherein: The fourth size is greater than or equal to the first size.

4. The intelligent charging system according to claim 1, wherein: The range of the first size is: 8mm~10mm or 10mm~13mm or 13mm~15mm; the range of the third size is: 2.5mm~13mm or 13mm~30mm or 30mm~34mm or 34mm~40mm or 40mm~50mm; the range of the fourth size is: 8mm~17mm or 17mm~30mm or 30mm~50mm or 50mm~80mm or 80mm~150mm.

5. The intelligent charging system according to any one of claims 1 to 3, characterized in that: The robot also includes a second spacer; the second spacer is arranged between the first receiver and the second receiver and is used to block part of the light signal; wherein the lateral length of the first spacer is a second size; the second size is less than or equal to the first size.

6. The intelligent charging system according to claim 1, wherein: The charging base includes: a charging base pole piece, a transmitter and a first spacer; the charging base pole piece is embedded in the side wall of the charging base; the transmitter includes a first transmitter and a second transmitter, and the first transmitter and the second transmitter are used to respectively transmit light signals for the robot to sense and locate; the first spacer is arranged between the first transmitter and the second transmitter, and is used to block part of the light signal; wherein, the transverse length of the first spacer is the first dimension; the transverse length of the charging base pole piece is the third dimension; the third dimension is greater than or equal to the first dimension.

7. The intelligent charging system according to claim 1, wherein: The charging base is further provided with a receiving groove for receiving an elastic member and the charging base electrode; the elastic member is located between the end wall of the receiving groove and the charging base electrode, and is used to hold at least a portion of the charging base electrode against the outside of the side wall; In a natural state, the length of the charging seat pole piece exposed outside the side wall is greater than the movable distance of the charging seat pole piece relative to the end wall of the accommodating groove.

8. The intelligent charging system according to claim 1, wherein: The range of the first size is: 8mm~10mm or 10mm~13mm or 13mm~15mm; the range of the third size is: 8mm~13mm or 13mm~30mm or 30mm~34mm or 34mm~40mm or 40mm~50mm.

9. The intelligent charging system according to claim 1, wherein: Fireproof material is provided within a range of at least 3 mm around the charging base pole piece, and the fireproof grade of the fireproof material is UL 94V0 or above.

10. The intelligent charging system according to claim 1, wherein: The robot includes: a machine charging electrode and a receiver; the machine charging electrode is embedded in the bottom cover of the robot; the receiver is used to receive light signals emitted by the first transmitter and the second transmitter of the charging base, so that the robot can determine its relative position with the charging base; the charging base includes: a first spacer, the first spacer is arranged between the first transmitter and the second transmitter, and is used to block part of the light signal; the transverse length of the first spacer is a first dimension, and the transverse length of the machine charging electrode is a fourth dimension; the fourth dimension is greater than or equal to the first dimension.

11. The intelligent charging system according to claim 10, wherein: The receiver includes a first receiver and a second receiver, and the robot also includes a second spacer; the second spacer is arranged between the first receiver and the second receiver and is used to block part of the light signal; wherein the lateral length of the second spacer is a second size; the second size is less than or equal to the first size.

12. The intelligent charging system according to claim 11, wherein: The range of the second size is: 8mm~10mm or 10mm~12mm; the range of the fourth size is: 8mm~17mm or 17mm~30mm or 30mm~50mm or 50mm~80mm or 80mm~150mm; the range of the first size is: 8mm~10mm or 10mm~13mm or 13mm~15mm.

13. The intelligent charging system according to claim 10, wherein: The robot also includes a top cover and a side cover located between the top cover and the bottom cover; the bottom cover is provided with an inclined portion at least on the edge of the machine charging electrode facing the side cover, and the angle range of the inclined portion is 5° to 45° relative to the surface to be cleaned.

14. The intelligent charging system according to claim 10, wherein: Fireproof material is provided within a range of at least 3 mm around the charging electrode of the machine, and the fireproof grade of the fireproof material is UL 94V0 or above.

Images