Robotic cleaning system, cleaning robot, and cleaning robot control method

Abstract

The present disclosure relates to the technical field of cleaning equipment, and particularly relates to a robot cleaning system, a cleaning robot and a cleaning robot control method. The robot cleaning system comprises a cleaning robot, a detection assembly, a communication assembly, a cleaning tool capable of being detachably connected to the cleaning robot and a base station for parking the cleaning robot; the cleaning robot comprises a main body and a driving assembly; the base station comprises a replacement assembly; the driving assembly of the cleaning robot is used for driving the cleaning robot to travel; the detection assembly is used for detecting the distance between the cleaning robot and the base station; the communication assembly is used for transmitting a replacement instruction when the distance is less than a first predetermined distance; and the replacement assembly of the base station is used for replacing the cleaning tool of the cleaning robot after the cleaning robot at least partially enters the base station according to the replacement instruction; an approximately closed space is formed inside the base station before the cleaning tool is replaced, and the reliability of the robot cleaning system is effectively improved.

Description

TECHNICAL FIELD

[0001] The present disclosure relates to the technical field of cleaning equipment, and in particular to a robot cleaning system, a cleaning robot and a cleaning robot control method. BACKGROUND

[0002] Robot cleaning systems including a base station and a host such as a cleaning robot are increasingly applied in life. Through a lifting system inside the base station, a new cloth board can be provided for the host and a dirty cloth board discarded by the host can be recycled. In this way, the host can autonomously mop the floor, avoid obstacles, discard a dirty cloth, and replace a new cloth, and the base station provides a charging function for the host.

[0003] The action of replacing the cloth by the host is implemented inside the base station, and the new and old cloths are both stored on the upper part of the base station. A set of lifting systems is necessary to realize the upward storage of the dirty cloth and the downward release of the new cloth. However, during the lifting process of the lifting system, if foreign matter enters the inside of the base station, it may cause the base station to be stuck or even damaged, and may also cause damage to the object entering the base station, which may cause harm if it is a pet. SUMMARY

[0004] Therefore, the present disclosure provides a robot cleaning system, a cleaning robot and a cleaning robot control method. The technical solution comprises:

[0005] According to an aspect of the present disclosure, a robot cleaning system is provided, which comprises a cleaning robot, a detection component, a communication component, a cleaning tool capable of being detachably connected to the cleaning robot, and a base station for parking the cleaning robot; the cleaning robot comprises a main body and a driving component; the base station comprises a replacement component;

[0006] The driving component of the cleaning robot is configured to drive the cleaning robot to travel;

[0007] The detection component is configured to detect the distance between the cleaning robot and the base station;

[0008] The communication component is configured to transmit a replacement instruction when the distance is less than a first predetermined distance;

[0009] The replacement component of the base station is configured to replace the cleaning tool of the cleaning robot after the cleaning robot at least partially enters the base station according to the replacement instruction.

[0010] Optionally, the detection component comprises an infrared emission sensor arranged at the entrance of the base station and an infrared receiving sensor arranged at the side of the cleaning robot;

[0011] The infrared receiving sensor is configured to determine that the distance between the cleaning robot and the base station is less than the first predetermined distance when the infrared signal transmitted by the infrared transmitting sensor is received.

[0012] Optionally, the first predetermined distance is greater than 5mm and less than 300mm.

[0013] Optionally, the replacement assembly comprises a lifting frame for carrying the cleaning tool, the lifting frame having a first position and a second position, the first position being an initial position of the lifting frame, and the second position being a target position of the lifting frame after the lifting frame is lowered.

[0014] Optionally, the length of the lifting frame is less than the outer contour length of the base station, and the absolute value of the difference is greater than 3mm.

[0015] Optionally, the communication assembly comprises a first communication assembly of the cleaning robot and a second communication assembly of the base station.

[0016] The first communication assembly is configured to transmit the replacement instruction to the base station when the distance is less than the first predetermined distance.

[0017] The second communication assembly is configured to receive the replacement instruction, and the lifting frame is configured to move from the first position to the second position.

[0018] The driving assembly of the cleaning robot is further configured to control the cleaning robot to enter the base station after the lifting frame moves to the second position.

[0019] Optionally, the driving assembly of the cleaning robot is further configured to control the cleaning robot to pause traveling after the replacement instruction is transmitted to the base station, and control the cleaning robot to enter the base station after the lifting frame moves to the second position.

[0020] Optionally, the driving assembly is further configured to drive the cleaning robot to retreat in a direction away from the base station after the replacement of the cleaning tool is successful.

[0021] The lifting frame is configured to move from the second position to the first position when the distance between the cleaning robot after the retreat and the base station is less than a second predetermined distance.

[0022] Optionally, the second predetermined distance is greater than 5mm and less than 300mm.

[0023] Optionally, a distance between a first side of the cleaning robot and a second side of the base station is greater than 1mm and less than 60mm, the first side is any one of two sides of the cleaning robot, and the second side is a side of the base station closest to the first side after the cleaning robot enters the base station.

[0024] According to another aspect of the present disclosure, a cleaning robot is provided, which includes a main body, a driving assembly, a detecting assembly, and a first communication assembly;

[0025] The driving assembly is configured to drive the cleaning robot to travel;

[0026] The detecting assembly is configured to detect a distance between the cleaning robot and the base station;

[0027] The first communication assembly is configured to send a replacement instruction to the base station when the distance is less than a first predetermined distance, the replacement instruction being configured to instruct the base station to activate a replacement assembly after the cleaning robot at least partially enters the base station, the replacement assembly being configured to replace a cleaning tool of the cleaning robot.

[0028] Optionally, the detecting assembly includes an infrared receiving sensor arranged at a side of the cleaning robot, the infrared receiving sensor being configured to determine that the distance between the cleaning robot and the base station is less than the first predetermined distance when the infrared receiving sensor receives an infrared signal sent by the infrared emitting sensor.

[0029] Optionally, the first predetermined distance is greater than 5mm and less than 300mm.

[0030] Optionally, the replacement assembly includes a lifting frame configured to carry the cleaning tool, the lifting frame having a first position and a second position, the first position being an initial position of the lifting frame, and the second position being a target position of the lifting frame after the lifting frame is lowered.

[0031] Optionally, a length of the lifting frame is less than an outer contour length of the base station, and an absolute value of the difference is greater than 3mm.

[0032] Optionally, the driving assembly is configured to control the cleaning robot to enter the base station after the lifting frame moves from the first position to the second position.

[0033] Optionally, the driving assembly is configured to control the cleaning robot to pause traveling after the replacement instruction is sent to the base station, and control the cleaning robot to enter the base station after the lifting frame moves to the second position.

[0034] Optionally, the drive component is further configured to drive the cleaning robot to retreat in a direction away from the base station after the cleaning tool is successfully replaced, wherein the distance between the cleaning robot and the base station after retreating is less than a second predetermined distance.

[0035] Optionally, the second predetermined distance is greater than 5 mm and less than 300 mm.

[0036] Optionally, the distance between the first side of the cleaning robot and the second side of the base station is greater than 1 mm and less than 60 mm. The first side is any one of the two sides of the cleaning robot, and the second side is the side of the base station that is closest to the first side after the cleaning robot enters the base station.

[0037] According to another aspect of this disclosure, a cleaning robot control method is provided, the method being applied to a cleaning robot including a body, a drive component, a detection component, and a first communication component, the method comprising:

[0038] The cleaning robot is driven to move by the drive component;

[0039] The distance between the cleaning robot and the base station is detected by the detection component;

[0040] When the distance is less than a first predetermined distance, a replacement instruction is sent to the base station through the first communication component. The replacement instruction is used to instruct the base station to activate the replacement component after the cleaning robot has at least partially entered the base station. The replacement component is used to replace the cleaning tools of the cleaning robot.

[0041] Optionally, the detection component includes an infrared receiving sensor disposed on the side of the cleaning robot, and the detection of the distance between the cleaning robot and the base station by the detection component includes:

[0042] The infrared receiving sensor detects whether it receives an infrared signal sent by the infrared transmitting sensor of the base station;

[0043] When the infrared signal is received, it is determined that the distance between the cleaning robot and the base station is less than the first predetermined distance.

[0044] Optionally, the first predetermined distance is greater than 5 mm and less than 300 mm.

[0045] Optionally, the replacement component includes a lifting frame for carrying the cleaning tool, the lifting frame having a first position and a second position, the first position being the initial position of the lifting frame and the second position being the target position after the lifting frame has descended.

[0046] Optionally, the length of the lifting frame is less than the length of the outer contour of the base station, and the difference is greater than 3mm in absolute value.

[0047] Optionally, after the lifting frame moves from the first position to the second position, the cleaning robot is controlled to enter the base station by the driving assembly.

[0048] Optionally, after the replacement instruction is sent to the base station, the cleaning robot is controlled to pause by the driving assembly;

[0049] After the lifting frame moves to the second position, the cleaning robot is controlled to enter the base station by the driving assembly.

[0050] Optionally, after the cleaning tool is replaced successfully, the cleaning robot is driven to retreat by the driving assembly in a direction away from the base station, and the distance between the cleaning robot after retreating and the base station is greater than a second predetermined distance.

[0051] Optionally, the second predetermined distance is greater than 5mm and less than 300mm.

[0052] Optionally, the distance between the first side of the cleaning robot and the second side of the base station is greater than 1mm and less than 60mm, the first side is any one of the two sides of the cleaning robot, and the second side is the side of the base station closest to the first side.

[0053] The robot cleaning system provided by the embodiments of the present disclosure includes a cleaning robot, a detection assembly, a communication assembly, a cleaning tool capable of being detachably connected to the cleaning robot, and a base station for parking the cleaning robot. The cleaning robot includes a main body and a driving assembly. The base station includes a replacement assembly. The driving assembly of the cleaning robot is used to drive the cleaning robot to travel. The detection assembly is used to detect the distance between the cleaning robot and the base station. The communication assembly is used to transmit a replacement instruction when the distance is less than a first predetermined distance. The replacement assembly of the base station is used to replace the cleaning tool of the cleaning robot after the cleaning robot at least partially enters the base station according to the replacement instruction. That is, by controlling the distance relationship between the cleaning robot and the base station, the base station replaces the cleaning tool of the cleaning robot only when the distance is less than the first predetermined distance, so that the entrance of the base station is blocked by the cleaning robot before the cleaning tool is replaced, an approximately closed space is formed inside the base station before the cleaning tool is replaced, the abnormal operation of the base station and the possible harm are avoided, and the reliability of the robot cleaning system is effectively improved. BRIEF DESCRIPTION OF DRAWINGS

[0054] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate exemplary embodiments, features, and aspects of the present disclosure and serve to explain the principles of the present disclosure.

[0055] Figure 1 is a schematic diagram of a cleaning robot provided according to one exemplary embodiment;

[0056] Figure 2 is a block diagram of a structure of a cleaning robot provided according to one exemplary embodiment;

[0057] Figure 3 is a schematic diagram of a robot cleaning system provided according to one exemplary embodiment;

[0058] Figure 4 is a schematic diagram of a robot cleaning system provided according to another exemplary embodiment;

[0059] Figure 5 is a schematic diagram of a robot cleaning system provided according to another exemplary embodiment;

[0060] Figure 6 is a schematic diagram of a robot cleaning system provided according to another exemplary embodiment;

[0061] Figure 7 is a flowchart of a cleaning robot control method provided according to one exemplary embodiment. DETAILED DESCRIPTION

[0062] Various exemplary embodiments, features, and aspects of the present disclosure will be described hereinafter with reference to the accompanying drawings. The same reference numbers in different drawings denote the same or similar elements. Although various aspects of embodiments are illustrated in the drawings, the drawings are not necessarily drawn to scale unless specifically noted.

[0063] The term "exemplary" is used herein to mean "serving as an example, instance, or illustration." Any implementation described herein as "exemplary" is not necessarily to be construed as preferred or advantageous over other implementations.

[0064] In addition, for the purpose of convenience and brevity, detailed descriptions of well-known functions and structures incorporated herein can not be described in detail. It should be appreciated that those skilled in the art will be able to implement the present disclosure with the disclosure not specifically limited to these aspects. In some instances, well-known methods, structures, and techniques have not been described in detail in order to avoid obscuring the present disclosure.

[0065] Figure 1Fig. 1 is a schematic view of a cleaning robot according to an example embodiment. The cleaning robot 10 comprises a body 11, a detection assembly 12, a left wheel, a motor connected with the left wheel, a right wheel, a motor connected with the right wheel, and a mop plate 13.

[0066] The body 11 forms an outer shell of the cleaning robot and accommodates other components.

[0067] Optionally, the body 11 is in a flat cylindrical shape.

[0068] The detection assembly 12 is configured to collect perception data of the cleaning robot in a travel area. The perception data includes self-position data of the cleaning robot during travel, travel speed during travel, travel distance, data related to obstacles, etc. The obstacles can be a base station, furniture, household appliances, office equipment, brick walls, wooden walls, power lines on the ground, a door strip between rooms, etc.

[0069] Illustratively, the detection assembly 12 comprises at least one of a laser distance sensor (LDS), an infrared sensor, a laser sensor, and an ultrasonic sensor.

[0070] Illustratively, the detection assembly 12 can further comprise an odometer, a cliff sensor, a three-axis accelerometer, a gyroscope, a collision sensor, a camera, a Hall sensor, etc.

[0071] The number and location of the detection assembly 12 are not limited in the example embodiment.

[0072] A left wheel is installed on the left side of the body 11 of the cleaning robot, and a right wheel is installed on the right side of the body 11 of the cleaning robot. The left wheel and the right wheel are installed side by side on the left and right sides of the body 11 of the cleaning robot. The left wheel and the right wheel are respectively controlled by the motors connected thereto.

[0073] A motor connected with the left wheel is also installed on the left side of the body 11 of the cleaning robot. A driving circuit of the motor connected with the left wheel is connected with a first control assembly of the cleaning robot. The first control assembly sends a first control signal corresponding to different duty cycles to the driving circuit of the motor. The driving circuit of the motor generates a corresponding driving current according to the first control signal to make the motor rotate, thereby controlling the driving direction and the rotation speed of the left wheel. The duty cycle refers to the ratio of the power-on time to the power-on period of the pulse signal. The greater the duty cycle, the greater the rotation speed of the left wheel. The smaller the duty cycle, the smaller the rotation speed of the left wheel. For example, the driving circuit of the motor connected with the left wheel receives the first control signal corresponding to a duty cycle of 1 / 2 sent by the first control assembly. According to the first control signal, the driving circuit generates a corresponding driving current. Under the action of the driving current, the motor connected with the left wheel controls the driving direction of the left wheel to be the forward direction and the rotation speed to be 50 revolutions per minute.

[0074] A motor connected with the right wheel is also installed on the right side of the robot body 11. The driving circuit of the motor connected with the right wheel is connected with the first control component of the cleaning robot. The first control component sends the second control signal corresponding to different duty cycles to the driving circuit of the motor. The driving circuit of the motor generates corresponding driving current according to the second control signal to make the motor rotate, thereby controlling the driving direction and rotating speed of the right wheel. For example, the driving circuit of the motor connected with the right wheel receives the second control signal corresponding to the duty cycle of 1 / 2 sent by the first control component. According to the second control signal, the driving circuit generates corresponding driving current. Under the action of the driving current, the motor connected with the right wheel controls the driving direction of the right wheel to be the forward direction and the rotating speed to be 50 revolutions per minute.

[0075] The left wheel, the motor connected with the left wheel, the right wheel and the motor connected with the right wheel of the cleaning robot 10 form a driving component of the cleaning robot 10.

[0076] Optionally, the cleaning robot 10 further comprises a guide wheel arranged at the front of the robot body 11. The guide wheel is used to change the driving direction of the cleaning robot 10 during the driving process.

[0077] The mop plate 13 is installed at the bottom of the robot body 11. The mop plate 13 is provided with a mop. Optionally, the mop plate 13 is provided with a mop through a mop adhesive surface.

[0078] It should be noted that the cleaning robot can further comprise other modules or components, which are not limited in the embodiments of the present disclosure.

[0079] Figure 2 A structural block diagram of a cleaning robot according to an example embodiment is provided. The cleaning robot comprises a driving component 21, a detection component 22 and a first communication component 23.

[0080] The driving component 21 is used to drive the cleaning robot to drive. Optionally, the driving component 21 is used to control the driving direction and rotating speed of the left wheel and / or the right wheel.

[0081] It should be noted that, in order to facilitate the description of the behavior of the cleaning robot, a coordinate system based on the cleaning robot is established. The coordinate system comprises an X axis, a Y axis and a Z axis. The origin of the coordinate system is the center point of the cleaning robot. Any two of the X axis, the Y axis and the Z axis are perpendicular to each other. The X axis and the Y axis are in the same plane. The X axis is parallel to the front-rear axis of the robot body of the cleaning robot. The Y axis of the coordinate system is parallel to the lateral axis of the robot body of the cleaning robot. The Z axis is perpendicular to the plane determined by the X axis and the Y axis. The Z axis of the coordinate system is parallel to the vertical axis of the robot body of the cleaning robot. Among them, the driving direction along the X axis in the forward direction is the forward direction, and the driving direction along the X axis in the backward direction is the backward direction.

[0082] The driving assembly 21 is configured to drive the cleaning robot to move when it is necessary to replace the cleaning tool of the cleaning robot.

[0083] Optionally, the control assembly (e.g., including a processing unit) built in the cleaning robot can determine whether it is necessary to replace the cleaning tool. For example, the control assembly can count the time of using the current cleaning tool (e.g., mop), and when the counted time reaches a preset time length, it indicates that it is necessary to replace the cleaning tool. The control assembly can send an instruction to the driving assembly, which can control the driving assembly to drive the cleaning robot to move towards the base station entrance.

[0084] Optionally, the driving assembly can also be controlled by an external instruction (e.g., an instruction sent by an operator through a remote controller, a control button, etc.) indicating that it is necessary to replace the cleaning tool to drive the cleaning robot to move towards the base station entrance.

[0085] The cleaning tool of the cleaning robot can be detachably connected to the cleaning robot. The cleaning tool of the cleaning robot includes a mop plate installed at the bottom of the body, and the mop plate is provided with a mop. Optionally, the mop plate 13 is installed with the mop through a mop adhesive surface.

[0086] The detection assembly 22 is configured to detect the distance between the cleaning robot and the base station.

[0087] Optionally, the distance between the cleaning robot and the base station is the distance between the front of the cleaning robot and the base station entrance.

[0088] Optionally, the detection assembly 22 includes an infrared receiving sensor arranged at the side of the cleaning robot, which is configured to determine that the distance between the cleaning robot and the base station is less than a first predetermined distance when receiving an infrared signal sent by the infrared emitting sensor. Since the infrared signal has a certain effective receiving distance, the infrared receiving sensor can determine that the distance between the cleaning robot and the base station is less than the first predetermined distance when receiving an effective (e.g., the amplitude reaches a preset amplitude) infrared signal.

[0089] Optionally, the first predetermined distance is greater than 5 mm and less than 300 mm. The preset distance can ensure that the base station entrance is blocked by the cleaning robot to avoid other foreign matters from entering.

[0090] The first communication assembly 23 is configured to send a replacement instruction to the base station when the distance is less than the first predetermined distance. The replacement instruction is configured to instruct the base station to start the replacement assembly after the cleaning robot at least partially enters the base station, and the replacement assembly is configured to replace the cleaning tool of the cleaning robot. For example, when the detection assembly receives the infrared signal sent by the infrared emitting sensor, it can send an instruction to the first communication assembly 23, which can control the first communication assembly 23 to send the replacement instruction to the base station.

[0091] Optionally, the first communication component 23 is further configured to send a replacement instruction to the base station when it is detected that the distance between the cleaning robot and the base station is less than the first predetermined distance and the distance between the cleaning robot and the position where the lifting frame of the base station is to be lowered is greater than the first preset value. For example, the first preset value is 5 mm.

[0092] Optionally, during the process of the cleaning robot entering the base station, the distance between the first side of the cleaning robot and the second side of the base station is greater than 1 mm and less than 60 mm, the first side is any one of the two sides of the cleaning robot, and the second side is the side of the base station closest to the first side. In this way, the compactness of the design is maintained on the premise that the cleaning robot can enter the base station smoothly.

[0093] Optionally, the driving component 21 is further configured to drive the cleaning robot to retreat in a direction away from the base station after the cleaning tool is replaced successfully, and the distance between the retreated cleaning robot and the base station is less than a second predetermined distance. Optionally, the second predetermined distance is greater than 5 mm and less than 300 mm. After the cleaning robot retreats to a sufficient distance, subsequent cleaning operations can be performed. The distance between the retreated cleaning robot and the base station is the distance between the front of the retreated cleaning robot and the entrance of the base station.

[0094] Optionally, the cleaning robot further comprises a cleaning component. The cleaning component is configured to control the cleaning robot to clean the contact surface in contact with the mop during the process of the cleaning robot traveling in the advancing direction or in the retreating direction according to the preset logic when a cleaning command is received.

[0095] Optionally, the cleaning robot further comprises a control component 24, which is electrically connected to the driving component 21, the detection component 22 and the first communication component 23 respectively.

[0096] Optionally, the control component 24 comprises a processing unit 242 and a storage unit 244. The processing unit 242 is configured to control the overall operation of the cleaning robot. When a cleaning command is received, the processing unit 242 can control the cleaning robot to travel in the advancing direction or in the retreating direction according to the preset logic and clean during the process of traveling. When a traveling command is received, the processing unit 242 controls the cleaning robot to travel in the traveling path in a predetermined traveling mode. The embodiments do not repeat the other instructions received by the processing unit 242 from the user.

[0097] The storage unit 244 is also configured to store at least one instruction. The instructions include instructions for performing a predetermined travel mode and travel path, instructions for performing cleaning, instructions for detecting whether the distance between the cleaning robot and the base station is less than a first predetermined distance, and the like. The storage unit is also configured to store self-position data of the cleaning robot during travel, travel speed during travel, travel mileage, and the like, and store data related to the base station, such as the absolute value of the difference between the outer contour length of the base station and the length of the lifting frame. The outer contour length of the base station and the length of the lifting frame are lengths in the X-axis direction.

[0098] Optionally, the length of the lifting frame is less than the outer contour length of the base station, and the absolute value of the difference between the outer contour length of the base station and the length of the lifting frame is greater than 3 mm.

[0099] In exemplary embodiments, the control component 24 can be implemented by one or more application-specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field programmable gate arrays (FPGAs), controllers, microcontrollers, microprocessors, or other electronic elements for executing the cleaning robot control method in the embodiments of the present disclosure.

[0100] The control component 24 is configured to control the driving component 21 to drive the cleaning robot to travel when the cleaning tool of the cleaning robot needs to be replaced; the detection component 22 is configured to detect the distance between the cleaning robot and the base station; and the first communication component 23 is configured to send a replacement instruction to the base station when the distance is less than a first predetermined distance, the replacement instruction being used to instruct the base station to start a replacement component after the cleaning robot at least partially enters the base station, the replacement component being used to replace the cleaning tool of the cleaning robot.

[0101] In exemplary embodiments, a non-transitory computer-readable storage medium including instructions, such as a storage unit including instructions, is also provided, and the instructions can be executed by the control component 24 through the processing unit to complete the cleaning robot control method in the embodiments of the present disclosure. For example, the non-transitory computer-readable storage medium can be a ROM, a random access memory (RAM), a CD-ROM, a magnetic tape, a floppy disk, an optical data storage device, and the like.

[0102] Figure 3 is a schematic view of a robot cleaning system according to an exemplary embodiment. As shown in Figure 3 The robot cleaning system includes a cleaning robot 31, a detection component, a communication component, a cleaning tool that can be detachably connected to the cleaning robot 31, and a base station 32 for parking the cleaning robot 31. The cleaning robot 31 includes a main body and a driving component. The base station 32 includes a replacement component.

[0103] The driving assembly of the cleaning robot 31 is configured to drive the cleaning robot 31 to move; the detecting assembly is configured to detect the distance between the cleaning robot 31 and the base station 32; the communication assembly is configured to transmit the replacement instruction when the distance is less than a first predetermined distance; and the replacement assembly of the base station 32 is configured to replace the cleaning tool of the cleaning robot 31 after the cleaning robot 31 at least partially enters the base station 32 according to the replacement instruction.

[0104] The cleaning robot 31 can be the cleaning robot shown in the above Figure 2 The cleaning robot 31 can be the cleaning robot shown in the above

[0105] Optionally, the first predetermined distance is greater than 5 mm and less than 300 mm.

[0106] Optionally, the cleaning robot 31 is further configured to determine the distance between the cleaning robot 31 and the base station 32 according to the collected sensing data; obtain the absolute value of the difference between the outer contour length of the base station 32 and the length of the lifting frame; and determine the distance between the cleaning robot 31 and the position where the lifting frame is to be lowered according to the distance between the cleaning robot 31 and the base station 32 and the absolute value of the difference. The position where the lifting frame is to be lowered is the second position of the lifting frame. For example, the distance between the cleaning robot 31 and the position where the lifting frame is to be lowered can be obtained by adding the distance between the cleaning robot 31 and the base station 32 and the absolute value of the difference.

[0107] Optionally, the communication assembly includes a first communication assembly of the cleaning robot 31 and a second communication assembly of the base station 32. The first communication assembly is further configured to send the replacement instruction to the base station 32 when the distance between the cleaning robot 31 and the base station 32 is less than the first predetermined distance and the distance between the cleaning robot 31 and the position where the lifting frame of the base station 32 is to be lowered is greater than a first preset value. For example, the first preset value is 5 mm.

[0108] In a possible implementation, as shown in Figure 4 The detecting assembly includes an infrared transmitting sensor 322 arranged at the entrance of the base station 32 and an infrared receiving sensor 312 arranged at the side of the cleaning robot 31.

[0109] The infrared receiving sensor 312 is configured to determine that the distance between the cleaning robot 31 and the base station 32 is less than the first predetermined distance when the infrared signal transmitted by the infrared transmitting sensor 322 is received.

[0110] In this implementation, the infrared receiving sensor 312 can only receive the infrared signal transmitted by the infrared transmitting sensor 322 of the base station 32 when the distance between the cleaning robot 31 and the base station 32 is less than the first predetermined distance. When the distance is greater than the first predetermined distance, the infrared receiving sensor 312 cannot receive an effective infrared signal.

[0111] Optionally, the transmission signal position of the infrared emission sensor 322 and / or the infrared receiving sensor 312 is reduced to a slit to ensure that the infrared receiving sensor 312 can only receive the infrared signal sent by the infrared emission sensor 322 when the distance between the cleaning robot 31 and the base station 32 is less than the first predetermined distance. For example, the transmission signal position of the infrared emission sensor 322 is a first slit, and the infrared emission sensor 322 is configured to send the infrared signal through the first slit; and / or, the transmission signal position of the infrared receiving sensor 312 is a second slit, and the infrared receiving sensor 312 is configured to send the infrared signal through the second slit. The specific configuration of the infrared emission sensor 322 and / or the infrared receiving sensor 312 is not limited in the embodiment of the present disclosure to ensure that the infrared receiving sensor 312 can only receive the infrared signal sent by the infrared emission sensor 322 when the distance between the cleaning robot 31 and the base station 32 is less than the first predetermined distance.

[0112] Optionally, the infrared receiving sensor 312 is configured to send a replacement instruction to the base station 32 when receiving the infrared signal sent by the infrared emission sensor 322.

[0113] The second communication component of the base station 32 is configured to receive the replacement instruction, and the replacement component is configured to replace the cleaning tool of the cleaning robot 31 after the cleaning robot 31 at least partially enters the base station 32.

[0114] Optionally, the replacement component of the base station 32 includes a lifting frame configured to carry the cleaning tool, and the lifting frame has a first position and a second position. The first position is an initial position of the lifting frame, and the second position is a target position after the lifting frame is lowered.

[0115] Illustratively, the initial position of the lifting frame is a position where the lifting frame is raised to a specified maximum height. The specified maximum height is pre-set, and the embodiment of the present disclosure is not limited in this regard.

[0116] Illustratively, the target position after the lifting frame is lowered is a terminal position after the lifting frame is lowered. That is, the base station 32 is configured to replace the mop plate at the bottom of the cleaning robot 31 by lowering the lifting frame to the second position.

[0117] Optionally, the length of the lifting frame is less than the outer contour length of the base station 32, and the absolute value of the difference is greater than 3 mm.

[0118] The base station 32 is configured to provide a new mop plate for the cleaning robot 31 and recycle the dirty mop plate discarded by the cleaning robot 31 by the internal lifting frame, thereby realizing that the cleaning robot 31 can autonomously mop, avoid obstacles, discard dirty mop, and replace new mop.

[0119] Optionally, the communication assembly comprises a first communication assembly of the cleaning robot 31 and a second communication assembly of the base station 32; the first communication assembly is configured to send the replacement instruction to the base station 32 when the distance between the cleaning robot 31 and the base station 32 is less than a first predetermined distance; the second communication assembly is configured to receive the replacement instruction; the lifting frame is configured to move from the first position to the second position; and the driving assembly of the cleaning robot 31 is further configured to control the cleaning robot 31 to enter the base station 32 after the lifting frame moves to the second position.

[0120] Optionally, the driving assembly of the cleaning robot 31 is further configured to control the cleaning robot 31 to pause after sending the replacement instruction to the base station 32; and control the cleaning robot 31 to enter the base station 32 after the lifting frame moves to the second position.

[0121] Optionally, the base station 32 is configured to control the lifting frame to descend when the replacement instruction is received, and replace the mop board at the bottom of the cleaning robot 31 from the current first mop board to a second mop board through the descended lifting frame. The second mop board is a mop board placed on the lifting frame. Since the distance between the cleaning robot 31 and the base station 32 is close enough when the base station 32 controls the lifting frame to descend upon receiving the replacement instruction, the entrance of the base station 32 is blocked, so that the base station 32 forms a closed space to prevent foreign matter from entering, such as preventing pets from entering the base station 32 when the lifting frame descends, causing injury. The first predetermined distance between the cleaning robot 31 and the base station 32 can be set in combination with the speed of the cleaning robot 31 and the descending speed of the lifting frame, so that the base station 32 controls the lifting frame to descend when the replacement instruction is received, and the lifting frame has been descended completely (i.e., the lifting frame has descended to the position to be descended) when the cleaning robot 31 enters the base station 32, so as to avoid the influence of the cleaning robot 31 on the descending of the lifting frame when entering the base station 32.

[0122] Optionally, as shown in Figure 5 Optionally, the difference between the length of the base station 32 and the length of the lifting frame 324 is a value a, and the value a is greater than 3 mm. The distance between the cleaning robot 31 and the position to be descended of the lifting frame of the base station 32 is a value b, and the value b is greater than 5 mm. Optionally, in the case that the value a is stored in the cleaning robot 31, the value b can be calculated by adding the value a to the sum of the distance between the cleaning robot 31 and the base station 32.

[0123] Optionally, the distance between the first side of the cleaning robot 31 and the second side of the base station 32 is greater than 1 mm and less than 60 mm. The first side is any one of the two sides of the cleaning robot 31, and the second side is the side of the base station 32 closest to the first side after the cleaning robot 31 enters the base station 32.

[0124] Optionally, as shown in Figure 6As shown, during the process that the cleaning robot 31 drives into the base station 32, the distance between the first side of the cleaning robot 31 and the second side of the base station 32 is a value c, the value c is greater than 1 mm and less than 60 mm.

[0125] Optionally, the driving assembly is further configured to drive the cleaning robot 31 to retreat in a direction away from the base station 32 after the cleaning tool is replaced successfully; and the lifting frame is configured to move from the second position to the first position when the distance between the retreated cleaning robot 31 and the base station 32 is less than the second predetermined distance.

[0126] Optionally, the base station 32 is further configured to control the lifting frame inside to ascend, i.e., to move from the second position to the first position, after the cleaning robot 31 retreats by the second predetermined distance.

[0127] Optionally, the second predetermined distance is greater than 5 mm and less than 300 mm.

[0128] Optionally, the base station 32 is further configured to charge the cleaning robot 31. The base station 32 is provided with a charging electrode, which is configured to provide a charging interface for the cleaning robot 31. When the charging electrode of the cleaning robot 31 is attached to the charging electrode of the base station 32, the base station 32 charges the cleaning robot 31.

[0129] It should be noted that the base station 32 can further include other components, or only include the above components, and the present embodiment does not limit this, and only takes the above base station 32 as an example for description.

[0130] In summary, the present embodiment provides a robot cleaning system, which includes a cleaning robot, a detection assembly, a communication assembly, a cleaning tool capable of being detachably connected to the cleaning robot, and a base station for parking the cleaning robot. The cleaning robot includes a main body and a driving assembly. The base station includes a replacement assembly. The driving assembly of the cleaning robot is configured to drive the cleaning robot to travel. The detection assembly is configured to detect the distance between the cleaning robot and the base station. The communication assembly is configured to transmit a replacement instruction when the distance is less than a first predetermined distance. The replacement assembly of the base station is configured to replace the cleaning tool of the cleaning robot after the cleaning robot at least partially drives into the base station according to the replacement instruction. That is, by controlling the distance relationship between the cleaning robot and the base station, the base station replaces the cleaning tool of the cleaning robot only when the distance is less than the first predetermined distance, so that the entrance of the base station is blocked by the cleaning robot before the cleaning tool is replaced, an approximately closed space is formed inside the base station before the cleaning tool is replaced, the abnormal operation of the base station and the possible harm are avoided, and the reliability of the robot cleaning system is effectively improved.

[0131] The base station further comprises an infrared transmitting sensor arranged at the entrance of the base station, and an infrared receiving sensor arranged at the side of the cleaning robot, the infrared receiving sensor is configured to send a replacement instruction to the base station when receiving the infrared signal, since the infrared receiving sensor is arranged to receive the infrared signal sent by the infrared transmitting sensor only when the distance between the cleaning robot and the base station is less than the first predetermined distance, thus when the infrared receiving sensor receives the infrared signal, it can be determined that the distance between the cleaning robot and the base station is less than the first predetermined distance, at this time, sending the replacement instruction to the base station can also form an approximately closed space inside the base station before replacing the cleaning tool, thereby ensuring the reliability of the robot cleaning system.

[0132] The base station further comprises an infrared transmitting sensor arranged at the entrance of the base station, and an infrared receiving sensor arranged at the side of the cleaning robot, the infrared receiving sensor is configured to send a replacement instruction to the base station when receiving the infrared signal, since the infrared receiving sensor is arranged to receive the infrared signal sent by the infrared transmitting sensor only when the distance between the cleaning robot and the base station is less than the first predetermined distance, thus when the infrared receiving sensor receives the infrared signal, it can be determined that the distance between the cleaning robot and the base station is less than the first predetermined distance, at this time, sending the replacement instruction to the base station can also form an approximately closed space inside the base station before replacing the cleaning tool, thereby ensuring the reliability of the robot cleaning system.

[0133] Please refer to Figure 7 , which is a flowchart of a cleaning robot control method according to an example embodiment, the method is applied to a cleaning robot, the cleaning robot comprises a main body, a driving assembly, a detection assembly and a first communication assembly, for example, the cleaning robot is as shown in the above Figure 2 The cleaning robot control method comprises the following steps:

[0134] Step 701, driving the cleaning robot to move forward by the driving assembly.

[0135] Optionally, when it is necessary to replace the cleaning tool of the cleaning robot, the driving assembly is controlled to drive the cleaning robot to move to a position in front of the base station. The cleaning tool can be detachably connected to the cleaning robot. For example, the cleaning tool is a mop plate.

[0136] Step 702, detecting the distance between the cleaning robot and the base station by the detection assembly.

[0137] The cleaning robot collects sensing data by the detection assembly, determines the distance between the cleaning robot and the base station according to the collected sensing data, judges whether the distance between the cleaning robot and the base station is less than the first predetermined distance, if the distance between the cleaning robot and the base station is less than the first predetermined distance, step 703 is executed; if the distance between the cleaning robot and the base station is greater than or equal to the first predetermined distance, step 702 is continued, i.e. the distance between the cleaning robot and the base station is continuously detected by the detection assembly.

[0138] Optionally, the first predetermined distance is greater than 5mm and less than 300mm.

[0139] In a possible implementation, the detection component includes an infrared receiving sensor arranged at the side of the cleaning robot, and the cleaning robot detects the distance between the cleaning robot and the base station through the detection component, including: detecting whether the infrared receiving sensor receives an infrared signal sent by an infrared emitting sensor of the base station; and determining that the distance between the cleaning robot and the base station is less than a first predetermined distance when the infrared signal is received.

[0140] When the infrared receiving sensor arranged at the side of the cleaning robot receives the infrared signal sent by the infrared emitting sensor of the base station, that is, it is determined that the distance between the cleaning robot and the base station is less than the first predetermined distance, step 703 is performed.

[0141] It should be noted that the process of determining that the distance between the cleaning robot and the base station is less than the first predetermined distance when the infrared receiving sensor of the cleaning robot receives the infrared signal can refer to the related details in the above embodiments, which will not be described here.

[0142] Step 703: sending a replacement instruction to the base station through the first communication component when the distance is less than the first predetermined distance, the replacement instruction being used to instruct the base station to start a replacement component, and the replacement component being used to replace the cleaning tool of the cleaning robot.

[0143] When the distance between the cleaning robot and the base station is less than the first predetermined distance, the cleaning robot sends a replacement instruction to the base station through the first communication component.

[0144] Correspondingly, the base station receives the replacement instruction, and after the cleaning robot at least partially enters the base station, controls the replacement component to replace the cleaning tool of the cleaning robot.

[0145] Optionally, the replacement component includes a lifting frame for carrying the cleaning tool, and the lifting frame has a first position and a second position, the first position being an initial position of the lifting frame, and the second position being a target position after the lifting frame is lowered.

[0146] Optionally, the length of the lifting frame is less than the length of the outer contour of the base station, and the absolute value of the difference is greater than 3mm.

[0147] Optionally, the replacement instruction is used to instruct the base station to control the lifting frame to descend. After receiving the replacement instruction, the base station controls the lifting frame to descend, i.e., to move from the first position to the second position. After the lifting frame moves from the first position to the second position, the cleaning robot drives the cleaning robot to enter the base station through the driving assembly. According to the replacement instruction, the base station replaces the cleaning tool of the cleaning robot after the cleaning robot at least partially enters the base station. Illustratively, the base station replaces the mop plate at the bottom of the cleaning robot from the current first mop plate to the second mop plate through the descended lifting frame. The second mop plate is a mop plate placed on the lifting frame.

[0148] Optionally, when it is detected that the distance between the cleaning robot and the base station is less than the first predetermined distance and the distance between the cleaning robot and the position to be descended of the lifting frame of the base station is greater than the first preset value, the replacement instruction is sent to the base station.

[0149] Optionally, the cleaning robot determines the distance between the cleaning robot and the base station according to the collected perception data, acquires the absolute value of the difference between the outer contour length of the base station and the length of the lifting frame, and determines the distance between the cleaning robot and the position to be descended of the lifting frame according to the distance between the cleaning robot and the base station and the absolute value of the difference.

[0150] Optionally, during the process in which the cleaning robot enters the base station, the distance between the first side of the cleaning robot and the second side of the base station is greater than 1 mm and less than 60 mm. The first side is any one of the two sides of the cleaning robot, and the second side is the side of the two sides of the base station closest to the first side after the cleaning robot enters the base station.

[0151] Optionally, after the cleaning robot sends the replacement instruction to the base station, the cleaning robot is controlled to pause driving through the driving assembly. After the lifting frame moves to the second position, the cleaning robot drives the cleaning robot to enter the base station through the driving assembly.

[0152] Optionally, after the replacement of the cleaning tool is successful, the cleaning robot is driven to retreat in a direction away from the base station through the driving assembly. The distance between the retreated cleaning robot and the base station is less than a second predetermined distance.

[0153] Optionally, the second predetermined distance is greater than 5 mm and less than 300 mm.

[0154] Optionally, after the cleaning robot is driven to retreat a certain distance in a direction away from the base station through the driving assembly, the base station controls the lifting frame to ascend. Illustratively, after the replacement of the cleaning tool is successful, the cleaning robot is driven to retreat in a direction away from the base station through the driving assembly. When the distance between the retreated cleaning robot and the base station is less than the second predetermined distance, the base station controls the lifting frame to ascend, i.e., to move from the second position to the first position.

[0155] It should be noted that the related details of each step in the cleaning robot control method can refer to the related description in the above embodiments, which will not be repeated here.

[0156] In summary, the embodiments of the present disclosure drive the cleaning robot to travel through the driving assembly; detect the distance between the cleaning robot and the base station through the detection assembly; and send a replacement instruction to the base station through the first communication assembly when the distance is less than the first predetermined distance, the replacement instruction being used to instruct the base station to start the replacement assembly after the cleaning robot at least partially enters the base station, the replacement assembly being used to replace the cleaning tool of the cleaning robot; that is, by controlling the distance relationship between the cleaning robot and the base station, the base station will only replace the cleaning tool of the cleaning robot when the distance is less than the first predetermined distance, so that the base station entrance is blocked by the cleaning robot before the cleaning tool is replaced, forming an approximately closed space inside the base station before the cleaning tool is replaced, avoiding the abnormal operation of the base station and the possible harm, and effectively improving the reliability of the cleaning robot control method.

[0157] The above has described the embodiments of the present disclosure, the above description is exemplary, not exhaustive, and is not limited to the disclosed embodiments. Many modifications and changes are obvious to those skilled in the art without departing from the scope and spirit of the described embodiments. The choice of terms used herein is intended to best explain the principles of the embodiments, practical application, or technical improvement to the technology in the market, or to enable other ordinary skilled persons in the art to understand the embodiments disclosed herein.

Claims

1. A robotic cleaning system comprising a cleaning robot, a detection assembly, a communication assembly, a cleaning tool removably connectable to the cleaning robot, and a base station for the cleaning robot to dock; characterized in that, The cleaning robot includes a main body and a drive assembly; the base station includes a replacement assembly. The drive component of the cleaning robot is used to drive the cleaning robot to move; When the cleaning robot needs to have its cleaning tools changed, the drive component drives the cleaning robot to move towards the base station; The detection component is used to detect the distance between the cleaning robot and the base station; The communication component is used to transmit replacement instructions; The replacement component of the base station is used to replace the cleaning tools of the cleaning robot according to the replacement instruction; The replacement component includes a lifting frame disposed inside the base station and used to carry the cleaning tool. The lifting frame is used to provide a new rag board for the cleaning robot and to recycle the dirty rag board discarded by the cleaning robot. The lifting frame has a first position and a second position, the first position being the initial position of the lifting frame, and the second position being the target position after the lifting frame has descended; The communication components include a first communication component of the cleaning robot and a second communication component of the base station; The first communication component is used to send the replacement command to the base station when the distance is less than a first predetermined distance and the distance between the cleaning robot and the second position of the lifting frame is greater than a first preset value, so that the base station entrance is blocked by the cleaning robot before the cleaning tool is replaced, thereby forming a nearly enclosed space inside the base station; the first predetermined distance is greater than 5mm and less than 300mm, and the first preset value is 5mm. The second communication component is used to receive the replacement command; the lifting frame is used to move from the first position to the second position.

2. The robotic cleaning system of claim 1, wherein, The detection component includes an infrared emitting sensor located at the entrance of the base station and an infrared receiving sensor located on the side of the cleaning robot. The infrared receiving sensor is used to determine, upon receiving an infrared signal from the infrared emitting sensor, that the distance between the cleaning robot and the base station is less than the first predetermined distance.

3. The robotic cleaning system according to claim 1, characterized in that, The length of the lifting frame is less than the outer contour length of the base station, and the absolute value of the difference between the length of the lifting frame and the outer contour length of the base station is greater than 3mm.

4. The robotic cleaning system according to claim 1, characterized in that, The drive assembly of the cleaning robot is also used to control the cleaning robot to drive into the base station after the lifting frame moves to the second position.

5. The robotic cleaning system according to claim 4, characterized in that, The drive component of the cleaning robot is also used to control the cleaning robot to pause its movement after sending the replacement command to the base station; and to control the cleaning robot to drive into the base station after the lifting frame moves to the second position.

6. The robotic cleaning system according to claim 1, characterized in that, The drive component is also used to drive the cleaning robot to retreat in a direction away from the base station after the cleaning tool has been successfully replaced; The lifting platform is used to move from the second position to the first position when the distance between the cleaning robot and the base station after retreating is less than a second predetermined distance.

7. The robotic cleaning system according to claim 1 or 2, characterized in that, The distance between the first side of the cleaning robot and the second side of the base station is greater than 1 mm and less than 60 mm. The first side is any one of the two sides of the cleaning robot, and the second side is the side of the base station that is closest to the first side after the cleaning robot enters the base station.

8. A cleaning robot, characterized in that, The cleaning robot includes: a main body, a drive component, a detection component, and a first communication component; The drive component is used to drive the cleaning robot to move; When the cleaning robot needs to have its cleaning tools changed, the drive component drives the cleaning robot to move towards the base station; The detection component is used to detect the distance between the cleaning robot and the base station where the cleaning robot can dock. The base station includes a replacement component. The lifting frame of the replacement component has a first position and a second position. The first position is the initial position of the lifting frame, and the second position is the target position after the lifting frame has descended. The first communication component is used to send a replacement command to the base station when the distance is less than a first predetermined distance and the distance between the cleaning robot and the second position of the lifting frame is greater than a first preset value, so that the base station entrance is blocked by the cleaning robot before the cleaning tool is replaced, thereby forming a nearly enclosed space inside the base station; the first predetermined distance is greater than 5mm and less than 300mm, and the first preset value is 5mm. The replacement instruction is used to instruct the base station to activate the replacement component, the lifting frame is used to move from the first position to the second position, and the replacement component is used to replace the cleaning tools of the cleaning robot.

9. The cleaning robot according to claim 8, characterized in that, The detection component includes an infrared receiving sensor disposed on the side of the cleaning robot and an infrared emitting sensor disposed at the entrance of the base station. The infrared receiving sensor is used to determine that the distance between the cleaning robot and the base station is less than the first predetermined distance when it receives an infrared signal sent by the infrared emitting sensor.

10. A method for controlling a cleaning robot, characterized in that, The method is applied to a cleaning robot comprising a main body, a drive component, a detection component, and a first communication component, and the method includes: The cleaning robot is driven to move by the drive component; When the cleaning robot needs to have its cleaning tools changed, the drive component drives the cleaning robot to move towards the base station; The detection component detects the distance between the cleaning robot and the base station where the cleaning robot can dock. The base station includes a replacement component, which includes a lifting frame for carrying the cleaning tools. The lifting frame is used to provide a new rag board for the cleaning robot and to collect the dirty rag board discarded by the cleaning robot. The lifting frame has a first position and a second position. The first position is the initial position of the lifting frame, and the second position is the target position after the lifting frame has descended. When the distance is less than a first predetermined distance and the distance between the cleaning robot and the second position of the lifting frame is greater than a first preset value, a replacement command is sent to the base station through the first communication component so that the base station entrance is blocked by the cleaning robot before the cleaning tool is replaced, thereby forming a nearly enclosed space inside the base station; the first predetermined distance is greater than 5mm and less than 300mm, and the first preset value is 5mm. The replacement instruction is used to instruct the base station to activate the replacement component, the lifting frame is used to move from the first position to the second position, and the replacement component is used to replace the cleaning tools of the cleaning robot.

11. The method according to claim 10, characterized in that, The detection component includes an infrared receiving sensor disposed on the side of the cleaning robot and an infrared emitting sensor disposed at the entrance of the base station. Detecting the distance between the cleaning robot and the base station using the detection component includes: The infrared receiving sensor detects whether it receives an infrared signal sent by the infrared transmitting sensor of the base station; When the infrared signal is received, it is determined that the distance between the cleaning robot and the base station is less than the first predetermined distance.

12. The method according to claim 10, characterized in that, The length of the lifting frame is less than the outer contour length of the base station, and the absolute value of the difference between the length of the lifting frame and the outer contour length of the base station is greater than 3mm.

13. The method according to claim 10, characterized in that, After the lifting frame moves from the first position to the second position, the cleaning robot is controlled by the drive component to drive into the base station.

14. The method according to claim 10, characterized in that, After sending the replacement command to the base station, the cleaning robot is controlled to pause its movement via the drive component; After the lifting frame moves to the second position, the cleaning robot is controlled by the drive assembly to drive into the base station.

15. The method according to claim 10, characterized in that, The method further includes: After the cleaning tool is successfully replaced, the cleaning robot is driven by the drive component to move backward in a direction away from the base station. The distance between the cleaning robot and the base station after the backward movement is less than a second predetermined distance.

16. The method according to claim 10 or 11, characterized in that, The distance between the first side of the cleaning robot and the second side of the base station is greater than 1 mm and less than 60 mm. The first side is any one of the two sides of the cleaning robot, and the second side is the side of the base station that is closest to the first side.

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