Base station and cleaning robot system

Abstract

The present application relates to the technical field of cleaning robots, and discloses a base station and a cleaning robot system, wherein the base station comprises a base station body, which is configured to be communicated with a tap water pipeline, so that the base station can clean a wiping piece of a cleaning robot by using tap water supplied by the tap water pipeline; and / or the base station body is configured to be communicated with a drain pipeline, so that the base station can drain away the sewage after cleaning by using the drain pipeline. The wiping piece is cleaned by using tap water directly supplied by the tap water pipeline, and the sewage after cleaning can be directly drained away through the drain pipeline, so that the liquid supply device and / or the sewage collection device can be reduced, and therefore, the structure of the base station can be simpler, and the cost is lower.

Description

[0001] This application is a divisional application of application number 201611175803.6, with the parent application filed on December 16, 2016; the invention title of the parent application is: Cleaning Robot and Cleaning Robot System. Technical Field

[0002] This invention relates to the field of cleaning robot technology, and in particular to a base station and a cleaning robot system. Background Technology

[0003] In recent years, with the development of the social economy and the improvement of family living standards, furniture cleaning has gradually entered the era of intelligence and mechanization. The emerging cleaning robots can liberate people from home cleaning work, effectively reduce people's workload in home cleaning, and alleviate the fatigue of people in the process of home cleaning.

[0004] In related technologies, some base stations that work with cleaning robots need to have devices for storing clean water and collecting sewage, which makes the overall structure of the base station complex and occupies a lot of space. In addition, it requires manual addition of clean water and emptying of sewage into the base station, which cannot completely free users. Summary of the Invention

[0005] One technical problem that this invention aims to solve is that existing cleaning robot base stations require the installation of clean liquid supply devices and / or waste liquid collection devices, which are complex in structure and require users to maintain the clean liquid supply devices and / or waste liquid collection devices, resulting in a poor user experience.

[0006] To address the aforementioned technical problems, a first aspect of the present invention provides a base station, comprising:

[0007] Base station body;

[0008] The base station body is configured to connect to a tap water pipe so that the base station can use the tap water supplied by the tap water pipe to clean the mop parts of the cleaning robot.

[0009] And / or, the base station body is configured to communicate with a drainage pipe so that the base station can use the drainage pipe to discharge the wastewater after cleaning.

[0010] Optionally, the base station further includes a mop cleaning device for cleaning the mop of the cleaning robot.

[0011] Optionally, the mop cleaning device includes a cleaning tank for accommodating the mop when it is being cleaned, and for providing space for cleaning fluid.

[0012] Optionally, the mop cleaning device includes:

[0013] The inlet structure is in fluid communication with the cleaning tank so that the cleaning liquid can enter the cleaning tank through the inlet structure; the outlet structure is in fluid communication with the cleaning tank so that the cleaning liquid after cleaning the mop can be discharged to the outside of the cleaning tank through the outlet structure.

[0014] Optionally, the tap water pipe is in fluid communication with the cleaning tank through the liquid inlet structure, so as to provide cleaning solution to the cleaning tank;

[0015] The drainage pipe is connected to the cleaning tank through the drainage structure so as to collect the wastewater after cleaning the mop.

[0016] Optionally, the liquid inlet structure is disposed within the cleaning tank;

[0017] And / or, the drainage structure is disposed within the cleaning tank.

[0018] Optionally, the number of liquid inlet structures is two, and the two liquid inlet structures are disposed in the cleaning tank and are symmetrically arranged about the central axis of the width direction of the base station body.

[0019] Optionally, the drain structure is located between the two inlet structures, and the two inlet structures are symmetrically arranged about the drain structure.

[0020] In another aspect, the present invention provides a cleaning robot system. This cleaning robot system includes a cleaning robot and the aforementioned base station, wherein the cleaning robot is installed independently of the base station and is capable of cleaning the ground.

[0021] Optionally, a control device may also be included, which is used to control the mop to rotate at a low speed for a period of time after the mop is cleaned, and then control the mop to rotate at an accelerated speed.

[0022] The base station of the present invention uses tap water pipes to directly supply tap water for cleaning the mopping parts. The wastewater after cleaning can be directly discharged through the drainage pipe, which can reduce the need for clean liquid supply devices and / or wastewater collection devices. Therefore, this method can make the base station structure simpler and the cost lower.

[0023] Other features and advantages of the invention will become clear from the following detailed description of exemplary embodiments of the invention with reference to the accompanying drawings. Attached Figure Description

[0024] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0025] Figure 1 A schematic diagram of the overall structure of the cleaning robot system according to the first embodiment of the present invention is shown.

[0026] Figure 2 Show Figure 1 The diagram shows the overall structure of the base station.

[0027] Figure 3 Show Figure 2 A schematic diagram of the explosion structure.

[0028] Figure 4 Show Figure 2 A schematic diagram of the structure of the cleaning device for the middle-mounted wiping parts.

[0029] Figure 5 A schematic diagram showing the installation of the liquid level detection device in the first storage structure is shown.

[0030] Figure 6 Show Figure 1 The image shown is a top-down perspective view of the overall structure of the cleaning robot.

[0031] Figure 7 Show Figure 1 The image shown is a bottom-view perspective of the overall structure of the cleaning robot.

[0032] Figure 8 Show Figure 6 A schematic diagram of the explosion structure.

[0033] Figure 9 Show Figure 6 The diagram shows the structure of the cleaning robot after removing the upper shell and processing circuitry.

[0034] Figure 10 Shown in Figure 9 The diagram shows the structure after further removing the fan and fan duct.

[0035] Figure 11 Show Figure 6 The diagram shows the overall structure of the mopping device of the cleaning robot.

[0036] Figure 12 Show Figure 11 A schematic diagram of the explosion structure.

[0037] Figure 13 Show Figure 12 The swing freedom of the middle dragging component under the action of the flexible connecting block and the horizontal rotating shaft.

[0038] Figure 14 Show Figure 11 The diagram shows the structure of the wiping device after the horizontal rotating shaft has been removed.

[0039] Figure 15 Show Figure 14 The swing freedom of the middle dragging component under the action of the flexible connecting block.

[0040] Figure 16 Show Figure 13 The first variant example.

[0041] Figure 17 Show Figure 13 The second variant example.

[0042] Figure 18 Show Figure 13 The third variant example.

[0043] Figure 19 Show Figure 6 A schematic diagram of the air duct of the garbage collection device of the cleaning robot shown.

[0044] Figure 20 Show Figure 6 The diagram shows the positional relationship between the mopping device and the garbage collection device of the cleaning robot.

[0045] Figure 21 Show Figure 1 The first embodiment shown illustrates the process of the cleaning robot entering the base station under the action of the lifting mechanism.

[0046] Figure 22 Show Figure 1 The diagram shown in the first embodiment illustrates the interaction between the cleaning robot and the base station after the robot enters the base station.

[0047] Figure 23 Show Figure 1 The first embodiment shown is a schematic diagram illustrating the cleaning principle of the cleaning robot's mopping component by the base station.

[0048] Figure 24 A schematic diagram of the overall structure of the cleaning robot system according to the second embodiment of the present invention is shown.

[0049] Figure 25 Show Figure 24 The diagram shows the overall structure of the base station.

[0050] Figure 26 Show Figure 25 A schematic diagram of the explosion structure.

[0051] Figure 27 Show Figure 24 The diagram shows the overall structure of the cleaning robot.

[0052] Figure 28 Show Figure 27 A schematic diagram of the explosion structure.

[0053] Figure 29 Show Figure 27 The diagram shows the structure of the cleaning robot after the upper shell and upper shell cover have been removed.

[0054] Figure 30 Show Figure 27 The diagram shows the structure of the cleaning robot after the lower shell cover has been removed.

[0055] Figure 31 Show Figure 30 A schematic diagram of the exploded structure of the dragging device shown.

[0056] Figure 32a Show Figure 31 Cross-sectional view of the assembly structure of the output shaft and the dragging unit.

[0057] Figure 32b Show Figure 32a A magnified view of part of the I in the diagram.

[0058] Figure 32c Show Figure 32b A magnified schematic diagram of part II in the diagram.

[0059] Figure 33 An exploded structural diagram of the waste collection device in the second embodiment is shown (dust removal fan omitted).

[0060] Figure 34 A schematic diagram of the air duct of the waste collection device in the second embodiment is shown.

[0061] Figure 35 The diagram shows the movement of the cleaning robot as it enters the base station in the second embodiment.

[0062] Figure 36 This illustration shows a variation of the positional relationship between the suction port and the mopping device in the first and second embodiments.

[0063] Figure 37 Another variation of the first and second embodiments is shown.

[0064] Figure 38 A schematic diagram of the overall structure of the cleaning robot system according to the third embodiment of the present invention is shown.

[0065] Figure 39 Show Figure 38 The image shows a top-down perspective view of the overall structure of the cleaning robot.

[0066] Figure 40 Show Figure 38 The diagram shows the structure of the cleaning robot after the upper shell has been removed.

[0067] Figure 41 The diagram shows the positional relationship between the suction port and the mopping device in the third embodiment of the figure.

[0068] Figure 42 A simplified structural diagram of a cleaning robot with a mopping unit capable of rotating about a horizontal axis is shown in the fourth embodiment.

[0069] Figure 43 Base station pair with cleaning rollers shown Figure 42 The diagram shows the principle of the cleaning robot's mopping mechanism.

[0070] Figure 44 Show Figure 43 The fourth embodiment shown is a variant of the cleaning robot.

[0071] Figure 45 Show Figure 44 The image shows a variant of the cleaning robot.

[0072] Figure 46 A simplified structural diagram of a cleaning robot with a mopping unit capable of horizontal reciprocating motion is shown in the fifth embodiment.

[0073] Figure 47 Show Figure 46 The fifth embodiment shown is a variant of the cleaning robot.

[0074] Figure 48 and Figure 49 Two variations of the protrusion structure of the present invention are shown respectively.

[0075] Figure 50 A simplified structural diagram of a cleaning robot with suspension devices at the wheels is shown.

[0076] Figure 51 Show Figure 50 A magnified schematic diagram of part III in the diagram.

[0077] Figure 52 The cleaning robot is shown based on a lifting mechanism and Figure 50 The process of the suspension device entering and exiting the base station is shown.

[0078] Figure 53 The process of a cleaning robot entering and exiting a base station based on a guide surface and guide wheels is shown.

[0079] Figure 54 A simplified structural diagram of a cleaning robot system according to a sixth embodiment of the present invention is shown.

[0080] Figure 55 Show Figure 54 The sixth embodiment shown is a schematic diagram of the base station cleaning the cleaning robot.

[0081] Figure 56 This diagram illustrates the cleaning principle of the cleaning robot's mopping component by the base station in another embodiment of the present invention.

[0082] Figure 57 A partial schematic diagram of the bottom of the cleaning robot in an improved embodiment of the first embodiment of the present invention is shown.

[0083] Figure 58 The present invention is shown. Figure 57 The bottom of the cleaning robot in the illustrated embodiment is different. Figure 57 A partial schematic diagram from a certain perspective.

[0084] In the picture:

[0085] 1. Base station;

[0086] 10. Base station body; 101. Support frame; 102. Support frame bottom cover;

[0087] 11. Mop cleaning device; 111. Cleaning tank; 112. Protrusion; 1121. Bottom protrusion; 1122. Side protrusion; 113. Liquid inlet structure; 114. Liquid drain structure; 115. Guide plate; 116. Guide surface; 117. Scraper; 118. Cleaning roller; 119. Guide wheel;

[0088] 12. Clean liquid supply device; 121. First storage structure; 1211. Box body; 1212. Box cover; 1213. Handle; 1214. Buckle; 122. First water pump;

[0089] 13. Wastewater collection device; 131. Second storage structure; 132. Second water pump;

[0090] 14. Charging device; 141. Charging plate;

[0091] 151. First conductive sheet; 152. Second conductive sheet; 153. Third conductive sheet;

[0092] 2. Cleaning robots;

[0093] 20. Shell; 201. Upper shell; 2011. Upper shell cover; 202. Chassis; 2021. Lower shell cover; 203. Clearance groove;

[0094] 21. Walking device; 211. Walking wheel; 212. Spring; 213. Support component;

[0095] 22. Floor cleaning device; 221. Mopping device; 2211. Mopping unit; 22111. Mopping component; 22112. Pressure plate; 2212. Mopping drive mechanism; 22121. Double-headed worm gear motor; 22121'. Single-headed worm gear motor; 22122. Worm wheel; 22123. Output shaft; 22124. Bearing; 22125. Oil seal ring; 2213. Mounting chassis; 2214. Upper plate; 2215. Lower plate; 2216. Flexible connecting block; 2217. Magnetic adsorption component; 2218. Horizontal rotating shaft; 2219. Scraper structure; 222. Sweeping device; 2221. Side brush;

[0096] 23. Waste collection device; 231. Dust box; 2311. Baffle; 2312. Scraper; 2312'. Roller brush; 2313. Box body; 2314. Box lid; 2315. Handle; 2316. Positioning pin; 233. Filter screen; 233'. HEPA paper; 2331'. HEPA paper support; 234. Dust collector fan; 235. Fan duct; 236. Suction port; 237. Waste blocking component; 238. Filter frame;

[0097] 24. Lifting mechanism;

[0098] 25. Collision sensor panel; 251. Camera; 252. Charging contact;

[0099] 26. LiDAR; 261. Radar protective cover;

[0100] 27. Control device;

[0101] 28. Battery. Detailed Implementation

[0102] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. The following description of at least one exemplary embodiment is merely illustrative and is in no way intended to limit the present invention or its application or use. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0103] Techniques, methods, and equipment known to those skilled in the art may not be discussed in detail, but where appropriate, such techniques, methods, and equipment should be considered part of the specification.

[0104] In the description of this invention, it should be understood that the use of terms such as "first" and "second" to define components is merely for the purpose of distinguishing the corresponding components. Unless otherwise stated, the above terms have no special meaning and therefore should not be construed as limiting the scope of protection of this invention.

[0105] Additionally, in the description of this invention, it should be understood that the orientation or positional relationship indicated by directional terms such as "front, back, up, down, left, right", "horizontal, vertical, horizontal" and "top, bottom" is generally defined based on the normal operating state of the cleaning robot system, wherein the forward direction of the cleaning robot is considered as front, and correspondingly, the backward direction of the cleaning robot is considered as back; the directional terms "inner" and "outer" refer to the inner and outer contours relative to the outline of each component itself.

[0106] Figure 1-58 Several embodiments of a cleaning robot system including the base station of the present invention are shown. (Refer to...) Figure 1-58 The cleaning robot 2 of the present invention includes a walking device 21 for driving the cleaning robot 2 to walk on the ground and a floor cleaning device 22 for cleaning the ground. The floor cleaning device 22 includes a mopping device 221, the mopping device 221 includes a mopping unit 2211, the mopping unit 2211 includes a mopping component 22111, and the mopping component 22111 is used to mop the ground.

[0107] The cleaning robot 2 of the present invention includes a mopping component 22111 for mopping the floor, thus enabling it to perform mopping functions, remove stubborn stains on the floor, and improve the floor cleaning effect.

[0108] In this invention, to further improve the mopping effect, the mopping unit 2211 is configured to rotate and / or reciprocate horizontally relative to the chassis 202 of the cleaning robot 2. Thus, during the mopping process, the relative movement between the mopping unit 22111 and the ground includes not only the movement of the entire cleaning robot 2 on the ground, but also the rotational and / or reciprocating motion of the mopping unit 22111 relative to the ground. This enhances the mopping force of the mopping unit 22111 and increases the number of mopping cycles, enabling repeated mopping of the ground and improving the mopping effect, particularly in more thoroughly cleaning stubborn stains adhering to the ground. Preferably, the mopping unit 2211 is configured to rotate relative to the chassis 202 of the cleaning robot 2. Because the rotating mopping unit 22111 can also sweep up large particles and dust and other garbage on the ground, it can also play a cleaning role at the same time, making the cleaning robot 2 a sweeping and mopping robot with more comprehensive functions and better floor cleaning effect. Since the cleaning function can be achieved without setting up a special cleaning device 222, the cleaning robot 2 can have a simpler structure and smaller size while having a sweeping and mopping function, which is conducive to further miniaturization and dexterity of the cleaning robot 2.

[0109] As another improvement to further enhance the mopping effect, in this invention, the mopping unit 2211 can be configured to swing relative to the chassis 202. Based on this configuration, the mopping component 22111 of the mopping unit 2211 can maintain contact with the ground by swinging relative to the chassis 202 according to the unevenness of the ground. This ensures that the two mopping components 22111 in this embodiment are always in close contact with the ground. This not only effectively prevents missed cleaning due to uneven ground, thus ensuring more thorough and efficient cleaning of various types of ground, but also enables the cleaning robot 2 to clean ground with more complex and diverse terrains, effectively expanding the applicability of the cleaning robot 2.

[0110] In addition, the present invention also provides a cleaning robot system including the cleaning robot 2 of the present invention. The cleaning robot system may further include a base station 1 capable of cleaning the mopping component 22111. The base station 1 includes a base station body 10 and a mopping component cleaning device 11 disposed on the base station body 10, the mopping component cleaning device 11 being used to clean the mopping component 22111 of the cleaning robot 2.

[0111] In this invention, the base station 1 can clean the mop 22111 by means of ultrasonic cleaning, dry cleaning or water washing. Among them, water washing is preferred because it is not only easier to implement and lower in cost, but also cleaner. Moreover, the mop 22111 cleaned by water washing has a certain amount of moisture and can be directly put into mopping work without the need for an additional step of wetting the mop 22111. Therefore, water washing can further reduce user involvement and further ensure the continuity of the cleaning robot 2's work.

[0112] In order to achieve better cleaning effect for base station 1, in this invention, it is preferable to configure the mop cleaning device 11 and the mop 22111 to be relatively movable. For example, the mop cleaning device 11 can rotate relative to the mop 22111, and / or the mop cleaning device 11 can move relative to the mop 22111. In this way, during the cleaning process of the mop cleaning device 11, the mop 22111 is pressed against the mop cleaning device 11, and the mop cleaning device 11 can apply frictional force to the mop 22111, thereby improving the cleanliness of the mop 22111 and improving the cleaning effect of the mop cleaning device 11. The relative motion between the mop cleaning device 11 and the mop 22111 can be generated by one of them moving while the other remains stationary, or by both of them moving but with different directions and / or speeds.

[0113] In this invention, the mop cleaning device 11 may be configured to include a protruding structure, the protruding structure including a protrusion 112, which contacts the mop 22111 when the mop cleaning device 11 cleans the mop 22111. By providing the protrusion 112 on the mop cleaning device 11, not only can the protrusion 112 scrape away sewage or garbage on the mop 22111 during the cleaning process, achieving a more thorough cleaning of the mop 22111 and preventing the mop 22111 from becoming excessively wet after cleaning, but also, when the mop cleaning device 11 and the mop 22111 can move relative to each other, the protrusion 112 and the mop 22111 will generate planar friction, which can further increase the friction between the mop cleaning device 11 and the mop 22111, and further improve the cleaning effect of the mop cleaning device 11 on the mop 22111.

[0114] Furthermore, to facilitate the entry of the cleaning robot 2 into the base station 1, the base station 1 of the present invention is preferably configured to also include a guide structure disposed on the mop cleaning device 11. This guide structure guides the cleaning robot 2 relative to the mop cleaning device 11, allowing the mop 22111 to enter and exit the mop cleaning device 11. Based on this, when cleaning of the mop 22111 is required, the cleaning robot 2 can easily enter the base station 1 under the guidance of this guide structure, allowing the mop 22111 to enter the mop cleaning device 11 for cleaning. Once cleaning is complete, the cleaning robot 2 can smoothly exit the base station 1 under the guidance of this guide structure, allowing the mop 22111 to leave the mop cleaning device 11. Therefore, the arrangement of this guide structure makes it convenient for the cleaning robot 2 to enter and exit the base station 1, which helps to improve the working efficiency of the cleaning robot system. The guide structure may include at least one of a guide surface, a guide plate, and guide wheels.

[0115] The following is combined Figure 1-58 The invention will be further illustrated by various embodiments of the cleaning robot system shown.

[0116] Figure 1-23 A first embodiment of a cleaning robot system is shown.

[0117] like Figure 1-23 As shown, in this first embodiment, the cleaning robot system includes a cleaning robot 2 and a base station 1, which are independently configured. The cleaning robot 2 is used for automatic cleaning of the ground, including mopping, while the base station 1 is used for charging the cleaning robot 2 and cleaning the mopping component 22111 of the cleaning robot 2. When the mopping component 22111 has been mopping for a period of time and the cleaning robot 2 needs to be charged and / or the mopping component 22111 needs to be cleaned, the cleaning robot 2 can automatically return to the base station 1 to recharge and / or clean the mopping component.

[0118] Figure 6-20 The structure of the cleaning robot 2 in this first embodiment is shown. (As shown) Figure 6-20 As shown, in this first embodiment, the cleaning robot 2 is a mobile cleaning device, which includes a housing 20, a walking device 21, a ground cleaning device 22, and a garbage collection device 23, etc.

[0119] The housing 20 forms the mounting base for other structural components of the cleaning robot 2, providing support for these components. Figure 6-8As can be seen, the housing 20 of this embodiment includes an upper housing 201 and a chassis 202. The walking device 21, the ground cleaning device 22, and the garbage collection device 23 are all installed on the chassis 202. The upper housing 201 covers the chassis 202 to protect the structural components in the hollow space between the upper housing 201 and the chassis 202, and to maintain the neatness and aesthetics of the overall structure.

[0120] The walking mechanism 21 provides driving force for the cleaning robot 2 to move on the ground, thus propelling the cleaning robot 2 to walk on the ground. Figure 7 and Figure 8 As can be seen, the walking device 21 in this embodiment includes a pair of walking wheels 211, which are symmetrically arranged on the left and right sides of the chassis 202. The rotation of the walking wheels 211 enables the cleaning robot 2 to move forward or backward on the ground. Furthermore, the differential rotation of the pair of walking wheels 211 enables the cleaning robot 2 to turn.

[0121] The floor cleaning device 22 is used to clean the floor. In this embodiment, the floor cleaning device 22 includes a mopping device 221, which includes a pair of mopping units 2211. Each mopping unit 2211 includes a pressure plate 22112 and a mopping component 22111. The mopping component 22111 is mounted on the lower end surface of the pressure plate 22112 and is used to mop the floor.

[0122] The mopping component 22111 can be any component capable of mopping the floor, such as a mop (or rag) or a sponge. In this embodiment, a mop is selected as the mopping component 22111. Moreover, the mopping component 22111 is preferably detachably connected to the pressure plate 22112. For example, in this embodiment, the mopping component 22111 can be attached to the lower end surface of the pressure plate 22112 using Velcro, so as to facilitate the removal and replacement of the mopping component 22111.

[0123] In this embodiment, both the mopping unit 22111 and the pressure plate 22112 are circular. Of course, in other embodiments, they can also be set to other shapes such as rectangles. The advantage of setting their shape to be circular in this embodiment is that it is easier for the mopping unit 2211 to clean small spaces such as corners in the room, and it is also easier to rotate as follows.

[0124] To further address the issue of poor mopping performance in existing cleaning robots, by... Figures 7-12 as well as Figure 20As mentioned above, the mopping unit 2211 in this embodiment is configured to rotate relative to the chassis 202. This increased relative rotation between the mopping unit 2211 and the ground improves the mopping effect. The rotation of the mopping unit 2211 relative to the chassis 202 can be either around a horizontal axis or around a vertical axis. This embodiment preferably uses rotation around a vertical axis, as this achieves better mopping and cleaning results. Furthermore, when the mopping device 221 includes at least two mopping units 2211, these units can rotate in the same direction, in different directions, or switch between rotating in the same direction and in opposite directions. That is, for a certain period, the at least two mopping units 221 rotate in opposite directions, and for another period, they rotate in opposite directions again. By configuring the paired mopping units 2211 to rotate in opposite directions around a vertical axis, the mopping device 221 can also help to gather debris towards the center, achieving a better debris collection effect.

[0125] like Figure 20 As shown, in this embodiment, both mopping units 2211 rotate around a vertical axis, but in opposite directions. Because they rotate in opposite directions around the vertical axis, the two mopping units 2211 can gather the swept-up debris towards the center of the two units. Therefore, this arrangement allows the mopping device 221 to not only perform mopping and sweeping functions but also effectively gather debris, facilitating more thorough collection. Based on this, the mopping device 221 of this embodiment can cooperate with the debris collection device 23 of this embodiment to achieve a cleaner cleaning effect, which will be explained in more detail later. Furthermore, when the two mopping units 2211 are configured to rotate in opposite directions around the vertical axis, the frictional forces generated by their rotation are in opposite directions and can cancel each other out. This effectively avoids frictional imbalance during cleaning and helps the cleaning robot 2 to move more smoothly along the predetermined route.

[0126] To enable the mopping unit 2211 to rotate relative to the ground, the mopping device 221 in this embodiment further includes a mopping drive mechanism 2212. This drive mechanism 2212 connects the mopping unit 2211 to the chassis 202 and drives the mopping unit 2211 to rotate relative to the chassis 202, that is, drives the mopping unit 2211 to rotate relative to the ground. Specifically, as... Figure 8-12As shown, in this embodiment, the dragging drive mechanism 2212 includes a worm motor, two worm gears 22122, and two output shafts 22123. The worm motor provides torque to the two dragging units 2211. The two worm gears 22122 are connected to the two output shafts 22123 in a one-to-one correspondence. Each worm gear 22122 meshes with the worm on the worm motor, forming a worm gear mechanism. The two worm gears 22122 engage with the worm on the worm motor for transmission, thereby enabling the dragging drive mechanism to... Two output shafts 22123 transmit torques in opposite directions. The two output shafts 22123 are driven and connected between two worm gears 22122 and two wiping units 2211, and the two output shafts 22123 and the two wiping units 2211 are arranged in a one-to-one correspondence. They are used to transmit torques in opposite directions to the two wiping units 2211 respectively. At the same time, both output shafts 22123 are arranged vertically. In this way, the two wiping units 2211 rotate around their respective output shafts 22123 under the drive of the worm motor, which can realize the opposite rotation of the two wiping units 2211 around the vertical axis.

[0127] More specifically, such as Figure 12 As shown, in this embodiment, the worm motor is a double-headed worm motor 22121, wherein: the double-headed worm motor 22121 serves as a worm power mechanism for outputting torque; two worm wheels 22122 are correspondingly arranged with two dragging units 2211, and respectively mesh with the two worm heads on both sides of the double-headed worm motor 22121, and the two worm wheels 22122 mesh with the double-headed worm motor 22121 for transmission. Thus, when the double-headed worm motor 22121 rotates, power can be transmitted to the two worm wheels 22122, and through the two worm wheels 22122, torque in opposite directions is transmitted to the two output shafts 22123, driving the two output shafts 22123 to drive the two dragging units 2211 to rotate in opposite directions around the vertical axis. The structure is simple and compact, and the transmission efficiency is high.

[0128] Furthermore, by Figure 11 and Figure 12As can be seen, the mopping device 221 in this embodiment also includes a mounting base 2213, an upper plate 2214, and a lower plate 2215. The mopping drive mechanism 2212 is mounted on the chassis 202 via the mounting base 2213, the upper plate 2214, and the lower plate 2215. The upper plate 2214 and the lower plate 2215 are interlocked to form a hollow space. The components of the mopping drive mechanism 2212 are arranged in this hollow space for cooperative transmission. The mounting base 2213 is disposed on the chassis 202, and the lower plate 2215 is mounted on the mounting base 2213, so that the mopping drive mechanism 2212 is mounted on the chassis 202. In addition, the dragging drive mechanism 2212 of this embodiment also includes a bearing 22124 and an oil seal ring 22125, wherein the bearing 22124 and the oil seal ring 22125 are disposed between the output shaft 22123 and the worm gear 22122 to achieve smoother transmission.

[0129] In addition, in this embodiment, the mopping unit 2211 is swayably connected to the chassis 202 of the cleaning robot 2. By keeping the two mopping parts 22111 in close contact with the ground at all times, the mopping effect of the mopping device 221 is improved, and the applicability of the cleaning robot 2 is expanded.

[0130] Specifically, the mopping unit 2211 of this embodiment can swing not only around the vertical axis but also around the horizontal axis. This gives the mopping unit 22111 multiple degrees of freedom, which helps to ensure that the entire mopping unit 22111 is in constant contact with the ground. This allows the mopping unit 22111 to better adapt to uneven ground and achieve a cleaner cleaning effect.

[0131] In order to achieve the oscillation of the wiping unit 2211 around the vertical axis, in this embodiment, as follows: Figure 12 As shown, a flexible connecting block 2216 is provided between the mopping unit 2211 and the output shaft 22123 of the mopping drive mechanism 2212, and the two are connected by this flexible connecting block 2216. The flexible connecting block 2216 can be detachably connected to the mopping unit 2211 and / or the mopping drive mechanism 2212. As a flexible connection structure, the flexible connecting block 2216 can deform relatively freely. Therefore, when the cleaning robot 2 encounters an uneven ground, the flexible connecting block 2216 can undergo adaptive deformation under the action of the ground force transmitted by the mopping component 22111, causing the mopping unit 2211 to perform adaptive swinging relative to the chassis 202 (i.e., relative to the ground) centered on the vertically arranged output shaft 22123, thereby maintaining contact with the ground. Moreover, as Figure 11 , Figure 13 and Figure 15 As shown, each flexible connecting block 2216 can provide the corresponding wiping unit 2211 with a degree of freedom for swing adjustment (i.e., Figure 13The first degree of freedom of the swing (I) allows for more diverse swing patterns and more flexible adaptation to the ground.

[0132] As can be seen, by setting a flexible connecting block 2216 between the output shaft 22123 and the mopping unit 2211, the material deformation of the flexible connecting block 2216 can be used to realize the swing of the mopping unit 2211 around the vertical axis. The swing angle of the mopping unit 2211 can be flexibly adjusted according to the unevenness of the ground, so that the mopping component 22111 is always in contact with the ground for mopping, further improving the mopping effect.

[0133] It should be noted that the flexible connection structure applied in this embodiment is not limited to the form of flexible connection block 2216. Other flexible connection structures that can realize the swing of the dragging unit 2211 by the deformation of their own materials are also applicable.

[0134] In order to enable the mopping unit 2211 to swing around a horizontal axis, in this embodiment, a horizontal rotation shaft 2218 is provided between the mopping device 221 and the chassis 202, and the two are connected by this horizontal rotation shaft 2218. Specifically, as shown... Figure 12 and Figure 13 As shown, in this embodiment, the horizontal rotation shaft 2218 is connected between the chassis 202 and the middle of the drive shaft connecting the two mopping units 2211 of the mopping device 221. This horizontal rotation shaft 2218 can provide one horizontal rotational degree of freedom for each mopping unit 2211 (i.e., ... Figure 13 The second swinging degree of freedom J shown allows each mopping unit 2211 to swing around the horizontal rotation axis 2218 as the ground becomes uneven, thereby ensuring that the mopping unit 22111 contacts the ground.

[0135] As can be seen, by simultaneously setting the flexible connecting block 2216 and the horizontal rotating shaft 2218, this embodiment enables the mopping component 22111 to have multiple swing degrees of freedom, which can more flexibly adapt to uneven ground. This allows the cleaning robot 2 to keep the mopping component 22111 close to the ground for cleaning even when encountering uneven terrain, thereby cleaning the ground more thoroughly.

[0136] On the other hand, by Figure 13As can be seen, in this embodiment, since a horizontal rotating shaft 2218 is provided between the mopping device 221 and the chassis 202, the contact between the mopping device 221 and the ground is equivalent to a fulcrum. That is, the mopping device 221 in this embodiment provides a fulcrum for the cleaning robot 2. At the same time, since the contact between the two wheels 211 and the ground is equivalent to two fulcrums, the cleaning robot 2 in this embodiment forms a three-point support with the ground. This allows the cleaning robot 2 to always be on the ground at three points, thereby increasing the overall operational stability of the cleaning robot 2 and further ensuring the cleaning effect.

[0137] It should be noted that the implementation method of making the mopping unit 221 swing with uneven ground is not limited to the above-described method (i.e., Figure 13 (As shown in the diagram), three alternative implementation methods are provided here.

[0138] As one of the alternatives, such as Figure 16 As shown, the position of the horizontal rotation axis 2218 can also be changed, placing it between the walking device 21 and the chassis 202. Based on this alternative, the walking device 21 and the chassis 202 are connected by a rotating shaft. The walking device 21 as a whole provides a fulcrum for the cleaning robot 2. Simultaneously, each flexible connecting block 2216 of the mopping device 221 provides two degrees of freedom for swing adjustment for each mopping unit 2211, so that when the mopping device 221 contacts the ground, it is equivalent to two fulcrums contacting the ground. That is, the mopping device 221 provides two fulcrums for the cleaning robot 2. Therefore, this alternative still ensures that the mopping component 22111 remains in close contact with the ground at all times, and forms a three-point support between the cleaning robot 2 and the ground. In this alternative, the three-point support includes two fulcrums at the front and one fulcrum at the rear. Figure 13 The three-point support shown includes one fulcrum at the front and two fulcrums at the rear.

[0139] As two other alternatives, such as Figure 17 and Figure 18 As shown, in this embodiment, the aforementioned flexible connecting block 2216 can be omitted, and a horizontal rotating shaft 2218 can be provided only between the mopping device 221 and the chassis 202, or only between the walking device 21 and the chassis 202. Although these two alternative methods do not achieve the same effect of keeping the mopping component 22111 in constant contact with the ground as the case where the mopping unit 2211 swings around the vertical axis, they still achieve the overall swing of the mopping component 22111 and / or the walking device 21 relative to the chassis 202, forming the aforementioned three-point support. Furthermore, the structure is simpler and the cost is lower.

[0140] The garbage collection device 23 is used to collect garbage collected by the ground cleaning device 22. It includes a collection port for connecting the inside and outside of the garbage collection device 23. The garbage collected by the ground cleaning device 22 enters the inside of the garbage collection device 23 through the collection port.

[0141] like Figure 7-9 and Figure 19 As shown, in this embodiment, the waste collection device 23 includes a dust box 231, a filter screen 233, a dust removal fan 234, a fan duct 235, and a suction port 236. The dust box 231 includes a box body 2313 and a lid 2314, with the lid 2314 covering the top opening of the box body 2313. The suction port 236 is located at the lower part of the dust box 231, opening towards the ground so that waste can enter the dust box 231 through the suction port 236. The dust removal fan 234 is in fluid communication with the interior of the dust box 231 through the fan duct 235, so that dust and other waste can enter the dust box 231 through the suction port 236 under the action of the dust removal fan 234. The filter screen 233 is located on the side of the dust box 231 and in the fluid communication passage between the dust removal fan 234 and the dust box 231. Figure 19 The intermediate filter 233 is specifically installed in the fluid communication passage between the fan duct 235 and the dust box 231, so that the garbage in the air can be filtered by the filter 233 and left in the dust box 231, while the air can continue to be drawn away by the dust removal fan 234.

[0142] like Figure 19 As shown, the outlet of the dust collector fan 234 faces the double-headed worm gear motor 22121. In this way, the air flowing out of the dust collector fan 234 can directly blow onto the double-headed worm gear motor 22121, which can dissipate heat from the double-headed worm gear motor 22121, which helps to ensure the working performance of the double-headed worm gear motor 22121 and extend its working life.

[0143] In one modified embodiment, the mopping drive mechanism is arranged on both sides of the vacuuming device, allowing the vacuuming device to extend as a whole along the front-back direction of the cleaning robot 2. For example, the dual-headed worm motor 22121 can be replaced with two motors, which output power through a worm gear mechanism or a gear mechanism. This facilitates the arrangement of the two motors on both sides of the vacuuming device, avoiding obstruction of the vacuuming device by the motor shaft passing through it. This allows for smoother airflow in the vacuuming device, reduces air intake resistance, increases airflow, and improves the vacuuming effect.

[0144] When the garbage collection device 23 of this embodiment is working, the dust removal fan 234 drives the air to carry the garbage into the box 2313 through the dust suction port 236. The garbage is blocked by the filter screen 233, while the air enters the fan duct 235 through the filter screen 233, flows to the dust removal fan 234, and is finally drawn away by the dust removal fan 234.

[0145] As can be seen, the garbage collection device 23 in this embodiment is a vacuuming device, and the suction port 236 is used as a collection port. The advantage of using a vacuuming device as the garbage collection device 23 in this embodiment is that the garbage collection device 23 can exert a suction force on the garbage. This not only allows more garbage gathered by the ground cleaning device 22 to be collected more quickly, reducing garbage residue on the ground, but also allows larger particles of garbage to be sucked into the garbage collection device 23 under the action of suction. Therefore, using a vacuuming device as the garbage collection device 23 is beneficial to cleaning the ground more thoroughly.

[0146] Furthermore, as mentioned earlier, in this embodiment, the two wiping units 2211 rotating in opposite directions around the vertical axis can gather trash between the two wiping units 2211. Therefore, in order to collect trash more conveniently and effectively, such as Figure 7 and Figure 20 As shown, in this embodiment, the suction port 236 is located in the middle of the two mopping units 2211 of the mopping device 221. Thus, the suction port 236 is situated between the two mopping units 2211, along the path where waste is collected. Therefore, the waste collection device 23 can collect waste more thoroughly, achieving a more effective waste collection result. The suction port 236 can be located either in the middle of the rear of the two mopping units 2211 or in the middle of the front of the two mopping units 2211. For example, placing the suction port 236 in the middle of the rear of the two mopping units 2211... Figure 36 As shown, since the trash is gathered into a smaller area before being collected by the trash collection device 23, the suction port 236 can be set smaller. The smaller the suction port 236, the stronger the suction, resulting in more efficient collection. The suction port 236 is positioned in the middle of the front of the two mopping units 2211, as shown... Figure 7 and Figure 20As shown, its advantage is that it allows garbage collection to take place before mopping, and the garbage can be collected before it is wetted by the mopping unit 22111. Since the garbage that is not wet has less adhesion to the ground, it is easier to collect. Therefore, by setting the suction port 236 in the middle of the front of the two mopping units 2211 that rotate in opposite directions around the vertical axis, the difficulty of garbage collection can be reduced, so that the vacuuming device only needs to apply a small suction force to collect the garbage. It can also effectively prevent the problem that garbage such as hair is difficult to collect due to being too wet, thus making it easier and more thorough to collect garbage and achieve a cleaner garbage collection effect.

[0147] Based on the above-mentioned mopping device 221 and garbage collection device 23, the cleaning robot 2 of this embodiment can perform higher quality floor cleaning work: when working, the two mopping parts 2111 that are close to the ground rotate in opposite directions around the vertical axis under the driving action of the mopping drive mechanism 2212. On the one hand, it mops the stubborn stains on the ground, and on the other hand, it gathers the garbage to the middle part of the two mopping parts 2111. The garbage gathered in the middle part is sucked up and collected by the garbage collection device 23.

[0148] Moreover, combined Figure 57 and Figure 58 It can also be seen that in the cleaning robot 2 of the above embodiments, the garbage collection device 23 also includes a baffle 2311. The baffle 2311 is inclined downward from the collection port (in this embodiment, the suction port 236) of the garbage collection device 23 and extends to the ground. Based on this, the baffle 2311 can block the garbage that gathers at its location, preventing the garbage cleaned by the ground cleaning device 22 from spreading beyond the range that the collection port (suction port 236) can collect, thereby making it easier for the garbage collection device 23 to collect and preventing the garbage from causing secondary pollution to the cleaned ground. In particular, when the mopping component 22111 rotates relative to the chassis 202 of the cleaning robot 2 to perform cleaning operations, the baffle 2311 can prevent the gathered garbage from being carried away from the collection port (suction port 236) by the mopping component 22111.

[0149] Of course, the cleaning robot 2 in this embodiment can also turn off the garbage collection device 23 and only allow the mopping device 221 to work; or, the mopping device 221 can be replaced with a sweeping device 222 for sweeping garbage on the ground, such as a roller brush, and the sweeping device 222 can be used in conjunction with the garbage collection device 23 to achieve a separate sweeping function. Since the mopping device 221 in this embodiment is detachably connected to the mopping drive mechanism 2212, the mopping device 221 can be easily replaced with the sweeping device 222 to achieve the switching of cleaning modes; moreover, by replacing the wet mopping part 22111 with the dry mopping part 22111, the cleaning robot 2 in this embodiment can also achieve the dry mopping function. Similarly, since the mopping part 22111 in this embodiment is detachably connected to the pressure plate 22112, the dry mopping part 22111 and the wet mopping part 22111 can also be easily replaced to achieve a quick switching between dry mopping and wet mopping modes.

[0150] In addition, such as Figure 6 and Figure 8-10 As shown, in this embodiment, the cleaning robot 2 also includes a collision sensing plate 25, a lidar 26, a control device 27, a battery 28, and human-machine interaction devices such as buttons and screens for human-machine interaction. The collision sensing plate 25 is used to prevent the cleaning robot 2 from colliding with obstacles; in this embodiment, the collision sensing plate 25 is located at the front end of the housing 20. The lidar 26 is used for map scanning to achieve mapping and positioning of the cleaning robot 2; in this embodiment, the lidar 26 is embedded in the rear of the upper housing 201. The battery 28 provides power to the cleaning robot 2. The control device 27 controls various activities of the cleaning robot 2, such as sensor signal collection, motor drive control, battery management, navigation and positioning, map generation, intelligent obstacle avoidance, and cleaning path planning.

[0151] Furthermore, to facilitate the cleaning robot 2's obstacle crossing and entry / exit from base station 1, this embodiment of the cleaning robot 2 also includes a lifting mechanism 24. The lifting mechanism 24 is used to lift the front end and / or rear end of the cleaning robot 2, which can provide lift to the cleaning robot 2. This not only allows the cleaning robot 2 to more easily cross obstacles of a certain height (such as thresholds) during ground walking, improving the obstacle crossing ability of the cleaning robot 2 and expanding the cleaning range of the cleaning robot 2, but also helps the cleaning robot 2 to more easily enter and exit base station 1, especially the mopping cleaning device 11 of base station 1 which has a certain height.

[0152] Specifically, such as Figure 7 , Figure 8 and Figure 10As shown, in this embodiment, the lifting mechanism 24 is mounted on the chassis 202 of the cleaning robot 2 and is located at the front of the chassis 202. It includes a swing arm capable of swinging up and down. When the swing arm swings downwards, it extends downwards from the chassis 202 and supports itself on a bearing surface (e.g., the ground), thereby lifting the front end of the cleaning robot 2. When the swing arm swings back upwards, it retracts, releasing the lifting action, and the front end of the cleaning robot 2 is lowered again. Based on this, as... Figure 21 and Figure 22 As shown, during the process of the cleaning robot 2 overcoming obstacles or entering the base station 1, the lifting mechanism 24 can lift the front end of the cleaning robot 2, actively increase the height of the front end of the cleaning robot 2, help the cleaning robot 2 to quickly overcome obstacles, or help the cleaning robot 2 to quickly drive into the base station 1 and make the wiping component 22111 smoothly enter the wiping component cleaning device 11.

[0153] Those skilled in the art should understand that the lifting mechanism 24 is not limited to being installed on the chassis 202; it can also be installed on the base station 1, or one lifting mechanism 24 can be installed on the base station 1 and the chassis 202 respectively. Moreover, when the lifting mechanism 24 is installed on the chassis 202, it is not limited to being installed at the front of the chassis 202; it can also be installed at the rear of the chassis 202 to lift the rear end of the cleaning robot 2.

[0154] Figures 50-52 An alternative embodiment is shown where the lifting mechanism 24 is located at the rear of the chassis 202. For example... Figures 50-52 As shown, in this alternative embodiment, the lifting mechanism 24 is located at the rear of the chassis 202, in which case, as Figure 52 As shown, when the cleaning robot 2 needs to enter the base station 1, the lifting mechanism 24 may not move. The cleaning robot 2 is driven by its own driving force and guided by the base station 1's guiding structure (such as...). Figure 52 Guided by the inclined guide surface 116, the robot 2 directly enters the base station 1, allowing the wiping component 22111 to enter the wiping component cleaning device 11. When the wiping component 22111 has finished cleaning and the cleaning robot 2 needs to exit the base station 1, the lifting mechanism 24 is activated, lifting the rear end of the cleaning robot 2 so that the rear edge of the wiping component 22111 is higher than the edge height of the wiping component cleaning device 11, thus allowing it to exit the base station 1. Moreover, in this alternative embodiment, preferably, a suspension device can be provided at the walking wheel 211. This suspension device is used to keep the walking wheel 211 elastically connected to the chassis 202, so that the walking wheel 211 can always maintain contact with the ground. Therefore, when the lifting mechanism 24 lifts the rear end of the cleaning robot 2, the walking wheel 211 can still keep close to the ground under the action of the suspension device, providing friction for the cleaning robot 2. Therefore, by setting the suspension device, it is possible to further help the cleaning robot 2 exit the base station 1 more efficiently.

[0155] Specifically, such as Figure 50 and Figure 51 As shown, in this alternative embodiment, the suspension device includes a spring 212 and a support member 213. The spring 212 is horizontally arranged, and the support member 213 is obliquely connected between the spring 212 and the wheel 211. The portion of the support member 213 between the two ends connected to the spring 212 and the wheel 211 is rotatably arranged relative to the housing 20 of the cleaning robot 2. Based on this structural arrangement, the suspension device can not only keep the wheel 211 in contact with the ground, but also use the elastic force of the spring 212 to assist the lifting mechanism 24 in tilting the rear end of the cleaning robot 2. Therefore, in this case, the lifting mechanism 24 only requires a small lifting force to lift the rear end of the cleaning robot 2, thereby allowing the lifting mechanism 24 to use a smaller motor, achieving the purpose of reducing costs and saving installation space.

[0156] Of course, the suspension device may not be set together with the lifting mechanism 24. Since the suspension device can keep the walking wheels 211 in contact with the ground at all times, the obstacle-crossing ability of the cleaning robot 2 can be increased when the suspension device is set separately.

[0157] Figure 2-5 The structure of base station 1 in this first embodiment is shown. In this embodiment, base station 1 cleans the mopping component 22111 by washing it with water, that is, base station 1 keeps the mopping component 22111 clean by washing it.

[0158] like Figure 2-5 As shown, in this embodiment, base station 1 includes base station body 10, mopping cleaning device 11, clean liquid supply device 12, sewage collection device 13 and charging device 14.

[0159] The base station body 10 forms the mounting base for other structural components of the base station 1. The mop cleaning device 11, the clean liquid supply device 12, and the sewage collection device 13 are all installed on the base station body 10, and the base station body 10 provides support for these structural components installed on it.

[0160] like Figure 2As shown, in this embodiment, the mop cleaning device 11 is installed below the base station body 10, while the clean liquid supply device 12 and the waste liquid collection device 13 are installed above the base station body 10 and located on the left and right sides of the base station body 10, respectively, resulting in a compact and aesthetically pleasing structure. In this embodiment, the mop cleaning device 11, together with the clean liquid supply device 12 and the waste liquid collection device 13, achieves water washing and cleaning of the mop 22111. Furthermore, since the mop unit 2211 in this embodiment can rotate around a vertical axis, the mop unit 2211 and the mop cleaning device 11 can rotate relative to each other, allowing the base station 1 to achieve a friction-type water washing cleaning method. During the cleaning process, the mop 22111 is supported on the mop cleaning device 11 and rotates for cleaning. The clean liquid supply device 12 provides cleaning fluid, and the waste liquid collection device 13 collects the dirty cleaning fluid after cleaning.

[0161] Specifically, such as Figure 3 As shown, the cleaning device 11 for mopping and wiping components in this embodiment includes a cleaning tank 111, a protrusion structure having multiple protrusions 112, a liquid inlet structure 113, and a liquid outlet structure 114.

[0162] The cleaning tank 111 is used to hold the mop 22111 during cleaning by the mop cleaning device 11, and also provides space for the cleaning fluid. Figure 3 and Figure 4 As can be seen, in this embodiment, the mopping cleaning device 11 includes two cleaning tanks 111, and the shape and size of each cleaning tank 111 are adapted to the shape and size of the mopping unit 221 in this embodiment. The cross-sectional shape of the cleaning tank 111 is circular. This arrangement is to adapt the cleaning tank 111 to the shape, size, and number of the mopping units 221 of the cleaning robot 2. This not only better accommodates the mopping components 2111 and cleaning fluid, preventing splashing of the cleaning fluid, but also allows the base station 1 to simultaneously clean all the mopping components 22111 of one cleaning robot 2, improving cleaning efficiency. Of course, the shape and size of the cleaning tank 111 can be adaptively set according to the specific situation of the mopping unit 2211, and the number of cleaning tanks 111 can also be set to be equal to the total number of mopping units 221 of multiple cleaning robots 2, and set one-to-one. In this way, the base station 1 can simultaneously clean all the mopping components 22111 of multiple cleaning robots 2, resulting in higher cleaning efficiency.

[0163] The raised structure is designed to contact the mopping component 22111 housed in the cleaning tank 111. Since the entire surface of the mopping component 22111 can contact the raised structure, the contact area is large, resulting in high cleaning efficiency. Furthermore, the raised structure can scrape away wastewater and increase friction during the cleaning process, further improving the cleaning effect. Figure 4As shown, in this embodiment, a raised structure is disposed in the cleaning tank 111, wherein each raised portion 112 is a curved raised portion, that is, the extension path of the cross-section of the raised portion 112 is curved, and the multiple raised portions 112 in each cleaning tank 111 are arranged radially. This raised structure shown in this embodiment can better adapt to the rotational movement of the mop component 22111, allowing the raised structure to more fully rub against the rotating mop component 22111 during the cleaning process, achieving a cleaner cleaning effect. Furthermore, during the squeezing and rotating process of the mop component 22111 and the raised structure, water is squeezed and flung off the mop component 22111 by the raised portions 112; therefore, the raised structure also serves to wring out the mop component 22111.

[0164] Both the inlet structure 113 and the outlet structure 114 are in fluid communication with the cleaning tank 111, so that the cleaning fluid can enter the cleaning tank 111 through the inlet structure 113, and the cleaning fluid after cleaning the mop 22111 can be discharged to the outside of the cleaning tank 111 through the outlet structure 114. Figure 4 As shown, in this embodiment, both the liquid inlet structure 113 and the liquid outlet structure 114 are disposed in the cleaning tank 111. Of course, they can also be disposed in other locations, as long as they are in fluid communication with the cleaning tank 111.

[0165] The clean liquid supply device 12 is in fluid communication with the cleaning tank 111 via the liquid inlet structure 113 to conveniently supply cleaning liquid to the cleaning tank 111; the dirty liquid supply device 113 is in fluid communication with the cleaning tank 111 via the liquid outlet structure 114 to conveniently collect the dirty cleaning liquid after cleaning the mop parts 22111. Figure 3 and Figure 4 As can be seen, in this embodiment, the clean liquid supply device 12 includes a first storage structure 121 and a first water pump 122. The first storage structure 121 is used to contain the cleaning liquid, and the first water pump 122 is used as a first power device to drive the cleaning liquid from the first storage structure 121 to the cleaning tank 111. The dirty liquid collection device 13 includes a second storage structure 131 and a second water pump 132. The second storage structure 131 is used to store dirty cleaning liquid, and the second water pump 132 is used as a second power device to draw dirty cleaning liquid into the second storage structure 131.

[0166] Furthermore, to facilitate users' timely understanding of the cleaning fluid levels in the first storage structure 121 and the second storage structure 131, in this embodiment, the base station 1 may further include a level detection device for detecting the cleaning fluid level. Specifically, as shown... Figure 5As shown, this embodiment includes liquid level detection devices in both the first storage structure 121 and the second storage structure 131. Each liquid level detection device includes a first conductive sheet 151, a second conductive sheet 152, and a third conductive sheet 153. The first conductive sheet 151 is used to detect the capacitance value of the environment. The second conductive sheet 152 and the third conductive sheet 153 are disposed in the storage structure containing the cleaning fluid to be tested, i.e., in the first storage structure 121 and the second storage structure 131. The second conductive sheet 152 is used to detect the capacitance difference caused by changes in the liquid level of the cleaning fluid, and the third conductive sheet 153 is used to detect the capacitance value of the cleaning fluid. Since different liquid levels affect the capacitance value of the conductive sheets, the liquid level detection device can detect the liquid level of the cleaning fluid in the first storage structure 121 and the second storage structure 131 in real time, so as to add new cleaning fluid to the first storage structure 121 in a timely manner or empty the second storage structure 131 in a timely manner. The first conductive sheet 151 and the second conductive sheet 152 are used to correct the measured liquid level detection data, thereby making the liquid level detection results more accurate. The specific correction process can be referred to the following formula:

[0167]

[0168] Wherein, H: the final liquid level obtained;

[0169] C2: The capacitance value measured by the second conductive sheet 152 when there is a certain liquid level;

[0170] C20: The capacitance value measured by the second conductive sheet 152 when there is no liquid in the storage structure;

[0171] C3: The capacitance value measured by the third conductive sheet 153 (when covered by liquid);

[0172] C1: The capacitance value measured by the first conductive plate 151 (in air);

[0173] γ: Correction parameter.

[0174] In this embodiment, base station 1, during operation, refers to... Figure 23 It can be seen that the mop 22111 is housed in the cleaning tank 111 and its entire surface is pressed against the protruding structure and rotates around the vertical axis. The cleaning liquid in the first storage structure 121 is pressurized by the first water pump 122 and then sprayed onto the mop 22111 housed in the cleaning tank 111 through the liquid inlet structure 113. The impact force generated during the spraying process helps to further improve the cleaning effect. The dirty cleaning liquid after cleaning will be scraped off the mop 22111 by the protrusion 112 and will also be thrown off the mop 22111 by centrifugal force during the rotation of the mop 22111, flowing to the drain structure 114 and being sucked into the second storage structure 131 by the second water pump 132.

[0175] It is evident that the combined action of the clean liquid supply device 12 and the waste liquid collection device 13 ensures that the cleaning liquid in the cleaning tank 111 remains relatively clean, preventing secondary contamination of the mop component 22111 by dirty cleaning liquid, thereby further guaranteeing the cleaning effect. Furthermore, the rotational motion of the mop component 22111 during the cleaning process acts as a centrifugal drying mechanism, preventing the mop component 22111 from becoming excessively wet after cleaning. This prevents excessive water residue on the ground from affecting the cleanliness of the floor and even causing slippery hazards. It also prevents the cleaning robot 2 from being unsuitable for special surfaces such as wooden floors due to excessively wet mop component 22111, effectively expanding the applicability of the cleaning robot 2. Therefore, during the cleaning process, the mopping component 22111 can be adjusted to maintain a suitable rotation speed to rub against the protrusion 112, preventing the cleaning fluid from being splashed out due to excessive rotation speed. After cleaning, the liquid inlet structure 113 can be stopped, and the mopping component 22111 can be controlled to rotate at a lower speed for a period of time to remove most of the water. Then, the mopping component 22111 can be controlled to accelerate its rotation to further remove water. Of course, the specific rotation speed and degree of removal can be controlled according to actual needs.

[0176] In this embodiment, the cleaning fluid can be water or a mixture of water and cleaning agent, preferably a mixture of water and cleaning agent, which can clean the mop 22111 more thoroughly. When using a mixture of water and cleaning agent as the cleaning fluid, the first storage structure 121 can include only one container, which directly stores the mixed solution; alternatively, the first storage structure 121 can include two containers, one storing the cleaning agent and the other storing water. In this case, the first water pump 122 can simultaneously drive the cleaning agent and water to flow directly from their respective containers into the cleaning tank 111. Alternatively, a third water pump can be provided, meaning the first power unit includes a third water pump, which drives the cleaning agent to mix with the water first, and then the first water pump 122 drives the mixed solution to flow into the cleaning tank 111.

[0177] To further facilitate control over the humidity of the mopping component 22111, the base station 1 in this embodiment may also include a drying device. This drying device dries the cleaned mopping component 22111, ensuring that after the cleaning robot 2 exits the base station 1, the mopping component 22111 retains a suitable amount of moisture, preventing the floor from becoming slippery due to excessive wetness, and also preventing it from becoming damp and moldy. Furthermore, by installing a drying device in the base station 1, the drying process can be completed within the base station 1 itself, which not only further enriches the functionality of the base station 1 but also simplifies post-processing steps and improves efficiency.

[0178] Furthermore, to facilitate the entry and exit of the cleaning robot 2 from the base station 1, the base station 1 may also include a guide structure disposed on the mopping cleaning device 11. This guide structure is used to guide the cleaning robot 2 to move relative to the mopping cleaning device 11 so that the mopping component 22111 enters and exits the mopping cleaning device 11. Specifically, as shown... Figure 4 As shown, in this embodiment, base station 1 includes a guide surface 116 serving as a guiding structure. This guide surface 116 slopes downwards from the mop cleaning device 11 (specifically, the edge of the cleaning trough 111) and extends to the ground. This guide surface 116 guides the cleaning robot 2 to climb along it to the height of the edge of the cleaning trough 111, facilitating the entry of the mop 22111 into the cleaning trough 111. Figure 21 and Figure 22 As shown, the guide surface 116 works in conjunction with the lifting mechanism 24 of the aforementioned cleaning robot 2, enabling the cleaning robot 2 to enter and exit the base station 1 more easily, thereby improving the working efficiency of the cleaning robot system. Of course, the guide structure is not limited to the form shown in this embodiment; it may also include the guide plate 116 and / or guide wheels 119, which will be discussed later. Figure 24-35 The second embodiment shown and Figure 53 The embodiments shown are further illustrated.

[0179] The charging device 14 is used to charge the battery 28 of the cleaning robot 2, thus enabling the charging function of the base station 1. Figure 2-4 As shown, in this embodiment, the charging device 114 is disposed on the guide surface 116, so that when the cleaning robot 2 climbs onto the guide surface 116, the charging device 114 can charge the cleaning robot 2. The charging device 14 can use various charging methods, for example, it can be a contact charging method, utilizing the charging pad 141 disposed on the base station 1 and the charging contact pad 252 disposed on the cleaning robot 2 (e.g., ...). Figure 28 and Figure 29 The charging process can be achieved through contact (as shown); or, for example, wireless charging can be used, which utilizes the cooperation between the induction coil set on the chassis 202 of the cleaning robot 2 and the charging coil set on the guide surface 116 of the base station 1 to achieve wireless charging.

[0180] Figure 24-35 A second embodiment of the cleaning robot system is shown.

[0181] like Figure 24-35As shown, this second embodiment is basically the same as the first embodiment. The base station 1 can still charge the cleaning robot 2 and clean the two mopping components 22111 of the cleaning robot 2. The two mopping components 22111 of the cleaning robot 2 can still rotate in opposite directions around the vertical axis, and each mopping component 22111 can still swing relative to the chassis 202. The main differences are: firstly, the specific structure of the mopping drive mechanism 2212 used to drive the two mopping components 22111 to rotate in opposite directions around the vertical axis is different; secondly, the specific implementation of the swinging of the mopping components 22111 relative to the chassis 202 is different; thirdly, the specific structure of the garbage collection device 23 is slightly different; and fourthly, the specific structures of the base station body 10, the first storage structure 121, the second storage structure 131, and the guide structure of the base station 1 are slightly different. Therefore, the following focuses on explaining these four differences; other aspects not explained can be understood by referring to the first embodiment. When introducing other embodiments, only their differences will be emphasized.

[0182] Figures 27-34 The structure of the cleaning robot 2 in this second embodiment is shown.

[0183] like Figure 28-31 As shown, in this second embodiment, although the wiping drive mechanism 2212 still uses a worm gear mechanism to transmit torque to the output shaft 22123, the worm motor in the worm gear mechanism no longer uses a double-headed worm motor 22121, but instead uses two single-headed worm motors 22121'. Each single-headed worm motor 22121' meshes with the two worm wheels 22122 in the worm gear mechanism in a one-to-one correspondence, so that the two wiping components 22111 can be driven to rotate in opposite directions around the vertically arranged output shaft 22123 by using the two sets of worm wheels with different rotation directions. This can not only ensure the relative dynamic balance of the heads of the cleaning robot 2, but also improve the wiping effect, and at the same time play a cleaning role, and collect the garbage in the middle for easy collection by the garbage collection device 23. Moreover, this embodiment uses two motors, which has the advantage of allowing the two motors to be arranged on both sides of the vacuum cleaner, compared to using a single motor. This effectively avoids the motor shafts from blocking the airflow of the vacuum cleaner, thus improving the smoothness of the airflow, reducing the air intake resistance, increasing the airflow rate, and improving the vacuuming effect.

[0184] like Figures 32a-32cAs shown, in order to achieve a swingable connection between the wiping unit 2211 and the wiping drive mechanism 2212, and thus a swingable connection between the wiping unit 2211 and the chassis 202, in this second embodiment, a flexible connection structure such as a flexible connecting block 2216 is no longer provided between the output shaft 22123 and the wiping unit 2211. Instead, the cooperation relationship between the wiping unit 2211 and the wiping drive mechanism 2212 is set as a gap sleeve. Specifically, as... Figure 32c As shown, in this second embodiment, the output shaft 22123 and the pressure plate 22112 are fitted together with a gap. Due to the gap between the output shaft 22123 and the pressure plate 22112, the pressure plate 22112 can have a certain gap swing angle relative to the output shaft 22123. The wiping component 22111 is also disposed on the pressure plate 22112. Therefore, this fitting method of gap fitting between the wiping unit 2211 and the wiping drive mechanism 2212 can realize the swingable connection between the wiping unit 2211 and the chassis 202 by utilizing the gap movement, so that the wiping component 22111 can change its swing angle according to the actual ground conditions to achieve the purpose of adapting to the ground.

[0185] Moreover, such as Figure 32b As shown, in this embodiment, to facilitate the assembly and disassembly of the mopping unit 2211, a magnetic adsorption component 2217 is provided between the pressure plate 22112 of the mopping unit 2211 and the output shaft 22123 of the mopping drive mechanism 2212, which can attract the mopping unit 2211 and the mopping connection structure together. By providing the magnetic adsorption component 2217, the rigid connection between the pressure plate 22112 and the output shaft 22123 can be avoided, realizing a detachable connection between the two. Furthermore, the connection is achieved by magnetic adsorption, and when the mopping unit 2211 needs to be assembled or disassembled, it is only necessary to pull and snap, which is very simple and convenient. Of course, to achieve a detachable connection between the mopping unit 2211 and the mopping drive mechanism 2212, one or more other methods such as threaded connectors, snap fasteners, and hooks can also be used.

[0186] like Figure 33 and Figure 34As shown, in this second embodiment, although the garbage collection device 23 still uses a dust collection device and the dust suction port 236 is still located in the middle of the front of the two mopping parts 22111, the filter structure is changed compared to the first embodiment. Instead of using a filter screen 233, a HEPA paper 233' is used to filter dust in the airflow. A HEPA paper support 2331' is provided to support the HEPA paper 233'. A filter support 238 is provided between the body 2313 and the cover 2314 of the dust box 231. The HEPA paper 233' is located on the outside of the filter support 238 and is in the fluid communication passage between the body 2313 and the dust removal fan 234. In addition, a handle 2315 is added to the cover 2314. The handle 2315 is installed on the cover 2314 by a positioning pin 2316, which makes it convenient for the user to take out the dust box 231 and empty the dust in the dust box 231 in time.

[0187] Besides the main differences mentioned above, the cleaning robot 2 in this second embodiment also differs from that in the first embodiment in several other ways. For example... Figure 28 As shown, in this second embodiment, the structure of the housing 20 of the cleaning robot 2 is slightly different. The upper housing 201 is provided with a battery mounting slot for installing the battery 28. Correspondingly, the upper cover of the battery mounting slot is provided with an upper housing cover 2011 to cover the battery mounting slot and the battery 28 inside, protect the battery 28, and maintain the overall flatness and aesthetics. The lower part of the chassis 202 is also provided with a lower housing cover 2021, which makes it easier to disassemble and maintain. Moreover, a camera 251 and a charging contact 252 are added to the collision sensing plate 25. The camera 251 is used to cooperate with the lidar 26 to achieve better scanning positioning and obstacle recognition functions, and the charging contact 252 is used to contact the charging plate 141 on the base station 1 to charge the battery 28.

[0188] Figure 25-26 The structure of base station 1 in this second embodiment is shown.

[0189] like Figure 25 and Figure 26As shown, in this second embodiment, the base station body 10 includes a support frame 101 and a support frame bottom cover 102. The clean liquid supply device 12 and the sewage collection device 13 are disposed on the upper part of the support frame 101 and located on the left and right sides of the support frame 101. The support frame bottom cover 102 is disposed at the bottom of the support frame 101. The first storage structure 121 and the second storage structure 131 both include a box body 1211, a box cover 1212, a handle 1213 and a buckle 1214. The box cover 1212 is disposed on the top opening of the box body 1211. The handle 1213 is disposed on the box cover 1212 for easy carrying. The buckle 1214 is disposed at the connection between the box body 1211 and the box cover 1212 to realize the buckle connection between the box body 1211 and the box cover 1212.

[0190] like Figure 25 and Figure 26 As shown, in this second embodiment, a scraper 117, such as a scraper blade, is provided at the opening of the cleaning tank 111. The scraper 117, located at the opening of the cleaning tank 111, increases the height of the cleaning tank 111. This serves two purposes: firstly, it prevents the cleaning fluid in the cleaning tank 111 from splashing outside the cleaning tank 111 during the cleaning process of the mop cleaning device 11 on the mop 22111, thus acting as a waterproof barrier; secondly, since the mop 22111 needs to pass through the scraper 117 before entering the cleaning tank 111, the scraper 117 can also scrape off debris from the mop 22111 before it enters the cleaning device 11, preventing debris adhering to the mop 22111 during floor cleaning from entering the cleaning tank 111 along with the mop 22111, thereby reducing clogging of the liquid inlet structure 113 and the liquid outlet structure 114 in the cleaning tank 111. The scraper 117 can be a flexible or rigid component. Preferably, the scraper 117 is a flexible component, such as a rubber scraper. This allows the wiping component 22111 to press against the scraper 117 when entering the cleaning tank 111, enhancing the scraping effect of the scraper 117. It also reduces the damage to the wiping component 22111 caused by the scraper 117. Furthermore, when a flexible component is used as the scraper 117, it can automatically return to its original shape after the wiping component 22111 is fully inside the cleaning tank 111, still preventing the cleaning fluid from splashing out. Of course, the scraper 117 can also be placed outside the opening of the cleaning tank 111, for example, on the guide surface 116, as long as it can prevent the cleaning fluid from splashing out and / or pre-scrape away debris.

[0191] Moreover, by Figure 35As can be seen, to further facilitate the entry of the cleaning robot 2 into the base station 1, in this second embodiment, the guiding structure of the base station 1 also includes a guide plate 115 disposed on the side of the mopping cleaning device 11, preferably extending along the inclined direction of the guide surface 116 to the bottom of the guide surface 116. This guide plate 115, together with the guide surface 116, can guide the mopping component 22111 of the cleaning robot 2 to enter the mopping cleaning device 11 of the base station 1 more accurately and quickly. Figure 35 As shown, the two wiping components 22111 rotate in opposite directions. When entering the base station 1, if one of the wiping components 22111 touches the guide plate 115, the frictional force f between the wiping component 22111 and the guide plate 115 can be used to correct the route deviation and pull the cleaning robot 2 along the correct track into the base station 1. It can be seen that the guide plate 115 can also play a role in correcting the deviation of the cleaning robot 2 in and out of the route.

[0192] In addition, besides the method of facilitating the entry of the cleaning robot 2 into the base station 1 through the cooperation of the lifting mechanism 24 and the guide structure of the base station 1 as shown in the first and second embodiments, it is also possible to choose not to set up the lifting mechanism 24, so that the cleaning robot 2 enters the base station only under the guidance of the guide structure. Figure 53 As shown, the guiding structure of base station 1 may include not only the aforementioned guide surface 116, but also guide wheels 119. Guide wheels 119 are mounted on guide surface 116 and protrude upwards. In this case, when cleaning robot 2 enters base station 1, it can first climb to the height of guide wheels 119 under the guidance of guide surface 116 and its own walking force. Then, under the action of guide wheels 119, the front end of cleaning robot 2 tilts up until the mopping unit 2211 passes over guide wheels 119 and enters cleaning trough 111, completing the entry process. When the mopping unit 22111 has finished cleaning and needs to exit base station 1, cleaning robot 2 moves in the opposite direction, and can also smoothly complete the exit process under the action of guide wheels 119 and guide surface 116. Furthermore, to avoid interference between the upwardly protruding guide wheels 119 and the contact between the mopping unit 22111 and the cleaning surface during the cleaning process, [further details are needed]. Figure 53 It can be seen that a clearance groove 203 adapted to the guide wheel 119 can also be set on the cleaning robot 2. After the mopping unit 2211 passes over the guide wheel 119 and enters the cleaning groove 111, the guide wheel 119 is just embedded in the clearance groove 203, so that the mopping part 22111 can be in close contact with the cleaning surface to ensure the cleaning effect.

[0193] Figure 37 Further improved embodiments of the foregoing first and second embodiments are shown.

[0194] like Figure 37As shown, the main difference from the first and second embodiments described above is that the cleaning robot 2 in this embodiment includes a scraper structure 2219 disposed behind the scraping unit 2211 in its mopping device 221. This scraper structure 2219 can scrape away debris and / or wastewater falling from the scraping unit 221, thereby preventing debris and / or wastewater from remaining on the floor wiped by the scraping unit 2211 and achieving secondary cleaning. The scraper structure 2219 can be a scraper blade or a strip of cloth, preferably a flexible component to reduce scratches on the floor. Of course, the scraper structure 2219 is not limited to the cleaning robot 2 shown in the first and second embodiments; it is also applicable to other cleaning robots 2 of the present invention.

[0195] Figure 38-41 A third embodiment of the cleaning robot system is shown.

[0196] like Figure 38-41 As can be seen, the main difference between this third embodiment and the aforementioned two embodiments is that the cleaning robot 2 in this embodiment has a mopping device 221 that includes only one mopping unit 2211. Correspondingly, the cleaning device 11 of the base station 1 in this embodiment also includes only one cleaning tank 111. Furthermore, to make the structure more compact, the clean liquid supply device 12 and the waste liquid collection device 13 of the base station 1 are arranged in a stacked arrangement. Both the cleaning robot 2 and the base station 1 in this embodiment are smaller in size, making them more suitable for use in small apartments.

[0197] Depend on Figure 41 As can be seen, in this third embodiment, the wiping unit 2211 still rotates relative to the chassis 202 about the vertical axis, and in order to achieve the rotation of the wiping unit 2211 about the vertical axis, such as Figure 40 As shown, the mopping drive mechanism 2212 of this embodiment still uses a worm motor to output torque, but the difference is that the worm motor in this embodiment only includes a single-head worm motor 22121' and a worm wheel 22122. The meshing of the single-head worm motor 22121' and the worm wheel 22122 is used to drive the mopping unit 2211 to rotate around the vertical axis, so as to achieve more effective cleaning of the ground.

[0198] Based on this single mopping unit 2211, the floor cleaning device 22, in order to achieve sufficient waste collection, such as... Figure 41As shown, in this embodiment, the suction port 236 of the waste collection device 23 is located on the outer edge of the mopping unit 2211. Since waste is gathered along the edge of the mopping unit 2211 and onto the outer side of the rotating mopping unit 2211, this arrangement places the suction port 236, which serves as the collection port, on the path of waste gathering by the mopping unit 2211, thus facilitating the collection of waste into the dust box 231. Furthermore, this embodiment also adds a waste blocking member 237 to one side wall of the housing 20, and the suction port 236 is located between the edge of the mopping unit 2211 and the waste blocking member 237. This allows the waste to be further gathered into a smaller area by the blocking effect of the waste blocking member 237, achieving more efficient collection.

[0199] In the three embodiments described above, the cleaning groove 111 and the raised structure are basically the same. The cleaning groove 111 is a deep groove with a circular cross-section, and the raised structure includes multiple curved raised portions arranged radially. However, it should be noted that in this invention, the specific structure of the cleaning groove 111 and the raised structure is not limited to the specific structures shown in these three embodiments. Figure 48 and Figure 49 In the variant example shown, the cleaning tank 111 can also be configured as a cleaning disc, that is, a shallow disc structure with a rectangular cross-section. The protrusion 112 can also be a straight protrusion or a zigzag protrusion, that is, the extension path of the cross-section of the protrusion 112 is a straight line or a zigzag line. In addition, the arrangement of multiple protrusions 112 can also adopt other methods besides radial arrangement, such as array arrangement. The array arrangement can be a straight array (i.e., matrix arrangement), a circular array, or a ring array, etc. Among them, the straight array arrangement is particularly suitable for the case where the mop 22111 and the mop cleaning device 11 move horizontally back and forth relative to each other, which can clean the mop 22111 more thoroughly. In addition, the shape of each protrusion 112 in each cleaning tank 111 can be different. That is, the multiple protrusions 112 can include any combination of curved protrusions, straight protrusions and broken protrusions. Similarly, the arrangement of the protrusions 112 in each cleaning tank 111 can also adopt any combination of various arrangement methods such as radial and array. Furthermore, the shape and arrangement of the protrusions 112 in different cleaning tanks 111 can be the same or different.

[0200] In another embodiment, the protrusion 112 includes a bottom protrusion 1121 disposed at the bottom of the cleaning groove 111 and a side protrusion 1122 formed on the inner side of the cleaning groove 111. When the mop cleaning device 11 cleans the mop 22111, the bottom protrusion 1121 rotates relative to the bottom surface of the mop 22111 and makes frictional pressing contact, and the side protrusion 1122 rotates relative to the side surface of the mop 22111 and makes frictional pressing contact. Thus, the bottom surface of the mop 22111 is cleaned by the bottom protrusion 1121, and the side surface of the mop 22111 is cleaned by the side protrusion 1122.

[0201] Of course, there are other ways to clean the sides of the mop 22111. For example, the two mop 22111 can be set to edge contact. In this way, when the two mop 22111 rotate in the same direction, the two mop 22111 move relative to each other at the middle contact position and rub against each other to clean the sides.

[0202] Furthermore, in the three embodiments described above, the wastewater collection device 13 collects the dirty cleaning liquid through the suction action of the second power device. However, in other embodiments of the present invention, the second power device may not be provided, and instead... Figure 54 and Figure 55 As shown, the second storage structure 131 is directly placed below the cleaning tank 111 and is in fluid communication with the cleaning tank 111. In this case, the dirty cleaning liquid will automatically flow from the cleaning tank 111 into the second storage structure 131 under the action of gravity, which is simple, convenient and low cost.

[0203] Furthermore, in order to achieve a better cleaning effect on the mop 22111 and meet the more diverse usage needs and higher quality of life pursuit of users, the clean liquid supply device 12 of the present invention may also include an auxiliary material supply device for providing auxiliary materials such as disinfectant, fragrance and wax layer for waxing required for cleaning the mop 22111. The auxiliary material supply device may directly supply the auxiliary materials to the cleaning tank 111; or it may supply the auxiliary materials to the first storage structure 121, so that the auxiliary materials are first mixed with the cleaning liquid, and then flow together into the cleaning tank 111 under the driving action of the first power device.

[0204] It should be noted that in other embodiments of the present invention, the clean liquid supply device 12 and / or the waste liquid collection device 13 may be omitted, and the base station 1 may be directly set near the location where a tap water pipe and / or a drainage pipe is installed. In this way, the base station 1 can directly use the tap water supplied by the tap water pipe to clean the mop 22111, and the wastewater after cleaning can be directly discharged through the drainage pipe. Since the clean liquid supply device 12 and / or the waste liquid collection device 13 can be reduced, this method can make the structure of the base station 1 simpler and the cost lower.

[0205] Furthermore, although the wiping drive mechanism 2212 used to drive the wiping unit 2211 to rotate relative to the chassis 202 in the above three embodiments all adopt a worm gear mechanism to transmit torques in opposite directions to the two output shafts 22123, in fact, in other embodiments of the present invention, a gear mechanism can also be used to transmit torques in opposite directions to the two output shafts 22123. Moreover, as explained in the first embodiment, in order to solve the problem of poor wiping effect of the existing cleaning robot 2, the wiping unit 2211 can be configured to rotate relative to the chassis 202 about a vertical axis as in the above three embodiments, or it can be configured to rotate about a horizontal axis. Figure 42 and Figure 43 This illustrates a fourth embodiment of a cleaning robot system based on a mopping unit 2211 that rotates about a horizontal axis.

[0206] like Figure 42 As shown, in this fourth embodiment, the mopping unit 2211 of the cleaning robot 2 includes a horizontally rotatable roller and a mopping component 22111 disposed on the outer surface of the roller. The mopping unit 2211 rotates around a horizontal axis under the drive of the mopping drive mechanism 2212. This increases the relative movement between the mopping component 22111 and the ground, increases the mopping force, increases the number of mopping cycles, and simultaneously performs both mopping and sweeping functions, thus effectively improving the mopping effect of the mopping component 22111.

[0207] Regarding the cleaning robot 2 in this embodiment, this embodiment also provides a base station 1 that differs from the three embodiments described above. For example... Figure 43As shown, in this embodiment, the base station 1 has a cleaning roller 118 in the cleaning tank 111 of its cleaning device 11, and the cleaning roller 118 is used to clean the mop 22111. During the cleaning process of the mop 22111, the mop 22111 is pressed against the cleaning roller 118 and supported by the cleaning roller 118. Then, the relative rotation between the cleaning roller 118 and the mop 22111 is used to clean the mop 22111. The relative rotation between the cleaning roller 118 and the mopping component 22111 can be achieved by either the mopping component 22111 rotating actively, or by the cleaning roller 118 rotating actively, or by both rotating actively but in different directions and / or at different speeds. Preferably, the mopping component 22111 rotates actively because this can be achieved using the cleaning robot 2's own mopping drive mechanism 2212, eliminating the need for a separate mechanism on the base station 1 to drive the cleaning roller 118. This simplifies the structure of the base station 1 and reduces costs. Furthermore, the active rotation of the mopping component 22111 also provides a degree of wringing, maintaining a suitable humidity level after cleaning. Of course, the mopping component cleaning device 11 with the cleaning roller 118 is also applicable to other embodiments of the present invention.

[0208] Furthermore, to further improve the cleaning effect of the cleaning robot 2, in this fourth embodiment, a debris scraper can be further provided on the floor cleaning device 22 to scrape away debris adhering to the floor cleaning device 22. The debris scraper can be a scraper blade 2312 or a roller brush 2312'. Figure 44 and Figure 45 The structures of the two corresponding cleaning robots 2 are shown respectively.

[0209] In such Figure 44 In the cleaning robot 2 shown, the garbage scraping component is a scraper blade 2312. The scraper blade 2312 is set on the housing 20 of the cleaning robot 2 and can contact the rotating mopping component 22111. In this way, when the mopping component 22111 rotates to clean the floor, each time the mopping component 22111 contacts the scraper blade 2312, the scraper blade 2312 will scrape off the garbage adhering to the mopping component 22111, thereby keeping the mopping component 22111 clean and ensuring the quality of floor cleaning.

[0210] exist Figure 45In the cleaning robot 2 shown, the garbage scraping component uses a roller brush 2312', which is mounted on the housing 20 and rotates in the same direction as the wiping component 22111. By utilizing the contact friction between the roller brush 2312' and the wiping component 22111 in the same direction, the garbage on the wiping component 22111 can also be scraped off. In this way, the rotation of the roller brush 2312' can also further serve to throw the garbage towards the garbage collection device 23, thereby making garbage collection easier.

[0211] Moreover, combined Figure 44 and Figure 45 It can also be seen that in both types of cleaning robots 2, the garbage collection device 23 also includes a baffle 2311, which slopes downward from the collection port of the garbage collection device 23 and extends to the ground. Based on this, the baffle 2311 can block garbage that accumulates at its location, preventing garbage cleaned by the ground cleaning device 22 from spreading beyond the collection port's reach, thus facilitating collection by the garbage collection device 23 and preventing secondary pollution of the cleaned ground. In particular, when the mopping component 22111 rotates relative to the chassis 202 of the cleaning robot 2 to perform cleaning operations, the baffle 2311 can prevent the accumulated garbage from being carried away from the collection port by the mopping component 22111. Moreover, the baffle 2311, in conjunction with the aforementioned garbage scraping component, further helps the garbage collection device 23 achieve sufficient garbage collection. Of course, Figure 44 and Figure 45 The waste scraper and baffle 2311 shown are also applicable to other embodiments of the present invention.

[0212] Furthermore, the foregoing embodiments all illustrate the present invention using the rotation of the mopping unit 2211 relative to the chassis 202 as an example. However, in practice, to improve the mopping effect of the mopping device 221 by increasing the relative motion between the mopping unit 22111 and the ground, the mopping unit 2211 of the present invention can also be configured to perform horizontal reciprocating motion relative to the chassis 202. That is, the mopping unit 2211 can improve the mopping effect not only by rotating relative to the ground, but also by performing horizontal reciprocating motion relative to the ground. Figure 46 and Figure 47In the illustrated embodiment, all mopping units 2211 are capable of horizontal reciprocating motion relative to the chassis 202. In this case, the mopping unit 22111 performs push-type cleaning on the ground, removing stains or debris through reciprocating mopping, similar to manual mopping, which reduces debris residue at the rear of the mopping unit 2211. Based on this horizontally reciprocating motion of the mopping unit 2211, the cleaning robot 2 can more easily cooperate with the base station 1, enabling the mopping cleaning device 11 to clean the mopping unit 22111 during relative movement. Furthermore, in this invention, the mopping unit 2211 of the cleaning robot 2 can be configured to both rotate relative to the chassis 202 and reciprocate horizontally relative to the chassis 202. During the ground cleaning process, it is preferable to first perform rotary mopping followed by push-type mopping, thus combining the advantages of both methods for more effective ground cleaning.

[0213] Furthermore, in the aforementioned embodiments, the floor cleaning device 22 only includes a mopping device 221. However, in other embodiments of the present invention, the floor cleaning device 21 may also include a sweeping device 222 for sweeping up floor debris, so that the cleaning robot 2 can simultaneously use the mopping device 221 and the dedicated sweeping device 222 to clean the floor, achieving a cleaner floor cleaning effect. When a dedicated sweeping device 222 is provided, the sweeping device 222 can be positioned in front of and / or behind the mopping device 221, preferably in front of the mopping device 221, to facilitate a "sweep first, then mop" cleaning mode. The sweeping device 222 first sweeps up most of the debris (dust and larger particles), and then the mopping device 221 further cleans the remaining, more difficult-to-clean debris (such as stubborn stains), improving the floor cleaning quality. Figure 47 This illustrates one embodiment. For example... Figure 47 As shown, in this embodiment, the floor cleaning device 22 includes a horizontally reciprocating mopping unit 2211 and a side brush 2221 disposed in front of the mopping unit 2211 and used as a sweeping device 222. A suction port 236 is disposed between the mopping unit 2211 and the side brush 2221. The three work together to clean the floor. It will be readily understood by those skilled in the art that the sweeping device 222 is not limited to the side brush 2221, and various sweeping devices 222 can be used in conjunction with various mopping units 2211.

[0214] Furthermore, as a further improvement to the above embodiments, a cleaning component (such as bristles or a brush) can be provided on the edge of the mopping component 22111 of the mopping unit 2211. This allows the mopping unit 2211 itself to become a sweeping and mopping integrated structure, combining sweeping and mopping functions. Even without additional dedicated cleaning device 222, the mopping unit 2211 itself can more fully collect garbage (especially hair and other garbage), achieving a better cleaning effect. In addition, the cleaning component provided on the edge of the mopping component 22111 can also closely adhere to the edge of the floor when the mopping unit 2211 cleans the edge of the floor, effectively expanding the cleaning range of the mopping device 221, enabling the cleaning robot 2 to more effectively clean indoor corners.

[0215] Furthermore, although the swinging of the wiping unit 2211 relative to the chassis 202 in the aforementioned embodiments is achieved through a swingable connection between the wiping unit 2211 and the wiping drive mechanism 2212, the implementation method is not limited to this. For example, the swinging of the wiping unit 2211 can also be achieved by swingably connecting the wiping drive mechanism 2212 to the chassis 202. In this case, the wiping unit 2211 and the wiping drive mechanism 2212 are not swingably connected (e.g., they are fixedly connected). In fact, when the wiping unit 2211 and the chassis 202 are connected through the wiping drive mechanism 2212, the wiping unit 2211 is swingably connected to the wiping drive mechanism 2212. 2. Alternatively, the wiping drive mechanism 2212 can be oscillatingly connected to the chassis 202, thereby enabling the wiping unit 2211 to oscillate relative to the chassis 202. For example, when the wiping unit 2211 does not rotate and / or reciprocate horizontally relative to the chassis 202, the wiping drive mechanism 2212 can be replaced by a non-drive-type wiping connection structure connecting the wiping unit 2211 and the chassis 202. In this case, to enable the wiping unit 2211 to oscillate relative to the chassis 202, the wiping unit 2211 can be oscillatingly connected to the non-drive-type wiping connection structure, and / or the non-drive-type wiping connection structure can be oscillatingly connected to the chassis 202.

[0216] As can be seen, in this invention, the dragging connection structure connecting the dragging unit 2211 and the chassis 202 can be either a driven dragging connection structure (e.g., the dragging drive mechanism 2212 in the aforementioned embodiments) or a non-driven dragging connection structure (e.g., the connecting shaft connecting the dragging unit 2211 and the chassis 202). Regardless of which dragging connection structure the dragging unit 2211 and the chassis 202 are based on, the dragging unit 2211 can be oscillatingly connected to the chassis 202 through the dragging connection structure, as long as the dragging unit 2211 is oscillatingly connected to the dragging connection structure, and / or the dragging connection structure is oscillatingly connected to the chassis 202.

[0217] It should also be noted that, in this invention, the garbage collection device 23 can adopt other structural forms in addition to the dust collection device shown in the above embodiments. For example, the dust removal fan 234 and the fan duct 235 may not be provided, so that the garbage enters the interior of the garbage collection device 23 from the collection port only under its own inertia and the gathering effect of the ground cleaning device 22. In this case, the garbage collection device 23 does not exert any further action on the garbage, and the garbage collection device 23 is only used as a dustpan.

[0218] The above description is merely an exemplary embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A base station (1), characterized in that, The base station (1) is set up independently of the cleaning robot (2), which is equipped with a mopping component (22111) for mopping the floor. The base station (1) includes a first configuration, wherein the base station includes a base station body (10), a guide structure, a second storage structure (131), and a mop cleaning device (11); the base station body (10) is configured to connect to a tap water pipe so that the base station (1) can use the tap water supplied by the tap water pipe to clean the mop (22111) of the cleaning robot (2); the guide structure is used to guide the cleaning robot (2) in and out of the base station (1); the second storage structure (131) is located on the base station body (10) and is equipped with The cleaning device (11) is used to store dirty cleaning fluid; the cleaning device (11) is used to clean the cleaning robot (2)'s cleaning component (22111); the cleaning device (11) includes a cleaning tank (111); when the cleaning robot (2) enters the base station (1) and cooperates with the base station (1), the second storage structure (131) is located above the cleaning component (22111), and the projection of the second storage structure (131) on the horizontal plane at least partially overlaps with the projection of the cleaning tank (111) and the projection of the cleaning component (22111) on the horizontal plane; Alternatively, the base station (1) may include a second configuration, wherein the base station (1) includes a base station body (10), a guide structure, a first storage structure (121), a second storage structure (131), and a mop cleaning device (11); the base station body (10) is configured to communicate with a tap water pipe so that the base station (1) can use the tap water supplied by the tap water pipe to clean the mop (22111) of the cleaning robot (2); The base station body (10) is configured to communicate with a drainage pipe so that the base station (1) can use the drainage pipe to drain the wastewater after cleaning; the guide structure is used to guide the cleaning robot (2) in and out of the base station (1); the first storage structure (121) is located on the base station body (10) and is configured to contain cleaning fluid; the second storage structure (131) is located on the base station body (10) and is configured to store dirty cleaning fluid; the mopping cleaning device (11) is used to mop the cleaning robot (2). The cleaning device (22111) is cleaned; the cleaning device (11) includes a cleaning tank (111); when the cleaning robot (2) enters the base station (1) and cooperates with the base station (1), the first storage structure (121) and the second storage structure (131) are both located above the cleaning device (22111), and the projections of the first storage structure (121) and the second storage structure (131) on the horizontal plane at least partially overlap with the projections of the cleaning tank (111) and the cleaning device (22111) on the horizontal plane.

2. The base station (1) as described in claim 1, characterized in that, When the base station (1) is in the first configuration, and the mop cleaning device (11) cleans the mop (22111) of the cleaning robot (2), the second storage structure (131) is located above the mop (22111), and the projection of the second storage structure (131) on the horizontal plane at least partially overlaps with the projection of the mop (22111) on the horizontal plane; the guide structure is disposed on the mop cleaning device (11), and the guide structure is used to guide the cleaning robot (2) to move relative to the mop cleaning device (11) so that the cleaning robot (2) can enter and exit the base station (1); Alternatively, when the base station (1) is configured in the second way, and when the mop cleaning device (11) cleans the mop (22111) of the cleaning robot (2), the first storage structure (121) and the second storage structure (131) are both located above the mop (22111), and the projections of the first storage structure (121) and the second storage structure (131) on the horizontal plane at least partially overlap with the projection of the mop (22111) on the horizontal plane; the guide structure is provided on the mop cleaning device (11), and the guide structure is used to guide the cleaning robot (2) to move relative to the mop cleaning device (11) so that the cleaning robot (2) can enter and exit the base station (1).

3. The base station (1) as described in claim 1, characterized in that, When the base station (1) is in the first configuration, there is a receiving space between the second storage structure (131) and the cleaning tank (111), the receiving space being used to receive at least a portion of the cleaning robot (2); when the mop (22111) is cleaning, the cleaning robot (2) is at least partially in the receiving space, and the mop (22111) is in the cleaning tank (111); the guide structure is provided on the mop cleaning device (11), the guide structure being used to guide the cleaning robot (2) to move relative to the mop cleaning device (11), so that the cleaning robot (2) enters and exits the receiving space and / or the mop (22111) enters and exits the cleaning tank (111). Alternatively, when the base station (1) is configured in the second way, the first storage structure (121) and the second storage structure (131) have a receiving space between them and the cleaning tank (111), the receiving space being used to receive at least a portion of the cleaning robot (2); when the mop (22111) is cleaning, the cleaning robot (2) is at least partially in the receiving space, and the mop (22111) is in the cleaning tank (111); the guide structure is provided on the mop cleaning device (11), the guide structure being used to guide the cleaning robot (2) to move relative to the mop cleaning device (11) so that the cleaning robot (2) enters and exits the receiving space and / or the mop (22111) enters and exits the cleaning tank (111).

4. The base station (1) as described in claim 3, characterized in that, The cleaning device (11) for mops and wipers includes: a liquid inlet structure (113) in fluid communication with the cleaning tank (111) so that cleaning liquid can enter the cleaning tank (111) through the liquid inlet structure (113); and a liquid outlet structure (114) in fluid communication with the cleaning tank (111) so that cleaning liquid after cleaning the mops and wipers (22111) can be discharged to the outside of the cleaning tank (111) through the liquid outlet structure (114).

5. The base station (1) according to claim 4, characterized in that, The tap water pipe is in fluid communication with the cleaning tank (111) through the liquid inlet structure (113) so as to provide cleaning liquid to the cleaning tank (111); the drain pipe is in communication with the cleaning tank (111) through the liquid outlet structure (114) so ​​as to collect the wastewater after cleaning the mop (22111).

6. The base station (1) as described in claim 4, characterized in that, The liquid inlet structure (113) is disposed in the cleaning tank (111), and / or the liquid outlet structure (114) is disposed in the cleaning tank (111); The cleaning tank (111) has a first side, and the guide structure is located on the first side; the base station body (10) includes a panel that surrounds all sides of the cleaning tank (111) except the first side to form at least a portion of the wall of the accommodating space; The cleaning tank (111) is provided with a scraper (117) at the opening of the tank; the scraper (117) is used to scrape off the debris on the mop (22111) before the mop (22111) enters the mop cleaning device (11) and / or the scraper (117) is used to prevent the cleaning fluid used by the mop cleaning device (11) to clean the mop (22111) from splashing.

7. The base station (1) as described in claim 6, characterized in that, The number of liquid inlet structures (113) is two. The two liquid inlet structures (113) are located in the cleaning tank (111) and are symmetrically arranged about the central axis of the width direction of the base station body (10).

8. The base station (1) as described in claim 6, characterized in that, The drain structure (114) is located between the two inlet structures (113), and the two inlet structures (113) are symmetrically arranged about the drain structure (114).

9. A cleaning robot system, characterized in that, Includes a cleaning robot (2) and a base station (1) as claimed in any one of claims 1 to 8, wherein the cleaning robot (2) is set up independently of the base station (1) and is capable of cleaning the ground.

10. The cleaning robot system according to claim 9, characterized in that, It also includes a control device, which is used to control the mop (22111) to rotate at a low speed for a period of time after the mop (22111) has been cleaned, and then control the mop (22111) to rotate at an accelerated speed.

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