Cleaning robot system

Abstract

The application discloses a cleaning robot system, which comprises a cleaning base station and a cleaning robot. The cleaning base station is provided with a robot accommodating space in communication with the outside. The cleaning base station comprises a base, and the base is provided with a slope surface. The slope surface is provided with a first wheel body matching part, a second wheel body matching part, a first anti-skid guide part, a second anti-skid guide part, a first limiting part and a second limiting part. The first wheel body matching part and the second wheel body matching part are both located between the first anti-skid guide part and the second anti-skid guide part. The first limiting part is connected with the first anti-skid guide part, and the second limiting part is connected with the second anti-skid guide part. The cleaning robot comprises a robot main body, a first driving wheel and a second driving wheel arranged on the robot main body. The first driving wheel is in contact with the first wheel body matching part, the second driving wheel is in contact with the second wheel body matching part, the robot main body is guided and matched with the first anti-skid guide part and the second anti-skid guide part respectively, and the robot main body is limited and matched with the first limiting part and the second limiting part respectively.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of cleaning equipment, and particularly relates to a cleaning robot system. BACKGROUND

[0002] Household intelligent devices play an increasingly important role in people's life, and therefore, more and more household intelligent devices appear in people's life. Among them, a cleaning robot is a relatively common household intelligent device. The cleaning robot is usually matched with a cleaning base station, and the cleaning base station and the cleaning robot constitute a cleaning robot system. The cleaning base station is used for cleaning the mop of the cleaning robot, so as to facilitate the cleaning robot to perform the next cleaning operation.

[0003] The cleaning base station is provided with a slope surface, and the cleaning robot can move to the inside of the cleaning base station along the slope surface. Since the slope surface has a certain inclination and the mop of the cleaning robot is relatively wet when the cleaning robot works, water is often left on the slope surface, which will cause the cleaning robot to slip when moving along the slope surface, and thus the cleaning robot cannot enter the cleaning base station. SUMMARY

[0004] The purpose of the embodiment of the application is to provide a cleaning robot system, which can solve the problem that the cleaning robot slips when moving along the slope surface of the cleaning base station in the related art, and thus the cleaning robot cannot enter the cleaning base station.

[0005] The embodiment of the application provides a cleaning robot system, which comprises a cleaning base station and a cleaning robot. The cleaning base station is provided with a robot accommodating space in communication with the outside. The cleaning base station comprises a base. The base is provided with a slope surface. The slope surface is provided with a first wheel body matching part, a second wheel body matching part, a first anti-skid guide part, a second anti-skid guide part, a first limiting part and a second limiting part. The first wheel body matching part and the second wheel body matching part are both located between the first anti-skid guide part and the second anti-skid guide part. The first limiting part is connected with the first anti-skid guide part. The second limiting part is connected with the second anti-skid guide part. The cleaning robot comprises a robot main body, a first driving wheel and a second driving wheel arranged on the robot main body,

[0006] In the process that the cleaning robot enters the robot accommodating space through the slope surface, the first driving wheel is in contact with the first wheel body matching part, the second driving wheel is in contact with the second wheel body matching part, and the robot main body is guided and matched with the first anti-skid guide part and the second anti-skid guide part respectively,

[0007] In the case that the cleaning robot moves to a charging position, the robot main body is limited and matched with the first limiting part and the second limiting part respectively.

[0008] In the embodiment of the present application, during the process that the cleaning robot enters the robot accommodating space along the slope surface, the robot body is limited between the first anti-skid guide part and the second anti-skid guide part, the first anti-skid guide part and the second anti-skid guide part jointly exert the direction guidance on the moving direction of the robot body, so that the deviation of the moving direction of the cleaning robot can be prevented, and the change of the moving direction of the cleaning robot due to the skidding when moving along the slope surface can be effectively avoided; and since the first driving wheel is in contact with the first wheel body matching part and the second driving wheel is in contact with the second wheel body matching part, the friction between the first driving wheel and the slope surface is increased, and the friction between the second driving wheel and the slope surface is also increased, so that the movement of the cleaning robot in the opposite direction of the advancing direction when skidding can be effectively avoided.

[0009] In this way, the robot body is guided by the first anti-skid guide part and the second anti-skid guide part, and the reverse movement of the cleaning robot is limited by the first wheel body matching part and the second wheel body matching part, so that the skidding of the cleaning robot when moving along the slope surface of the cleaning base station can be effectively avoided, and the cleaning robot can smoothly enter the robot accommodating space of the cleaning base station. Meanwhile, when the cleaning robot moves to the charging position, the robot body is limited by the first limiting part and the second limiting part respectively, so that the displacement of the cleaning robot relative to the cleaning base station is avoided, and the smooth charging process is ensured. BRIEF DESCRIPTION OF DRAWINGS

[0010] Figure 1 is a cross-sectional view of the cleaning base station disclosed in the embodiment of the present application;

[0011] Figure 2 is a structure schematic view of the second anti-skid guide part and the second limiting part disclosed in the embodiment of the present application;

[0012] Figure 3 is a top view of the second anti-skid guide part and the second limiting part disclosed in the embodiment of the present application;

[0013] Figure 4 is a bottom view of the cleaning robot disclosed in the embodiment of the present application;

[0014] Figure 5 is a structure schematic view of the second guide limiting block and the threaded fastener disclosed in the embodiment of the present application;

[0015] Figure 6 is a schematic view of the cooperation between the cleaning robot and the cleaning base station when the cleaning robot moves to the charging position disclosed in the embodiment of the present application;

[0016] Figure 7 is a partial cross-sectional view of the cooperation between the cleaning robot and the cleaning base station when the cleaning robot moves to the charging position disclosed in the embodiment of the present application;

[0017] Figure 8is a cross-sectional view of the cleaning robot and the cleaning base station in the case that the cleaning robot disclosed by the embodiments of the present application moves to the charging position.

[0018] Explanation of reference signs:

[0019] 100 - cleaning base station,

[0020] 110 - base, 111 - slope surface,

[0021] 120 - first wheel body fitting part, 130 - second wheel body fitting part,

[0022] 140 - first anti-skid guide part, 150 - second anti-skid guide part,

[0023] 160 - first limiting part, 170 - second limiting part, c - first limiting surface, d - second limiting surface,

[0024] 180 - drive wheel limiting groove,

[0025] 190 - support block,

[0026] 200 - cleaning robot,

[0027] 210 - robot main body,

[0028] 220 - first drive wheel, 230 - second drive wheel,

[0029] 240 - first guide limiting block, 250 - second guide limiting block, 201 - third limiting surface, 202 - fourth limiting surface, 203 - arc-shaped guide surface, 204 - connecting surface,

[0030] 260 - first cleaning brush, 270 - second cleaning brush,

[0031] 280 - threaded fastener,

[0032] 300 - mounting plate,

[0033] 400 - guide plate, 410 - guide surface, a - guide arc surface, b - guide surface. DETAILED DESCRIPTION

[0034] The technical solutions in the embodiments of the present application will be described clearly below in combination with the drawings in the embodiments of the present application. Obviously, the described embodiments are some of the embodiments of the present application, but not all the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art belong to the scope of protection of the present application.

[0035] The terms "first", "second", etc. in the specification and claims of the present application are used to distinguish similar objects, and are not used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged under appropriate circumstances, so that the embodiments of the present application can be implemented in an order other than those illustrated or described herein, and the objects distinguished by "first", "second", etc. are generally of a kind and do not limit the number of objects, for example, the first object can be one or more. In addition, "and / or" in the specification and claims indicates at least one of the connected objects, and the character " / ", generally indicates that the objects before and after are in a "or" relationship.

[0036] The cleaning robot system provided by the embodiments of the present application will be described in detail below with reference to specific embodiments and application scenarios in combination with the drawings.

[0037] Reference Figures 1-8 The embodiments of the present application disclose a cleaning robot system, which comprises a cleaning base station 100 and a cleaning robot 200. The cleaning base station 100 is provided with a robot containing space in communication with the outside world. When the cleaning robot 200 moves into the robot containing space, it is indicated that the cleaning robot 200 is in a charging position. At this time, the cleaning base station 100 charges the cleaning robot 200, so that the cleaning robot 200 can perform the next cleaning operation.

[0038] As Figure 1 shown, the cleaning base station 100 comprises a base 110, and the base 110 is provided with a slope surface 111. The slope surface 111 is provided with a first anti-skid guide part 140 and a second anti-skid guide part 150. During the process that the cleaning robot 200 enters the robot containing space through the slope surface 111, the robot main body 210 is guided and matched with the first anti-skid guide part 140 and the second anti-skid guide part 150, respectively. Optionally, the first anti-skid guide part 140 and the second anti-skid guide part 150 can both be guide strips, and the surface of the robot main body 210 can directly contact the guide strips to realize the guide matching. The first anti-skid guide part 140 and the second anti-skid guide part 150 can also be guide rails, and the robot main body 210 is provided with a matching block. The guide rails are guided and matched with the matching block. In summary, through the first anti-skid guide part 140 and the second anti-skid guide part 150, the cleaning robot 200 can be limited in the space between the first anti-skid guide part 140 and the second anti-skid guide part 150, and the cleaning robot 200 can be guided to avoid changing the moving direction due to skidding or the like.

[0039] In the present scheme, the slope surface 111 is also provided with a first wheel body matching part 120 and a second wheel body matching part 130, and the first wheel body matching part 120 and the second wheel body matching part 130 are both located between the first anti-skid guide part 140 and the second anti-skid guide part 150. As Figure 4As shown, the cleaning robot 200 comprises a robot body 210 and a first driving wheel 220 and a second driving wheel 230 arranged on the robot body 210. During the process that the cleaning robot 200 enters the robot accommodating space through the slope surface 111, the first driving wheel 220 is in contact with the first wheel body matching part 120, and the second driving wheel 230 is in contact with the second wheel body matching part 130. Due to the contact between the first driving wheel 220 and the first wheel body matching part 120, the friction between the first driving wheel 220 and the slope surface 111 is increased, and due to the contact between the second driving wheel 230 and the second wheel body matching part 130, the friction between the second driving wheel 230 and the slope surface 111 is also increased, effectively avoiding the cleaning robot 200 moving in the opposite direction of the advancing direction when slipping, where the advancing direction refers to the direction of the cleaning robot 200 entering the robot accommodating space through the slope surface 111.

[0040] Optionally, the first wheel body matching part 120 and the second wheel body matching part 130 can each comprise a plurality of protrusions, which are densely distributed and form a strip structure, and the extension direction of the strip structure can be consistent with the guiding direction of the first anti-skid guide part 140 and the second anti-skid guide part 150. Of course, the structure of the first wheel body limiting part and the second wheel body matching part 130 is not limited to this, as long as the first wheel body matching part 120 is in contact with the first driving wheel 220 and the second wheel body matching part 130 is in contact with the second driving wheel 230, the friction during the advancing process of the robot body 210 can be increased, and the cleaning robot 200 moving in the opposite direction of the advancing direction can be hindered.

[0041] Therefore, by applying guidance to the robot body 210 through the first anti-skid guide part 140 and the second anti-skid guide part 150, and combining the first wheel body matching part 120 and the second wheel body matching part 130 to limit the reverse movement of the cleaning robot 200, the slipping of the cleaning robot 200 when moving along the slope surface 111 of the cleaning base station 100 can be effectively avoided, and the smooth entry of the cleaning robot 200 into the robot accommodating space of the cleaning base station 100 can be ensured.

[0042] The slope surface 111 is further provided with a first limiting part 160 and a second limiting part 170. The first limiting part 160 is connected with the first anti-skid guiding part 140, and the second limiting part 170 is connected with the second anti-skid guiding part 150. Optionally, the first limiting part 160 and the second limiting part 170 can be provided with a limiting groove, and the robot body 210 can be limitedly matched with the groove wall surface of the limiting groove. The first limiting part 160 and the second limiting part 170 can be limiting blocks, and the robot body 210 can be directly limitedly contacted with the surface of the limiting blocks. Here, the structure of the first limiting part 160 and the second limiting part 170 is not limited. In summary, when the cleaning robot 200 moves to the charging position, the robot body 210 is respectively limitedly matched with the first limiting part 160 and the second limiting part 170, the first limiting part 160 and the second limiting part 170 limit the robot body 210, and displacement of the cleaning robot 200 relative to the cleaning base station 100 is avoided, so that the charging process is ensured to be smoothly performed.

[0043] In optional embodiments, in combination with Figure 2 and Figure 3 As shown in the figures, the side part of the first anti-skid guiding part 140 and the side part of the second anti-skid guiding part 150 are both provided with a guiding surface 410, which is used to contact the robot body 210 to exert guiding on the robot body 210. Moreover, the first limiting part 160 and the second limiting part 170 are both provided with a limiting groove, which is directed to the entrance of the slope surface 111, so that the cleaning robot 200 can directly move into the limiting groove along the advancing direction. Here, the advancing direction refers to the direction in which the cleaning robot 200 enters the robot containing space through the slope surface 111. Compared with the scheme in which the limiting blocks are directly limitedly matched with the robot body 210, the limiting groove can surround the corresponding structure of the robot body 210 to limit the robot body 210 from different directions, and the limiting effect is better.

[0044] Optionally, the inner wall of the limiting groove and the guiding surface 410 can not be connected, but in this case, the guiding process and the limiting process are not performed in sequence, and the two processes are easy to interfere with each other. Therefore, in the present embodiment, the inner wall of the limiting groove and the guiding surface 410 are connected, the guiding process and the limiting process can be performed in sequence, the guiding process or the limiting process is not affected, the smooth performance of the guiding process is ensured, and the accuracy of the limiting is ensured.

[0045] In specific embodiments, the first anti-skid guiding part 140 and the first limiting part 160 can be an integrally formed structure, and the second anti-skid guiding part 150 and the second limiting part 170 can be an integrally formed structure. Of course, the first anti-skid guiding part 140 and the first limiting part 160 can be a separately formed structure, and the second anti-skid guiding part 150 and the second limiting part 170 can also be a separately formed structure.

[0046] In optional embodiments, the robot body 210 can be directly guided with the first and second anti-skid guide portions 140 and 150 respectively, or, as shown in Figure 4 Fig. 2, the bottom of the robot body 210 is provided with a first guide limiting block 240 and a second guide limiting block 250, and the structures of the first and second guide limiting blocks 240 and 250 are not limited herein. During the process that the cleaning robot 200 enters the robot accommodating space through the slope surface 111, the first guide limiting block 240 is guided with the first anti-skid guide portion 140, and the second guide limiting block 250 is guided with the second anti-skid guide portion 150, so as to avoid the surface of the robot body 210 directly contacting the first and second anti-skid guide portions 140 and 150, and further avoid the first or second anti-skid guide portion 140 scratching the surface of the robot body 210, thereby improving the appearance performance of the robot body 210. Meanwhile, the separately arranged first and second guide limiting blocks 240 and 250 can reduce the distance between the first and second anti-skid guide portions 140 and 150, and further reduce the size of the cleaning base station 100.

[0047] In optional embodiments, the robot body 210 can be provided with other structures to limit the first and second limiting portions 160 and 170, or, in the case that the cleaning robot 200 moves to the charging position, the first guide limiting block 240 is limited with the first limiting portion 160, and the second guide limiting block 250 is limited with the second limiting portion 170. In this way, the robot body 210 can be guided with the first and second anti-skid guide portions 140 and 150 through the first and second guide limiting blocks 240 and 250, and can be limited with the first and second limiting portions 160 and 170, which is a dual-purpose structure and is more compact.

[0048] In the scheme of the present application, as shown in Figure 3 Fig. 1, the first and second limiting portions 160 and 170 are each provided with a first limiting surface c and a second limiting surface d, the first and second limiting surfaces c and d are opposite to each other, and the first and second limiting surfaces c and d gradually move away from the connection therebetween, i.e., the first and second limiting surfaces c and d form a "V" type structure. In specific embodiments, the groove wall surface of the limiting groove includes the first and second limiting surfaces c and d, and the first limiting surface c is connected with the guide surface 410. As shown in Figure 5 Fig. 2, the first and second guide limiting blocks 240 and 250 are each provided with a third limiting surface 201 and a fourth limiting surface 202, the third and fourth limiting surfaces 201 and 202 are opposite to each other, and the third and fourth limiting surfaces 201 and 202 gradually move away from the connection therebetween, i.e., the third and fourth limiting surfaces 201 and 202 also form a "V" type structure. Referring to Figure 6As shown, in the case that the cleaning robot 200 moves to the charging position, the first limit surface c is in limit cooperation with the third limit surface 201, and the second limit surface d is in limit cooperation with the fourth limit surface 202.

[0049] Of course, in other embodiments, in addition to adopting the "V"-shaped limit structure, the first limit part 160 and the second limit part 170 can also adopt a rectangular structure, a trapezoidal structure, and other limit structures with more complex structures, but the complex limit structure has more inflection points, which is not conducive to guiding. Therefore, the "V"-shaped limit structure has fewer inflection points and a relatively simple structure, which is more conducive to guiding. Moreover, through the limit cooperation of the first limit surface c and the third limit surface 201, and the limit cooperation of the second limit surface d and the fourth limit surface 202, the first limit part 160 can limit the first guide limit block 240 from different directions, and the second limit part 170 can also limit the second guide limit block 250 from different directions, so as to ensure that the cleaning robot 200 accurately stops at the charging position.

[0050] In optional embodiments, as shown in Figure 5 As shown, the first guide limit block 240 and the second guide limit block 250 are also provided with an arc-shaped guide surface 203 and a connecting plane 204, the arc-shaped guide surface 203 and the connecting plane 204 are opposite to each other, the arc-shaped guide surface 203 protrudes to the side away from the connecting plane 204, and the arc-shaped guide surface 203, the third limit surface 201, the fourth limit surface 202, and the connecting plane 204 are sequentially connected end to end. In the process that the cleaning robot 200 enters the robot accommodating space through the slope surface 111, the third limit surface 201 and the arc-shaped guide surface 203 are sequentially guided in cooperation with the guide surface 410. By providing the arc-shaped guide surface 203, the contact area between the first guide limit block 240 and the guide surface 410 during guiding can be increased, and the contact area between the second guide limit block 250 and the guide surface 410 can also be increased, so as to improve the guiding effect.

[0051] Optionally, the third limit surface 201 can be a plane, or the third limit surface 201 is an arc-shaped surface, the third limit surface 201 protrudes in a direction away from the fourth limit surface 202, and the third limit surface 201 is smoothly and transitionally connected with the arc-shaped guide surface 203. By adopting the arc-shaped surface, the contact area between the third limit surface 201 and the guide surface 410 is increased during the guiding cooperation of the third limit surface 201 and the guide surface 410, so as to improve the guiding effect.

[0052] Optionally, the first guide limiting block 240 and the second guide limiting block 250 can be fixedly connected with the robot body 210. In the embodiment, the first guide limiting block 240 and the second guide limiting block 250 are detachably connected with the robot body 210. Specifically, the robot body 210 is provided with a threaded hole, the first guide limiting block 240 and the second guide limiting block 250 are provided with through holes, one end of a threaded fastener 280 passes through the through holes and is threadedly connected with the threaded hole, and the first guide limiting block 240 and the second guide limiting block 250 can be positionally adjusted by the threaded fastener 280. The threaded fastener 280 can be a bolt or the like.

[0053] In this way, the user can loosen the threaded fastener 280 according to the wear conditions of the first guide limiting block 240, the first anti-skid guide portion 140 and the first limiting portion 160, rotate the first guide limiting block 240 to adjust the position of the first guide limiting block 240, so that the first guide limiting block 240 can be accurately matched with the first anti-skid guide portion 140 and the first limiting portion 160. Similarly, the threaded fastener 280 can be loosened according to the wear conditions of the second guide limiting block 250, the second anti-skid guide portion 150 and the second limiting portion 170, the second guide limiting block 250 is rotated to adjust the position of the second guide limiting block 250, so that the second guide limiting block 250 can be accurately matched with the second anti-skid guide portion 150 and the second limiting portion 170. It can be seen that the embodiment can improve the guiding effect and ensure the smooth progress of the guiding process.

[0054] In optional embodiments, the side portion of the first anti-skid guide portion 140 and the side portion of the second anti-skid guide portion 150 are provided with a guide surface 410, which can include a guide plane b. During the process in which the cleaning robot 200 enters the robot accommodating space through the slope surface 111, the first guide limiting block 240 or the second guide limiting block 250 is guided and matched with the guide plane b. In other embodiments, as shown in Figure 2 and Figure 3 The guide surface 410 includes a guide arc surface a and a guide plane b, the guide arc surface a and the guide plane b are connected and arranged in sequence along the moving direction of the cleaning robot 200 when entering the robot accommodating space, and the guide arc surface a protrudes to the side where the first wheel body matching portion 120 and the second wheel body matching portion 130 are located, that is, along the direction in which the cleaning robot 200 enters the robot accommodating space, the distance between the guide arc surface a of the first anti-skid guide portion 140 and the guide arc surface a of the second anti-skid guide portion 150 gradually decreases. During the process in which the cleaning robot 200 enters the robot accommodating space through the slope surface 111, the first guide limiting block 240 and the second guide limiting block 250 are guided and matched with the guide arc surface a and the guide plane b in sequence. Specifically, the third limiting surface 201 and the arc-shaped guide surface 203 are guided and matched with the guide arc surface a and the guide plane b in sequence.

[0055] At the entrance position close to the slope surface 111, since the distance between the guide arc surface a of the first anti-skid guide part 140 and the guide arc surface a of the second anti-skid guide part 150 is large, the cleaning robot 200 is facilitated to extend into the first anti-skid guide part 140 and the second anti-skid guide part 150, and further to be coarsely positioned by the guide arc surface a of the first anti-skid guide part 140 and the guide arc surface a of the second anti-skid guide part 150. After the coarse positioning is realized, the cleaning robot 200 is finely positioned by the guide plane b of the first anti-skid guide part 140 and the guide plane b of the second anti-skid guide part 150.

[0056] Optionally, the first anti-skid guide part 140 and the second anti-skid guide part 150 can each include a guide plate 400, the guide plate 400 is provided with a guide surface 410, and the guide plate 400 is fixedly connected with the base 110. At this time, in order to effectively fix the guide plate 400 and ensure that the guide plate 400 has sufficient connection area with the base 110, it is necessary to increase the volume of the guide plate 400. In this way, the guide plate 400 is relatively close to the middle position of the slope surface 111, which will occupy the moving space of the robot main body 210 when passing through the slope surface 111, and is not conducive to the cleaning robot 200 entering the cleaning base station 100.

[0057] To solve the above problems, as shown in Figure 2 and Figure 3 The first anti-skid guide part 140 and the second anti-skid guide part 150 each include a mounting plate 300 and a guide plate 400. The mounting plate 300 extends along the height direction of the cleaning base station 100, and is fixedly connected with the base 110. The guide plate 400 is connected with the mounting plate 300, and is located on the side of the mounting plate 300 facing the first wheel body matching part 120 and the second wheel body matching part 130. Moreover, the plane where the guide plate 400 is located intersects with the plane where the mounting plate 300 is located. Specifically, the guide plate 400 is provided with a guide surface 410, the guide surface 410 includes the above-mentioned guide plane b and guide arc surface a, and the guide surface 410 faces away from the mounting plate 300. Optionally, the mounting plate 300 and the base 110 can be connected by welding, bolt connection or the like. The guide plate 400 and the mounting plate 300 can be a split forming structure, or can be an integrally formed structure.

[0058] By additionally providing the mounting plate 300, the guide plate 400 can be stably mounted, and the relative fixation between the guide plate 400 and the base 110 is realized. Therefore, the thickness and width of the guide plate 400 can be appropriately reduced, i.e. the volume of the guide plate 400 can be reduced, the guide plate 400 is prevented from being close to the middle position of the slope surface 111, and sufficient moving space is reserved for the robot main body 210, which is conducive to the cleaning robot 200 entering the cleaning base station 100.

[0059] In optional embodiments, the guide plate 400 can intersect the slope surface 111, or the guide plate 400 can be parallel to the slope surface 111. When the guide plate 400 is parallel to the slope surface 111, the force acting on the guide plate 400 will not have a component in the height direction of the cleaning base station 100 when the guide plate 400 contacts the first and second guide ribs, so that the guide plate 400 will not be bent.

[0060] In the solution of the present application, the cleaning robot 200 further comprises a first cleaning brush 260 and a second cleaning brush 270 arranged on the robot body 210, and the first and second cleaning brushes 260 and 270 are used to clean dust and other foreign matter on the ground. The first anti-skid guide part 140 has a first clearance with the slope surface 111, and the second anti-skid guide part 150 has a second clearance with the slope surface 111. During the process in which the cleaning robot 200 enters the robot accommodating space through the slope surface 111, the first clearance can accommodate a part of the first cleaning brush 260, and the second clearance can accommodate a part of the second cleaning brush 270. In further embodiments, the guide plate 400 is parallel to the slope surface 111, and the guide plate 400 and the slope surface 111 form a first clearance or a second clearance with a consistent height. Figure 4 Figure 6 As the first and second cleaning brushes 260 and 270 are arranged at the bottom of the robot body 210 and extend out of the robot body 210, the first and second cleaning brushes 260 and 270 are prone to collide with external objects during the movement of the cleaning robot 200. By arranging the first and second clearances, the first and second cleaning brushes 260 and 270 can be effectively prevented from colliding with the guide plate 400, and the first and second cleaning brushes 260 and 270 can be effectively prevented from being pressed by the guide plate 400 and deformed or even damaged.

[0061] In optional embodiments, the first and second wheel body matching parts 120 and 130 are in strip structures, and the length of the first wheel body matching part 120 is equal to the length of the second wheel body matching part 130, so as to facilitate the manufacture. In addition, no matter where the cleaning robot 200 moves to, the first driving wheel 220 contacts the first wheel body matching part 120, and the second driving wheel 230 contacts the second wheel body matching part 130 at the same time, so that the friction force exists between the first driving wheel 220 and the first wheel body matching part 120 and between the second driving wheel 230 and the second wheel body matching part 130 at the same time, and the reverse slipping of the cleaning robot 200 in the forward direction is effectively hindered.

[0062] In optional embodiments, the first and second wheel body matching parts 120 and 130 are in strip structures, and the length of the first wheel body matching part 120 is equal to the length of the second wheel body matching part 130, so as to facilitate the manufacture. In addition, no matter where the cleaning robot 200 moves to, the first driving wheel 220 contacts the first wheel body matching part 120, and the second driving wheel 230 contacts the second wheel body matching part 130 at the same time, so that the friction force exists between the first driving wheel 220 and the first wheel body matching part 120 and between the second driving wheel 230 and the second wheel body matching part 130 at the same time, and the reverse slipping of the cleaning robot 200 in the forward direction is effectively hindered.

[0063] ​The ratio between the length of the first anti-skid guiding part 140 and the length of the first wheel body matching part 120 is 0.5-1, and the ratio between the length of the second anti-skid guiding part 150 and the length of the first wheel body matching part 120 is 0.5-1. If the ratio is smaller, it means that the length of the first anti-skid guiding part 140 and the length of the second anti-skid guiding part 150 are shorter, and the guiding effect is poorer. If the ratio is larger, it means that the length of the first wheel body matching part 120 and the length of the second wheel body matching part 130 are longer, and the friction between the cleaning robot 200 and the slope surface 111 is also larger at the position where the cleaning robot 200 does not need to be controlled to slip, which hinders the movement of the cleaning robot 200. Therefore, the ratio between the length of the first anti-skid guiding part 140 and the length of the first wheel body matching part 120 and the ratio between the length of the second anti-skid guiding part 150 and the length of the first wheel body matching part 120 are 0.5-1, which is more appropriate.

[0064] In further embodiments, the length of the first anti-skid guiding part 140 can be equal to the length of the second anti-skid guiding part 150, the ratio between the length of the first anti-skid guiding part 140 and the length of the second wheel body matching part 130 is a first ratio, the ratio between the length of the second anti-skid guiding part 150 and the length of the second wheel body matching part 130 is a second ratio, and the first ratio is equal to the second ratio, so as to facilitate the manufacture of the cleaning base station 100.

[0065] In optional embodiments, as shown in Figure 8 The base 110 is also provided with a drive wheel limiting groove 180, and at least one of the first drive wheel 220 and the second drive wheel 230 is in limiting contact with the drive wheel limiting groove 180 when the cleaning robot 200 moves to the charging position. That is, the first drive wheel 220 can be in limiting contact with the drive wheel limiting groove 180, or the second drive wheel 230 can be in limiting contact with the drive wheel limiting groove 180, or both the first drive wheel 220 and the second drive wheel 230 can be in limiting contact with the drive wheel limiting groove 180. Optionally, the groove wall surface of the drive wheel limiting groove 180 can be an arc surface to match the outer peripheral surface of the first drive wheel 220 or the second drive wheel 230; the drive wheel limiting groove 180 can also have other structures as long as it can limit the first drive wheel 220 and the second drive wheel 230.

[0066] In specific embodiments, the drive wheel limiting groove 180 includes a first wheel body limiting groove and a second wheel body limiting groove, and the first drive wheel 220 is in limiting contact with the first wheel body limiting groove and the second drive wheel 230 is in limiting contact with the second wheel body limiting groove when the cleaning robot 200 moves to the charging position.

[0067] When the cleaning robot 200 moves to the charging position, the cleaning robot 200 is limited by the driving wheel limiting groove 180, so as to avoid the cleaning robot 200 from sliding down along the slope surface 111, and ensure the smooth charging process.

[0068] In the present solution, as shown in Figure 7 The base 110 is further provided with a supporting block 190, and the driving wheel limiting groove 180 is located between the supporting block 190 and the slope surface 111, i.e. in the height direction of the cleaning base station 100, the driving wheel limiting groove 180 is located at the upper end of the slope surface 111, and the position of the supporting block 190 can be higher than that of the driving wheel limiting groove 180, and the structure of the supporting block 190 is not limited here. In the case that the cleaning robot 200 moves to the charging position, the edge of the robot main body 210 is supported by the supporting block 190. Since the supporting block 190 supports the robot main body 210, the supporting block 190 will exert an upward supporting force on the robot main body 210, so as to avoid the cleaning robot 200 from moving downward relative to the cleaning base station 100, and to further limit the cleaning robot 200.

[0069] In an optional embodiment, the supporting block 190 has a supporting surface, which can be perpendicular to the height direction of the cleaning base station 100; or the supporting surface can intersect with the height direction of the cleaning base station 100, and the supporting surface is not perpendicular to the height direction of the cleaning base station 100, in which case, the supporting surface can be in contact with the surface of the robot main body 210, and the supporting surface is in limiting contact with the robot main body 210 in the advancing direction of the robot main body 210. In this way, the supporting block 190 not only prevents the cleaning robot 200 from moving downward, but also avoids the cleaning robot 200 from moving too much in the advancing direction, and further ensures that the cleaning robot 200 moves to the accurate position.

[0070] The embodiments of the present application are described above in combination with the drawings, but the present application is not limited to the above specific embodiments, which are only illustrative but not restrictive, and those of ordinary skill in the art can make many forms under the inspiration of the present application without departing from the scope of the present application and the scope protected by the claims.

Claims

1. A cleaning robot system, characterized in that, The application relates to a cleaning base station (100) and a cleaning robot (200), wherein the cleaning base station (100) is provided with a robot accommodating space in communication with the outside world, the cleaning base station (100) comprises a base (110) provided with a slope surface (111), the slope surface (111) is provided with a first wheel body matching part (120), a second wheel body matching part (130), a first anti-skid guide part (140), a second anti-skid guide part (150), a first limiting part (160) and a second limiting part (170), the first wheel body matching part (120) and the second wheel body matching part (130) are both located between the first anti-skid guide part (140) and the second anti-skid guide part (150), the first limiting part (160) is connected with the first anti-skid guide part (140), the second limiting part (170) is connected with the second anti-skid guide part (150), the cleaning robot (200) comprises a robot main body (210) and a first driving wheel (220) and a second driving wheel (230) arranged on the robot main body (210), in the process that the cleaning robot (200) enters the robot accommodating space through the slope surface (111), the first driving wheel (220) is in contact with the first wheel body matching part (120), the second driving wheel (230) is in contact with the second wheel body matching part (130), and the robot main body (210) is guided and matched with the first anti-skid guide part (140) and the second anti-skid guide part (150) respectively, in the case that the cleaning robot (200) moves to a charging position, the robot main body (210) is limited and matched with the first limiting part (160) and the second limiting part (170) respectively; the side part of the first anti-skid guide part (140) and the side part of the second anti-skid guide part (150) are both provided with a guide surface (410), the guide surface (410) comprises a guide arc surface (a) and a guide plane (b), the guide arc surface (a) and the guide plane (b) are connected and sequentially arranged along the moving direction of the cleaning robot (200) when entering the robot accommodating space, and the guide arc surface (a) protrudes to the side where the first wheel body matching part (120) and the second wheel body matching part (130) are located; the first limiting part (160) and the second limiting part (170) are both provided with a limiting groove, the limiting groove faces the entrance of the slope surface (111), and the inner wall of the limiting groove is connected with the guide surface (410); the bottom of the robot main body (210) is provided with a first guide limiting block (240) and a second guide limiting block (250), in the process that the cleaning robot (200) enters the robot accommodating space through the slope surface (111), the first guide limiting block (240) is guided and matched with the first anti-skid guide part (140), and the second guide limiting block (250) is guided and matched with the second anti-skid guide part (150), In the case that the cleaning robot (200) moves to the charging position, the first guide limiting block (240) is in limiting cooperation with the first limiting part (160), and the second guide limiting block (250) is in limiting cooperation with the second limiting part (170); The first limiting part (160) and the second limiting part (170) are each provided with a first limiting surface (c) and a second limiting surface (d), the first limiting surface (c) and the second limiting surface (d) are opposite, and the first limiting surface (c) and the second limiting surface (d) gradually move away from the connection part of the two, The first guide limiting block (240) and the second guide limiting block (250) are each provided with a third limiting surface (201) and a fourth limiting surface (202), the third limiting surface (201) and the fourth limiting surface (202) are opposite, and the third limiting surface (201) and the fourth limiting surface (202) gradually move away from the connection part of the two, In the case that the cleaning robot (200) moves to the charging position, the first limiting surface (c) is in limiting cooperation with the third limiting surface (201), and the second limiting surface (d) is in limiting cooperation with the fourth limiting surface (202).

2. The cleaning robot system of claim 1, wherein, The first guide limiting block (240) and the second guide limiting block (250) are each further provided with an arc-shaped guide surface (203) and a connecting plane (204), the arc-shaped guide surface (203) and the connecting plane (204) are opposite, the arc-shaped guide surface (203), the third limiting surface (201), the fourth limiting surface (202) and the connecting plane (204) are sequentially connected, the third limiting surface (201) is an arc-shaped surface, and the third limiting surface (201) protrudes in a direction away from the fourth limiting surface (202), In the process that the cleaning robot (200) enters the robot accommodating space through the slope surface (111), the third limiting surface (201) and the arc-shaped guide surface (203) are sequentially in guiding cooperation with the guide surface (410). 3.The cleaning robot system of claim 1, wherein, The robot main body (210) is provided with a threaded hole, the first guide limiting block (240) and the second guide limiting block (250) are each provided with a through hole, one end of a threaded fastener (280) passes through the through hole and is in threaded cooperation with the threaded hole, and the first guide limiting block (240) and the second guide limiting block (250) can be positionally adjusted through the threaded fastener (280).

4. The cleaning robot system of claim 1, wherein, In the process that the cleaning robot (200) enters the robot accommodating space through the slope surface (111), the robot main body (210) is sequentially in guiding cooperation with the guide arc surface (a) and the guide plane (b). 5.The cleaning robot system of claim 1, wherein, The first anti-skid guide part (140) and the second anti-skid guide part (150) each comprise a mounting plate (300) and a guide plate (400), the mounting plate (300) extends along the height direction of the cleaning base station (100), and the mounting plate (300) is fixedly connected with the base (110), the guide plate (400) is connected with the mounting plate (300), and the plane where the guide plate (400) is located intersects with the plane where the mounting plate (300) is located. 6.The cleaning robot system of claim 5, wherein, The guide plate (400) is parallel to the slope surface (111). 7.The cleaning robot system of claim 1, wherein, The cleaning robot (200) further comprises a first cleaning brush (260) and a second cleaning brush (270) arranged on the robot body (210), the first anti-skid guide part (140) and the slope surface (111) have a first avoiding gap, the second anti-skid guide part (150) and the slope surface (111) have a second avoiding gap, In the process that the cleaning robot (200) enters the robot containing space through the slope surface (111), the first avoiding gap can accommodate a part of the first cleaning brush (260), and the second avoiding gap can accommodate a part of the second cleaning brush (270). 8.The cleaning robot system of claim 1, wherein, The length of the first wheel body matching part (120) is equal to the length of the second wheel body matching part (130), the ratio between the length of the first anti-skid guide part (140) and the length of the first wheel body matching part (120) is 0.5-1, and the ratio between the length of the second anti-skid guide part (150) and the length of the second wheel body matching part (130) is 0.5-1. 9.The cleaning robot system of claim 1, wherein, The base (110) is further provided with a drive wheel limiting groove (180), at least one of the first drive wheel (220) and the second drive wheel (230) is limitedly matched with the drive wheel limiting groove (180) when the cleaning robot (200) moves to a charging position. 10.The cleaning robot system according to claim 9, wherein, The base (110) is further provided with a support block (190), the drive wheel limiting groove (180) is located between the support block (190) and the slope surface (111), and the edge of the robot body (210) is supported on the support block (190) when the cleaning robot (200) moves to the charging position.

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