Base station and control method thereof, cleaning system

Abstract

The application discloses a base station and a control method thereof and a cleaning system. The base station comprises a base station body, a storage mechanism arranged on the base station body and having a storage cavity, wherein the storage cavity is used for storing garbage from a cleaning robot; and a conveying mechanism comprising a transfer bin arranged on the base station body in a liftable manner, wherein the transfer bin is configured to rise to a first set position after receiving the garbage from the cleaning robot, so as to transfer the garbage from the transfer bin to the storage cavity. In this way, the automatic cleaning of the cleaning robot can be realized, and the automatic cleaning scheme of the cleaning robot is low in cost and widely applicable.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of cleaning equipment, in particular to a base station, a control method thereof and a cleaning system. BACKGROUND

[0002] Cleaning robots with cleaning functions such as floor washing, floor mopping and floor sweeping, especially large cleaning robots in commercial environments, can replace users to perform cleaning work such as floor cleaning, thereby bringing great convenience to users and being widely used. The garbage collected during the cleaning process of the cleaning robot is stored in the cleaning robot (i.e., in the dust collection box), and the garbage in the cleaning robot (dust collection box) needs to be cleaned regularly.

[0003] However, the cleaning robots without automatic cleaning design need to be cleaned manually by the user, but the manual cleaning method has poor operability, low cleaning efficiency, and poor hygiene, and the product automation degree of the cleaning robot is low, which is not conducive to improving the technological sense of the cleaning robot. As for the current automatic cleaning solution of the cleaning robot, it has high requirements for the equipment, resulting in high equipment cost and limited application scenarios. SUMMARY

[0004] The present application provides a base station, a control method thereof and a cleaning system, which can realize automatic cleaning of the cleaning robot, and the automatic cleaning solution of the cleaning robot has low cost and wide application scenarios.

[0005] The present application provides a base station, which comprises a base station body, a storage mechanism arranged on the base station body and having a storage cavity, wherein the storage cavity is used to store garbage from a cleaning robot, and a conveying mechanism comprising a transfer bin arranged on the base station body in a liftable manner, wherein the transfer bin is configured to rise to a first set position after receiving the garbage from the cleaning robot, so as to transfer the garbage from the transfer bin to the storage cavity.

[0006] In an embodiment of the present application, the transfer bin is further rotatably arranged on the base station body, wherein after the transfer bin rises to the first set position, the transfer bin rotates towards the storage mechanism, so that the garbage in the transfer bin at least falls into the storage cavity under the action of its own gravity.

[0007] In an embodiment of the present application, the conveying mechanism further comprises a limiting piece arranged on the base station body, wherein when the transfer bin rises to the first set position, the transfer bin abuts against the limiting piece, so that the transfer bin rotates towards the storage mechanism.

[0008] In an embodiment of the present application, the limiting piece is located on one side of the conveying mechanism facing the storage mechanism.

[0009] In an embodiment of the present application, the conveying mechanism further comprises a reset elastic member connected to the transfer bin, wherein the reset elastic member is configured to drive the transfer bin to rotate towards the direction away from the receiving mechanism to reset.

[0010] In an embodiment of the present application, the conveying mechanism further comprises a lifting assembly in driving connection with the transfer bin and configured to drive the transfer bin to ascend to the first set position.

[0011] In an embodiment of the present application, the lifting assembly comprises a driving member and a transmission member in driving connection with the driving member and the transfer bin respectively, wherein the driving member drives the transfer bin to ascend to the first set position through the transmission member.

[0012] In an embodiment of the present application, the conveying mechanism further comprises a conveying belt arranged on the base body and configured to convey the garbage from the cleaning robot to the transfer bin.

[0013] Correspondingly, the present application further provides a cleaning system. The cleaning system comprises a cleaning robot and a base station, wherein the base station comprises a base body, a receiving mechanism arranged on the base body and having a receiving cavity, wherein the receiving cavity is configured to receive the garbage from the cleaning robot, and a conveying mechanism comprising a transfer bin arranged on the base body in a liftable manner, wherein the transfer bin is configured to ascend to a first set position after receiving the garbage from the cleaning robot to transfer the garbage from the transfer bin to the receiving cavity.

[0014] In an embodiment of the present application, the cleaning robot has a dust collecting box, and the base station further comprises a triggering device arranged on the base body and configured to sense whether the cleaning robot reaches a second set position, and an opening device arranged on the base body, wherein when the triggering device senses that the cleaning robot reaches the second set position, the opening device is triggered to open the dust collecting box, so that the garbage in the dust collecting box is conveyed to the conveying mechanism.

[0015] In an embodiment of the present application, the dust collecting box comprises a base and a cover plate movably arranged on the base, wherein the base has a dust outlet, and the cover plate is configured to close or open the dust outlet, and the opening device comprises an opening member rotatably arranged on the base body, wherein the triggering device is configured to trigger the opening member to rotate, so that the opening member drives the cover plate to open the dust outlet, and the garbage in the base is conveyed to the conveying mechanism through the dust outlet.

[0016] In an embodiment of the present application, the triggering device comprises a triggering mechanism configured to sense whether the cleaning robot reaches the second set position, and a linkage mechanism in driving connection with the triggering mechanism, wherein when the triggering mechanism senses that the cleaning robot reaches the second set position, the triggering mechanism triggers the opening device through the linkage mechanism.

[0017] In one embodiment of this application, the linkage mechanism includes a linkage lever; the linkage lever has a force-receiving part, a rotating part, and a transmission part; the force-receiving part is connected to the triggering mechanism for transmission, the rotating part is rotatably disposed on the base station body, and the transmission part is used to trigger the cover opening device; wherein, when the triggering mechanism senses that the cleaning robot has reached the second set position, the triggering mechanism drives the force-receiving part to rotate around the rotating part, so as to drive the transmission part to rotate around the rotating part, thereby triggering the cover opening device.

[0018] Accordingly, this application also provides a control method for a base station. The base station includes: a base station body; a storage mechanism disposed in the base station body and having a storage cavity; a transport mechanism including a transfer compartment disposed in the base station body in a lifting manner; the control method includes: controlling the transfer compartment to receive garbage from a cleaning robot; controlling the transfer compartment to rise to a first predetermined position to transfer the garbage to the storage cavity through the transfer compartment.

[0019] In one embodiment of this application, before the step of controlling the transfer compartment to receive garbage from the cleaning robot, the method includes: in response to the cleaning robot reaching a second set position, opening the dust collection box on the cleaning robot, so that the garbage in the dust collection box is transferred to the transfer compartment.

[0020] The beneficial effects of this application are as follows: Unlike existing technologies, this application provides a base station and its control method, as well as a cleaning system. The base station's transport mechanism includes a transfer compartment that is vertically and flexibly disposed within the base station body. The transfer compartment is configured to rise to a first predetermined position after receiving waste from the cleaning robot, thereby transferring the waste to the collection cavity of the collection mechanism, achieving automatic cleaning by the cleaning robot. This application's fully automatic cleaning robot method solves the problems of poor operability, low cleaning efficiency, and poor hygiene associated with manual cleaning methods. It also helps to improve the automation level and technological sophistication of the cleaning robot.

[0021] Furthermore, unlike the existing technology that uses a fan for suction, the automatic cleaning solution of this application for the cleaning robot does not have special requirements for the sealing degree of the dust collection box. Therefore, the automatic cleaning solution of this application has a wide range of applications and can be used for dust collection boxes with different sealing degrees. In addition, this application does not involve the connection between the dust collection box and the fan duct, so there are no requirements for the sealing degree of the interface between the dust collection box and the fan duct. This means that the manufacturing precision requirements of the relevant equipment components involved in the automatic cleaning solution of this application are lower, and the manufacturing error tolerance of the relevant equipment components involved in the automatic cleaning solution of this application is higher, which also means that the cost of the automatic cleaning solution of this application is lower. In addition, this application uses a rising transfer chamber to transfer garbage, avoiding the need for the cleaning robot to rise. This further means that the automatic cleaning solution of this application has a wide range of applications, not only applicable to small cleaning robots, but also to medium and large cleaning robots. Attached Figure Description

[0022] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the embodiments description will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without any creative effort on the basis of these drawings.

[0023] Figure 1 is a structural schematic diagram of a first embodiment of a cleaning system of the present application;

[0024] Figure 2 is a structural schematic diagram of another state of the cleaning system shown in Figure 1

[0025] Figure 3 is a structural schematic diagram of an embodiment of a dust collecting box of the present application;

[0026] Figure 4 is an exploded structural schematic diagram of the dust collecting box shown in Figure 3

[0027] Figure 5 is a structural schematic diagram of an embodiment of a linkage lever of the present application;

[0028] Figure 6 is a structural schematic diagram of a second embodiment of a cleaning system of the present application;

[0029] Figure 7 is a structural schematic diagram of another state of the cleaning system shown in Figure 6

[0030] Figure 8 is a structural schematic diagram of an embodiment of a pull rope and a sheath of the present application;

[0031] Figure 9 is a structural schematic diagram of a third embodiment of a cleaning system of the present application;

[0032] Figure 10 is a structural schematic diagram of another state of the cleaning system shown in Figure 9

[0033] Figure 11 is a structural schematic diagram of a fourth embodiment of a cleaning system of the present application;

[0034] Figure 12 is a structural schematic diagram of another state of the cleaning system shown in Figure 11

[0035] Figure 13 is a flow schematic diagram of an embodiment of a control method of a base station of the present application.

[0036] BRIEF DESCRIPTION OF THE DRAWINGS​​​​​

[0037] 10 cleaning robot, 11 dust collection box, 111 base, 112 cover plate, 113 dust removal port, 20 base station, 21 base station main body, 22 cover opening piece, 221 connecting part, 222 cover opening part, 30 trigger device, 31 trigger mechanism, 311 trigger rod, 312 pull rope, 313 pulley set, 314 sheath, 315 touch plate, 316 pressing plate, 32 linkage mechanism, 321 linkage lever, 322 force receiving part, 323 rotating part, 324 transmission part, 40 storage mechanism, 41 storage cavity, 50 conveying mechanism, 51 transfer bin, 52 limiting piece, 54 lifting assembly, 541 driving piece, 542 transmission piece, 55 conveying belt. DETAILED DESCRIPTION

[0038] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by a person skilled in the art without creative work fall within the scope of protection of the present application. In addition, it should be understood that the specific embodiments described herein are only used to illustrate and explain the present application, and are not used to limit the present application. In the present application, the orientation words such as "upper", "lower", "left", "right" generally refer to the upper, lower, left and right of the device in the actual use or working state, and specifically refer to the drawing surface direction in the drawings.

[0039] The present application provides a base station and a control method thereof, and a cleaning system, which are described in detail below. It should be noted that the description order of the following embodiments is not used to limit the preferred order of the embodiments of the present application. Moreover, in the following embodiments, the description of each embodiment has its own emphasis, and the parts not described in detail in a certain embodiment can be referred to the related description of other embodiments.

[0040] In the prior art, a cleaning robot usually needs to be regularly cleaned to the base station to clean the garbage in the dust collection box. At present, for the dust collection box with high sealing degree, such as the closed dust collection box, the garbage in the dust collection box is usually cleaned by using the fan suction method. The main problems of cleaning the dust collection box by using the fan suction method are as follows: 1. The sealing degree of the dust collection box is required to be high, which cannot effectively clean the dust collection box with poor sealing degree, which means that the application scene of the fan suction method is limited, and the structure design of the dust collection box is limited to a certain extent; 2. In the process of cleaning the dust collection box by using the fan suction method, there is an action of connecting the dust collection box and the fan pipeline, which requires high sealing degree of the interface between the dust collection box and the fan pipeline, resulting in high manufacturing precision requirement of the equipment parts, low manufacturing fault tolerance of the equipment parts, and high cost.

[0041] Currently, the dust collection box with poor sealing, such as the open dust collection box, usually needs to be cleaned manually by the user. The main problems of the user manually cleaning the dust collection box are as follows: 1. The dust collection box is generally located below the cleaning robot, resulting in a small operable space between the dust collection box and the base station, and the user needs to lower the body posture to clean the dust collection box, which means that the user manually cleaning the dust collection box is poor in operability and low in cleaning efficiency; 2. Due to the bacteria breeding in the dust collection box, the user needs to close contact with the dust collection box when manually cleaning the dust collection box, which means that the user manually cleaning the dust collection box is poor in hygiene; 3. The user manually cleaning the dust collection box means that the product is low in automation and poor in technology.

[0042] Therefore, the base station of the cleaning robot and the control method thereof and the cleaning system provided in the embodiments of the present application can solve the problems of high equipment cost and limited application scenarios caused by the fan suction method for cleaning the dust collection box in the prior art, and can also solve the problems of poor operability, low cleaning efficiency and poor hygiene of the manual cleaning method in the prior art, and can help to improve the product automation of the cleaning robot and enhance the technology of the cleaning robot. The following will be described in detail.

[0043] Please refer to Figure 1 and Figure 2 , Figure 1 is a structural schematic diagram of a cleaning system according to the first embodiment of the present application, Figure 2 is a structural schematic diagram of another state of the cleaning system shown in Figure 1 .

[0044] In an embodiment, the cleaning robot 10 has cleaning functions such as washing, mopping and sweeping. The cleaning robot 10 has a dust collection box 11, and the cleaning robot 10 stores the collected garbage in the dust collection box 11 during the cleaning process, so as to facilitate the centralized cleaning of the collected garbage. Of course, the cleaning robot 10 can be applied to clean the surface of an article, a wall, a window glass, etc. in addition to cleaning the ground, which is not limited herein.

[0045] The cleaning robot 10 is equipped with a base station 20, and the base station 20 is used to assist the cleaning robot 10 in daily cleaning work. In the present embodiment, the base station 20 is specifically applied to clean the dust collection box 11 of the cleaning robot 10, and specifically, when the cleaning robot 10 enters the base station 20 and reaches a second set position (as shown in S of Figure 2 , the same below), the base station 20 opens the dust collection box 11, so that the garbage in the dust collection box 11 is cleaned by the base station 20.

[0046] Specifically, the base station 20 comprises a base station body 21. The base station body 21, as its name implies, is the main body of the base station 20, and is installed with various components required by the base station 20, including the components required for cleaning the dust collecting box 11.

[0047] The base station 20 further comprises a receiving mechanism 40. The receiving mechanism 40 is arranged on the base station body 21, and the receiving mechanism 40 has a receiving cavity 41 for receiving the garbage from the cleaning robot 10, specifically for receiving the garbage from the dust collecting box 11 of the cleaning robot 10. The base station 20 of the embodiment can collect the garbage of the cleaning robot 10 through the receiving mechanism 40, and the user only needs to clean the garbage in the receiving mechanism 40 regularly, which can improve the convenience of use for the user.

[0048] Further, the receiving mechanism 40 can be a garbage can with full-automatic packaging function or semi-automatic packaging function. The packaging function is within the understanding of those skilled in the art, and will not be described here. Of course, the receiving mechanism 40 can also be a common garbage can without packaging function, which is not limited here.

[0049] The base station 20 further comprises a conveying mechanism 50. The conveying mechanism 50 is arranged on the base station body 21, and the garbage from the cleaning robot 10 is conveyed to the receiving mechanism 40 through the conveying mechanism 50. Specifically, when the cleaning robot 10 enters the base station 20 and reaches the second set position, the base station 20 opens the dust collecting box 11, the garbage in the dust collecting box 11 is conveyed to the conveying mechanism 50, and then is conveyed to the receiving mechanism 40 through the conveying mechanism 50, so that the garbage from the cleaning robot 10 is received in the receiving cavity 41 of the receiving mechanism 40.

[0050] Further, the base station 20 further comprises a triggering device 30. The triggering device 30 is arranged on the base station body 21, and the triggering device 30 is used to sense whether the cleaning robot 10 reaches the second set position in the base station 20, so as to trigger the base station 20 to clean the dust collecting box 11 of the cleaning robot 10 when the cleaning robot 10 reaches the second set position. The second set position should be understood as the position of the cleaning robot 10 in the base station 20 when the base station 20 can normally clean the dust collecting box 11.

[0051] The base station 20 further comprises an uncapping device. The uncapping device is arranged on the base station body 21. When the triggering device 30 senses that the cleaning robot 10 reaches the second set position, the uncapping device is triggered to open the dust collecting box 11.

[0052] Please refer to Figure 3 and Figure 4 , the uncapping device of the embodiment of the application is described below.

[0053] In one embodiment, the dust collection box 11 can be a closed dust collection box or an open dust collection box. Specifically, the dust collection box 11 includes a base 111 and a cover 112 movably disposed on the base 111. The base 111 has a chamber for storing waste, mainly for storing waste collected by the cleaning robot 10 into the dust collection box 11. The base 111 has a dust removal port 113 through which waste in the base 111 is discharged. The cover 112 can close or open the dust removal port 113. When the dust collection box 11 does not need to be cleaned, the cover 112 keeps the dust removal port 113 closed to prevent waste leakage from the dust collection box 11. When the dust collection box 11 needs to be cleaned, the cover 112 opens the dust removal port 113.

[0054] The cover opening device includes a cover opening component 22. The cover opening component 22 is rotatably mounted on the base station body 21. When the triggering device 30 senses that the cleaning robot 10 has reached the set position, it triggers the cover opening component 22 to rotate, causing the cover opening component 22 to drive the cover plate 112 to move relative to the base 111, thereby opening the dust removal port 113.

[0055] In this embodiment, regardless of whether the dust collection box 11 of the cleaning robot 10 is a closed dust collection box or an open dust collection box, the base station 20 can drive the cover plate 112 to open the dust removal port 113 to clean the dust collection box 11. That is, the method of cleaning the dust collection box 11 provided by the base station 20 in this embodiment has a wide range of applicable scenarios. It can be applied not only to the application scenario of cleaning closed dust collection boxes, but also to the application scenario of cleaning open dust collection boxes.

[0056] Furthermore, in this embodiment, by driving the cover plate 112 to open the dust removal port 113, the internal space of the dust collection box 11 is exposed as much as possible, which is beneficial for cleaning the dust collection box 11 and thus improves the cleaning effect of the dust collection box 11. In addition, the method of driving the cover plate 112 to open the dust removal port 113 by the cover opening member 22 in this embodiment can be applied not only to the automatic cleaning scheme of the dust collection box 11, that is, the cover opening member 22 is triggered by the triggering device 30 to drive the cover plate 112 to open the dust removal port 113, but also to the manual cleaning scheme of the dust collection box 11, that is, the user can manually trigger the cover opening member 22 to drive the cover plate 112 to open the dust removal port 113.

[0057] Furthermore, the cover 112 of the dust collection box 11 is preferably rotatably disposed on the base 111, that is, the cover 112 can rotate relative to the base 111 to close or open the dust collection port 113. Specifically, when the cover 112 rotates toward the dust collection port 113, the cover 112 can close the dust collection port 113, and when the cover 112 rotates away from the dust collection port 113, the cover 112 can open the dust collection port 113. In this embodiment, the opening member 22 is triggered to rotate by the triggering device 30, so that the opening member 22 pushes the cover 112 to rotate away from the dust collection port 113, so that the cover 112 opens the dust collection port 113.

[0058] Of course, in other embodiments of this application, the opening device is not limited to the opening member 22. For example, the opening device can interact with the cleaning robot 10 via signals to drive the cover plate 112 to move relative to the base 111 and open the dust removal port 113. This is not limited here. The embodiments of this application use the opening member 22 as an example for illustration only, and are not intended to limit the specific design of the opening device.

[0059] In one embodiment, the cover opening member 22 has a connecting portion 221 and an opening portion 222. The connecting portion 221 is rotatably disposed on the base station body 21, and the opening portion 222 is capable of rotating around the connecting portion 221. During the rotation of the opening portion 222, the opening portion 222 abuts against the cover plate 112 and drives the cover plate 112 to move away from the dust removal port 113, thereby opening the dust removal port 113. Specifically, when the triggering device 30 senses that the cleaning robot 10 has reached the set position, it triggers the opening portion 222 of the cover opening member 22 to rotate around the connecting portion 221, causing the opening portion 222 to abut against the cover plate 112 of the dust collection box 11 and move the cover plate 112 away from the dust removal port 113, thereby opening the dust removal port 113.

[0060] Furthermore, the opening portion 222 and the connecting portion 221 of the cover opening member 22 are arranged sequentially along the departure direction of the cleaning robot 10. The departure direction of the cleaning robot 10 should be understood as the direction in which the cleaning robot 10 moves away from the base station 20. The cover plate 112 of the dust collection box 11 is configured to rotate in the departure direction away from the dust removal port 113, thereby opening the dust removal port 113. When the cleaning robot 10 reaches the set position, the triggering device 30 triggers the opening portion 222 to rotate in the departure direction and abut against the cover plate 112, thereby causing the cover plate 112 to rotate in the departure direction away from the dust removal port 113, thereby opening the dust removal port 113. In this way, the present embodiment sets the opening portion 222 to rotate in the departure direction to drive the cover plate 112 to open the dust removal port 113, which is beneficial for arranging the triggering device 30 and the opening device in the base station 20, making the structure of the base station 20 compact.

[0061] The triggering device 30 of the present application embodiment will be described below.

[0062] In one embodiment, the triggering device 30 includes a triggering mechanism 31 and a linkage mechanism 32. The triggering mechanism 31 is used to sense whether the cleaning robot 10 has reached the set position. The triggering mechanism 31 is connected to the cover opening member 22 via the linkage mechanism 32. When the triggering mechanism 31 senses that the cleaning robot 10 has reached the set position, the triggering mechanism 31 drives the cover opening member 22 to rotate via the linkage mechanism 32, so that the cover opening member 22 drives the cover plate 112 to open the dust removal port 113.

[0063] In this embodiment, in response to the triggering mechanism 31 sensing that the cleaning robot 10 has reached the set position, the linkage mechanism 32 mechanically triggers the opening component 22 to rotate, thereby driving the cover 112 to open the dust removal port 113. Of course, in other embodiments of this application, the triggering device 30 can also trigger the opening component 22 to rotate through signal interaction, for example, when the triggering device 30 senses that the cleaning robot 10 has reached the set position, the triggering device 30 responds to the relevant command signal and directly drives the opening component 22 to rotate through a motor or other power component. This embodiment, by triggering the opening component 22 to rotate through the linkage mechanism 32, eliminates the control logic of signal interaction, which helps simplify the working control logic of the base station 20 and thus reduces the control cost of the base station 20. This embodiment uses the method of triggering the opening component 22 to rotate through the linkage mechanism 32 as an example for illustrative purposes only and is not intended to limit the scope of the application.

[0064] Please refer to the following: Figure 5 , Figure 5 This is a schematic diagram of the structure of an embodiment of the linkage lever of this application.

[0065] In one embodiment, the linkage mechanism 32 includes a linkage lever 321. The triggering mechanism 31 is connected to the cover opening member 22 via the linkage lever 321 to trigger the cover opening member 22 to rotate and drive the cover plate 112 to open the dust removal port 113. Specifically, the linkage lever 321 has a force-receiving part 322, a rotating part 323, and a transmission part 324. The force-receiving part 322 is connected to the triggering mechanism 31, the rotating part 323 is rotatably disposed on the base station body 21, and the transmission part 324 is connected to the cover opening member 22.

[0066] When the triggering mechanism 31 senses that the cleaning robot 10 has reached the set position, the triggering mechanism 31 drives the force-receiving part 322 to rotate around the rotating part 323, thereby driving the transmission part 324 to rotate around the rotating part 323. That is, the linkage lever 321 rotates as a whole around the rotating part 323, causing the transmission part 324 to drive the opening part 22 to rotate. For example, Figure 1 and Figure 2 As shown, the triggering mechanism 31 drives the force-receiving part 322 toward... Figure 1 and Figure 2 The downward rotation causes the transmission part 324 to move towards... Figure 1 andFigure 2 The lever 321 rotates clockwise around the rotating part 323 as the fulcrum. The transmission part 324 drives the opening part 22 to rotate in the direction of exiting the station, and drives the cover plate 112 to rotate in the direction of exiting the station, so as to open the dust removal port 113.

[0067] Furthermore, considering that the dust collection box 11 is usually located below the entire cleaning robot 10, the operating space at the location of the dust collection box 11 is relatively small. Therefore, in this embodiment, the force-receiving part 322 and the rotating part 323 form a first lever arm L1, and the transmission part 324 and the rotating part 323 form a second lever arm L2. The first lever arm L1 is smaller than the second lever arm L2. In this way, the linkage lever 321 in this embodiment can achieve stroke amplification; that is, the force-receiving part 322 only needs to rotate a small stroke to allow the transmission part 324 to have a large rotational stroke, ensuring that the transmission part 324 can drive the opening member 22 to open the cover 112 of the dust collection box 11. This means that this embodiment can still trigger the cover 112 to open the dust removal port 113 even in a small operating space, solving the problem of difficulty in opening and cleaning the dust collection box 11 due to the small operating space.

[0068] It should be noted that, since the first lever arm L1 formed by the force-receiving part 322 and the rotating part 323 in this embodiment is smaller than the second lever arm L2 formed by the transmission part 324 and the rotating part 323, after the cleaning robot 10 leaves the base station 20, the linkage lever 321 between the transmission part 324 and the rotating part 323 will at least move towards its own weight. Figure 1 and Figure 2 As it rotates downwards, the linkage lever 321 rotates counterclockwise around the rotating part 323 as a fulcrum to reset, and the cover opening part 22 also moves downwards under its own weight. Figure 1 and Figure 2 The bottom rotates and resets, causing the cover 112 of the dust collection box 11 to re-close the dust collection port 113.

[0069] Of course, in other embodiments of this application, a reset elastic element, such as a torsion spring, may also be provided on the linkage lever 321 and the cover opening member 22 to drive the linkage lever 321 and the cover opening member 22 to reset, which is not limited here.

[0070] In one embodiment, the triggering mechanism 31 includes a contact rod 311 and a pull cord 312. The contact rod 311 is telescopically mounted on the base station body 21. One end of the pull cord 312 is connected to the contact rod 311, and the other end is connected to the force-receiving part 322. Specifically, the pull cord 312 is connected to the end of the contact rod 311 that is away from the cleaning robot 10.

[0071] During the process of the cleaning robot 10 returning to the base station 20 until it reaches the set position, the cleaning robot 10 contacts the contact rod 311 and drives the contact rod 311 to retract into the base station body 21. The contact rod 311 pulls the pull rope 312, which in turn pulls the force-receiving part 322 to rotate around the rotating part 323. The force-receiving part 322 drives the transmission part 324 to rotate around the rotating part 323, which in turn drives the opening part 22 to rotate, thereby causing the opening part 22 to drive the cover plate 112 to open the dust removal port 113. After the cleaning robot 10 leaves the base station 20, the contact rod 311 extends out of the base station body 21 and returns to its original position. Furthermore, during the counterclockwise rotation of the linkage lever 321 to reset, the linkage lever 321 pulls the contact rod 311 back out of the base station body 21 via the pull rope 312 to reset; or, the contact rod 311 may be equipped with a reset elastic element, such as a spring, which provides elastic restoring force to drive the contact rod 311 back out of the base station body 21 to reset.

[0072] For example, such as Figure 2 As shown, the pull rope 312 pulls the force-receiving part 322 towards... Figure 2 The downward rotation causes the transmission part 324 to move towards... Figure 2 The lever 321 rotates clockwise around the rotating part 323, causing the transmission part 324 to drive the opening part 22 to rotate, which in turn causes the opening part 22 to drive the cover plate 112 to open the dust removal port 113. The contact rod 311 extends along the exit direction of the cleaning robot 10, and the contact rod 311 can extend out of the base station body 21 along this exit direction, or retract into the base station body 21 in the opposite direction of the exit direction. Since the position of the contact rod 311 is higher than that of the lever 321, the pull rope 312 bends and extends from the lever 321 to the contact rod 311.

[0073] Through the above method, this embodiment provides an easily implemented triggering mechanism 31. The triggering mechanism 31 in this embodiment has a simple structure and is easy to implement. The triggering mechanism 31 triggers the cover opening component 22 to drive the cover plate 112 to open the dust removal port 113. Compared with triggering the cover opening component 22 through signal interaction, in this embodiment, the action of the cleaning robot 10 returning to the base station 20 and reaching the set position can trigger the rotation of the linkage lever 321, thereby triggering the cover opening component 22. This embodiment eliminates the control logic of signal interaction, which helps to simplify the working control logic of the base station 20 and thus reduce the control cost of the base station 20.

[0074] In one exemplary embodiment, the triggering mechanism 31 further includes a pulley assembly 313. The pulley assembly 313 is disposed on the base station body 21, and the pull rope 312 is connected to the force-receiving part 322 through the pulley assembly 313. During the process of the cleaning robot 10 returning to the base station 20 until it reaches the set position, the cleaning robot 10 abuts against the touch rod 311 and drives the touch rod 311 to retract into the base station body 21. The touch rod 311 pulls the pull rope 312, and the pull rope 312 pulls the force-receiving part 322 to rotate around the rotating part 323 through the pulley assembly 313. The force-receiving part 322 drives the transmission part 324 to rotate around the rotating part 323, so that the transmission part 324 drives the cover opening member 22 to rotate, thereby causing the cover opening member 22 to drive the cover plate 112 to open the dust removal port 113.

[0075] In this embodiment, by setting up a pulley block 313, the movement of the pull rope 312 is guided by the pulley block 313. This helps to ensure that the pull rope 312 stably pulls the force-bearing part 322 to rotate, thereby ensuring that the opening member 22 is reliably triggered by the contact rod 311 and the pull rope 312 in this embodiment. For example, Figure 1 and Figure 2 The diagram shows a pulley block 313 consisting of four pulleys. Since the contact rod 311 is positioned higher than the linkage lever 321, the pull rope 312 passes through each pulley in sequence and extends from the linkage lever 321 to the contact rod 311 after bending.

[0076] Please refer to the following: Figure 6 and Figure 8 , Figure 6 This is a schematic diagram of the structure of the second embodiment of the cleaning system of this application. Figure 7 yes Figure 6 The diagram shows another state of the cleaning system. Figure 8 This is a structural schematic diagram of an embodiment of the pull rope and sheath of this application.

[0077] In another exemplary embodiment, the triggering mechanism 31 further includes a sheath 314. The sheath 314 is disposed on the base station body 21 and wraps around the outer periphery of the pull rope 312. During the process of the cleaning robot 10 returning to the base station 20 until it reaches the set position, the cleaning robot 10 abuts against the touch rod 311 and drives the touch rod 311 to retract into the base station body 21. The touch rod 311 pulls the pull rope 312, and the pull rope 312 slides relative to the sheath 314 in the sheath 314, thereby pulling the force-receiving part 322 to rotate around the rotating part 323. The force-receiving part 322 drives the transmission part 324 to rotate around the rotating part 323, so that the transmission part 324 drives the opening member 22 to rotate, thereby causing the opening member 22 to drive the cover plate 112 to open the dust removal port 113.

[0078] In this embodiment, by setting a protective sleeve 314, the movement of the pull rope 312 is guided by the protective sleeve 314, which helps to ensure that the pull rope 312 stably pulls the force-bearing part 322 to rotate, thereby ensuring that the opening member 22 is reliably triggered by the contact rod 311 and the pull rope 312 in this embodiment. For example, Figure 6 and Figure 7 The illustration shows the case where the sheath 314 bends and extends on the base station body 21. Since the position of the contact rod 311 is higher than that of the linkage lever 321, the pull rope 312 passes through the sheath 314 and bends and extends from the linkage lever 321 to the contact rod 311.

[0079] Furthermore, the triggering mechanism 31 also includes a pressure plate 316, and the sheath 314 is fixed to the base station body 21 by the pressure plate 316. For example, such as Figure 6 As shown, the end of the sheath 314 near the contact rod 311 and the end near the linkage lever 321 are both fixed to the base station body 21 by pressure plates 316. Of course, in other embodiments of this application, pressure plates 316 may be provided at other locations on the sheath 314, which is not limited here.

[0080] Please refer to the following: Figure 9 and Figure 10 , Figure 9 This is a schematic diagram of the structure of the third embodiment of the cleaning system of this application. Figure 10 yes Figure 9 The diagram shows another state of the cleaning system.

[0081] In one embodiment, the triggering mechanism 31 includes a touch plate 315. The touch plate 315 is disposed on the force-receiving portion 322 of the linkage lever 321. When the cleaning robot 10 has not reached the set position, the touch plate 315 protrudes to the outside of the base station body 21. During the process of the cleaning robot 10 returning to the base station 20 until it reaches the set position, the cleaning robot 10 presses against the touch plate 315, causing the force-receiving portion 322 to rotate around the rotating portion 323. The force-receiving portion 322 drives the transmission portion 324 to rotate around the rotating portion 323, so that the transmission portion 324 drives the opening member 22 to rotate, thereby causing the opening member 22 to drive the cover plate 112 to open the dust removal port 113. After the cleaning robot 10 leaves the base station 20, with the counterclockwise rotation of the linkage lever 321, the touch plate 315 is reset with the movement of the force-receiving portion 322 of the linkage lever 321, that is, the touch plate 315 protrudes to the outside of the base station body 21 again.

[0082] For example, such as Figure 10 As shown, the cleaning robot 10 presses against the contact plate 315, causing the force-bearing part 322 to move towards... Figure 10 The downward rotation causes the transmission part 324 to face... Figure 10The upper part rotates, that is, the linkage lever 321 rotates clockwise around the rotating part 323, which causes the transmission part 324 to drive the opening part 22 to rotate, and then the opening part 22 drives the cover plate 112 to open the dust removal port 113.

[0083] Through the above method, this embodiment provides an easily implemented triggering mechanism 31. The triggering mechanism 31 in this embodiment has a simple structure and is easy to implement. The triggering mechanism 31 triggers the cover opening component 22 to drive the cover plate 112 to open the dust removal port 113. Compared with triggering the cover opening component 22 through signal interaction, in this embodiment, the action of the cleaning robot 10 returning to the base station 20 and reaching the set position can trigger the rotation of the linkage lever 321, thereby triggering the cover opening component 22. This embodiment eliminates the control logic of signal interaction, which helps to simplify the working control logic of the base station 20 and thus reduce the control cost of the base station 20.

[0084] Please refer to the following: Figure 11 and Figure 12 , Figure 11 This is a structural schematic diagram of the fourth embodiment of the cleaning system of this application. Figure 12 yes Figure 11 The diagram shows another state of the cleaning system. The transport mechanism 50 of this embodiment will be described below.

[0085] In one embodiment, the transport mechanism 50 includes a transfer compartment 51. The transfer compartment 51 is vertically and flexibly disposed on the base station body 21, and is configured to rise to a first predetermined position (e.g., after receiving waste from the cleaning robot 10). Figure 12 As shown in the middle T (the same below), the garbage is transferred to the collection chamber 41 through the transfer warehouse 51.

[0086] Specifically, to accommodate the waste transfer method of the transfer chamber 51, the entrance of the collection cavity 41 of the collection mechanism 40 is usually set upwards, and to ensure that the collection cavity 41 has sufficient volume to centrally collect the waste from the cleaning robot 10, the entrance of the collection cavity 41 is often located at a high position. When the cleaning robot 10 enters the base station 20 and reaches the second set position, the base station 20 opens the dust collection box 11, and the waste in the dust collection box 11 is transported to the transfer chamber 51. The transfer chamber 51 rises to the first set position, and the waste is transferred through the entrance of the collection cavity 41 into the collection cavity 41, so that the waste from the cleaning robot 10 is collected in the collection cavity 41 of the collection mechanism 40. After the waste in the transfer chamber 51 is emptied, the transfer chamber 51 descends back to its original position so that the transfer chamber 51 can receive the waste from the cleaning robot 10 again.

[0087] In this embodiment, after the transfer chamber 51 receives the garbage from the cleaning robot 10, it rises to a first predetermined position, so that the garbage is transferred to the storage cavity 41 of the storage mechanism 40 through the transfer chamber 51, thereby realizing the automatic cleaning of the cleaning robot 10. The fully automatic cleaning method of the cleaning robot 10 in this embodiment can solve the problems of poor operability, low cleaning efficiency and poor hygiene of manual cleaning methods, and at the same time, it is conducive to improving the automation level of the cleaning robot 10 and enhancing the technological feel of the cleaning robot 10.

[0088] Furthermore, unlike the existing technology's fan suction method, the automatic cleaning solution of the cleaning robot 10 in this embodiment has no special requirements for the sealing degree of the dust collection box 11. Therefore, the automatic cleaning solution of this embodiment is widely applicable and can be used for dust collection boxes 11 with different sealing degrees, such as closed dust collection boxes 11 and open dust collection boxes 11. In addition, this embodiment does not involve the dust collection box 11 connecting with the fan duct, so there are no requirements for the sealing degree of the interface between the dust collection box 11 and the fan duct. This means that the manufacturing precision requirements of the related equipment components involved in the automatic cleaning solution are low, and the manufacturing error tolerance of the related equipment components involved in the automatic cleaning solution of this embodiment is high, which also means that the cost of the automatic cleaning solution of this embodiment is low. In addition, this embodiment uses the rising transfer chamber 51 to transfer garbage, avoiding the lifting of the cleaning robot 10. This further means that the automatic cleaning solution of this embodiment is widely applicable and can be used not only for small cleaning robots 10, but also for medium and large cleaning robots 10.

[0089] It should be noted that in this embodiment, the dust collection box 11 on the cleaning robot 10 can be opened using the opening device, allowing the waste in the dust collection box 11 to be dumped into the conveying mechanism 50 under its own weight, and then transferred to the collection mechanism 40 via the transfer chamber 51. Of course, in other embodiments of this application, the waste in the dust collection box 11 can also be sucked into the conveying mechanism 50 by a fan, and then transferred to the collection mechanism 40 via the transfer chamber 51; this is not limited here.

[0090] In one embodiment, the transfer chamber 51 is also rotatably mounted on the base station body 21. When the cleaning robot 10 enters the base station 20 and reaches the second predetermined position, the base station 20 opens the dust collection box 11, and the garbage in the dust collection box 11 is transported to the transfer chamber 51. After the transfer chamber 51 rises to the first predetermined position, it rotates towards the receiving mechanism 40, causing the transfer chamber 51 to tilt as a whole, so that the garbage in the transfer chamber 51 is dumped into the receiving cavity 41 at least under its own gravity. After the garbage in the transfer chamber 51 is emptied, the transfer chamber 51 descends back to its original position, and rotates away from the receiving mechanism 40 to a horizontal state, so that the transfer chamber 51 can receive garbage from the cleaning robot 10 again.

[0091] Of course, in other embodiments of this application, the transfer chamber 51 is not limited to a rotatable design. For example, a conveyor belt can be installed in the transfer chamber 51. After the transfer chamber 51 rises to the first predetermined position, it does not rotate, but the waste in the transfer chamber 51 is transported to the collection mechanism 40 by the conveyor belt. This application uses a rotatable design for the transfer chamber 51 as an example for illustration only, and is not intended to limit the scope of the application.

[0092] Furthermore, the conveying mechanism 50 also includes a limiting member 52. The limiting member 52 is disposed on the base station body 21. When the transfer compartment 51 rises to the first set position, the transfer compartment 51 abuts against the limiting member 52, causing the transfer compartment 51 to rotate toward the receiving mechanism 40. Specifically, when the cleaning robot 10 enters the base station 20 and reaches the second set position, the base station 20 opens the dust collection box 11, and the garbage in the dust collection box 11 is transported to the transfer compartment 51. During the process of the transfer compartment 51 rising to the first set position, the side of the transfer compartment 51 facing the receiving mechanism 40 abuts against the limiting member 52. Under the restriction of the limiting member 52, the transfer compartment 51 rotates toward the receiving mechanism 40, causing the transfer compartment 51 to tilt as a whole, so that the garbage in the transfer compartment 51 is dumped into the receiving cavity 41 at least under its own gravity.

[0093] Preferably, the limiting member 52 is located on the side of the conveying mechanism 50 (specifically, the lifting assembly 54 described below) facing the receiving mechanism 40. In this way, as the transfer chamber 51 rises, the side of the transfer chamber 51 facing the receiving mechanism 40 abuts against the limiting member 52. Under the constraint of the limiting member 52, the transfer chamber 51 rotates towards the receiving mechanism 40, causing the entire transfer chamber 51 to tilt, so that the waste in the transfer chamber 51 is poured into the receiving cavity 41 at least under its own gravity. In other words, by setting the limiting member 52 on the side of the conveying mechanism 50 facing the receiving mechanism 40 in this embodiment, it is relatively easy to make the transfer chamber 51 rotate as it rises, thereby pouring the waste in the transfer chamber 51 into the receiving cavity 41.

[0094] Of course, in other embodiments of this application, the limiting member 52 may also be located on the side of the transport mechanism 50 away from the storage mechanism 40. During the upward movement of the transfer compartment 51, the transfer compartment 51 first passes through the first set position, at which point the transfer compartment 51 avoids the limiting member 52. After the transfer compartment 51 passes through the first set position, it descends back to the first set position. At this time, the bottom of the transfer compartment 51 will abut against the limiting member 52, causing the transfer compartment 51 to rotate toward the storage mechanism 40. This is not limited here.

[0095] Furthermore, the transport mechanism 50 also includes a reset elastic element. The reset elastic element is connected to the transfer compartment 51 and is used to drive the transfer compartment 51 to rotate away from the storage mechanism 40 to reset.

[0096] Specifically, when the cleaning robot 10 enters the base station 20 and reaches the second preset position, the base station 20 opens the dust collection box 11, and the garbage in the dust collection box 11 is transported to the transfer chamber 51. After the transfer chamber 51 rises to the first preset position, it rotates towards the storage mechanism 40, causing the transfer chamber 51 to tilt as a whole, so that the garbage in the transfer chamber 51 is dumped into the storage chamber 41 under its own gravity. After the garbage in the transfer chamber 51 is emptied, the transfer chamber 51 descends back to its original position, and the elastic restoring force provided by the reset elastic element drives the transfer chamber 51 to rotate away from the storage mechanism 40 to a horizontal state, so that the transfer chamber 51 can receive garbage from the cleaning robot 10 again and can dump garbage again by rotating towards the storage mechanism 40.

[0097] Optionally, the reset elastic element can be a torsion spring, etc., which is not limited here.

[0098] In one embodiment, the conveying mechanism 50 further includes a lifting assembly 54. The lifting assembly 54 is connected to the transfer chamber 51 via a transmission connection. The lifting assembly 54 is used to drive the transfer chamber 51 to rise to a first set position. Furthermore, the lifting assembly 54 is also used to drive the transfer chamber 51 to descend back to its original position after the garbage in the transfer chamber 51 has been emptied.

[0099] Specifically, the lifting assembly 54 includes a driving component 541 and a transmission component 542. The transmission component 542 is connected to both the driving component 541 and the transfer chamber 51. The driving component 541 drives the transfer chamber 51 to rise to a first preset position and lowers it back to its original position via the transmission component 542. For example, the driving component 541 can be a motor, etc., and the transmission component 542 can be a lead screw, etc. The transmission component 542 and the transfer chamber 51 are connected by a threaded transmission. The driving component 541 drives the transmission component 542 to rotate, thereby driving the transfer chamber 51 to move along the transmission component 542, and thus driving the transfer chamber 51 to rise to the first preset position and lower it back to its original position.

[0100] In one embodiment, the conveying mechanism 50 further includes a conveyor belt 55. The conveyor belt 55 is disposed on the base station body 21 and is used to transport the garbage from the cleaning robot 10 to the transfer chamber 51. Specifically, when the cleaning robot 10 enters the base station 20 and reaches the second set position, the base station 20 opens the dust collection box 11, and the garbage in the dust collection box 11 is poured onto the conveyor belt 55 to be transported to the transfer chamber 51. After receiving the garbage transported by the conveyor belt 55, the transfer chamber 51 rises to the first set position, and the garbage is transferred through the entrance of the storage cavity 41 into the storage cavity 41, so that the garbage from the cleaning robot 10 is stored in the storage cavity 41 of the storage mechanism 40.

[0101] In one embodiment, the cleaning system includes a cleaning robot 10 and a base station 20. The base station 20 includes a base station body 21. The base station 20 also includes a receiving mechanism 40, which is disposed on the base station body 21 and has a receiving cavity 41. The receiving cavity 41 is used to receive waste from the cleaning robot 10. The base station 20 also includes a conveying mechanism 50, which includes a transfer compartment 51 that is vertically and flexibly disposed on the base station body 21. The transfer compartment 51 is configured to rise to a first predetermined position after receiving waste from the cleaning robot 10, so as to transfer the waste to the receiving cavity 41.

[0102] Please see Figure 13 , Figure 13 This is a flowchart illustrating an embodiment of the base station control method of this application.

[0103] S101: The cleaning robot enters the base station and reaches the second designated position;

[0104] In this embodiment, after the cleaning robot 10 completes its cleaning work or when the dust collection box 11 is full, the cleaning robot 10 enters the base station 20 to clean the dust collection box 11 with the help of the base station 20. Specifically, the cleaning robot 10 enters the base station 20 and reaches a second predetermined position to trigger the base station 20 to clean the dust collection box 11 of the cleaning robot 10.

[0105] S102: The triggering device senses that the cleaning robot has reached the second set position and triggers the opening device to open the dust collection box, so that the garbage in the dust collection box is transferred to the conveying mechanism;

[0106] In this embodiment, the base station 20 is equipped with a triggering device 30 to sense whether the cleaning robot 10 has reached a second predetermined position within the base station 20. In response to the cleaning robot 10 reaching the second predetermined position, the dust collection box 11 on the cleaning robot 10 is opened, allowing the waste in the dust collection box 11 to be transferred to the transfer chamber 51. Specifically, when the cleaning robot 10 reaches the second predetermined position, the opening device is triggered to open the dust collection box 11, allowing the waste in the dust collection box 11 to be transferred to the conveying mechanism 50.

[0107] The triggering device 30 can sense whether the cleaning robot 10 has reached the second preset position through the triggering mechanism 31 described in the above embodiments, and trigger the opening device to open the dust collection box 11 through the linkage mechanism 32. Of course, in other embodiments of this application, the triggering device 30 can also sense whether the cleaning robot 10 has reached the second preset position through a sensor (such as a photosensitive sensor), or even combine mechanism sensing and sensor sensing methods, which is not limited here. Furthermore, when the triggering device 30 senses that the cleaning robot 10 has reached the second preset position, it can trigger the opening device to open the dust collection box 11 through the linkage mechanism 32, or it can trigger the opening device to open the dust collection box 11 through signal interaction or other means, that is, in response to the signal from the triggering device 30, the opening device is driven to open the dust collection box 11 by a motor or other power component. The opening device has been described in detail in the above embodiments and will not be repeated here.

[0108] S103: Controls the transfer compartment to receive waste from the cleaning robot;

[0109] In this embodiment, after the opening device opens the dust collection box 11, the waste in the dust collection box 11 is transferred to the conveying mechanism 50. At this time, the base station 20 controls the transfer chamber 51 to receive the waste from the cleaning robot 10, so as to transfer the waste from the cleaning robot 10 to the collection mechanism 40 through the transfer chamber 51. The conveying mechanism 50 can transport the waste from the initial position to the predetermined dumping position, so as to dump the waste into the collection mechanism 40.

[0110] Specifically, when the cleaning robot 10 enters the base station 20 and reaches the second set position, the triggering device 30 triggers the opening device to open the dust collection box 11, and the garbage in the dust collection box 11 is poured onto the conveyor belt 55. The control transfer chamber 51 receives the garbage transported by the conveyor belt 55, and then the garbage is transferred to the collection mechanism 40 through the transfer chamber 51.

[0111] S104: Control the transfer compartment to rise to the first set position so that the garbage can be transferred to the collection chamber through the transfer compartment.

[0112] In this embodiment, after receiving the waste transported by the conveyor belt 55, the transfer chamber 51 is controlled to rise to a first predetermined position so that the waste can be transferred to the receiving cavity 41. Specifically, after the transfer chamber 51 rises to the first predetermined position, it rotates toward the receiving mechanism 40, causing the transfer chamber 51 to tilt as a whole, so that the waste in the transfer chamber 51 is poured into the receiving cavity 41 at least under its own gravity.

[0113] Of course, in other embodiments of this application, if the inlet height of the receiving cavity 41 is low, the conveying mechanism 50 can directly transport the garbage dumped from the dust collection box 11 into the receiving cavity 41 via the conveyor belt 55, without having to dump the garbage into the receiving cavity 41 by raising the transfer chamber 51.

[0114] The technical solutions provided in the embodiments of this application will be described below in conjunction with specific application scenarios.

[0115] Application Scenario 1:

[0116] The cleaning robot 10 is used in conjunction with the base station 20. The cleaning robot 10 has a dust collection box 11, which includes a base 111 and a cover 112 movably disposed on the base 111. The base 111 has a dust removal port 113, and the cover 112 can close or open the dust removal port 113. The base station 20 includes a base station body 21. The base station 20 also includes a triggering device 30, which is disposed on the base station body 21. The base station 20 also includes a cover opening device, which is disposed on the base station body 21. The base station 20 also includes a storage mechanism 40, which is disposed on the base station body 21. The base station 20 also includes a transport mechanism 50, which is disposed on the base station body 21.

[0117] During the process of the cleaning robot 10 returning to the base station 20 until it reaches the second set position, the cleaning robot 10 contacts the contact rod 311 and drives the contact rod 311 to retract into the base station body 21. The contact rod 311 pulls the pull rope 312, and the pull rope 312 pulls the force receiving part 322 around the rotating part 323 and rotates downward through the pulley group 313. The force receiving part 322 drives the transmission part 324 to rotate around the rotating part 323 and rotate upward. That is, the linkage lever 321 rotates clockwise around the rotating part 323 as the fulcrum. The transmission part 324 drives the cover opening part 22 to rotate in the exit direction, driving the cover plate 112 to rotate in the exit direction to open the dust removal port 113. After the dust collection box 11 is opened, the waste in the dust collection box 11 is emptied onto the conveyor belt 55. The waste is transported to the transfer chamber 51 via the conveyor belt 55. After receiving the waste from the conveyor belt 55, the transfer chamber 51 rises to the first set position. The transfer chamber 51 abuts against the limiting member 52, causing the transfer chamber 51 to rotate toward the storage mechanism 40, thus tilting the transfer chamber 51 as a whole. This allows the waste in the transfer chamber 51 to be emptied into the storage cavity 41, at least under its own gravity. After the waste in the transfer chamber 51 is emptied, the transfer chamber 51 descends back to its original position. The elastic restoring force provided by the reset elastic member drives the transfer chamber 51 to rotate away from the storage mechanism 40 to a horizontal state, so that the transfer chamber 51 can receive waste from the cleaning robot 10 again and can empty the waste again by rotating toward the storage mechanism 40.

[0118] After the cleaning robot 10 leaves the base station 20, the linkage lever 321 between the transmission part 324 and the rotating part 323 rotates downward. At this time, the linkage lever 321 rotates counterclockwise around the rotating part 323 and resets. The contact rod 311 extends out of the base station body 21 and resets. The cover opening part 22 also rotates downward and resets, so that the cover 112 of the dust collection box 11 re-closes the dust removal port 113.

[0119] In this manner, after the transfer chamber 51 receives the waste from the cleaning robot 10, it rises to the first preset position, and the waste is then transferred to the storage cavity 41 of the storage mechanism 40, thus achieving automatic cleaning by the cleaning robot 10. This fully automatic cleaning method of the cleaning robot 10 solves the problems of poor operability, low cleaning efficiency, and poor hygiene associated with manual cleaning methods. It also helps to improve the automation level and technological sophistication of the cleaning robot 10.

[0120] Furthermore, unlike the existing technology of fan suction, the automatic cleaning solution of the cleaning robot 10 has no special requirements for the sealing degree of the dust collection box 11. Therefore, the automatic cleaning solution is applicable to a wide range of scenarios and can be used for dust collection boxes 11 with different sealing degrees, such as closed dust collection boxes 11 and open dust collection boxes 11. In addition, there is no action of connecting the dust collection box 11 with the fan duct, so there is no requirement for the sealing degree of the interface between the dust collection box 11 and the fan duct. This means that the manufacturing precision requirements of the relevant equipment components involved in the automatic cleaning solution are lower, and the manufacturing error tolerance of the relevant equipment components involved in the automatic cleaning solution is higher, which also means that the cost of the automatic cleaning solution is lower. In addition, by transferring the garbage through the rising transfer chamber 51, the cleaning robot 10 is avoided from being raised. This further means that the automatic cleaning solution is applicable to a wide range of scenarios, not only for small cleaning robots 10, but also for medium and large cleaning robots 10.

[0121] Application Scenario 2:

[0122] The cleaning robot 10 is used in conjunction with the base station 20. The cleaning robot 10 has a dust collection box 11, which includes a base 111 and a cover 112 movably disposed on the base 111. The base 111 has a dust removal port 113, and the cover 112 can close or open the dust removal port 113. The base station 20 includes a base station body 21. The base station 20 also includes a triggering device 30, which is disposed on the base station body 21. The base station 20 also includes a cover opening device, which is disposed on the base station body 21. The base station 20 also includes a storage mechanism 40, which is disposed on the base station body 21. The base station 20 also includes a transport mechanism 50, which is disposed on the base station body 21.

[0123] During the process of the cleaning robot 10 returning to the base station 20 until it reaches the second set position, the cleaning robot 10 contacts the contact rod 311 and drives the contact rod 311 to retract into the base station body 21. The contact rod 311 pulls the pull rope 312. The pull rope 312 slides relative to the sheath 314 in the sheath 314, pulling the force-receiving part 322 to rotate downward around the rotating part 323. The force-receiving part 322 drives the transmission part 324 to rotate upward around the rotating part 323. That is, the linkage lever 321 rotates clockwise around the rotating part 323 as the fulcrum. The transmission part 324 drives the cover opening part 22 to rotate in the exit direction, driving the cover plate 112 to rotate in the exit direction to open the dust removal port 113. After the dust collection box 11 is opened, the waste in the dust collection box 11 is emptied onto the conveyor belt 55. The waste is transported to the transfer chamber 51 via the conveyor belt 55. After receiving the waste from the conveyor belt 55, the transfer chamber 51 rises to the first set position. The transfer chamber 51 abuts against the limiting member 52, causing the transfer chamber 51 to rotate toward the storage mechanism 40, thus tilting the transfer chamber 51 as a whole. This allows the waste in the transfer chamber 51 to be emptied into the storage cavity 41, at least under its own gravity. After the waste in the transfer chamber 51 is emptied, the transfer chamber 51 descends back to its original position. The elastic restoring force provided by the reset elastic member drives the transfer chamber 51 to rotate away from the storage mechanism 40 to a horizontal state, so that the transfer chamber 51 can receive waste from the cleaning robot 10 again and can empty the waste again by rotating toward the storage mechanism 40.

[0124] After the cleaning robot 10 leaves the base station 20, the linkage lever 321 between the transmission part 324 and the rotating part 323 rotates downward. At this time, the linkage lever 321 rotates counterclockwise around the rotating part 323 and resets. The contact rod 311 extends out of the base station body 21 and resets. The cover opening part 22 also rotates downward and resets, so that the cover 112 of the dust collection box 11 re-closes the dust removal port 113.

[0125] In this manner, after the transfer chamber 51 receives the waste from the cleaning robot 10, it rises to the first preset position, and the waste is then transferred to the storage cavity 41 of the storage mechanism 40, thus achieving automatic cleaning by the cleaning robot 10. This fully automatic cleaning method of the cleaning robot 10 solves the problems of poor operability, low cleaning efficiency, and poor hygiene associated with manual cleaning methods. It also helps to improve the automation level and technological sophistication of the cleaning robot 10.

[0126] Furthermore, unlike the existing technology of fan suction, the automatic cleaning solution of the cleaning robot 10 has no special requirements for the sealing degree of the dust collection box 11. Therefore, the automatic cleaning solution is applicable to a wide range of scenarios and can be used for dust collection boxes 11 with different sealing degrees, such as closed dust collection boxes 11 and open dust collection boxes 11. In addition, there is no action of connecting the dust collection box 11 with the fan duct, so there is no requirement for the sealing degree of the interface between the dust collection box 11 and the fan duct. This means that the manufacturing precision requirements of the relevant equipment components involved in the automatic cleaning solution are lower, and the manufacturing error tolerance of the relevant equipment components involved in the automatic cleaning solution is higher, which also means that the cost of the automatic cleaning solution is lower. In addition, by transferring the garbage through the rising transfer chamber 51, the cleaning robot 10 is avoided from being raised. This further means that the automatic cleaning solution is applicable to a wide range of scenarios, not only for small cleaning robots 10, but also for medium and large cleaning robots 10.

[0127] Application Scenario 3:

[0128] The cleaning robot 10 is used in conjunction with the base station 20. The cleaning robot 10 has a dust collection box 11, which includes a base 111 and a cover 112 movably disposed on the base 111. The base 111 has a dust removal port 113, and the cover 112 can close or open the dust removal port 113. The base station 20 includes a base station body 21. The base station 20 also includes a triggering device 30, which is disposed on the base station body 21. The base station 20 also includes a cover opening device, which is disposed on the base station body 21. The base station 20 also includes a storage mechanism 40, which is disposed on the base station body 21. The base station 20 also includes a transport mechanism 50, which is disposed on the base station body 21.

[0129] During the process of the cleaning robot 10 returning to the base station 20 until it reaches the second set position, the cleaning robot 10 presses against the touch plate 315, causing the force-receiving part 322 to rotate downward around the rotating part 323. The force-receiving part 322 drives the transmission part 324 to rotate upward around the rotating part 323, that is, the linkage lever 321 rotates clockwise around the rotating part 323 as the fulcrum. The transmission part 324 drives the opening part 22 to rotate in the exit direction, driving the cover plate 112 to rotate in the exit direction to open the dust removal port 113. After the dust collection box 11 is opened, the waste in the dust collection box 11 is emptied onto the conveyor belt 55. The waste is transported to the transfer chamber 51 via the conveyor belt 55. After receiving the waste from the conveyor belt 55, the transfer chamber 51 rises to the first set position. The transfer chamber 51 abuts against the limiting member 52, causing the transfer chamber 51 to rotate toward the storage mechanism 40, thus tilting the transfer chamber 51 as a whole. This allows the waste in the transfer chamber 51 to be emptied into the storage cavity 41, at least under its own gravity. After the waste in the transfer chamber 51 is emptied, the transfer chamber 51 descends back to its original position. The elastic restoring force provided by the reset elastic member drives the transfer chamber 51 to rotate away from the storage mechanism 40 to a horizontal state, so that the transfer chamber 51 can receive waste from the cleaning robot 10 again and can empty the waste again by rotating toward the storage mechanism 40.

[0130] After the cleaning robot 10 leaves the base station 20, the linkage lever 321 between the transmission part 324 and the rotating part 323 rotates downward. At this time, the linkage lever 321 rotates counterclockwise around the rotating part 323 and resets. The touch plate 315 is reset as the force-bearing part 322 of the linkage lever 321 moves. That is, the touch plate 315 protrudes out of the base station body 21 again. The cover 22 also rotates downward and resets, so that the cover 112 of the dust collection box 11 re-closes the dust removal port 113.

[0131] The base station and its control method and cleaning system provided in this application have been described in detail above. Specific examples have been used to illustrate the principles and implementation methods of this application. The description of the above embodiments is only for the purpose of helping to understand the method and core ideas of this application. At the same time, for those skilled in the art, there will be changes in the specific implementation methods and application scope based on the ideas of this application. Therefore, the content of this specification should not be construed as a limitation of this application.

Claims

1. A base station, characterized in that, The base station includes: Base station main body; A storage mechanism is provided in the main body of the base station and has a storage cavity; wherein, the storage cavity is used to store the waste from the cleaning robot; The transport mechanism includes a transfer compartment that is vertically and flexibly disposed on the main body of the base station; wherein the transfer compartment is configured to rise to a first predetermined position after receiving garbage from the cleaning robot, so as to transfer the garbage to the receiving cavity through the transfer compartment; The cleaning robot has a dust collection box located at the bottom of the machine. The base station also includes: A triggering device is installed on the main body of the base station and is used to sense whether the cleaning robot has reached the second set position; A cover-opening device is provided on the main body of the base station; When the triggering device senses that the cleaning robot has reached the second set position, it triggers the opening device to open the dust collection box, so that the garbage in the dust collection box is transferred to the conveying mechanism.

2. The base station according to claim 1, characterized in that, The transit warehouse can also be rotatably mounted on the base station body; After the transfer compartment rises to the first set position, the transfer compartment rotates toward the receiving mechanism, so that the waste in the transfer compartment is dumped into the receiving cavity under its own gravity.

3. The base station according to claim 2, characterized in that, The transportation organization also includes: A limiting component is installed on the main body of the base station; When the transfer compartment rises to the first set position, the transfer compartment abuts against the limiting member, causing the transfer compartment to rotate toward the storage mechanism.

4. The base station according to claim 3, characterized in that, The limiting member is located on the side of the conveying mechanism facing the storage mechanism.

5. The base station according to claim 2, characterized in that, The transportation organization also includes: The reset elastic element connecting the transit compartment, wherein The reset elastic element is used to drive the transfer compartment to rotate away from the storage mechanism to reset.

6. The base station according to any one of claims 1 to 5, characterized in that, The transportation organization also includes: A lifting assembly is connected to the transfer compartment via a transmission mechanism and is used to drive the transfer compartment to rise to the first predetermined position.

7. The base station according to claim 6, characterized in that, The lifting assembly includes: Drive components; The transmission component is connected to the drive component and the transfer compartment respectively, and the drive component drives the transfer compartment to rise to the first set position through the transmission component.

8. The base station according to any one of claims 1 to 5, characterized in that, The transportation organization also includes: A conveyor belt, installed on the main body of the base station, is used to transport garbage from the cleaning robot to the transfer warehouse.

9. A cleaning system, characterized in that, Includes a cleaning robot and a base station, the base station comprising: Base station main body; A storage mechanism is provided in the main body of the base station and has a storage cavity; wherein the storage cavity is used to store the waste from the cleaning robot; The transport mechanism includes a transfer compartment that is vertically and flexibly disposed on the main body of the base station; wherein the transfer compartment is configured to rise to a first predetermined position after receiving garbage from the cleaning robot, so as to transfer the garbage to the collection cavity through the transfer compartment; The cleaning robot has a dust collection box located at the bottom of the machine. The base station also includes: A triggering device is installed on the main body of the base station and is used to sense whether the cleaning robot has reached the second set position; A cover-opening device is provided on the main body of the base station; When the triggering device senses that the cleaning robot has reached the second set position, it triggers the opening device to open the dust collection box, so that the garbage in the dust collection box is transferred to the conveying mechanism.

10. The cleaning system according to claim 9, characterized in that, The dust collection box includes a base and a cover plate movably disposed on the base. The base has a dust removal port, and the cover plate can close or open the dust removal port. The lid-opening device includes: A cover opening component is rotatably mounted on the base station body. The triggering device triggers the cover opening component to rotate, causing the cover opening component to drive the cover plate to open the dust removal port. The waste in the base is then transferred to the conveying mechanism through the dust removal port.

11. The cleaning system according to claim 9, characterized in that, The triggering device includes: A triggering mechanism is used to sense whether the cleaning robot has reached the second preset position; The linkage mechanism is connected to the triggering mechanism via a transmission connection; When the triggering mechanism senses that the cleaning robot has reached the second set position, the triggering mechanism triggers the opening device through the linkage mechanism.

12. The cleaning system according to claim 11, characterized in that, The linkage mechanism includes a linkage lever; The linkage lever has a force-receiving part, a rotating part, and a transmission part; The force-receiving part is connected to the triggering mechanism, the rotating part is rotatably disposed on the base station body, and the transmission part is used to trigger the cover opening device; When the triggering mechanism senses that the cleaning robot has reached the second set position, the triggering mechanism drives the force-receiving part to rotate around the rotating part, thereby driving the transmission part to rotate around the rotating part, so that the transmission part triggers the opening device.

13. A control method for a base station, characterized in that, The base station includes: Base station main body; A storage mechanism is provided in the main body of the base station and has a storage cavity; The transport mechanism includes a transfer warehouse that can be lifted and lowered within the main body of the base station; The control method includes: The transfer compartment is controlled to receive waste from the cleaning robot; The transfer compartment is controlled to rise to a first predetermined position so that the waste is transferred to the collection chamber through the transfer compartment; the cleaning robot has a dust collection box, which is located at the bottom of the whole machine; Prior to the step of controlling the transfer compartment to receive waste from the cleaning robot, the procedure includes: in response to the cleaning robot reaching a second predetermined position, opening the dust collection box on the cleaning robot, so that the waste in the dust collection box is transferred to the transfer compartment; The base station also includes: A triggering device is installed on the main body of the base station and is used to sense whether the cleaning robot has reached the second set position; A cover-opening device is provided on the main body of the base station; When the triggering device senses that the cleaning robot has reached the second set position, it triggers the opening device to open the dust collection box, so that the garbage in the dust collection box is transferred to the conveying mechanism.

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