Air conditioner and recharging positioning control method thereof

Abstract

The application discloses an air conditioner and a back charging positioning control method thereof. The air conditioner comprises a host and a mobile sub-machine. The host comprises a host shell, a switch door and a first positioning device. The host shell is provided with a docking bin. The switch door is provided at a bin opening of the docking bin in a switchable manner. The first positioning device is provided on the host close to the bin opening. The mobile sub-machine can work independently. The mobile sub-machine comprises a second positioning device. When the mobile sub-machine needs to be back charged, the first positioning device communicates with the second positioning device to guide the mobile sub-machine to move towards the host. When the first positioning device detects that the mobile sub-machine is close to the bin opening, the switch door is opened, and the mobile sub-machine enters the docking bin to be back charged. The air conditioner provided in the embodiment of the application can work independently when the energy is sufficient. When the mobile sub-machine lacks energy, the first positioning device near the bin opening emits a positioning signal to communicate with the second positioning device, guides the mobile sub-machine to move relative to the host and enter the docking bin, and the back charging positioning is accurate and does not need manual carrying.

Description

Technical Field

[0001] This invention belongs to the technical field of air handling equipment, specifically an air conditioner and its recharge positioning control method. Background Technology

[0002] To improve indoor air quality, air handling equipment is typically used to purify the air or adjust its physical and chemical properties.

[0003] Existing split-type air conditioners, once installed, are usually difficult to move due to limitations imposed by the exhaust duct and outdoor unit location, and can only treat the air in a specific space. Some portable air conditioners are more flexible to move, but they typically need to be returned to a charging station after a period of operation to maintain their mobility and normal air handling performance.

[0004] In related technologies, portable air conditioners typically use navigation and positioning devices such as lidar to achieve positioning during the recharging and repositioning process. When human interference occurs, such as moving the location, the navigation direction of the portable air conditioner will fail, and the portable air conditioner will be unable to accurately recharge, resulting in automatic shutdown due to power shortage, or poor contact during recharging will lead to low charging efficiency and delay the operation of the portable air conditioner.

[0005] Some portable air conditioners have positioning transceivers installed on their charging stations or charging units. If these transceivers are exposed on the outside, they are prone to dust accumulation, which can interfere with signal transmission and reception, and they are also easily damaged. If these transceivers are located inside, they can be easily blocked by other intermediate obstacles, preventing the portable air conditioner from communicating with the transceiver when returning to its charging station, thus resulting in inaccurate recharging and positioning. Summary of the Invention

[0006] This invention aims to at least solve one of the technical problems existing in the prior art. To this end, this invention proposes an air conditioner in which the mobile sub-unit accurately returns to its charging position, and opening and closing the door does not obstruct the return-to-charging and positioning transmission and reception signals, thus solving the problem that existing mobile air conditioners cannot achieve accurate return-to-charging and positioning.

[0007] The present invention also aims to provide a recharge positioning control method for the above-mentioned air conditioner.

[0008] An air conditioner according to an embodiment of the present invention includes: a main unit, the main unit including a main unit housing, a switch door and a first positioning device, the main unit housing having a docking compartment, the switch door being openable and closable at the opening of the docking compartment, and the first positioning device being disposed on the main unit near the opening; and a mobile sub-unit, the mobile sub-unit being capable of independent operation, the mobile sub-unit including a second positioning device, wherein when the mobile sub-unit needs to recharge, the first positioning device communicates with the second positioning device to guide the mobile sub-unit to move toward the main unit; when the first positioning device detects that the mobile sub-unit is close to the opening, the switch door opens, and the mobile sub-unit enters the docking compartment for recharging.

[0009] According to an embodiment of the air conditioner of the present invention, the mobile sub-unit can operate independently when it has sufficient energy, or it can work in conjunction with the main unit. When the mobile sub-unit is low on energy, it needs to recharge. This can be achieved by a first positioning device located near the compartment opening transmitting a positioning signal and establishing a communication connection with a second positioning device, thereby guiding the mobile sub-unit to move relative to the main unit. Simultaneously, when the mobile sub-unit approaches the compartment opening, the door opens, allowing the mobile sub-unit to enter the docking compartment through the open door, thus recharging and replenishing its energy. The first positioning device is positioned near the compartment opening on the main unit, reducing the distance between the first positioning device and the door, preventing interference from the door opening and closing, and increasing the effective range of the first positioning device during signal transmission and reception. Even if the mobile sub-unit is moved during cruise, it can still communicate with the first positioning device and move towards the compartment opening, thereby improving the accuracy and reliability of the mobile sub-unit's recharging and positioning process.

[0010] According to some embodiments of the air conditioner of the present invention, the switch door is provided with a notch, and the first positioning device is disposed at the notch.

[0011] Optionally, the switch door includes a light-transmitting door panel and a support plate, the support plate has the notch, the light-transmitting door panel is connected to the support plate and covers the notch, the first positioning device is connected to the support plate, and the transmitting and receiving end of the first positioning device extends into the notch.

[0012] Optionally, the light-transmitting door panel is a transparent panel or a semi-transparent panel.

[0013] Optionally, the light-transmitting door panel is a glass panel, a polyvinyl chloride panel, or a plastic panel.

[0014] According to a further embodiment of the present invention, the first positioning device includes a first infrared transceiver and a first circuit board, the first infrared transceiver being connected to the first circuit board, the first circuit board being connected to the side of the switch door located inside the docking compartment, and the first infrared transceiver extending into the notch.

[0015] According to some embodiments of the air conditioner of the present invention, the mobile sub-unit further includes a mobile chassis, the second positioning device is disposed on the mobile chassis, and the first positioning device is disposed at the lower part of the switch door.

[0016] Optionally, the mobile chassis is provided with a charging unit, and the second positioning device is located on the mobile chassis near the charging unit.

[0017] Optionally, the mobile chassis includes a support box, a crash barrier, and a light-transmitting cover. The crash barrier is connected to the support box and has an installation opening. The light-transmitting cover is installed on the crash barrier and covers the installation opening. The second positioning device is located at the installation opening.

[0018] Optionally, the second positioning device includes a second infrared transceiver, a second circuit board, and a first protective cover. The second infrared transceiver is connected to the second circuit board, which is connected to the side of the anti-collision plate facing the support box. The first protective cover covers the second infrared transceiver, and the second infrared transceiver extends toward the light-transmitting cover.

[0019] Optionally, the host also includes a power supply unit and a third positioning device that can be connected to the charging unit. The power supply unit and the third positioning device are spaced apart in the docking compartment. When the door is opened, the third positioning device communicates with the second positioning device.

[0020] Optionally, the power supply unit includes a recharge base and power supply contacts, with the power supply contacts and the third positioning device connected at intervals on the recharge base.

[0021] Optionally, the power supply unit further includes a trigger switch, the charging unit includes a charging contact, the third positioning device communicates with the second positioning device to move the mobile sub-unit toward the charging dock, and when the mobile sub-unit triggers the trigger switch, the charging contact connects to the power supply contact for charging.

[0022] Optionally, the third positioning device includes a third infrared transceiver, a third circuit board, and a second protective cover. The third infrared transceiver is connected to the third circuit board, the third circuit board is connected inside the recharge socket, and the second protective cover covers the third infrared transceiver.

[0023] Advantageously, the second protective cover is provided with protrusions that reflect infrared light.

[0024] According to some embodiments of the air conditioner of the present invention, the mobile sub-unit includes a navigation device that provides a navigation map for the mobile sub-unit.

[0025] According to an embodiment of the present invention, a recharge positioning control method for an air conditioner in the foregoing examples includes the following steps: sending a recharge command to the mobile sub-unit; controlling the first positioning device to communicate with the second positioning device to move the mobile sub-unit toward the main unit; determining that when the mobile sub-unit approaches the compartment opening, controlling the door to open the compartment opening; and controlling the mobile sub-unit to enter the docking compartment for recharge.

[0026] According to the air conditioner recharge positioning control method of this embodiment, when the mobile sub-unit receives a recharge command, a first positioning device near the compartment opening transmits and receives signals, and establishes real-time communication with a second positioning device, causing the mobile sub-unit to continuously move towards the main unit. Upon reaching the designated position, the door opens and the compartment opening is activated, allowing the mobile sub-unit to move further into the docking compartment. Guided by the docking compartment, the mobile sub-unit accurately moves to the preset recharge position to replenish energy. During the recharge positioning process, the mobile sub-unit maintains smooth signal transmission and reception, and can accurately enter the docking compartment to achieve recharge.

[0027] Additional aspects and advantages of the invention will become apparent from the description which follows, or may be learned by practice of the invention. Attached Figure Description

[0028] The above and / or additional aspects and advantages of the present invention will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, in which:

[0029] Figure 1 This is a longitudinal sectional view of a mobile slave unit charging in the docking compartment of the host unit, according to some embodiments of the present invention.

[0030] Figure 2 This is a front view of a mobile slave unit charging in the docking compartment of the host unit, according to some embodiments of the present invention.

[0031] Figure 3 This is a longitudinal sectional view of the main unit after the mobile sub-unit leaves the docking compartment, according to some embodiments of the present invention.

[0032] Figure 4 This is a front view of the main unit when the door is closed in some embodiments of the present invention.

[0033] Figure 5 This is a three-dimensional structural diagram of the opening and closing door according to some embodiments of the present invention.

[0034] Figure 6 This is a three-dimensional structural diagram of the door opening / closing mechanism and the first positioning device according to some embodiments of the present invention.

[0035] Figure 7 for Figure 6 Exploded view.

[0036] Figure 8This is a rear view of a mobile sub-machine according to some embodiments of the present invention.

[0037] Figure 9 This is a three-dimensional structural diagram of a mobile sub-machine according to some embodiments of the present invention.

[0038] Figure 10 This is a three-dimensional structural diagram of a mobile chassis according to some embodiments of the present invention.

[0039] Figure 11 This is a top view of a mobile chassis according to some embodiments of the present invention.

[0040] Figure 12 This is a bottom view of a mobile chassis according to some embodiments of the present invention.

[0041] Figure 13 This is an exploded view of a mobile chassis according to some embodiments of the present invention.

[0042] Figure 14 This is a three-dimensional structural diagram of the anti-collision plate and the second positioning device after connection in some embodiments of the present invention.

[0043] Figure 15 for Figure 14 The main view.

[0044] Figure 16 for Figure 14 A cross-sectional view.

[0045] Figure 17 for Figure 14 Exploded view.

[0046] Figure 18 A three-dimensional structural diagram of the connection and charging of the mobile chassis and the power supply unit.

[0047] Figure 19 for Figure 18 A longitudinal sectional view.

[0048] Figure 20 This is a three-dimensional structural diagram of the power supply section according to some embodiments of the present invention.

[0049] Figure 21 This is a longitudinal sectional view of the power supply unit after connecting to the third positioning device in some embodiments of the present invention.

[0050] Figure 22 for Figure 21 Exploded view.

[0051] Figure 23 This is a front view of a third positioning device according to some embodiments of the present invention.

[0052] Figure 24 for Figure 23 Exploded view.

[0053] Figure label:

[0054] 1000. Air conditioner;

[0055] 100. Host computer;

[0056] 110. Main unit casing; 111. Docking compartment; 112. Compartment opening;

[0057] 120. First positioning device; 121. First infrared transceiver; 122. First circuit board;

[0058] 130. Third positioning device;

[0059] 131. Third infrared transceiver; 132. Third circuit board; 133. Second protective cover; 1331. Protrusion;

[0060] 140. Opening / closing door; 141. Translucent door panel; 142. Support plate; 1421. Notch; 1422. Mounting column;

[0061] 150. Power Supply Department;

[0062] 151. Charging socket; 1511. Mounting slot; 152. Power supply contact; 153. Trigger switch; 154. Light-transmitting area;

[0063] 160. Drive transmission mechanism; 161. Fixed plate; 162. Rack;

[0064] 200. Mobile sub-unit;

[0065] 210. Mobile chassis;

[0066] 211, Charging section; 2111, Charging contact;

[0067] 212. Support box; 2121. Top cover; 2122. Support frame; 2123. Chassis bracket; 2124. Base plate;

[0068] 213. Bumper plate; 2131. Mounting port; 2132. Front bumper plate; 2133. Rear bumper plate;

[0069] 214. Light-transmitting cover; 215. Travel assembly; 2151. Drive wheel assembly; 2152. Caster wheel assembly;

[0070] 216. Control box; 217. Battery assembly;

[0071] 220. Second positioning device;

[0072] 221. Second infrared transceiver; 222. Second circuit board; 223. First protective cover; 224. First mounting bracket;

[0073] 230. Sub-casing; 231. Air inlet; 232. Air outlet;

[0074] 240. Navigation device; 250. Detector. Detailed Implementation

[0075] Embodiments of the present invention are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and should not be construed as limiting the present invention.

[0076] In the description of this invention, it should be understood that the terms "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0077] The air conditioner 1000 of this invention, according to an embodiment of the present invention, is described below with reference to the accompanying drawings. The air conditioner 1000 of this invention is suitable for adjusting the physical and chemical properties of air, such as regulating air temperature, humidity, cleanliness, and odor. The air conditioner 1000 of this invention has a flexible operating range, can provide differentiated services, and has accurate recharge positioning.

[0078] An air conditioner 1000 according to an embodiment of the present invention, such as Figure 1 and Figure 2 As shown, it includes a host 100 and a mobile sub-unit 200.

[0079] Among them, combined Figure 3 and Figure 4 As shown, the main unit 100 includes a main unit housing 110, a switch door 140, and a first positioning device 120. The main unit housing 110 is provided with a docking compartment 111, which has a certain amount of accommodating space.

[0080] The opening and closing door 140 is located at the opening 112 of the docking compartment 111. When the opening 112 is opened, the mobile submachine 200 can be placed in the docking compartment 111. When the opening 112 is closed, the mobile submachine 200 cannot enter the docking compartment 111.

[0081] Furthermore, such as Figure 3As shown, the first positioning device 120 is located on the main unit 100 near the compartment opening 112. This can be achieved by placing it on the door 140 to bring the first positioning device 120 close to the compartment opening 112, or by placing it on the main unit housing 110 to bring the first positioning device 120 close to the compartment opening 112.

[0082] The mobile sub-unit 200 can work independently and has certain functions, such as air purification, cleaning, or airflow temperature control, so that the mobile sub-unit 200 can work flexibly without the main unit 100.

[0083] Furthermore, such as Figure 19 As shown, the mobile sub-unit 200 includes a second positioning device 220. When the mobile sub-unit 200 needs to be recharged, the first positioning device 120 communicates with the second positioning device 220 to guide the mobile sub-unit 200 to move towards the main unit 100; furthermore, as Figure 2 As shown, when the first positioning device 120 detects that the mobile sub-unit 200 is close to the compartment opening 112, the door 140 opens and the mobile sub-unit 200 enters the docking compartment 111 for recharging.

[0084] As can be seen from the above structure, the air conditioner 1000 of the present invention and the mobile sub-unit 200 can work independently when the energy is sufficient. At this time, the docking compartment 111 of the main unit 100 is closed by the switch door 140, so that the appearance of the main unit 100 is intact and beautiful. Dust and debris such as lint are not easy to enter the docking compartment 111. The various components in the docking compartment 111 are effectively protected by the main unit housing 110 and the switch door 140.

[0085] Alternatively, the mobile sub-unit 200 can work in conjunction with the main unit 100. For example, the mobile sub-unit 200 can further process the air blown out by the main unit 100, such as blowing it further away or towards a specific area, so that the entire air conditioner 1000 product can achieve a better air handling effect.

[0086] Correspondingly, when the mobile slave unit 200 needs to recharge due to low energy, it can transmit a positioning signal through the first positioning device 120 located near the compartment opening 112 and establish a communication connection with the second positioning device 220, thereby guiding the mobile slave unit 200 to move relative to the main unit 100. Simultaneously, when the mobile slave unit 200 approaches the compartment opening 112, the door 140 opens, allowing the mobile slave unit 200 to enter the docking compartment 111 through the opened compartment opening 112, thus enabling the mobile slave unit 200 to recharge and replenish its energy.

[0087] The first positioning device 120 of the present invention is arranged on the main unit 100 near the opening 112, thereby reducing the distance between the first positioning device 120 and the door 140, so that the transmission and reception signals of the first positioning device 120 are not interfered with by the door 140, and increasing the effective range of the first positioning device 120 in transmitting and receiving signals. Even if the mobile sub-unit 200 is moved during the cruise or the cruise map is invalid, it can still communicate with the first positioning device 120 and move steadily toward the opening 112, thereby improving the accuracy and reliability of the mobile sub-unit 200 in the recharging and positioning process, avoiding the phenomenon that the mobile sub-unit 200 cannot recharge due to map loss and positioning errors, and eliminating the need for the user to forcibly move the mobile sub-unit 200 to reset.

[0088] It is understandable that, compared with existing mobile air conditioners that rely solely on lidar for positioning and recharging, the mobile sub-unit 200 of the present invention can achieve precise positioning of the mobile sub-unit 200 relative to the compartment opening 112 even if it deviates from its cruising position due to human interference during the recharging process, by transmitting and receiving signals through the first positioning device 120 at the compartment opening 112, ensuring that the mobile sub-unit 200 can move toward the compartment opening 112.

[0089] Compared to existing technologies where the positioning transceiver is located inside the charging host and thus obstructed by other obstacles, the first positioning device 120 of the present invention is located close to the compartment opening 112, which can effectively ensure the smooth transmission and reception of signals by the first positioning device 120, improve the effective positioning range of the first positioning device 120, and enhance the effectiveness and reliability of communication between the first positioning device 120 and the second positioning device 220.

[0090] In some embodiments of the present invention, the first positioning device 120 may be located outside the main housing 110 and near the opening 112, and the height of the first positioning device 120 is approximately the same as the height of the second positioning device 220, thereby enabling reliable communication.

[0091] In other embodiments of the present invention, the first positioning device 120 is not required to be mounted on the main housing 110, but is mounted on the movable switch door 140. Figure 6 and Figure 7As shown, the door 140 has a notch 1421, and the first positioning device 120 is located at the notch 1421. This notch 1421 avoids obstructing the first positioning device 120, effectively preventing the door 140 at the opening 112 from blocking the signal transmission and reception of the first positioning device 120, thus allowing the first positioning device 120 to establish unimpeded communication with the second positioning device 220, reducing intermediate obstructions and signal attenuation. Since the first positioning device 120 transmits and receives signals from the notch 1421, and the door 140 is currently closed at the opening 112, the first positioning device 120 will cause the second positioning device 220 to move stably towards the opening 112.

[0092] Optionally, when the first positioning device 120 detects that the mobile submachine 200 has moved close to the warehouse opening 112, the first positioning device 120 transmits a signal and causes the opening door 140 to open the warehouse opening 112. Then, the first positioning device 120 will move along with the opening door 140. The first positioning device 120 and the second positioning device 220 work together to achieve not only real-time positioning but also to detect the distance of the mobile submachine 200 relative to the warehouse opening 112. This ensures that the first positioning device 120 remains approximately at a constant height relative to the ground until the mobile submachine 200 moves to the warehouse opening 112, and that the signal range transmitted and received by the first positioning device 120 is relatively stable, thus allowing the mobile submachine 200 to continuously move towards the warehouse opening 112.

[0093] Optionally, combined Figure 5 and Figure 7 As shown, the switchable door 140 includes a light-transmitting door panel 141 and a support plate 142. A notch 1421 is provided on the support plate 142. The light-transmitting door panel 141 is connected to the support plate 142 and covers the notch 1421. Here, the light-transmitting door panel 141 is adapted to be positioned on the outer side relative to the docking compartment 111, while the support plate 142 is adapted to be positioned on the inner side relative to the docking compartment 111, thereby giving the switchable door 140 a certain three-dimensional feel and enhancing its aesthetic appearance.

[0094] Furthermore, the first positioning device 120 is connected to the support plate 142. The transceiver end of the first positioning device 120 extends into the notch 1421. The first positioning device 120 will then be protected by the light-transmitting door plate 141, preventing the first positioning device 120 from being impacted by environmental components and preventing dust from falling into the notch 1421. This avoids the phenomenon of dust entering the docking compartment 111 due to the notch 1421. Since the light-transmitting door plate 141 is light-transmitting, it will not interfere with the signal transmission and reception of the first positioning device 120. The transceiver end of the first positioning device 120 can be infinitely close to the surface of the switch door 140. Therefore, when transmitting and receiving, it will be closer to the surface of the switch door 140, thereby effectively reducing the signal attenuation or even loss caused by the switch door 140 on the docking compartment 111. The support plate 142 not only improves the strength of the light-transmitting door panel 141 and provides support for the installation of the light-transmitting door panel 141 and the first positioning device 120, but also, because the support plate 142 is mainly made of non-light-transmitting material, the signal can only enter and exit through the specific notch 1421, and will not be transmitted to irrelevant parts, further improving the stability and accuracy of signal transmission.

[0095] Optionally, the door 140 is flat and the notch 1421 is flat, so that the length of the transmitting and receiving ends of the first positioning device 120 extending into the notch 1421 is basically the same, which improves the stability of the transmitting and receiving signals of the first positioning device 120 and avoids positioning errors caused by the difference in the strength of the transmitted and received signals due to the arc-shaped notch 1421.

[0096] Optionally, the light-transmitting door panel 141 can be a transparent panel or a semi-transparent panel. A transparent panel has a high light transmittance, which can greatly ensure the transmission performance of the first positioning device 120 when transmitting and receiving signals. A semi-transparent panel, while ensuring the reliable transmission and reception of signals by the first positioning device 120, can also ensure that the first positioning device 120 is not visible from the outside of the light-transmitting door panel 141, thereby further improving the aesthetics of the main unit 100 and enhancing the overall appearance of the main unit 100.

[0097] Optionally, the light-transmitting door panel 141 can be made of glass, polyvinyl chloride (PVC), or plastic. These panels have guaranteed light transmittance and a certain degree of hardness and strength, which can effectively ensure smooth signal transmission and reception while protecting the first positioning device 120 from impacts by foreign objects. In addition, these panels are easy to process and manufacture, and easy to shape.

[0098] In a specific example, the light-transmitting door panel 141 is made of screen-printed glass. When viewed from the side of the light-transmitting door panel 141 toward the support plate 142, the first positioning device 120 is not visible, thus making the host 100 more aesthetically pleasing.

[0099] Optionally, such as Figure 7As shown, a plurality of mounting posts 1422 are provided on the support plate 142 around the notch 1421. The mounting posts 1422 are connected to the first positioning device 120 by fasteners, thereby stabilizing the position of the transceiver end of the first positioning device 120 relative to the notch 1421. The distance at which the transceiver end of the first positioning device 120 extends into the notch 1421 can be adjusted by adjusting the length of the mounting posts 1422. For example, in a specific example, the transceiver end of the first positioning device 120 can contact the inner surface of the light-transmitting door panel 141, thereby bringing the transceiver end of the first positioning device 120 closer to the outer side of the docking compartment 111, and the signal transmission and reception are not limited by the size of the notch 1421.

[0100] Optionally, combined Figure 3 and Figure 7 As shown, the main unit 100 also includes a drive transmission mechanism 160, which can drive the opening and closing door 140 to move relative to the compartment opening 112, thereby opening or closing the compartment opening 112.

[0101] In a specific example, the drive transmission mechanism 160 includes a drive motor, a rack 162 and a gear. The drive motor is located on the main housing 110, the gear is located at the output end of the drive motor, and the rack 162 is located on the support plate 142. When the drive motor rotates, it drives the gear to rotate, thereby causing the rack 162, which meshes with the gear, to move the entire opening and closing door 140, stably opening or closing the compartment opening 112.

[0102] Optionally, combined Figure 6 and Figure 7 As shown, a fixing plate 161 is provided on the support plate 142 along its height direction (vertical direction in the figure), and a rack 162 is provided on the fixing plate 161. When the drive motor is running, the opening / closing door 140 can slide up and down relative to the opening 112 to open or close the opening 112. In these examples, in order to reduce the thickness of the opening / closing door 140, improve the stability of the opening / closing door 140's movement, and save parts, the fixing plate 161 can be located in the middle of the opening / closing door 140. The fixing plate 161 needs to avoid the notch 1421, or if the fixing plate 161 blocks the notch 1421, a corresponding opening needs to be provided directly opposite the notch 1421, so that the receiving / receiving end of the first positioning device 120 can further extend into the notch 1421. Of course, two fixing plates 161 with racks 162 can also be provided, and the fixing plates 161 can be spaced apart on the support plate 142 along the width direction of the support plate 142. The design can be flexibly processed according to actual needs.

[0103] In other examples, the drive transmission mechanism 160 may also include a drive motor, a lead screw and a nut mechanism. The drive motor and the lead screw are mounted on the main housing 110, and the nut is connected to the support plate 142. When the drive motor rotates, it drives the lead screw to rotate, thereby causing the nut that cooperates with the lead screw to move along the extension direction of the lead screw, ultimately causing the opening and closing door 140 to open and close relative to the opening 112.

[0104] Optionally, such as Figure 7 As shown, the first positioning device 120 includes a first infrared transceiver 121 and a first circuit board 122, with the first infrared transceiver 121 connected to the first circuit board 122. The first infrared transceiver 121 can transmit or receive infrared signals, thereby enabling active signal transmission for communication or passive signal reception for communication. The first circuit board 122 not only supports the first infrared transceiver 121, but can also integrate other wireless communication ports and wiring, making the first positioning device 120 more intelligent and more integrated.

[0105] Furthermore, such as Figure 7 As shown, the first circuit board 122 is connected to the side of the switch door 140 located in the docking compartment 111. The first infrared transceiver 121 extends into the notch 1421. The first circuit board 122 can be assembled from the inside of the notch 1421, so that there is a certain space between the first circuit board 122 and the light-transmitting door panel 141, which allows the first infrared transceiver 121 to be arranged, and the first infrared transceiver 121 can be closer to the light-transmitting door panel 141.

[0106] In some embodiments of the present invention, such as Figure 8 and Figure 9 As shown, the mobile sub-unit 200 also includes a mobile chassis 210, a second positioning device 220 mounted on the mobile chassis 210, and a first positioning device 120 located at the lower part of the opening / closing door 140. Driven by the mobile chassis 210, the mobile sub-unit 200 can move. When the opening / closing door 140 is closed on the compartment opening 112, the heights of the first positioning device 120 and the second positioning device 220 are approximately the same, allowing them to maintain a continuous communication connection at a lower height. This enables the mobile sub-unit 200 to move and be positioned stably relative to the main unit 100.

[0107] Optionally, such as Figure 12 As shown, the mobile chassis 210 is equipped with a charging unit 211, which is combined with... Figure 12 , Figure 13 and Figure 19As shown, the second positioning device 220 is mounted on the mobile chassis 210 near the charging unit 211. When the second positioning device 220 is positioned with the first positioning device 120, guided by the first positioning device 120, the charging unit 211 can also move into position relative to the preset charging position of the docking compartment 111. This allows the end with the second positioning device 220 to be better positioned, enabling reliable charging of the charging unit 211.

[0108] For example, in a specific example, the charging unit 211 is located at the bottom of the mobile chassis 210 near the rear end, and the second positioning device 220 is located at the rear of the mobile chassis 210, so that the second positioning device 220 is approximately located directly above the charging unit 211, thereby achieving accurate positioning guidance.

[0109] Optionally, the mobile chassis 210 includes, for example, Figure 13 The support box 212 shown is as follows: Figure 11 The anti-collision plate 213 shown and as Figure 14 , Figure 15 The light-transmitting cover 214 and the anti-collision plate 213 shown are connected to the support box 212, so that when the mobile chassis 210 collides with surrounding components, the anti-collision plate 213 will prioritize impact, protecting the support box 212 and the various components located within it. Figure 17 As shown, the anti-collision plate 213 has a mounting opening 2131, and a light-transmitting cover 214 is installed on the anti-collision plate 213 and covers the mounting opening 2131. The second positioning device 220 is located at the mounting opening 2131. In these examples, the second positioning device 220 of the present invention is located close to the mounting opening 2131, so that the transmission and reception of the second positioning device 220 is closer to the space outside the mobile chassis 210. This allows the signal to be transmitted outward through the mounting opening 2131 and through the light-transmitting cover 214 when the second positioning device 220 is transmitting or receiving signals, without being intercepted by the anti-collision plate 213 components, thus ensuring that the second positioning device 220 transmits and receives signals accurately and reliably.

[0110] Optionally, the light-transmitting cover 214 and the light-transmitting door panel 141 are made of similar materials, such as glass, polyvinyl chloride, or plastic. These materials not only enable the light-transmitting cover 214 to achieve better penetration and accuracy of signal transmission and reception for the second positioning device 220, but also make the second positioning device 220 invisible from the outside of the anti-collision plate 213, thus improving the appearance of the mobile chassis 210.

[0111] Optionally, the light-transmitting cover 214 is connected to the mounting port 2131 by a snap fastener, which facilitates assembly and also makes it convenient to check and adjust the transceiver signal end of the second positioning device 220.

[0112] Optionally, such as Figure 11 As shown, the anti-collision plate 213 includes a front anti-collision plate 2132 and a rear anti-collision plate 2133. The front anti-collision plate 2132 is located at the front end of the support box 212, and the rear anti-collision plate 2133 is located at the rear end of the support box 212. Thus, the anti-collision plate 213 can protect the components in the support box 212 from strong impact forces during the forward or backward movement of the mobile chassis 210. In a specific example, the aforementioned second positioning device 220 is installed on the mounting port 2131 of the rear bumper 2133. Thus, when the mobile chassis 210 moves backward for recharging, the second positioning device 220 can achieve better guidance and positioning, ensuring that the mobile sub-unit 200 can accurately reach the preset charging position after entering the docking compartment 111. In addition, it also ensures that when the mobile sub-unit 200 moves outward from the docking compartment 111, the front of the mobile sub-unit 200 remains at the front side, so that the front side of the mobile sub-unit 200 can remain at the front end in the direction of movement for a long time, improving the positioning performance and aesthetics of the mobile sub-unit 200 during operation.

[0113] Advantageously, a buffer structure is provided between the front bumper 2132 and the front side of the support box 212. The buffer structure can be a buffer spring or other components, so that the front bumper 2132 can shield the front side of the support box 212 while also having good buffering capacity, effectively buffering the impact of obstacles on the front side of the mobile submachine 200 during its movement.

[0114] Optionally, the rear bumper 2133 and the rear side of the support box 212 form a snap-fit ​​connection with a certain margin. That is, the slot provided on the support box 212 can not only form a snap-fit ​​connection with the rear bumper 2133, but also allow for a certain amount of forward and backward movement in the slot, so that the rear bumper 2133 has a certain buffering capacity.

[0115] Optionally, such as Figure 16 As shown, the second positioning device 220 includes a second infrared transceiver 221, a second circuit board 222, and a first protective cover 223. The second infrared transceiver 221 is connected to the second circuit board 222. The second infrared transceiver 221 can emit or receive infrared signals, thereby achieving communication connection through active signal transmission or passive signal reception. The second circuit board 222 not only supports the second infrared transceiver 221, but can also integrate other electronic components and set up circuits, making the second positioning device 220 more intelligent and more integrated.

[0116] Furthermore, combined Figure 13 , Figure 16 and Figure 17As shown, the second circuit board 222 is connected to the side of the anti-collision plate 213 (mainly referring to the rear anti-collision plate 2133) facing the support box 212. The second circuit board 222 is located inside the mounting port 2131, so that there is a certain space between the second circuit board 222 and the light-transmitting cover 214, which facilitates the placement of the second infrared transceiver 221 and makes the end of the second infrared transceiver 221 closer to the light-transmitting cover 214. The second circuit board 222 will not protrude outward, the surface of the anti-collision plate 213 remains flat, and the anti-collision plate 213 can protect the second circuit board 222.

[0117] Advantageously, a first protective cover 223 is mounted over the second infrared transceiver 221, which extends toward the light-transmitting cover 214. The first protective cover 223 effectively prevents the signal from the second infrared transceiver 221 from being emitted in an incoherent direction, and also effectively prevents infrared rays from other incoherent directions from passing through the first protective cover 223 and interfering with the normal operation of the second infrared transceiver 221. This ensures that the infrared rays emitted by the second infrared transceiver 221 are mainly emitted toward the light-transmitting cover 214 along the direction defined by the first protective cover 223, and mainly receive infrared rays entering from the light-transmitting cover 214. Furthermore, the first protective cover 223 also reliably protects the second infrared transceiver 221 from foreign objects falling onto it and causing signal strength weakening.

[0118] Optionally, such as Figure 16 and Figure 17 As shown, the second positioning device 220 also includes a first mounting bracket 224, which is detachably connected to the rear bumper 2133. A first protective cover 223 is detachably connected to the first mounting bracket 224, and a second circuit board 222 is connected to the first protective cover 223. This ensures that the installation position of the second positioning device 220 relative to the bumper 213 is fixed, not easily shaken, and easy to install and remove.

[0119] For example, in a specific example, the rear bumper 2133 is provided with studs, and bolts pass through the first mounting bracket 224 and are connected to the studs, thereby forming a detachable connection between the rear bumper 2133 and the first mounting bracket 224. As another example, the rear bumper 2133 can also be snapped or plugged into the first mounting bracket 224.

[0120] In a specific example, the first mounting bracket 224 has a bottom opening and a front opening that connect to the mounting cavity. The front opening is aligned with the light-transmitting cover plate 214. The mounting cavity can accommodate the first protective cover 223. The first protective cover 223 is connected to the first mounting bracket 224 by a snap-fit. A channel is formed in the first protective cover 223 that connects to the front opening of the first mounting bracket 224. The second circuit board 222 is installed in the channel, so that the second circuit board 222 can be connected to the first protective cover 223 and then installed into the first mounting bracket 224. This makes assembly convenient and also allows the second infrared transceiver 221 on the second circuit board 222 to emit infrared rays towards the light-transmitting cover plate 214 through the channel, or to send infrared rays from the light-transmitting cover plate 214 through the channel to the second infrared transceiver 221, ensuring that the second infrared transceiver 221 accurately transmits and receives infrared rays.

[0121] Optionally, a second circuit board 222 is connected to the end of the channel away from the front opening, and the second circuit board 222 is fixed to the channel by the rear cover.

[0122] Optionally, such as Figure 12 and Figure 13 As shown, the mobile chassis 210 also includes a driving component 215 and a battery component 217. An assembly cavity is formed within the support housing 212. The driving component 215 is mounted on the support housing 212 to drive its movement. The battery component 217 is located within the assembly cavity and is stably supported by the support housing 212, moving with it. The support housing 212 also provides good protection for the battery component 217. The battery component 217 provides power to the driving component 215, enabling it to move electrically without requiring manual pushing.

[0123] like Figure 12 As shown, the driving component 215 includes a drive wheel assembly 2151 and a caster wheel assembly 2152. The drive wheel assembly 2151 actively drives the support housing 212 to move, while the caster wheel assembly 2152 passively rotates following the drive wheel assembly 2151. The drive wheel assembly 2151 can move without human intervention. For example, the drive wheel assembly 2151 includes a drive wheel and a drive component connected to the drive wheel. The battery assembly 217 provides power to the drive component, which drives the drive wheel to rotate, thereby causing the drive wheel to move the entire support housing 212, achieving autonomous movement of the mobile chassis 210. The mobile chassis 210 is more stable during movement. The caster wheel assembly 2152 further supports the entire support housing 212, improving the stability of the mobile chassis 210 during movement and making it easier to change direction.

[0124] Optionally, the drive wheel assembly 2151 and the swivel wheel assembly 2152 include a plurality of spaced-apart components, thereby effectively improving the driving stability of the mobile chassis 210. In the description of this invention, unless otherwise stated, "a plurality of" means two or more.

[0125] In specific examples, such as Figure 12 As shown, the caster wheel assembly 2152 includes three casters arranged in a triangular pattern. Each caster wheel can rotate in multiple directions relative to the support box 212, allowing the support box 212 to move in a balanced and flexible manner. The drive wheel assembly 2151 includes two symmetrically arranged at the bottom of the support box 212, thereby enabling the drive wheel assembly 2151 to maintain the balance of the support box 212 during rotation.

[0126] Optionally, such as Figure 13 As shown, the mobile chassis 210 also includes an electronic control box 216, which is connected to the battery assembly 217. The electronic control box 216 can control the drive wheel assembly 2151 to move or stop. For example, in a specific example, the electronic control box 216 can control the drive wheel assembly 2151 to move towards the docking compartment 111 when the battery assembly 217 has low power. The electronic control box 216 in this invention can also be electrically connected to other components and control the start or stop of other components, thereby making the mobile chassis 210 more intelligent.

[0127] Optionally, commands can be issued to the control box 216 via remote control, voice commands, control center, or mobile terminal.

[0128] Optionally, such as Figure 13 As shown, the support housing 212 includes a top cover 2121, a support frame 2122, and a bottom plate 2124. An assembly cavity is formed in the support frame 2122. The top cover 2121 is connected to the upper part of the support frame 2122, and the bottom plate 2124 is connected to the bottom of the support frame 2122, thus forming a stable support housing 212 structure. The support housing 212 can be used to assemble various components such as the battery pack 217, the electronic control box 216, and the anti-collision detection bracket, effectively protecting the internal components from external damage. The top cover 2121 can also further support other components, such as the sub-housing 230 mentioned later. A driving component 215 is rotatably connected to the bottom plate 2124, thereby stabilizing the movement of the mobile chassis 210.

[0129] Optionally, such as Figure 13 As shown, the support box 212 also includes a chassis bracket 2123, which is located in the assembly cavity and has multiple positioning cavities. Each positioning cavity is equipped with components such as the battery assembly 217, the drive component of the drive wheel assembly 2151, the electronic control box 216, and the anti-collision detection bracket, which effectively improves the compactness and stability of the arrangement of each component.

[0130] Optionally, such as Figure 10 and Figure 11 As shown, the mobile sub-unit 200 includes a navigation device 240, which provides a cruise map for the mobile sub-unit 200. The navigation device 240 can construct the cruise map based on scanning the space in which the mobile sub-unit 200 moves and the communication between the mobile sub-unit 200 and the host 100 to determine the origin position. It uses the docking compartment 111 of the host 100 as the origin to achieve spatial positioning, thereby determining the relative position with the host 100 in real time through the cruise map and guiding the mobile sub-unit 200 to recharge. In these examples, if the mobile sub-unit 200's movement trajectory is interfered with during operation, causing it to veer off course, the present invention, through the positioning and guidance of the second positioning device 220 and the first positioning device 120, ensures that the mobile sub-unit 200 can still move accurately relative to the host 100 without deviation, ensuring that the mobile sub-unit 200 can reliably enter the docking compartment 111 when recharging is required.

[0131] In a specific example, the navigation device 240 is a lidar. The lidar can quickly scan the spatial objects around the mobile chassis 210 and build a map. The lidar can also accurately detect the specific location of the mobile chassis 210.

[0132] Optionally, a navigation device 240 is provided on the upper cover 2121, thereby positioning the navigation device 240 at a certain distance from the ground and providing a wider detection range.

[0133] Optionally, the mobile sub-unit 200 also includes an obstacle avoidance device, which can be a ranging sensor located on the front side of the mobile chassis 210. The ranging sensor works in conjunction with the navigation device 240 to form a wider detection area in the vertical direction of the mobile chassis 210, thereby making the positioning and ranging of the mobile chassis 210 more accurate as it moves forward.

[0134] Optionally, such as Figure 12 As shown, the mobile sub-unit 200 also includes a detector 250, which is mounted on the base plate 2124 of the mobile chassis 210. The detector 250 is used to detect the distance between the base plate 2124 and the ground. When the detected distance exceeds a preset distance, the electronic control box 216 controls the driving component 215 to stop moving, preventing the mobile chassis 210 from tipping over and falling from a height. In a specific example, the detector 250 uses a ground-detecting infrared sensor, and multiple detectors 250 are positioned at different locations on the base plate 2124 to detect the entire base plate 2124's distance from the ground.

[0135] In some embodiments of the present invention, the mobile sub-machine 200 further includes a sub-machine housing 230, which is covered on the mobile chassis 210. The mobile chassis 210 can drive the sub-machine housing 230 to move automatically to the target position, making the movement convenient and requiring no manual labor.

[0136] Optionally, the mobile sub-unit 200 also includes an air handling unit, which is located inside the sub-unit housing 230. The air handling unit operates flexibly for different air qualities. For example, when there is a large temperature difference between different locations in the room, the mobile chassis 210 can be moved to different locations, allowing the air handling unit to directly adjust the temperature at that location. This targeted approach helps to quickly adjust the temperature of the entire room to become more uniform, fully utilizes the function of the air handling unit, and improves the flexibility and efficiency of air handling.

[0137] Optionally, such as Figure 9 As shown, the sub-unit housing 230 is provided with an air inlet 231 and an air outlet 232. For example, the air handling unit includes a fan assembly and a purification assembly. When the fan assembly is running, it can change the direction and speed of the airflow and drive the airflow from the air inlet 231 through the purification assembly for purification and then discharge it from the air outlet 232, thereby continuously purifying the indoor air.

[0138] For example, the air handling components include a fan assembly and a heat exchanger. When the fan assembly is running, it drives the airflow to enter from the air inlet 231, and after heat exchange by the heat exchanger, it is blown out from the air outlet 232, thereby adjusting the temperature of the airflow.

[0139] For example, air handling components include fan assemblies and humidifiers or aroma diffusers, which effectively adjust the humidity or odor of the air.

[0140] For example, the air handling components include a fan assembly and a formaldehyde purification assembly. When the fan assembly rotates, the airflow brought in from the air inlet 231 is purified by the formaldehyde purification assembly before being blown out from the air outlet 232, thereby effectively reducing the formaldehyde concentration in the air and improving the freshness of the indoor air. When the driving component 215 of the mobile chassis 210 moves during the formaldehyde absorption process, it can further drive the formaldehyde purification assembly to absorb formaldehyde, improving the formaldehyde absorption efficiency of the whole house.

[0141] For example, the air handling unit includes a cold storage box, a pump, a compressor, a first heat exchanger, and a second heat exchanger. The cold storage box contains an energy storage medium that can undergo a phase change. The first heat exchanger is located at the air inlet 231, and the second heat exchanger is located in the cold storage box. The compressor is powered on to realize the circulation of the refrigerant in the first and second heat exchangers, thereby enabling the energy storage medium to store energy. The pump drives another refrigerant circulation in the first and second heat exchangers, which enables the energy storage medium to release energy, and the mobile unit 200 releases cold or heat towards the air outlet 232.

[0142] In some embodiments of the present invention, reference is made again. Figure 1 and Figure 3 As shown, the main unit 100 also includes a power supply unit 150 and a third positioning device 130. The power supply unit 150 and the third positioning device 130 are spaced apart in the docking compartment 111. The power supply unit 150 can be connected to the charging unit 211. Therefore, when the mobile sub-unit 200 enters the docking compartment 111, the power supply unit 150 can connect to the charging unit 211 to achieve charging. That is, if... Figure 18 As shown, the mobile chassis 210 moves precisely relative to the power supply unit 150.

[0143] Furthermore, when the door 140 is opened, the third positioning device 130 communicates with the second positioning device 220. That is, when the door 140 is closed at the opening 112, the third positioning device 130 does not communicate with the second positioning device 220. Instead, the first positioning device 120 communicates with the second positioning device 220 to guide the mobile submachine 200 toward the opening 112. When the mobile submachine 200 reaches the opening 112, the second positioning device 220 can communicate with the main unit 100 and control the door 140 to open. At this time, the mobile submachine 200 can enter the docking compartment 111 and be within the communication range of the third positioning device 130. Under the guidance of the third positioning device 130, it can further move toward the power supply unit 150 in the docking compartment 111, realizing the effective cooperation between the charging unit 211 and the power supply unit 150. In these examples, since the third positioning device 130 is located in the docking compartment 111, the communication distance of the third positioning device 130 is limited. In particular, when the door 140 is closed at the compartment opening 112, its communication will be cut off. The third positioning device 130 cannot achieve precise communication with the second positioning device 220 and needs to rely on the communication between the first positioning device 120 and the second positioning device 220 to achieve positioning movement and control of the opening and closing of the door 140.

[0144] It is understood that in this invention, by setting a first positioning device 120 at the opening 112, coarse positioning can be achieved between the first positioning device 120 and the second positioning device 220 when the door 140 is closed, guiding the mobile sub-unit 200 to reliably move to the opening 112. This effectively prevents the mobile sub-unit 200 from being veered off course due to human interference during its cruise movement, thus preventing it from returning to its charging position. After the door 140 is opened, the third positioning device 130 can further communicate and position with the second positioning device 220, making the movement of the mobile sub-unit 200 in the docking compartment 111 more precise. This ensures that the mobile sub-unit 200 can return to its original positioning position relative to the main unit 100, correcting the veered-off problem of the mobile sub-unit 200. After the mobile sub-unit 200 is fully charged, it can again cruise along the map using the aforementioned navigation device 240, avoiding frequent map creation and updates by the mobile sub-unit 200, and effectively preventing the mobile sub-unit 200 from... The problem of losing map information due to yaw and being unable to recharge.

[0145] Advantageously, such as Figure 3 As shown, the third positioning device 130 is positioned close to the power supply unit 150. After the third positioning device 130 communicates with the second positioning device 220, it guides the second positioning device 220, enabling the mobile sub-unit 200 to move directionally towards the charging unit 211, ultimately achieving a reliable docking between the charging unit 211 and the power supply unit 150. In a specific example, the third positioning device 130 is positioned above the power supply unit 150, effectively ensuring reliable docking between the power supply unit 150 and the charging unit 211 without deviation.

[0146] In the description of this invention, features defined as "first," "second," and "third" may explicitly or implicitly include one or more of these features, used to distinguish and describe features, without any order or emphasis.

[0147] Optionally, such as Figure 20 and Figure 21 As shown, the power supply unit 150 includes a recharge base 151 and power supply contacts 152. The power supply contacts 152 and the third positioning device 130 are spaced apart and connected on the recharge base 151. In these examples, the recharge base 151 provides effective space and support for the arrangement of the power supply contacts 152 and the third positioning device 130, and the recharge base 151 also protects the third positioning device 130 from damage.

[0148] Furthermore, such as Figure 20 As shown, the power supply unit 150 also includes a trigger switch 153, such as Figure 19As shown, the charging unit 211 includes a charging contact 2111. The third positioning device 130 communicates with the second positioning device 220 to move the mobile sub-unit 200 toward the return charging base 151. The contact area between the charging contact 2111 and the power supply contact 152 is large, and the two can form a stable electrical transmission when combined.

[0149] Advantageously, when the mobile sub-unit 200 triggers the trigger switch 153, the charging contact 2111 connects to the power supply contact 152 for charging. That is, when the mobile sub-unit 200 returns to the preset charging position under the guidance of the third positioning device 130, even if the charging contact 2111 and the power supply contact 152 have partially contacted, no electrical transmission occurs. Charging only begins after the mobile sub-unit 200 moves further to the trigger switch 153. This effectively ensures that a reliable connection is formed between the charging contact 2111 and the power supply contact 152 before charging begins, effectively preventing the situation where charging begins with only partial contact between the charging contact 2111 and the power supply contact 152 before the mobile sub-unit 200 has stopped. This ensures that during charging, the mobile sub-unit 200 stops relative to the main unit 100, and the charging contact 2111 and the power supply contact 152 form the maximum charging contact area.

[0150] For example, in a specific example, such as Figure 21 As shown, the trigger switch 153 is located at the upper rear part of the power supply contact 152, and the trigger switch 153 is located at the lower front of the third positioning device 130. This allows the power supply contact 152 and the charging contact 2111 to engage in position during the process of the mobile sub-device 200 continuously moving towards the trigger switch 153 after the third positioning device 130 and the second positioning device 220 establish positioning communication.

[0151] Optionally, such as Figure 20 and Figure 22 As shown, the charging base 151 is provided with an upper opening mounting groove 1511, and a power supply contact 152 is provided in the mounting groove 1511, thereby fixing the setting position of the power supply contact 152 and preventing the power supply contact 152 from being crushed and deformed when the charging unit 211 moves relative to the power supply contact 152. When the moving chassis 210 moves above the power supply contact 152, it can form a stable contact engagement between the charging contact 2111 and the power supply contact 152 through its own gravity.

[0152] Advantageously, the side of the recharge base 151 with the mounting groove 1511 forms an inclined surface. The inclined surface gradually tilts upward from the direction of the opening 112 to the direction of the third positioning device 130, so that the movable chassis 210 can be stably pressed against the power supply contact 152 on the inclined surface under the action of gravity.

[0153] Optionally, such as Figure 21 and Figure 22As shown, the recharge base 151 has a light-transmitting area 154 on the side facing the opening 112. The transceiver end of the third positioning device 130 faces the light-transmitting area 154, so that the third positioning device 130 can transmit the signal through the light-transmitting area 154 towards the opening 112.

[0154] Specifically, the light-transmitting area 154 can be made of the aforementioned glass plate, the aforementioned polyvinyl chloride plate, or the aforementioned plastic plate; no specific restrictions are imposed here.

[0155] Optionally, such as Figure 23 and Figure 24 As shown, the third positioning device 130 includes a third infrared transceiver 131, a third circuit board 132, and a second protective cover 133. The third infrared transceiver 131 is connected to the third circuit board 132. The third infrared transceiver 131 can emit or receive infrared signals, thereby achieving communication connection through active signal transmission or passive signal reception. The third circuit board 132 not only supports the third infrared transceiver 131, but can also integrate other electronic components and set up circuits, making the third positioning device 130 more intelligent and with a higher degree of integration.

[0156] Furthermore, combined Figure 21 and Figure 23 As shown, the third circuit board 132 is connected inside the recharge socket 151, so that the third circuit board 132 and the recharge socket 151 form an integral installation module, which is convenient for assembly; it also facilitates the third positioning device 130 to guide the mobile sub-unit 200 toward the power supply unit 150.

[0157] Advantageously, the second protective cover 133 is disposed over the third infrared transceiver 131. The second protective cover 133 effectively prevents the signal of the third infrared transceiver 131 from being emitted in an incoherent direction, and also effectively prevents infrared rays from other incoherent directions from passing through the second protective cover 133 and interfering with the normal operation of the third infrared transceiver 131. This ensures that the infrared rays of the third infrared transceiver 131 are mainly emitted towards the light-transmitting area 154 along the direction defined by the second protective cover 133, and mainly receive the infrared rays entering from the light-transmitting area 154. In addition, the second protective cover 133 can also reliably protect the third infrared transceiver 131 from foreign objects falling on it and causing signal strength weakening.

[0158] In other examples, the first infrared transceiver 121, the second infrared transceiver 221, and the third infrared transceiver 131 in the aforementioned examples can also be replaced with other types of transceivers, such as laser transceivers, etc., without specific limitations.

[0159] Advantageously, such as Figure 23As shown, the second protective cover 133 has a protrusion 1331 that reflects infrared rays. The protrusion 1331 can effectively enhance the infrared rays emitted by the third infrared transceiver 131, and can also effectively enhance the concentration of infrared rays entering from the light-transmitting area 154 toward the third infrared transceiver 131, thereby improving the infrared emission and reception effects.

[0160] Optionally, the main unit 100 of the present invention includes a heat exchanger, air duct components, etc., and the main unit housing 110 has a main air inlet for air intake and a main air outlet for air outlet. The main unit housing 110 has an air duct connecting the main air inlet and the main air outlet. The air duct components and the heat exchanger are disposed in the air duct, thereby performing heat exchange and circulation of indoor air. The main unit 100 and the mobile sub-unit 200 can cooperate to realize the joint treatment of indoor air and optimize the treatment effect of indoor air.

[0161] The following describes the recharge positioning control method of the air conditioner 1000 according to an embodiment of the present invention, which can realize the accurate recharge positioning of the mobile sub-unit 200 relative to the main unit 100 without relying on a cruise map.

[0162] According to an embodiment of the present invention, a recharge positioning control method for an air conditioner 1000, wherein the air conditioner 1000 is the air conditioner 1000 in the aforementioned examples, the recharge positioning control method includes the following steps:

[0163] Step S1: Send a recharge command to the mobile handset 200. This recharge command can be sent via voice control, remote control, mobile terminal control, or button control. Alternatively, it can be sent automatically based on a preset judgment program. For example, if the mobile handset 200's battery is low, the mobile handset 200 communicates with the host 100, and the host 100 sends a recharge command to the mobile handset 200. This can be configured according to actual needs; no specific restrictions are imposed here.

[0164] Step S2: Control the first positioning device 120 to communicate with the second positioning device 220 to move the mobile sub-unit 200 toward the host 100. In these examples, after the second positioning device 220 establishes communication with the first positioning device 120, the first positioning device 120 guides the second positioning device 220 to move toward the compartment opening 112, thereby forming a coarse positioning for the mobile sub-unit 200 to return to charging.

[0165] Step S3: When the mobile submachine 200 approaches the opening 112, control the opening door 140 to open the opening 112. When the mobile submachine 200 approaches the opening 112, further communication control is established, controlling the opening door 140 to move, the opening 112 is opened, and the mobile submachine 200 can move further into the docking compartment 111.

[0166] Step S4: Control the mobile submachine 200 to enter the docking compartment 111 for recharging.

[0167] In these examples, the mobile sub-unit 200 can be accurately positioned and recharged when it moves to the inner end of the docking compartment 111 by guiding the mobile sub-unit 200 through the docking compartment 111. Alternatively, the precise recharge positioning of the mobile sub-unit 200 within the docking compartment 111 can be achieved through the third positioning device 130 provided in the aforementioned examples. The positioning guidance of the mobile sub-unit 200 by the third positioning device 130 has been described in detail in the aforementioned example of the air conditioner 1000, and will not be repeated here.

[0168] As can be seen from the above method, in the recharge positioning control method of the air conditioner 1000 of this embodiment, when the mobile sub-unit 200 receives a recharge command, the first positioning device 120 near the compartment opening 112 transmits and receives signals, and establishes real-time communication with the second positioning device 220, causing the mobile sub-unit 200 to continuously and vaguely move towards the main unit 100 and gradually approach the compartment opening 112. When it reaches the vicinity of the compartment opening 112, the mobile sub-unit 200 further communicates with the main unit 100 to move the door 140 and open the compartment opening 112, thereby causing the mobile sub-unit 200 to move further into the docking compartment 111. Under the guidance of the docking compartment 111, the mobile sub-unit 200 accurately moves to the preset recharge position to replenish energy. During the recharge positioning process, the mobile sub-unit 200 transmits and receives signals smoothly and can accurately enter the docking compartment 111 to achieve recharge.

[0169] Optionally, the recharge positioning control method includes the following steps: after step S4, it further includes step S5, where the air conditioner 1000 is one of the aforementioned embodiments including the third positioning device 130 and the power supply unit 150, controls the third positioning device 130 to communicate with the second positioning device 220, causing the mobile sub-unit 200 to move towards the recharge base 151. When it is determined that the trigger switch 153 is triggered, the control host 100 charges the mobile sub-unit 200, so that when the mobile sub-unit 200 is outside the docking compartment 111 and the switch door 140 is closed at the compartment opening 112, it can always form a coarse positioning guide with the first positioning device 120 and move steadily towards the compartment opening 112; when the mobile sub-unit 200 is inside the docking compartment 111 and the switch door 140 is open at the compartment opening 112, the mobile sub-unit 200 can form a precise positioning with the third positioning device 130, stably guiding the mobile sub-unit 200 to the preset recharge base 151, thereby achieving reliable charging.

[0170] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0171] Figure 12 The above illustration shows three caster wheel assemblies 2152 for illustrative purposes. However, those skilled in the art, after reading the above technical solution, will obviously understand that the solution can be applied to other numbers of caster wheel assemblies 2152, which would also fall within the scope of protection of this invention.

[0172] The driving principle of the driving component 215, the ranging principle of the lidar, the operating principle of the air handling unit, and the positioning principle of the infrared transceiver signal in the air conditioner 1000 machine recharge positioning control method according to the embodiments of the present invention are all known to those skilled in the art, and will not be described in detail here.

[0173] In the description of this specification, references to terms such as "embodiment," "example," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the invention. In this specification, illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0174] Although embodiments of the invention have been shown and described, those skilled in the art will understand that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.

Claims

1. An air conditioner, characterized in that, include: The host includes a host housing, a switch door, and a first positioning device. The first positioning device includes a first infrared transceiver and a first circuit board. The host housing is provided with a docking compartment. The switch door is openable and closable at the opening of the docking compartment. The first positioning device is located on the host near the opening of the compartment. The mobile sub-unit can operate independently. The mobile sub-unit includes a second positioning device and a mobile chassis. The second positioning device includes a second infrared transceiver and a second circuit board. When the mobile sub-unit needs to be recharged, the first positioning device communicates with the second positioning device to guide the mobile sub-unit to move towards the main unit. When the first positioning device detects that the mobile sub-unit is close to the compartment opening, the door opens, and the mobile sub-unit enters the docking compartment for recharging. The first positioning device is located at the lower part of the switch door, and a charging unit is provided on the mobile chassis. The second positioning device is located on the mobile chassis near the charging unit. The mobile chassis includes a support box, a crash plate, and a light-transmitting cover. The crash plate is connected to the support box and has an installation opening. The light-transmitting cover is installed on the crash plate and covers the installation opening. The second positioning device is located at the installation opening. The switch door has a notch, and the first positioning device is located at the notch; The switch door includes a light-transmitting door panel and a support plate. The support plate has the notch. The light-transmitting door panel is connected to the support plate and covers the notch. The first positioning device is connected to the support plate, and the transmitting and receiving end of the first positioning device extends into the notch.

2. The air conditioner according to claim 1, characterized in that, The light-transmitting door panel is a transparent or semi-transparent panel.

3. The air conditioner according to claim 1, characterized in that, The light-transmitting door panel is made of glass, polyvinyl chloride, or plastic.

4. The air conditioner according to claim 1, characterized in that, The first infrared transceiver is connected to the first circuit board, which is connected to the side of the switch door located inside the docking compartment, and the first infrared transceiver extends into the notch.

5. The air conditioner according to claim 1, characterized in that, The second positioning device also includes a first protective cover, the second infrared transceiver is connected to the second circuit board, the second circuit board is connected to the side of the anti-collision plate facing the support box, the first protective cover is placed over the second infrared transceiver, and the second infrared transceiver extends toward the light-transmitting cover.

6. The air conditioner according to claim 1, characterized in that, The host also includes a power supply unit and a third positioning device that can be connected to the charging unit. The power supply unit and the third positioning device are spaced apart in the docking compartment. When the door is opened, the third positioning device communicates with the second positioning device.

7. The air conditioner according to claim 6, characterized in that, The power supply unit includes a recharge base and power supply contacts, with the power supply contacts and the third positioning device connected at intervals on the recharge base.

8. The air conditioner according to claim 7, characterized in that, The power supply unit also includes a trigger switch, the charging unit includes a charging contact, the third positioning device communicates with the second positioning device to move the mobile sub-unit toward the charging dock, and when the mobile sub-unit triggers the trigger switch, the charging contact connects with the power supply contact for charging.

9. The air conditioner according to claim 7, characterized in that, The third positioning device includes a third infrared transceiver, a third circuit board, and a second protective cover. The third infrared transceiver is connected to the third circuit board, the third circuit board is connected inside the recharge socket, and the second protective cover covers the third infrared transceiver.

10. The air conditioner according to claim 9, characterized in that, The second protective cover has protrusions that reflect infrared light.

11. The air conditioner according to any one of claims 1-10, characterized in that, The mobile sub-device includes a navigation device that provides a navigation map for the mobile sub-device.

12. A recharge positioning control method for an air conditioner according to any one of claims 1-11, characterized in that, Includes the following steps: Send a recharge command to the mobile sub-unit; The first positioning device communicates with the second positioning device to make the mobile sub-machine move toward the host machine; When it is determined that the mobile submachine is approaching the compartment opening, the control door is used to open the compartment opening; Control the mobile submachine to enter the docking compartment for recharging.

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