Self-moving device and robotic system

Abstract

The embodiment of the present application discloses a self-moving device and a robot system, the self-moving device comprises a main body; a first liquid storage tank is arranged on the main body; a first water outlet assembly is arranged on the first liquid storage tank; the first water outlet assembly is used for being communicated with a second liquid storage tank of a target device, so as to inject liquid in the first liquid storage tank into the second liquid storage tank.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of self-moving devices, in particular to a self-moving device and a robot system. BACKGROUND

[0002] At present, some household appliances (such as humidifiers and floor washing machines) are provided with water tanks to complete the corresponding functions by spraying water. However, users need to regularly fill water into the water tanks of these household appliances, which is inconvenient for users. SUMMARY

[0003] A series of simplified concepts are introduced in the summary section, which will be further described in detail in the detailed description section. The summary section of the present application does not mean to attempt to limit the key features and essential technical features of the claimed technical solutions, nor to determine the protection scope of the claimed technical solutions.

[0004] In a first aspect, an embodiment of the present application provides a self-moving device, comprising a main body;

[0005] A first liquid storage tank is arranged on the main body, and a first water outlet assembly is arranged on the first liquid storage tank. The first water outlet assembly is configured to communicate with a second liquid storage tank of a target device, so as to inject liquid in the first liquid storage tank into the second liquid storage tank.

[0006] Optionally, a controller is further arranged on the main body. The controller is configured to control the self-moving device to move to the target device according to position information of the target device, and to make the first water outlet assembly communicate with the second liquid storage tank, so as to inject the liquid in the first liquid storage tank into the second liquid storage tank.

[0007] Optionally, the controller is specifically configured to control the self-moving device to move to the target device according to the position information of the target device when receiving a water replenishment request sent by the target device.

[0008] Optionally, the controller is specifically configured to obtain a current time and a first preset time, and if the current time reaches the first preset time, to control the self-moving device to move to the target device according to the position information of the target device.

[0009] Optionally, a first water inlet assembly is further arranged on the first liquid storage tank. The first water inlet assembly is configured to communicate with a third liquid storage tank of a base station or the second liquid storage tank of the target device, so as to inject liquid in the third liquid storage tank or the second liquid storage tank into the first liquid storage tank.

[0010] Optionally, the first water outlet assembly is capable of communicating with a third liquid storage tank of the base station to inject liquid in the first liquid storage tank into the third liquid storage tank.

[0011] Optionally, the controller is further configured to acquire the liquid storage amount of the first liquid storage tank before moving to the target device, and control the self-moving device to move to the base station and make the first water inlet assembly communicate with the third liquid storage tank to inject liquid in the third liquid storage tank into the first liquid storage tank if the liquid storage amount of the first liquid storage tank is less than or equal to a first preset liquid storage amount.

[0012] Optionally, the controller is further configured to control the self-moving cleaning device to move to the base station and make the first water outlet assembly communicate with the third liquid storage tank to inject liquid in the first liquid storage tank into the third liquid storage tank after the second liquid storage tank is filled with liquid.

[0013] Optionally, the controller is further configured to control the self-moving device to move to the target device according to the position information of the target device and make the first water inlet assembly communicate with the second liquid storage tank to inject liquid in the second liquid storage tank into the first liquid storage tank.

[0014] Optionally, the controller is specifically configured to control the self-moving device to move to the target device according to the position information of the target device when receiving a drainage request sent by the target device.

[0015] Optionally, the controller is specifically configured to acquire a current time and a second preset time, and control the self-moving device to move to the target device according to the position information of the target device if the current time reaches the second preset time.

[0016] Optionally, the controller is further configured to control the self-moving cleaning device to move to the base station and make the first water outlet assembly communicate with the third liquid storage tank to inject liquid in the first liquid storage tank into the third liquid storage tank after the second liquid storage tank injects liquid into the first liquid storage tank.

[0017] Optionally, the first liquid storage tank comprises a first clean water tank and a first sewage tank; the first water inlet assembly comprises a first water inlet member and a second water inlet member, and the first water outlet assembly comprises a first water outlet member and a second water outlet member.

[0018] The first water inlet member and the first water outlet member are arranged on the first clean water tank, and the second water inlet member and the second water outlet member are arranged on the first sewage tank.

[0019] Optionally, the water draining request further carries type information of the target device, and the controller is further configured to control the first water inlet component to communicate with the second liquid storage tank to inject the liquid in the second liquid storage tank into the first clean water tank if the type information of the target device is preset type information.

[0020] Optionally, the controller is configured to acquire a liquid storage amount of the first clean water tank when the type information of the target device is preset type information, and control the second water inlet component to communicate with the second liquid storage tank to inject the liquid in the second liquid storage tank into the first sewage water tank if the liquid storage amount of the clean water tank is greater than or equal to a second preset liquid storage amount, or control the first water inlet component to communicate with the second liquid storage tank to inject the liquid in the second liquid storage tank into the first clean water tank if the liquid storage amount of the clean water tank is less than the second preset liquid storage amount.

[0021] Optionally, the controller is further configured to control the second water inlet component to communicate with the second liquid storage tank to inject the liquid in the second liquid storage tank into the first sewage water tank if the type information of the target device is not preset type information.

[0022] In a second aspect, an embodiment of the present application provides a robot system, comprising a target device, a base station and the self-moving device described above; the base station comprises a base body and a third liquid storage tank arranged on the base body, and the third liquid storage tank is provided with a second water outlet assembly; the target device comprises a second liquid storage tank;

[0023] The self-moving device is configured to inject the liquid in the first liquid storage tank into the second liquid storage tank through the first water outlet assembly when the target device needs to be injected with water.

[0024] The base station is configured to inject the liquid in the third liquid storage tank into the first liquid storage tank through the second water outlet assembly when the liquid in the first liquid storage tank of the self-moving device is less than or equal to a first preset liquid level.

[0025] Optionally, the third liquid storage tank is further provided with a second water inlet assembly.

[0026] The self-moving device is configured to inject the liquid in the second liquid storage tank into the first liquid storage tank through the first water inlet assembly when the target device needs to be drained.

[0027] The base station is configured to receive the liquid in the first liquid storage tank into the third liquid storage tank of the base station through the second water inlet assembly when the liquid in the first liquid storage tank of the self-moving device is greater than or equal to a second preset liquid level.

[0028] Optionally, the third liquid storage tank comprises a second clean water tank and a second sewage tank; the second water outlet assembly comprises a third water outlet member and a fourth water outlet member, and the second water inlet assembly comprises a third water inlet member and a fourth water inlet member, the third water inlet member and the third water outlet member are arranged on the second clean water tank, and the fourth water outlet member and the fourth water inlet member are arranged on the second sewage tank.

[0029] According to the self-moving device and the robot system provided by the embodiment of the present application, when the second liquid storage tank of the target device needs to be filled with water, the self-moving device can be docked with the target device, so that the first water outlet assembly is in communication with the second liquid storage tank, and the liquid in the first liquid storage tank on the self-moving device is injected into the second liquid storage tank on the target device, so that the user does not need to fill the liquid storage tank of the household appliance with water, and the user can use the household appliance conveniently. BRIEF DESCRIPTION OF DRAWINGS

[0030] The following drawings of the present application are used herein as a part of the embodiments of the present application for understanding the present application. The embodiments of the present application and the description thereof shown in the drawings are used to explain the principles of the present application.

[0031] In the drawings:

[0032] Figure 1 It is a perspective view of a robot sweeper according to an optional embodiment of the present application;

[0033] Figure 2 It is a bottom view of a robot sweeper according to an optional embodiment of the present application;

[0034] Figure 3 It is a perspective view of a wet cleaning system according to an optional embodiment of the present application;

[0035] Figure 4 It is a structural schematic view of a first liquid storage tank according to an optional embodiment of the present application;

[0036] Figure 5 It is a structural view of a robot system according to an optional embodiment of the present application.

[0037] Explanation of reference signs:

[0038] 10 - robot; 110 - robot body; 111 - front portion; 112 - rear portion; 120 - perception system; 121 - position determining device; 122 - bumper; 130 - control module; 140 - locomotion mechanism; 150 - robot system; 151 - dry cleaning system; 152 - side brush; 153 - wet cleaning system; 160 - energy system; 170 - human-machine interaction system; 20 - first liquid storage tank; 210 - first clean water tank; 220 - second sewage tank; 30 - first water inlet member; 310 - first control valve; 320 - water inlet pipe; 40 - second water inlet member; 50 - first water outlet member; 510 - water outlet pipe; 520 - second control valve; 60 - second water outlet member; 70 - base body. DETAILED DESCRIPTION

[0039] In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present application. It will be apparent, however, to one of ordinary skill in the art that the present application can be practiced without one or more of these specific details. In other instances, well-known features have not been described in detail so as not to unnecessarily obscure the present application.

[0040] It is also to be understood that the terminology used herein is for the purpose of describing the particular embodiments only and is not intended to be limiting. As used herein, the singular form "a", "an" and "the" include plural references unless the context clearly dictates otherwise. Furthermore, it is to be understood that the term "comprising" or "including" or "containing" when used herein, specifies the presence of stated features, integers, steps, operations, elements, or components but does not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, or groups thereof.

[0041] In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present application. It will be apparent, however, to one of ordinary skill in the art that the present application can be practiced without one or more of these specific details. In other instances, well-known features have not been described in detail so as not to unnecessarily obscure the present application.

[0042] In a first aspect, as shown in the drawings, embodiments of the present application provide a self-moving device, comprising a body; a first liquid storage tank 20 is arranged on the body, and a first water outlet assembly is arranged on the first liquid storage tank 20, the first water outlet assembly being configured to communicate with a second liquid storage tank of a target device to inject liquid in the first liquid storage tank 20 into the second liquid storage tank. Figure 4

[0043] ​Self-moving devices are devices that integrate multiple functions such as environment sensing, dynamic decision and planning, behavior control and execution, etc. For example, self-moving devices can automatically perform cleaning tasks. With the continuous improvement of self-moving devices, self-moving devices are widely used in various industries.

[0044] In the embodiments of the present disclosure, the mobile robot can be a cleaning robot, such as a sweeping robot 10, a mopping robot, a floor polishing robot, a weeding robot, etc. For ease of description, the present embodiment takes the sweeping robot 10 as an example to describe the technical solutions of the present disclosure.

[0045] Further, as shown in Figure 1 and Figure 2 , the sweeping robot 10 can include a machine body 110, a perception module 120, a controller, a driving module, a robot system 150, an energy system, and a human-computer interaction module 130. As shown in Figure 1 , the machine body 110 includes a forward portion 111 and a rearward portion 112, and has an approximately circular shape (circular in front and rear), or other shapes, including but not limited to an approximately D-shaped shape with a circular rear and a rectangular or square shape in front and rear.

[0046] As shown in Figure 1 , the perception module 120 includes a position determination device 121 located on the machine body 110, a collision sensor arranged on the front collision structure 122 of the forward portion 111 of the machine body 110, a wall sensor located on the side of the machine, a carpet detection device arranged on the lower part of the machine body 110, and a magnetometer, accelerometer, gyroscope, odometer, etc. Sensing devices arranged inside the machine body 110 are used to provide various position information and motion state information of the machine to the controller. The position determination device 121 includes but is not limited to a camera, a laser distance measuring device (LDS, full name Laser Distance Sensor). In some preferred implementations, the position determination device 121 (such as a camera, a laser sensor) is located on the front side of the main body 110, that is, the frontmost end of the forward portion 111, so as to more accurately sense the environment in front of the sweeping robot 10 and achieve accurate positioning.

[0047] As shown in Figure 1As shown, the front portion 111 of the machine body 110 can carry a front bump structure 122, via which a sensor system, such as a bump sensor or a proximity sensor (infrared sensor) disposed thereon, detects one or more events in the travel path of the robotic cleaner 10 when the drive wheel module 141 propels the robotic cleaner 10 to travel on the ground during the cleaning process, through which the robotic cleaner 10 can control the drive module to make the robotic cleaner 10 respond to the events, such as obstacles, walls, by performing an obstacle avoidance operation away from the obstacles, etc.

[0048] The controller is disposed on a circuit board within the machine body 110, including a computing processor, such as a central processing unit, an application processor, in communication with a non-transitory memory, such as a hard disk, a flash memory, a random access memory, which utilizes a positioning algorithm, such as Simultaneous Localization And Mapping (SLAM), to draw an instant map of the environment in which the robotic cleaner 10 is located according to the obstacle information fed back by the laser ranging device. And in combination with the distance information, speed information fed back by the sensors, such as the sensors disposed on the front bump structure 122, the carpet detection device, the magnetometer, the accelerometer, the gyroscope, the odometer, etc., the robotic cleaner 10 can comprehensively judge what kind of working state it is currently in, what position it is located at, and the current pose of the robotic cleaner 10, such as crossing a threshold, landing on a carpet, the dust box being full, being picked up, etc., and give specific next action strategies for different situations, so that the robotic cleaner 10 has better cleaning performance and user experience.

[0049] As Figure 2As shown, the drive module can manipulate the robot body 110 to travel across the ground based on drive commands with distance and angle information. The drive module includes a main drive wheel module, which can control the left wheel 140 and the right wheel 141. For more precise control of the machine's movement, the main drive wheel module preferably includes a left drive wheel module and a right drive wheel module respectively. The left and right drive wheel modules are arranged along a transverse axis defined by the robot body 110. In order for the robot vacuum cleaner 10 to move more stably or with stronger movement capabilities on the ground, the robot vacuum cleaner 10 may include one or more driven wheels 142, including but not limited to omnidirectional wheels. The main drive wheel module includes a drive motor and a control circuit for controlling the drive motor. The main drive wheel module may also be connected to a circuit for measuring the drive current and an odometer. Furthermore, the left wheel 140 and the right wheel 141 may have an offset drop suspension system, which is movably secured, for example, rotatably attached to the robot body 110, and receives spring biases that are biased downward and away from the robot body 110. Spring bias allows the drive wheel to maintain contact and traction with the ground with a certain ground force, while the cleaning element of the robot vacuum cleaner 10 also contacts the ground with a certain pressure.

[0050] The human-machine interface module 130 includes buttons on the main control panel for users to select functions; it may also include a display screen and / or indicator lights and / or a speaker, which show the user the current machine mode or function selection; and it may also include a mobile client application. For the path navigation type automatic sweeping robot 10, the mobile client can display a map of the device's environment and the machine's location to the user, providing richer and more user-friendly functions. Specifically, the sweeping robot 10 has multiple modes, such as working mode and self-cleaning mode. The working mode refers to the mode in which the sweeping robot 10 performs automatic cleaning operations, while the self-cleaning mode refers to the mode in which the sweeping robot 10 removes dirt from the roller brush and side brushes 152 on the base, automatically collects the dirt, and / or automatically washes and dries the mop.

[0051] The robot system 150 may be a dry cleaning system 151 and / or a wet cleaning system 153.

[0052] like Figure 2 As shown, the dry cleaning system 151 provided in this embodiment may include a roller brush, a dustbin, a fan, and an air outlet. The roller brush, which interferes with the ground to a certain extent, sweeps up debris from the ground and carries it to the suction port between the roller brush and the dustbin. The debris is then drawn into the dustbin by the suction gas generated by the fan and passing through the dustbin. The dry cleaning system 151 may also include a side brush 152 with a rotating shaft at an angle relative to the ground to move debris to the roller brush area of ​​the robotic system 150.

[0053] likeFigure 2 and Figure 3 As shown in FIG. 1, the wet cleaning system 153 provided by the embodiment of the present disclosure can include a cleaning head 1531, a driving unit 1532, a water feeding mechanism, etc. The cleaning head 1531 can be arranged below a liquid storage tank. The cleaning liquid in the liquid storage tank is transmitted to the cleaning head 1531 by the water feeding mechanism, so that the cleaning head 1531 performs wet cleaning on the plane to be cleaned. In other embodiments of the present disclosure, the cleaning liquid in the liquid storage tank can also be directly sprayed on the plane to be cleaned, and the cleaning head 1531 realizes cleaning on the plane by uniformly applying the cleaning liquid.

[0054] In a specific application, when the controller of the sweeping robot 10 receives a water replenishment request carrying position information sent by a target device (i.e., a household appliance to be replenished with water), the sweeping robot 10 moves to the target device according to the position information and completes the docking with the target device, i.e., the first water outlet assembly of the first liquid storage tank 20 of the sweeping robot 10 is in communication with the water inlet pipeline on the second liquid storage tank of the target device, so that the liquid in the first liquid storage tank 20 of the sweeping robot 10 can be injected into the second liquid storage tank of the target device, thereby achieving the purpose of automatically replenishing water for the target device.

[0055] Further, in some implementations, the first water outlet assembly is arranged at the middle lower part of the first liquid storage tank 20, so that the liquid can automatically flow into the second liquid storage tank by the self-weight of the liquid. In other implementations, a suction pump is arranged on the water inlet pipeline of the second liquid storage tank of the target device, so that the liquid in the first liquid storage tank 20 of the sweeping robot 10 can be sucked to increase the injection speed of the liquid.

[0056] The self-moving device provided by the embodiment can dock with the target device when the second liquid storage tank of the target device needs to be injected with water, so that the first water outlet assembly is in communication with the second liquid storage tank, and the liquid in the first liquid storage tank 20 on the self-moving device is injected into the second liquid storage tank on the target device. In this way, the user does not need to inject water into the liquid storage tank of the household appliance, which facilitates the use of the household appliance by the user.

[0057] Specifically, the main body is further provided with a controller. The controller is configured to control the self-moving device to move to the target device according to the position information of the target device, and make the first water outlet assembly in communication with the second liquid storage tank, so as to inject the liquid in the first liquid storage tank into the second liquid storage tank.

[0058] The position information of the target device can be sent to the self-moving device after being positioned by the target device, or can be obtained when the self-moving device constructs a map. The embodiment does not strictly limit the acquisition manner of the position information of the target device.

[0059] The self-moving device moves to the target device according to the position information of the target device (i.e. the household appliance to be watered) and completes the docking with the target device, i.e. the first water outlet assembly of the first liquid storage tank 20 of the self-moving device is in communication with the water inlet pipeline on the second liquid storage tank of the target device, so that the liquid in the first liquid storage tank 20 of the floor cleaning robot 10 can be injected into the second liquid storage tank of the target device, thereby achieving the purpose of automatically watering the target device.

[0060] Specifically, the condition for triggering the self-moving device to water the target device can be various. In some implementations, the controller is specifically configured to control the self-moving device to move to the target device according to the position information of the target device when receiving the water request sent by the target device.

[0061] Specifically, the target device is provided with a water level monitoring component, which sends a water request to the self-moving device when the liquid level in the second liquid storage tank is low, so that the second liquid storage tank of the target device is watered after the self-moving device receives the water request, thereby achieving the purpose of automatic watering.

[0062] In other implementations, the controller is specifically configured to obtain the current time and the first preset time, and if the current time reaches the first preset time, control the self-moving device to move to the target device according to the position information of the target device.

[0063] The first preset time can be set by the user according to the water amount of the target device. In the case where the current time reaches the first preset time, the controller controls the self-moving device to move to the position of the target device to water the second liquid storage tank of the target device, thereby achieving the purpose of automatic watering, and also eliminating the need for the user to monitor the power of the external device, thereby improving the user experience.

[0064] Further, as shown in Figure 4 The first water inlet assembly is configured to be in communication with the third liquid storage tank of the base station or the second liquid storage tank of the target device, so as to inject the liquid in the third liquid storage tank or the second liquid storage tank into the first liquid storage tank 20.

[0065] In specific applications, when the target device needs to drain water, the first water inlet assembly of the self-moving device is in communication with the second liquid storage tank of the target device, so as to drain water from the target device to the self-moving device, and when the liquid in the first liquid storage tank 20 of the self-moving device is insufficient, the second water inlet assembly of the self-moving device is in communication with the third liquid storage tank of the base station, so as to water the self-moving device from the base station.

[0066] Further, the first water outlet assembly can be in communication with the third liquid storage tank of the base station, so as to inject the liquid in the first liquid storage tank 20 into the third liquid storage tank.

[0067] After the second liquid tank of the target device injects the liquid into the first liquid tank 20 of the self-moving device, that is, after the target device finishes discharging the liquid, the self-moving device can be connected to the third liquid tank of the base station through the first water outlet assembly, so as to inject the liquid in the first liquid tank 20 into the third liquid tank. In summary, the self-moving device can serve as a medium for the target device to supply and discharge water.

[0068] Further, the controller is further configured to obtain the liquid storage amount of the first liquid tank 20 before moving to the target device, and if the liquid storage amount of the first liquid tank 20 is less than or equal to the first preset liquid storage amount, control the self-moving device to move to the base station and make the first water inlet assembly connected to the third liquid tank to inject the liquid in the third liquid tank into the first liquid tank 20.

[0069] The first preset liquid storage amount can be determined by the staff according to the capacity of the first liquid tank 20, and the present embodiment is not strictly limited.

[0070] When the liquid in the first liquid tank 20 of the self-moving device is insufficient before the self-moving device supplies water to the target device, and is less than or equal to the first preset liquid storage amount, the self-moving device can automatically move to the base station and complete the docking with the base station, that is, the first water inlet assembly is connected to the third liquid tank, so as to inject the liquid in the third liquid tank into the first liquid tank 20 to supply water to the self-moving device, so that the self-moving device can complete the subsequent water supply to the target device or execute the cleaning task. In this way, the self-moving device can be automatically supplied with water by the base station without the need for the user to supply water to the self-moving device, thereby improving the user experience.

[0071] Further, the controller is further configured to control the self-moving device to move to the base station after the second liquid tank is filled with liquid, and make the first water inlet assembly connected to the third liquid tank to inject the liquid in the third liquid tank into the first liquid tank 20.

[0072] After the self-moving device supplies water to the target device, the self-moving device can automatically move to the base station and complete the docking with the base station, that is, the first water inlet assembly is connected to the third liquid tank, so as to inject the liquid in the third liquid tank into the first liquid tank 20 to supply water to the self-moving device, so that the self-moving device can complete the subsequent water supply to the target device or execute the cleaning task. In this way, the self-moving device can be automatically supplied with water by the base station without the need for the user to supply water to the self-moving device, thereby improving the user experience.

[0073] Further, the controller is further configured to control the self-moving device to move to the target device according to the position information of the target device, and make the first water inlet assembly connected to the second liquid tank to inject the liquid in the second liquid tank into the first liquid tank.

[0074] When some household appliances (target devices) are to collect sewage to realize corresponding functions, for example, a mop, etc., when the second liquid storage tank of these household appliances is full of sewage, the self-moving device moves to the target device according to the position information of the target device, and completes the docking with the target device, that is, the first water inlet assembly of the first liquid storage tank 20 of the self-moving robot is in communication with the water outlet pipeline on the second liquid storage tank of the target device, so that the sewage in the second liquid storage tank can be injected into the first liquid storage tank 20, so as to realize the purpose of discharging the sewage stored by the target device, so that the user does not need to manually pour out the sewage in the second liquid storage tank of these household appliances, thereby being more convenient for the user to use.

[0075] Specifically, the condition for triggering the target device to discharge water to the self-moving device can be various. In some implementations, the controller is specifically configured to, when receiving the discharge request sent by the target device, control the self-moving device to move to the target device according to the position information of the target device.

[0076] The target device is provided with a water level monitoring component, which sends a discharge request to the self-moving device when the liquid level in the second liquid storage tank is high, so that after the self-moving device receives the discharge request, the cleaning device is controlled to move to the target device, and the target device discharges water to the self-moving device to achieve the purpose of automatic discharge.

[0077] In other implementations, the controller is specifically configured to obtain the current time and a second preset time, and if the current time reaches the second preset time, control the self-moving device to move to the target device according to the position information of the target device.

[0078] The second preset time can be set by the user according to the water amount of the target device. In the case where the current time reaches the second preset time, the controller controls the self-moving device to move to the position of the target device, controls the cleaning device to move to the target device, and the target device discharges water to the self-moving device to achieve the purpose of automatic discharge, and also does not need the user to monitor the power of the external device, thereby improving the user experience.

[0079] Further, the controller is also configured to control the self-moving cleaning device to move to the base station after the second liquid storage tank injects the liquid into the first liquid storage tank 10, and make the first water outlet assembly in communication with the third liquid storage tank, so as to inject the liquid in the first liquid storage tank 10 into the third liquid storage tank.

[0080] After the discharge process is completed, the self-moving device can move to the base station and complete the docking with the base station, that is, the first water outlet assembly of the first liquid storage tank 20 of the self-moving robot is in communication with the third liquid storage tank of the base station, so as to inject the sewage in the first liquid storage tank 20 into the third liquid storage tank, so that the sewage in the first liquid storage tank 20 of the self-moving robot can be discharged, so as not to affect the subsequent task of collecting sewage of the self-moving device.

[0081] Further, as shown in Figure 4 the first water tank 20 includes a first clean water tank 210 and a first dirty water tank 220; the first water inlet assembly includes a first water inlet member 30 and a second water inlet member 40, and the first water outlet assembly includes a first water outlet member 50 and a second water outlet member 60; the first water inlet member 30 and the first water outlet member 50 are arranged on the first clean water tank 210, and the second water inlet member 40 and the second water outlet member 60 are arranged on the first dirty water tank 220.

[0082] The first clean water tank 210 is used to store the cleaning liquid used by the mobile device to perform the cleaning task or the cleaning liquid injected into the second water tank of the target device. The first dirty water tank 220 is used to store the dirty water sucked by the mobile device during the cleaning task or the dirty water discharged from the second water tank of the target device, so that the cleaning liquid and the dirty water are stored separately, thereby avoiding the pollution of the cleaning liquid by the dirty water and affecting the subsequent work of the target device or the mobile device.

[0083] Specifically, for household appliances that need to be refilled, such as humidifiers and the like, when the controller of the mobile device receives the refill request sent by the target device (i.e. the household appliance to be refilled) carrying the position information, the mobile device moves to the target device according to the position information and completes the docking with the target device, i.e. the first water outlet member 50 of the first clean water tank 210 of the mobile device is in communication with the water inlet pipeline of the second water tank of the target device, so that the liquid in the first clean water tank 210 of the mobile device can be injected into the second water tank of the target device, thereby achieving the purpose of automatically refilling the target device.

[0084] When the liquid in the first water tank 20 of the mobile device is insufficient before the mobile device refills the target device, or when the liquid in the first water tank 20 of the mobile device is insufficient after the mobile device refills the target device, or when the liquid in the first water tank 20 of the mobile device is insufficient after the mobile device performs the cleaning task, the mobile device can automatically move to the base station and complete the docking with the base station, i.e. the first water inlet member 30 is in communication with the third water tank, so that the liquid in the third water tank is injected into the first clean water tank 210 to refill the first clean water tank 210 of the mobile device, so that the mobile device can complete the subsequent refill of the target device or perform the cleaning task. In this way, the first clean water tank 210 of the mobile device can be automatically refilled by the base station, without the need for the user to refill the mobile device, thereby improving the user experience.

[0085] And for household appliances that need to drain sewage, such as floor cleaning robots, when the second liquid tank of these household appliances is full of sewage, a drainage request carrying position information is sent to the self-moving device, and after the controller of the self-moving device receives the drainage request, it moves to the target device according to the position information and completes docking with the target device, that is, the first water inlet member 30 of the first sewage tank 220 of the self-moving robot is in communication with the water outlet pipeline on the second liquid tank of the target device, so that the sewage in the second liquid tank can be injected into the first sewage tank 220, to achieve the purpose of draining the sewage stored by the target device, so the user does not need to manually pour out the sewage in the second liquid tank of these household appliances, thereby making it more convenient for the user to use. After the drainage process is completed, the self-moving device can move to the base station and complete docking with the base station, that is, the first water inlet member 30 of the first sewage tank 220 of the self-moving robot is in communication with the third liquid tank of the base station, so that the sewage in the first sewage tank 220 can be injected into the third sewage tank, so that the sewage in the first sewage tank 220 of the self-moving robot can be drained, without affecting the subsequent task of collecting sewage by the self-moving device.

[0086] It is worth noting that for household appliances such as floor cleaning robots, the second liquid tank also includes a clean water tank and a sewage tank to achieve the purpose of mopping. The floor cleaning robot may need to inject cleaning fluid into the clean water tank while draining the sewage in the sewage tank, so that the self-moving device can inject cleaning fluid into the clean water tank of the floor cleaning robot while receiving the sewage drained by the floor cleaning robot. Specifically, after the self-moving device receives the drainage request carrying position information sent by the floor cleaning robot, the self-moving device moves to the floor cleaning robot and completes docking with the floor cleaning robot, that is, the first water outlet member 50 of the first clean water tank 210 of the self-moving device is in communication with the clean water tank of the floor cleaning robot, and the first water inlet member 30 of the first sewage tank 220 of the self-moving device is in communication with the sewage tank of the floor cleaning robot, then the first clean water tank 210 of the self-moving device can inject water into the clean water tank of the floor cleaning robot, while the sewage tank of the floor cleaning robot drains sewage into the first sewage tank 220 of the self-moving device, so as to achieve the purpose of injecting clean water and draining sewage at the same time, thereby improving efficiency and saving time. Adaptively, the third liquid tank of the base station includes a second clean water tank and a second sewage tank, and then the self-moving device can move to the base station and complete docking with the base station, that is, the first water outlet member 50 of the first clean water tank 210 of the self-moving device is in communication with the second clean water tank of the base station, and the first water outlet member 50 of the first sewage tank 220 of the self-moving device is in communication with the second sewage tank of the base station, so that the cleaning fluid in the second clean water tank can be injected into the first clean water tank 210 of the self-moving device, while the sewage in the first sewage tank 220 can be drained into the second sewage tank, thereby improving work efficiency and saving time.

[0087] For the household appliance such as the dehumidifier, the collected liquid is not dirty sewage, but relatively clean water, that is, the water discharged by the target device can be used again. For this case, in some embodiments, the drainage request also carries type information of the target device, and the controller is further configured to control the first water inlet member 30 to communicate with the second liquid storage tank to inject the liquid in the second liquid storage tank into the first clean water tank 210 if the type information of the target device is preset type information.

[0088] For example, when the target device is a dehumidifier, after the mobile device receives the drainage request sent by the target device and carrying type information and location information, the controller determines that the type of the target device is a preset type according to the type information, and then drains the liquid in the second liquid storage tank of the dehumidifier into the first clean water tank 210. Thus, the mobile device can use the water in the first clean water tank 210 to perform cleaning tasks, thereby saving water resources and the process of draining water from the mobile device to the base station.

[0089] Further, the controller is configured to, when the type information of the target device is preset type information, acquire the liquid storage amount of the first clean water tank 210, and control the second water inlet member 60 to communicate with the second liquid storage tank to inject the liquid in the second liquid storage tank into the first sewage tank 220 if the liquid storage amount of the first clean water tank 210 is greater than or equal to a second preset liquid storage amount, or control the first water inlet member 30 to communicate with the second liquid storage tank to inject the liquid in the second liquid storage tank into the first clean water tank 210 if the liquid storage amount of the first clean water tank 210 is less than the second preset liquid storage amount.

[0090] The second preset liquid storage amount can be determined by the staff according to the capacity of the first clean water tank 210, and the preset type of the target device can be set by the staff before leaving the factory, and the preset type is not strictly limited in the present embodiment.

[0091] For example, when the target device is a dehumidifier, after the mobile device receives the drainage request sent by the target device and carrying type information and location information, the controller determines that the type of the target device is a preset type according to the type information, and then detects whether the first clean water tank 210 of the mobile device is empty. If the first clean water tank 210 of the mobile device is empty, the first water inlet member 30 of the first clean water tank 210 of the mobile device communicates with the second liquid storage tank of the dehumidifier when the mobile device is docked with the dehumidifier, so as to drain the liquid in the second liquid storage tank into the first clean water tank 210. After the drainage is completed, the mobile device does not need to move to the base station to drain the water in the first clean water tank 210, and the water in the first clean water tank 210 can be used for cleaning of the mobile device or for water injection into the second liquid storage tank of other household appliances, thereby improving the drainage efficiency and saving energy.

[0092] If the first clean water tank 210 of the self-moving device is full, when the self-moving device is docked with the dehumidifier, the second water inlet member 40 of the first dirty water tank 220 of the self-moving device is in communication with the second liquid storage tank of the dehumidifier, so that the water in the second liquid storage tank is injected into the first dirty water tank 220, so that the dehumidifier can be drained and the first dirty water tank 220 can be flushed at the same time. The subsequent process of discharging dirty water from the self-moving device to the base station is the same as the above embodiment, and will not be described here.

[0093] The controller is further configured to control the second water inlet member 40 to be in communication with the second liquid storage tank to inject the liquid in the second liquid storage tank into the first dirty water tank 220 if the type information of the target device is not the preset type information.

[0094] If the target device is of other types, such as a floor cleaning robot, the process of draining water for the floor cleaning robot in the above embodiment is adopted, and will not be described here.

[0095] Further, as shown in Figure 4 The first water inlet member 30 and the second water inlet member 40 each include a water inlet pipe 320 and a first control valve 310 disposed on the water inlet pipe 320, and the first control valve 310 is connected to the controller of the self-moving device.

[0096] The controller of the self-moving device can control the opening and closing of the first control valve 310, thereby controlling the injection of liquid into the first clean water tank 210 or the first dirty water tank 220. Specifically, during the process of injecting liquid into the first clean water tank 210, the controller controls the first control valve 310 of the first water inlet member 30 to be opened, and after the injection of liquid is completed, the controller controls the first control valve 310 of the first water inlet member 30 to be closed. Similarly, during the process of injecting liquid into the first dirty water tank 220, the controller controls the first control valve 310 of the second water inlet member 40 to be opened, and after the injection of liquid is completed, the controller controls the first control valve 310 of the second water inlet member 40 to be closed.

[0097] As shown in Figure 4 The first water outlet member 50 and the second water outlet member 60 include a water outlet pipe 510 and a second control valve 520 disposed on the water outlet pipe 510, and the second control valve 520 is connected to the controller of the self-moving device.

[0098] The controller of the self-moving device can control the opening and closing of the second control valve 520, thereby controlling the discharge of liquid to the first clean water tank 210 or the first sewage tank 220. Specifically, during the process of discharging liquid to the first clean water tank 210, the controller controls the second control valve 520 of the first water outlet member 50 to open, and after the discharge of liquid is completed, the controller controls the second control valve 520 of the first water outlet member 50 to close. Similarly, during the process of discharging liquid to the first sewage tank 220, the controller controls the second control valve 520 of the second water outlet member 60 to open, and after the discharge of liquid is completed, the controller controls the second control valve 520 of the second water inlet member 40 to close.

[0099] Further, the first clean water tank 210 is provided with a first liquid level detection device, which is connected to the controller of the self-moving device.

[0100] The first liquid level detection device can adopt a liquid level sensor. The first liquid level detection device is used to detect the liquid level value in the first clean water tank 210, so that the controller can determine whether the first clean water tank 210 is full of liquid by detecting the liquid level value before the self-moving device injects water into the second liquid storage tank of the target device, and determine whether there is sufficient cleaning liquid in the first clean water tank 210, i.e. if the detected liquid level value is greater than or equal to the first preset liquid level value, it is determined that there is sufficient cleaning liquid in the first clean water tank 210, and then the controller controls the self-moving device to inject water for the target device; if the detected liquid level value is less than or equal to the second preset liquid level value, it is determined that there is not enough cleaning liquid in the first clean water tank 210, so the self-moving device is first controlled to move to the base station to inject water, and then move to the target device to inject water for the second water storage tank of the target device. And during the process of injecting liquid into the first clean water tank 210 from the third liquid storage tank of the base station, the controller determines whether the first clean water tank 210 is full of liquid by detecting the liquid level value, i.e. if the detected liquid level value is greater than or equal to the first preset liquid level value, it is determined that the first clean water tank 210 is full of sufficient cleaning liquid, and then the controller controls the first control valve 310 of the first water inlet member 30 to close, thereby completing the process of injecting water into the first clean water tank 210. The first preset liquid level value and the second preset liquid level value can be set by the staff according to the capacity of the first clean water tank 210, and the application does not make strict restrictions, and the first preset liquid level value is greater than the second preset liquid level value.

[0101] By installing a liquid level detection device in the first clean water tank 210, the liquid level in the first clean water tank 210 can be detected, so that the liquid level in the first clean water tank 210 can be accurately determined to control the self-moving device to execute the corresponding strategy, thereby avoiding the situation that the first clean water tank 210 of the self-moving device does not have sufficient liquid to inject water into the second liquid storage tank of the target device, and also avoiding the situation that the cleaning liquid injected by the base station into the first clean water tank 210 is too much to cause overflow.

[0102] The first sewage tank 220 is equipped with a second liquid level detection device, which is connected to the controller of the self-moving device.

[0103] The second liquid level detection device can be a liquid level sensor. The second liquid level detection device is used to detect the liquid level value in the first sewage tank 220. When the target device's second storage tank drains water from the self-moving device's first sewage tank 220, the controller determines whether the first sewage tank 220 is full of sewage based on the detected liquid level value. Specifically, if the detected liquid level value is less than or equal to a third preset liquid level value, it is determined that the first sewage tank 220 is empty, and the controller then controls the self-moving device to drain water for the target device. If the detected liquid level value is greater than or equal to a fourth preset liquid level value, it is determined that the first clean water tank 210 is full of sewage. Therefore, the controller must first control the self-moving device to move to the base station to drain the sewage, and then move to the target device to receive the sewage discharged from the target device's second storage tank. Furthermore, during the process of discharging sewage from the first sewage tank 220 to the third storage tank of the base station, the controller determines whether the first sewage tank 220 has completely discharged the sewage by detecting the liquid level. That is, if the detected liquid level value is less than or equal to the third preset liquid level value, the sewage discharge process is considered complete, and the controller controls the second control valve 520 of the second water outlet component 60 to close, thereby completing the drainage process of the first sewage tank 220. The third and fourth preset liquid level values ​​can be set by the operator according to the capacity of the first clean water tank 210; this application does not impose strict limitations, and the fourth preset liquid level value is greater than the third preset liquid level value.

[0104] Secondly, such as Figure 5 As shown, this embodiment of the invention provides a robot system, including a target device, a base station, and the aforementioned mobile device; the base station includes a base 70 and a third liquid storage tank disposed on the base 70, the third liquid storage tank being provided with a second water outlet assembly; the target device includes a second liquid storage tank;

[0105] The self-moving device is used to inject the liquid in the first storage tank 20 into the second storage tank through the first water outlet component when the target device needs to be filled with water.

[0106] The base station is used to inject liquid from the third storage tank into the first storage tank 20 when the liquid level in the first storage tank 20 of the self-moving device is less than or equal to the first preset liquid level.

[0107] The first preset liquid level value can be set by staff before leaving the factory or by the user. This embodiment does not impose strict limitations on this.

[0108] It should be noted that the self-moving device involved in the present embodiment can adopt the self-moving device of the above-mentioned embodiments. For the implementation and working principle of the specific self-moving device, please refer to the corresponding content in the above-mentioned embodiments, which will not be repeated here.

[0109] The base body 70 is roughly L-shaped. An infrared receiver is arranged on the self-moving device, and an infrared emitter is arranged on the outer wall of the base body 70 of the charging pile. When the self-moving device is being recharged, the infrared signal emitted by the infrared emitter on the charging pile is received by the infrared receiver on the self-moving device, guiding the self-moving device to dock with the charging pile for charging. In addition to the function of watering the self-moving device, the base station can also charge the self-moving device and clean the cleaning components of the self-moving device.

[0110] The second water outlet assembly of the third liquid storage tank can inject cleaning liquid into the first liquid storage tank 20 of the self-moving device, so that the user does not need to inject cleaning liquid into the first liquid storage tank 20 of the self-moving device, making the use of the user more convenient and improving the user experience. For the process of the self-moving device watering the self-moving device, please refer to the above-mentioned embodiments, which will not be repeated here.

[0111] Further, the third liquid storage tank is also provided with a second water inlet assembly;

[0112] The self-moving device is used to inject the liquid in the second liquid storage tank into the first liquid storage tank 20 through the first water inlet assembly when the target device needs to drain water;

[0113] The base station is used to receive the liquid in the first liquid storage tank 20 through the third liquid storage tank when the liquid in the first liquid storage tank 20 of the self-moving device is greater than or equal to the second preset liquid level.

[0114] The second preset liquid level value can be set by the staff before leaving the factory or by the user himself / herself, and the present embodiment is not strictly limited.

[0115] Through the second water inlet assembly, the sewage in the first liquid storage tank 20 of the self-moving device can be automatically drained into the third liquid storage tank of the base station, so that the user does not need to manually pour out the sewage in the first liquid storage tank 20 of the self-moving device, further improving the user experience. For the process of the self-moving device draining water to the self-moving device, please refer to the above-mentioned embodiments, which will not be repeated here.

[0116] Specifically, the third liquid storage tank includes a second clean water tank and a second sewage tank; the second water outlet assembly includes a third water outlet member and a fourth water outlet member, and the second water inlet assembly includes a third water inlet member and a fourth water inlet member. The third water inlet member and the third water outlet member are arranged on the second clean water tank, and the fourth water outlet member and the fourth water inlet member are arranged on the second sewage tank.

[0117] In order to avoid sewage pollution of the cleaning liquid, in the present embodiment, a second clean water tank and a second sewage tank are provided to store the sewage and the cleaning liquid respectively. The volume of the second clean water tank and the second sewage tank is usually large, so the user only needs to periodically supplement the cleaning liquid in the second clean water tank or clean the sewage in the second sewage tank, for example, once a week or once a month, which is beneficial to save manpower. In addition, the third water inlet member of the second clean water tank can be directly connected to a water source, or be in communication with a second liquid storage tank of a household appliance which collects liquid that is relatively clean, such as a dehumidifier, so that the user does not need to periodically inject cleaning liquid into the second clean water tank, and the fourth water outlet member of the second sewage tank is directly connected to a sewer, so that the user does not need to periodically clean the sewage in the second sewage tank.

[0118] When the self-moving device needs to inject the cleaning liquid, the self-moving device moves to the base station and is docked with the base station, that is, the third water outlet member of the second clean water tank of the base station is in communication with the first water inlet member 30 of the first clean water tank 210 of the self-moving device, so that the first clean water tank 210 of the self-moving device is injected with water through the second clean water tank of the base station.

[0119] When the self-moving device needs to discharge the sewage, the self-moving device moves to the base station and is docked with the base station, that is, the fourth water inlet member of the second sewage tank of the base station is in communication with the second water outlet member 60 of the first sewage tank 220 of the self-moving device, so that the first sewage tank 220 of the self-moving device is discharged into the second sewage tank of the base station.

[0120] When the self-moving device needs to inject water and also needs to discharge water, the above-mentioned water injection and water discharge processes can be performed simultaneously, thereby improving work efficiency.

[0121] The third water outlet member and the fourth water outlet member include a water outlet pipeline and a third control valve arranged on the water outlet pipeline, and the third control valve is connected to the controller of the base station.

[0122] The controller of the base station can control the opening and closing of the third control valve, thereby controlling the discharge of liquid to the second clean water tank or the second sewage tank. Specifically, during the process of injecting water from the second clean water tank of the base station into the first clean water tank 210 of the self-moving device, the controller of the base station controls the third control valve of the third water outlet member to be opened, and after the injection of liquid into the first clean water tank 210 of the self-moving device is completed, the controller of the base station controls the third control valve of the third water outlet member to be closed. Similarly, during the process of discharging sewage from the second sewage tank to the sewer, the controller of the base station controls the third control valve of the fourth water outlet member to be opened, and after the discharge of sewage is completed, the controller controls the third control valve of the fourth water outlet member to be closed.

[0123] The third water inlet member and the fourth water inlet member include a water inlet pipeline and a fourth control valve arranged on the water inlet pipeline, and the fourth control valve is connected to the controller of the base station.

[0124] The controller of the base station can control the opening and closing of the third control valve, thereby controlling the injection of liquid into the second clean water tank or the second sewage tank. Specifically, during the process of the water source to the second clean water tank of the base station, the controller controls the third control valve of the third water inlet member to be opened, and after the injection of liquid is completed, the controller controls the third control valve of the third water inlet member to be closed. Similarly, during the process of the first sewage tank 220 of the mobile device to the second sewage tank of the base station, the controller controls the third control valve of the fourth water inlet member to be opened, and after the first clean water tank 210 discharges sewage, the controller controls the third control valve of the fourth water inlet member to be closed.

[0125] Further, the water inlet pipeline and the water outlet pipeline are each provided with a water pump.

[0126] The water pump can improve the flow rate of the sewage and the clean liquid, thereby improving the efficiency of the water supply and drainage of the base station.

[0127] The present application has been described by the above-mentioned embodiments, but it should be understood that the above-mentioned embodiments are only for the purpose of example and illustration, and are not intended to limit the present application to the scope of the described embodiments. In addition, those skilled in the art can understand that the present application is not limited to the above-mentioned embodiments, and more kinds of variations and modifications can be made according to the teachings of the present application, which all fall within the scope of the present application claimed. The scope of protection of the present application is defined by the attached claims and their equivalent scope.

Claims

1. A self-moving device, characterized in that, The main body comprises a first liquid storage tank, a first water outlet assembly arranged on the first liquid storage tank, and a first water inlet assembly arranged on the first liquid storage tank. The first water inlet assembly is arranged on the first liquid storage tank. The main body further comprises a controller configured to control the self-moving device to move to the target device according to the position information of the target device, and to control the first water inlet assembly to communicate with the second liquid storage tank to inject the liquid in the second liquid storage tank into the first liquid storage tank. The first liquid storage tank comprises a first clean water tank and a first sewage tank. The first water inlet assembly comprises a first water inlet member arranged on the first clean water tank. The first water inlet member comprises a water inlet pipe and a first control valve arranged on the water inlet pipe. The controller is further configured to control the first control valve to open or close. The controller is further configured to control the first water inlet member to communicate with the second liquid storage tank to inject the liquid in the second liquid storage tank into the first clean water tank if the type information of the target device is a preset type information.

2. The self-moving device of claim 1, wherein, The controller is configured to control the self-moving device to move to the target device according to the position information of the target device, and to control the first water outlet assembly to communicate with the second liquid storage tank to inject the liquid in the first liquid storage tank into the second liquid storage tank.

3. The self-moving device of claim 2, wherein, The controller is specifically configured to control the self-moving device to move to the target device according to the position information of the target device when receiving a water replenishment request sent by the target device.

4. The self-moving device of claim 2, wherein, The controller is specifically configured to acquire a current time and a first preset time, and to control the self-moving device to move to the target device according to the position information of the target device if the current time reaches the first preset time.

5. The self-moving device of claim 2, wherein, The first water inlet assembly is configured to communicate with a third liquid storage tank of a base station or the second liquid storage tank of the target device to inject the liquid in the third liquid storage tank or the second liquid storage tank into the first liquid storage tank.

6. The self-moving device of claim 5, wherein, The first water outlet assembly is capable of communicating with the third liquid storage tank of the base station to inject the liquid in the first liquid storage tank into the third liquid storage tank.

7. The self-moving device of claim 5, wherein, The controller is further configured to acquire the liquid storage amount of the first liquid storage tank before moving to the target device, and to control the self-moving device to move to the base station and to control the first water inlet assembly to communicate with the third liquid storage tank to inject the liquid in the third liquid storage tank into the first liquid storage tank if the liquid storage amount of the first liquid storage tank is less than or equal to a first preset liquid storage amount.

8. The self-moving device of claim 5, wherein, The controller is further configured to control the self-moving device to move to the base station after the second liquid storage tank is filled with liquid, and to make the first water inlet assembly communicate with the third liquid storage tank to inject liquid in the third liquid storage tank into the first liquid storage tank.

9. The self-moving device of claim 1, wherein, The controller is specifically configured to, when receiving a drainage request sent by the target device, control the self-moving device to move to the target device according to the position information of the target device.

10. The self-moving device of claim 1, wherein, The controller is specifically configured to acquire a current time and a second preset time, and if the current time reaches the second preset time, control the self-moving device to move to the target device according to the position information of the target device.

11. The self-moving device of claim 5, wherein, The controller is further configured to control the self-moving device to move to the base station after the second liquid storage tank finishes injecting liquid into the first liquid storage tank, and to make the first water outlet assembly communicate with the third liquid storage tank to inject liquid in the first liquid storage tank into the third liquid storage tank.

12. The self-moving device of claim 1, wherein, The first water inlet assembly comprises a second water inlet member, and the first water outlet assembly comprises a first water outlet member and a second water outlet member. The first water outlet member is arranged on the first clean water tank, and the second water inlet member and the second water outlet member are arranged on the first sewage tank.

13. The self-moving device of claim 9, wherein, The drainage request further carries type information of the target device.

14. The self-moving device of claim 12, wherein, The controller is configured to, when the type information of the target device is preset type information, acquire a liquid storage amount of the first clean water tank, and if the liquid storage amount of the first clean water tank is greater than or equal to a second preset liquid storage amount, control the second water inlet member to communicate with the second liquid storage tank to inject liquid in the second liquid storage tank into the first sewage tank. If the liquid storage amount of the first clean water tank is less than the second preset liquid storage amount, the controller controls the first water inlet member to communicate with the second liquid storage tank to inject liquid in the second liquid storage tank into the first clean water tank.

15. The self-moving device of claim 12, wherein, The controller is further configured to, if the type information of the target device is not the preset type information, control the second water inlet member to communicate with the second liquid storage tank to inject liquid in the second liquid storage tank into the first sewage tank.

16. A robotic system, comprising: The system comprises a target device, a base station and a self-moving device as claimed in any one of claims 1-15; the base station comprises a base body and a third liquid storage tank arranged on the base body, and the third liquid storage tank is provided with a second water outlet assembly; the target device comprises a second liquid storage tank; The self-moving device is configured to inject liquid in a first liquid storage tank into a second liquid storage tank through a first water outlet assembly when the target device needs to be injected with water. The base station is configured to inject liquid in a third liquid storage tank into the first liquid storage tank through a second water outlet assembly when liquid in the first liquid storage tank of the self-moving device is less than or equal to a first preset liquid level.

17. The robotic system of claim 16, wherein, The third liquid storage tank is further provided with a second water inlet assembly. The self-moving device is configured to inject liquid in the second liquid storage tank into the first liquid storage tank through a first water inlet assembly when the target device needs to be drained. The third liquid storage tank is further provided with a second water inlet assembly. The self-moving device is configured to inject liquid in the second liquid storage tank into the first liquid storage tank through a first water inlet assembly when the target device needs to be drained. The base station is configured to receive, by a third water storage tank of the base station, water in the first water storage tank of the self-moving device through the second water inlet assembly when the water in the first water storage tank of the self-moving device is greater than or equal to a second preset water level.

18. The robotic system of claim 17, wherein, The third water storage tank comprises a second clean water tank and a second sewage tank; the second water outlet assembly comprises a third water outlet member and a fourth water outlet member, and the second water inlet assembly comprises a third water inlet member and a fourth water inlet member; the third water inlet member and the third water outlet member are arranged on the second clean water tank, and the fourth water outlet member and the fourth water inlet member are arranged on the second sewage tank.

Images