Mother cleaning robot, cleaning device and recycling method of child cleaning robot

Abstract

The present invention discloses a mother cleaning robot, a cleaning device, and a method for recovering a child cleaning robot, belonging to the field of cleaning robots. The mother cleaning robot includes a guide member for guiding a child cleaning robot. The mother cleaning robot is provided with a receiving position. The guide member is used to connect with the child cleaning robot and guide the child cleaning robot to be accommodated in the receiving position. The guide member can directly recover the child cleaning robot positioned thereon to a fixed position within the mother cleaning robot without the need for readjustment of the position. This prevents the child cleaning robot from colliding with the interior of the mother cleaning robot when adjusting its position within the mother cleaning robot, thereby damaging the internal parts of the mother cleaning robot. The guide member has a simple structure and low manufacturing cost.

Description

Technical Field

[0001] The present invention relates to the technical field of cleaning robots, and in particular to a mother cleaning robot, a cleaning device, and a recycling method for a daughter cleaning robot. Background Art

[0002] To better clean corners or low-lying areas, a mother-and-child robot system has emerged. The child cleaning robot is stored inside the mother cleaning robot. When it needs to perform a cleaning task, it detaches from the mother cleaning robot to perform the cleaning task. When it receives a recovery command from the mother cleaning robot, it is recovered by the guide plate and returned to the mother cleaning robot. However, in existing mother-and-child robots, the guide plate does not have a positioning function and generally only serves as a bridge connecting the mother cleaning robot and the supporting surface (the ground). When the child cleaning robot enters the mother cleaning robot, it often cannot accurately locate itself after entering. The child cleaning robot often needs to readjust its position multiple times. During this adjustment process, it may bump into the mother cleaning robot, thereby damaging the internal parts of the mother cleaning robot.

[0003] It can be seen that the existing technology still needs to be improved and enhanced. Summary of the Invention

[0004] In view of the above-mentioned shortcomings of the prior art, the purpose of the present invention is to provide a mother cleaning robot, a cleaning device and a recycling method for a sub-cleaning robot, aiming to improve the accuracy of the sub-cleaning robot's positioning of the mother cleaning robot when the sub-cleaning robot is recovered in a mother-child cleaning robot.

[0005] In order to achieve the above object, the present invention adopts the following technical solutions:

[0006] On one hand, the present invention provides a mother cleaning robot, comprising a guide member for guiding a sub-cleaning robot, wherein the mother cleaning robot is provided with an accommodating position, and the guide member is used to connect with the sub-cleaning robot and guide the sub-cleaning robot to be accommodated in the accommodating position.

[0007] Optionally, the guide member has a first state extending out of the mother cleaning robot body and a second state retracted into the mother cleaning robot body; when the guide member is in the first state, it extends out of the mother cleaning robot body to connect with the sub-cleaning robot, and when the guide member is in the second state, it retracts into the mother cleaning robot body to accommodate the sub-cleaning robot.

[0008] Optionally, the guide member includes a slide rail and a telescopic structure, and the slide rail is arranged in the accommodating cavity of the mother cleaning robot; the telescopic structure is slidably connected to the slide rail, and when the telescopic structure is extended, the guide member is in a first state, and when the telescopic structure is retracted, the guide member is in a second state.

[0009] Optionally, the slide rails include two groups, and the two groups of slide rails are arranged at intervals.

[0010] Optionally, the telescopic structure includes a telescopic rod, a guide rod, a connecting rod and a sensing assembly. The telescopic rods are provided in two groups, which are respectively slidably connected to the two groups of slide rails. There are two guide rods, which are arranged in parallel and distributed between the two telescopic rods. Their extension direction is the same as that of the telescopic rods. There are two connecting rods, each of which is respectively connected to one telescopic rod and one guide rod; the sensing assembly is provided between the two guide rods and respectively connected to the two connecting rods.

[0011] Optionally, an upper surface of the overlapping portion of the connecting rod and the guide rod is lower than an upper surface of the guide rod.

[0012] Optionally, the overlapping portion between the connecting rod and the guide rod is a hollow structure.

[0013] Optionally, the telescopic structure includes a telescopic rod, a connecting rod and a sensing component. The connecting rods are arranged in two groups, which are arranged on the corresponding two sides of the sensing component. Each group of connecting rods is respectively connected to a group of the slide rails and one side of the sensing component; the telescopic rod is configured to drive the connecting rod to move back and forth along the extension direction of the slide rail.

[0014] Optionally, the sensing component is provided with a positioning portion which is located on the walking path of the sub-cleaning robot and can position the sub-cleaning robot.

[0015] Optionally, the positioning portion is configured such that an upper surface thereof is lower than an upper surface of the sensing component.

[0016] Optionally, the positioning portion is configured as a hollow structure.

[0017] Optionally, the middle of the sensing component is hollowed out, and two or more groups of sensors are provided on the sensing component, and the sensors are respectively arranged on both sides of the sensing component.

[0018] Optionally, the sensors include two sensors, which are symmetrically arranged on the left and right sides of the sensing component.

[0019] Optionally, the hollow portion in the middle of the sensing component is in a cube shape.

[0020] On the other hand, the present invention further provides a cleaning device, comprising a sub-cleaning robot and a mother cleaning robot as described in any one of the above items, wherein the mother cleaning robot and the sub-cleaning robot are signal-connected.

[0021] Optionally, a receiving position is provided inside the mother cleaning robot, and when the sub-cleaning robot is recovered into the mother cleaning robot, the hollow portion of the sensing component of the guide member faces the receiving position.

[0022] Optionally, the width of the upper surface of the guide rod is greater than the width of the walking wheels of the sub-cleaning robot.

[0023] Optionally, the length of the hollow structure at the overlapping portion of the guide rod and the connecting rod along the forward direction of the sub-cleaning robot is smaller than the diameter of the walking wheel of the sub-cleaning robot.

[0024] Optionally, the length of the positioning portion along the forward direction of the sub-cleaning robot is smaller than the radial length of the walking wheel of the sub-cleaning robot.

[0025] Another aspect of the present invention further provides a method for recycling a sub-cleaning robot, which is applicable to the above-mentioned cleaning device, and the recycling method comprises:

[0026] The sub-cleaning robot sends a cleaning completion signal;

[0027] After receiving the signal, the mother cleaning robot sends a recovery command, and the guide member switches from the second state to the first state;

[0028] The sub-cleaning robot senses the position of the guide member, adjusts its position, and walks along the guide member;

[0029] The sub-cleaning robot senses the sensor on the guide and stops moving;

[0030] The guide member switches from the first state to the second state, driving the sub-cleaning robot to be recovered to a designated position in the main cleaning robot, thereby realizing the connection between the sub-cleaning robot and the main cleaning robot.

[0031] Beneficial effects:

[0032] The present invention provides a mother cleaning robot, which is provided with a guide member that can be connected to a sub-cleaning robot and can guide the sub-cleaning robot to the accommodating position of the mother cleaning robot, so that the sub-cleaning robot can complete accurate positioning before entering the interior of the mother cleaning robot, avoiding the problem of the sub-cleaning robot entering the mother cleaning robot and then positioning it, and damaging the internal parts of the mother cleaning robot due to inaccurate positioning.

[0033] Furthermore, the guide member is provided with two or more groups of sensors on the sensing component, so that the sub-cleaning robot can be accurately positioned at the preset position of the guide member, thereby improving the positioning accuracy of the sub-cleaning robot after it is recovered to the mother cleaning robot; the guide member has a simple structure and low cost.

[0034] The present invention also provides a cleaning device, which cooperates with a mother cleaning robot and a child cleaning robot with the above-mentioned effects, so that the child cleaning robot can be accurately positioned once after being recovered to the mother cleaning robot, avoiding damage to the internal parts of the mother cleaning robot; and the guide part can be stored inside the mother cleaning robot without affecting the integrity of the cleaning robot.

[0035] The present invention also provides a method for recovering a sub-cleaning robot. By providing a guide member with a positioning function, the sub-cleaning robot is first accurately positioned on the guide member, and then recovered to the accommodation position inside the mother cleaning robot through the guide member, avoiding the secondary positioning of the sub-cleaning robot inside the mother cleaning robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] Figure 1 This is a schematic structural diagram of the mother cleaning robot provided by the present invention.

[0037] Figure 2 This is a schematic structural diagram of the main body of the cleaning robot provided by the present invention.

[0038] Figure 3 This is an exploded view of the guide member provided by the present invention.

[0039] Figure 4 This is a schematic structural diagram of a telescopic structure in an embodiment of the present invention.

[0040] Figure 5 This is a schematic structural diagram of a telescopic structure in another embodiment provided by the present invention.

[0041] Figure 6 This is a structural schematic diagram of the sub-cleaning robot provided by the present invention positioned on a guide member.

[0042] Figure 7 This is a structural schematic diagram of the sub-cleaning robot provided by the present invention being accommodated in the accommodation position of the main cleaning robot.

[0043] Figure 8 for Figure 7 Enlarged view of part A in the middle.

[0044] Description of the main component symbols: 100-mother cleaning robot, 110-mother cleaning robot body, 111-accommodating chamber, 111a-accommodating position, 120-guide part, 121-slide rail, 122-telescopic structure, 122a-telescopic rod, 122b-guide rod, 122c-connecting rod, 122d-sensing component, 122d1-sensor, 122d2-positioning part, 200-sub-cleaning robot. DETAILED DESCRIPTION

[0045] The present invention provides a mother cleaning robot, a cleaning device, and a method for recycling a child cleaning robot. To make the objectives, technical solutions, and effects of the present invention more clear and explicit, the present invention is further described in detail below with reference to the accompanying drawings and examples. It should be understood that the specific embodiments described herein are intended only to illustrate the present invention and are not intended to limit the present invention.

[0046] In the description of the present invention, it should be understood that the terms "upper", "lower", "left", "right" and the like indicate directions or positional relationships based on the directions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific direction, and a specific direction structure and operation, and therefore, cannot be understood as limiting the present invention. In addition, "first" and "second" are only for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, unless otherwise specified, "multiple" means two or more.

[0047] In the description of the present invention, it should be noted that, unless otherwise expressly specified or limited, the terms "mounted," "connected," and "connected" should be understood in a broad sense. For example, they may refer to fixed connections, detachable connections, or integral connections; mechanical connections, electrical connections, or mutual communication; direct connections or indirect connections through an intermediate medium; and internal communication between two components or interaction between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on specific circumstances.

[0048] In order to reduce the storage space and improve the integrity of the machine, in existing parent-child cleaning robots, the child cleaning robot is generally stored in the storage chamber inside the mother cleaning robot when it is not performing cleaning tasks. However, in general, the volume of the storage chamber of the mother cleaning robot is generally larger than that of the child cleaning robot. When the child cleaning robot leaves the mother cleaning robot to perform cleaning tasks and returns to the mother cleaning robot, since its walking trajectory is not fixed, when it is recovered to the inside of the mother cleaning robot, it often needs to be positioned multiple times before it can be parked in the preset position. However, since the space of the storage chamber of the mother cleaning robot is not large, the child cleaning robot often collides with the inside of the mother cleaning robot when adjusting its position, thereby damaging the internal parts of the mother cleaning robot. In order to achieve one-time positioning of the child cleaning robot after it is recovered to the inside of the mother cleaning robot, please refer to Figure 1-8The present invention provides a mother cleaning robot, including a guide member 120 for guiding a sub-cleaning robot 200. The mother cleaning robot 100 is provided with a receiving position 111a. The guide member 120 is used to connect with the sub-cleaning robot 100 and guide the sub-cleaning robot 200 to be accommodated in the receiving position 111a. The connection between the guide member 120 and the sub-cleaning robot 200 can be a signal connection or a mechanical connection, as long as the sub-cleaning robot 200 can be guided to the receiving position 111a of the mother cleaning robot 100. For example, by aligning an infrared receiving tube and an infrared emitting tube, or by providing a telescopic member; the telescopic member can extend from the outside of the mother cleaning robot 100, or stay inside the mother cleaning robot 100.

[0049] In this embodiment, the guide member 120 is a telescopic member, which has a first state in which it extends outside the main body 110 of the mother cleaning robot and a second state in which it retracts into the main body 110 of the mother cleaning robot. When the guide member 120 is in the first state, it extends out of the main body 110 of the mother cleaning robot to connect with the sub-cleaning robot 200, and when the guide member 120 is in the second state, it retracts into the main body 110 of the mother cleaning robot to accommodate the sub-cleaning robot 200.

[0050] Specifically, the guide member 120 includes a slide rail 121 and a telescopic structure 122. The slide rail 121 is disposed within the housing of the parent cleaning robot. The telescopic structure 122 is slidably connected to the slide rail 121. When the telescopic structure 122 is extended, the guide member 120 is in a first state. When the telescopic structure 122 is retracted, the guide member 120 is in a second state. When extended, the telescopic structure 122 can extend outside the parent cleaning robot body 110 or remain inside the parent cleaning robot body 110. Through the cooperation between the slide rail 121 and the telescopic structure 122, the sub-cleaning robot 200 connected to the telescopic structure 122 can be guided into the parent cleaning robot 100.

[0051] Specifically, the slide rails 121 are provided in two groups spaced apart. Furthermore, the two groups of slide rails 121 are arranged parallel to each other. It is worth noting that the slide rails 121 are provided in two groups, not specifically two groups. Each group may have one, two, or three rails. Specifically, the guide member 120 can be smoothly retracted into the receiving position 111a of the mother cleaning robot 100. The slide rails 121 can be fixedly connected to the inner cavity of the mother cleaning robot 100 or detachably connected to the inner cavity of the mother cleaning robot 100. As long as it does not affect the extension and retraction of the guide member 120.

[0052] See also Figure 3In one embodiment, the telescopic structure 122 can be configured as a telescopic rod 122a that cooperates with the slide rail 121, as well as a guide rod 122b, a connecting rod 122c and a sensing component 122d. The telescopic rod 122a is configured to be at least one for each set of slide rails 121. Specifically, the telescopic rod 122a can be an electric push rod. The telescopic rod 122a is provided in two groups, which are slidably connected to the two sets of slide rails 121 respectively. In this embodiment, the slide rail 121 is groove-shaped, and the telescopic rod 122a is clamped thereon. The extension and retraction of the telescopic rod 122a enable the guide member 120 to extend into the interior of the mother cleaning robot 100 or be retracted into its accommodating cavity 111.

[0053] In one embodiment, the positioning structure 122 includes a guide rod 122b, a connecting rod 122c and a sensing component 122d. There are two guide rods 122b. The two guide rods 122b are arranged in parallel and distributed between the two telescopic rods 122a. Their extension direction is the same as that of the telescopic rod 122a, so that the guide rod 122b can move along the telescopic direction of the telescopic rod 122a, thereby facilitating the positioning of the sub-cleaning robot 200 that walks along the guide rod 122b to the preset position of the guide member 120. There are two connecting rods 122c, each connecting rod 122c is connected to a telescopic rod 122a and a guide rod 122b, and is respectively connected to the sensing component 122d. The connecting rod 122c is perpendicularly intersected with the telescopic rod 122a, the guide rod 122b and the sensing component 122d, respectively. The sensing component 122d is arranged between the two guide rods 122b. Preferably, the sensing component 122d is located in the middle position of the guide member 120, and the entire guide member has a symmetrical structure along the midline of the sensing component 122d, thereby improving the stability of the movement of the guide member 120.

[0054] For further information, see Figure 4 The upper surface of the overlapping part of the connecting rod 122c and the guide rod 122b is set to be lower than the upper surface of the guide rod 122b, that is, the overlapping part is concave downward, so that when the sub-cleaning robot 200 walks along the guide rod 122b to the recessed position, the walking wheels of the sub-cleaning robot 200 are stuck in the recessed position and are initially positioned, and then accurately positioned through the induction between the sensing component 122d and the sub-cleaning robot 200.

[0055] Preferably, the overlapping portion of the connecting rod 122c and the guide rod 122b is set to a hollow structure, which can not only position the sub-cleaning robot 200, but also reduce the weight of the guide member 120, thereby reducing the load on the guide member 120 when it moves.

[0056] It is worth noting that if Figure 6As shown, the length of the above-mentioned recessed position or hollow structure along the walking direction of the sub-cleaning robot 200 is not greater than the radial length of the walking wheel of the sub-cleaning robot 200; and when the sub-cleaning robot needs to separate from the mother cleaning robot 100, the recessed position or hollow structure will not affect the walking of the sub-cleaning robot 200.

[0057] In another embodiment, see Figure 5 The telescopic structure 122 includes a telescopic rod 122a, a connecting rod 112b, and a sensing assembly 122d. The connecting rod 122c comprises two sets, one end of which is secured to a set of slide rails 121 and the other end is connected to the corresponding two sides of the sensing assembly 122d. The telescopic rod 122a is connected to the sensing assembly 122d, driving the connecting rod 122c to move back and forth along the extension direction of the slide rails 121. To simplify the structure, two slide rails 121 are provided, spaced apart, each connected to a connecting rod 122c. The connection position of the connecting rod 122c to the slide rail 121 is such that the guide member 120 does not disengage from the slide rail 121 when it extends outward from the interior of the mother cleaning robot 100. The telescopic rod 122a can be directly connected to the connecting rod 122c. By driving the movement of the connecting rod 122c, the sensing assembly 122d moves, allowing the guide member 120 to move smoothly.

[0058] The sensing component 122d is provided with a positioning portion 122d2, which is arranged along the travel path of the sub-cleaning robot 200 and can be used to position the sub-cleaning robot 200. In one embodiment, the positioning portion 122d2 can be configured so that its upper surface is lower than the upper surface of the sensing component 122d; alternatively, the positioning portion 122d2 can be configured as a hollow structure. Two positioning portions 122d2 can be provided, one corresponding to the walking wheels on either side of the sub-cleaning robot 200. Whether the positioning portion 122d2 is configured as a downwardly concave structure or a hollow structure, it can create resistance to the walking of the sub-cleaning robot 200 when the sub-cleaning robot 200 passes, but it does not hinder the passage of the sub-cleaning robot 200. In other words, the driving force applied to the walking mechanism of the sub-cleaning robot 200 is greater than the resistance generated by the positioning portion 122d2. Specifically, the length of the positioning portion 122d2 along the forward direction of the sub-cleaning robot 200 is configured to be less than the diameter of the walking wheels of the sub-cleaning robot 200. When the sub-cleaning robot 200 walks to the positioning part 122d2, the walking wheels are subject to a certain resistance. At this time, if the sensor 122d1 on the sensing component 122d can be sensed, the positioning is completed; if the sensor 122d1 is not sensed, the sub-cleaning robot 200 automatically adjusts its position until it senses the sensor 122d1.

[0059] like Figure 6As shown, to ensure that the connection between the sub-cleaning robot 200 and the main cleaning robot 100 is not affected, the center of the sensing component 122d is configured as a hollow structure. Furthermore, to improve the positioning accuracy of the sub-cleaning robot 200, this embodiment adopts multi-point positioning, with two or more sets of sensors 122d1 provided on the sensing component 122d. Preferably, while ensuring positioning accuracy, to reduce costs, a set of sensors 122d1 is provided on each side of the hollow structure. The sensors 122d1 may be, but are not limited to, proximity sensors.

[0060] In one embodiment, the hollow structure in the middle of the sensing component 122d is set to a cube shape, corresponding to the accommodation position 111a inside the mother cleaning robot 100. Of course, in actual application, other shapes can be matched according to the accommodation position 111a of the mother cleaning robot 100.

[0061] The present invention further provides a cleaning device, comprising a sub-cleaning robot 200 and the above-mentioned mother cleaning robot 100 .

[0062] The mother cleaning robot 100 and the child cleaning robot 200 may be any one of a sweeping robot, a sweeping and mopping integrated robot, a mopping robot, and the like.

[0063] The mother cleaning robot 100 and the daughter cleaning robot 200 are equipped with a mopping member that can clean floors or glass, etc. The mopping member can be any of a disc-shaped structure, a flat plate-shaped structure, or a roller-shaped structure, and those skilled in the art can choose one according to actual needs. There can be one or more mopping members, and multiple mopping members can improve cleaning efficiency.

[0064] See also Figure 7 and 8 To reduce space usage, the mother cleaning robot 100 is equipped with a housing chamber 111 for accommodating the child cleaning robot 200. This housing chamber 111 includes a receiving area 111a for charging the child cleaning robot 200 or for sending and receiving commands. To improve the dustproofing of the housing chamber 111 and further protect the components within, the housing chamber 111 may also be provided with a door, which may be a sliding or pivoting connection. When the child cleaning robot 200 is connected to the guide member 120, its control components are positioned directly opposite the hollow portion in the middle of the sensor component 122d of the guide member 120. Furthermore, when the child cleaning robot 200 is retracted into the mother cleaning robot 100, the hollow portion in the sensor component 122d also faces the receiving area 111a of the mother cleaning robot 100. This allows the control components of the child cleaning robot 200 to face the receiving area 111a of the mother cleaning robot 100, facilitating charging or other control operations performed by the mother cleaning robot 100 on the child cleaning robot 200.

[0065] The mother cleaning robot 100 and the daughter cleaning robot 200 can communicate via Bluetooth, infrared, Zigbee, GPRS, WIFI, etc.

[0066] The mother cleaning robot 100 and the sub-cleaning robot 200 are respectively provided with obstacle avoidance sensors (such as infrared sensors, visual sensors, lidars, ultrasonic sensors), anti-fall sensors, photoelectric encoding sensors, recharging sensors, etc., to realize the functions of automatic obstacle avoidance, anti-collision and anti-fall, and automatic return for charging of the mother cleaning robot 100 and the sub-cleaning robot 200.

[0067] The guide rail 121 of the guide member 120 is disposed in the accommodating chamber 111 of the mother cleaning robot 100, and the telescopic structure 122 is engaged with the guide rail 121. When the guide member 120 extends from the accommodating chamber 111 to guide the sub-cleaning robot 200 back, it is in a first state; when the sub-cleaning robot 200 is docked inside the mother cleaning robot 100, the guide member 120 is in a second state. When the sub-cleaning robot 200 needs to be retrieved from the outside of the mother cleaning robot 100 to its accommodating position 111a, the guide member 100 is first in the first state, extending into the inside of the mother cleaning robot 100 so that the sub-cleaning robot 200 is connected to its preset position, and then switches to the second state, driving the sub-cleaning robot 200 back into the inside of the mother cleaning robot 100. The sub-cleaning robot 200 is positioned outside the mother cleaning robot 100. Through the cooperation of the guide rail 121 and the telescopic structure 122, it can be connected to the preset position (accommodating position 111a) once it enters the interior of the mother cleaning robot 100, without the need for readjustment. Since the guide member 120 is provided with a sensor, the sub-cleaning robot 200 can find the position of the guide member 120 through the sensor after completing the cleaning task.

[0068] When the sub-cleaning robot 200 enters the guide member 120, its running wheels move along the guide rod 122b. In order to enable the sub-cleaning robot 200 to walk smoothly on the guide rod 122b, the width of the upper surface of the guide rod 122b is set to be larger than the width of the running wheels of the sub-cleaning robot 200. Figure 4 In order to make the sub-cleaning robot 200 move more smoothly onto the guide rod 122b, the outer end surface of the guide rod 122b is set to be a curved surface; similarly, the end surface can also be set to be a bevel.

[0069] Specifically, the walking mechanism provided at the bottom of the sub-cleaning robot 200 includes two drive wheels and a universal wheel. The two drive wheels are arranged in parallel, with the universal wheel positioned in front of the two drive wheels. Each drive wheel is driven by a stepper motor. Steering is achieved by controlling the speed of the stepper motor to achieve a speed difference between the two drive wheels. To enable flexible steering of the sub-cleaning robot 200, the driven wheels are universal wheels. In another embodiment, two universal wheels can be provided, one in front and one behind, on either side of the two drive wheels.

[0070] Another embodiment of the present invention further provides a method for recycling a sub-cleaning robot, which is applicable to the above-mentioned parent-child cleaning robot, comprising:

[0071] The sub-cleaning robot 200 sends a cleaning completion signal;

[0072] After receiving the signal, the mother cleaning robot 100 sends a recovery command, and the guide member 120 switches from the second state to the first state;

[0073] The sub-cleaning robot 200 senses the position of the guide member 120 , adjusts its position, and walks along the guide member 120 ;

[0074] The sub-cleaning robot 200 senses the sensor 122d1 on the guide member 120 and stops moving;

[0075] The guide member 120 switches from the first state to the second state, driving the sub-cleaning robot 200 to be recovered to a designated position in the main cleaning robot 100 , thereby achieving the connection between the sub-cleaning robot 200 and the main cleaning robot 100 .

[0076] In addition, when the sub-cleaning robot 200 detects that its power level is lower than the preset power level, it can also send a return signal to the mother cleaning robot 100. After receiving the signal, the mother cleaning robot 100 immediately issues a recovery command and controls the guide member 120 to switch from the first state to the second state; the sub-cleaning robot 200 senses the position of the guide member 120 and achieves precise positioning through the sensor 122d1 on the guide member 120, and then docks on the guide member 120. After the guide member 120 receives the signal that the sub-cleaning robot 200 has completed positioning and stopped moving, it switches from the first state to the second state, driving the sub-cleaning robot 200 to be recovered into the mother cleaning robot 100 and connected to the mother cleaning robot 100 for charging.

[0077] A specific embodiment,

[0078] The cleaning device includes a sub-cleaning robot 200 and a main cleaning robot 100 .

[0079] The mother cleaning robot 100 is provided with a guide member for guiding the sub-cleaning robot 200 to be stored in its accommodating position 111a; the guide member 120 includes two slide rails 121 arranged parallel to the accommodating cavity 111 of the mother cleaning robot 100, and a telescopic structure 122 slidably connected to the slide rails 121, the telescopic structure 122 includes a telescopic rod 122a respectively clamped on the two slide rails 121, and two guide rods 122b respectively arranged between the two telescopic rods 122a, a sensing component 122d arranged between the two guide rods 122b, and two connecting rods 122c, each connecting rod 122c is respectively and vertically connected to a telescopic rod 122a, a guide rod 122b and one side of the sensing component 122d in sequence; the overlapping position of the guide rod 122b and the connecting rod 122c is set as a hollow structure, the middle of the sensing component 122d is set as a hollow structure, and a group of sensors 122d1 are symmetrically arranged on both sides thereof.

[0080] When the above-mentioned cleaning device performs a cleaning task, when the mother cleaning robot 100 encounters a position that cannot be reached or cannot be cleaned, the mother cleaning robot 100 will send an instruction to perform the cleaning task to the sub-cleaning robot 200, and control the telescopic rod 122a on the guide member 120 to extend, so that the telescopic structure 122 extends out of the accommodating cavity 111 of the mother cleaning robot 100, and the sub-cleaning robot 200 walks along the guide rod 122b, separates from the guide member 120, and performs the cleaning task.

[0081] When the sub-cleaning robot 200 is completely separated from the guide member 120, the telescopic rod 122a retracts into the accommodating chamber 111 of the mother cleaning robot 100. The hatch of the accommodating chamber 111 of the mother cleaning robot 100 is closed.

[0082] After the sub-cleaning robot 200 completes the cleaning task, it sends a task completion signal to the mother cleaning robot 100. After receiving the signal, the mother cleaning robot 100 sends a recovery command to the sub-cleaning robot 200 and controls the extension of the telescopic rod 122a to extend the telescopic structure 122 out of the accommodating cavity 111 of the mother cleaning robot 100. After receiving the recovery command, the sub-cleaning robot 200 searches for the position of the guide member 120 and preliminarily adjusts the position so that it can smoothly enter the guide rod 122b and move along the guide rod 122b to the overlap of the guide rod 122b and the connecting rod 122c. At this time, the hollow structure of the overlap will cause the sub-cleaning robot 200 to jam, thereby achieving the preliminary positioning of the sub-cleaning robot 200. At this time, if the sub-cleaning robot 200 recognizes the sensor 122d1 on the sensing component 122d, it stops moving; if the sub-cleaning robot 200 cannot recognize the sensor 122d1, it readjusts its position until it recognizes the sensor 122d1. At this time, the sub-cleaning robot 200 is in a preset position, the sub-cleaning robot 200 is in a stopped state, the telescopic rod 122a contracts, and drives the sub-cleaning robot 200 to be recovered to the accommodating position 111a in the accommodating chamber 111 of the mother cleaning robot 100, and the hatch of the accommodating chamber 111 is closed.

[0083] When the sub-cleaning robot 200 is recovered to the designated position, the control component at the bottom middle position of the sub-cleaning robot 200 coincides with the accommodating position 111a of the mother cleaning robot 100, and the control component is set in the accommodating position 111a of the mother cleaning robot 100. Then, the sub-cleaning robot 200 and the mother cleaning robot 100 can be connected to charge the sub-cleaning robot 200 or the mother cleaning robot 100 can achieve more functional control over the sub-cleaning robot 200.

[0084] Another specific embodiment,

[0085] The cleaning device includes a sub-cleaning robot 200 and a main cleaning robot 100 .

[0086] The mother cleaning robot 100 is provided with a guide member 120 that is connected to the sub-cleaning robot 200 and can guide the sub-cleaning robot 200 to return to its accommodating position 111a. The guide member 120 includes two parallel slide rails 121 arranged in the accommodating chamber 111 of the mother cleaning robot 100, and a telescopic structure 122 slidably connected to the slide rails 121. The two sides of the telescopic structure 122 are respectively clamped on the two slide rails 121. It is equipped with a driving member. The driving member is configured to have a telescopic end that can drive the telescopic structure 122 to move back and forth along the extension direction of the two slide rails 121. The fixed end of the driving member is fixed in the accommodating chamber 111 of the mother cleaning robot 100. The telescopic structure 122 also includes two connecting rods 122a and a sensing component 122d respectively connected to the two connecting rods 122a. Each connecting rod 122a is respectively clamped in a slide rail 121 and can move back and forth along the slide rail 121. The sensing assembly 112c is equipped with two positioning portions 122d2 along the path of the sub-cleaning robot 200. These two positioning portions 122d2 are positioned opposite each other and are both located in the middle of the sensing assembly 112c. The positioning portions 122d2 are hollowed out. The center of the sensing assembly 112c is hollowed out with a square cross-section, which fits within the receiving position 111a within the receiving chamber 111 of the main cleaning robot 100.

[0087] When the cleaning device performs a cleaning task, if the mother cleaning robot 100 encounters a location that it cannot reach or cannot clean, the mother cleaning robot 100 will send a command to the child cleaning robot 200 to perform the cleaning task and control the telescopic end of the driving member on the guide member 120 to extend, causing the telescopic structure 122 to slide forward along the slide rail 121, and the telescopic structure 122 to extend out of the accommodating cavity 111 of the mother cleaning robot 100. The child cleaning robot 200 then separates from the guide member 120 along the preset trajectory on the sensing component 122d and performs the cleaning task.

[0088] When the sub-cleaning robot 200 is completely separated from the guide member 120, the telescopic end of the driving member contracts, driving the telescopic structure 122 to slide into the accommodating chamber of the mother cleaning robot 100. The hatch of the accommodating chamber 111 of the mother cleaning robot 100 is closed.

[0089] After the sub-cleaning robot 200 completes the cleaning task, it sends a task completion signal to the main cleaning robot 300. After receiving the signal, the main cleaning robot 100 sends a recovery command to the sub-cleaning robot 200 and controls the hatch of the accommodating chamber 111 to open, so that the telescopic structure 122 extends out of the accommodating chamber 111 of the main cleaning robot 100. After receiving the recovery command, the sub-cleaning robot 200 searches for the position of the telescopic structure 122 and makes preliminary adjustments to the position so that the sub-cleaning robot 200 can smoothly enter the preset track in the sensing component 122d and move along the sensing component 122d to the positioning portion 122d2 on the sensing component 122d. At this time, the hollow structure of the positioning portion 122d2 will cause the sub-cleaning robot 200 to jam while walking, thus achieving preliminary positioning of the sub-cleaning robot 200. At this time, if the sub-cleaning robot 200 recognizes the sensor 122d1 on the sensing component 122d, it stops moving; if the sub-cleaning robot 200 cannot recognize the sensor 122d1, it readjusts its position until it recognizes the sensor 122d1. At this time, the sub-cleaning robot 200 is in a preset position, and the sub-cleaning robot 200 is in a stopped state. The driving part is controlled to retract, so that the telescopic structure 122 moves into the accommodating chamber 111 of the mother cleaning robot 100, driving the sub-cleaning robot 200 to be recovered to the accommodating position 111a in the accommodating chamber 111 of the mother cleaning robot 100, and the hatch of the accommodating chamber 111 is closed.

[0090] When the sub-cleaning robot 200 is recovered to the designated position, the middle position of the bottom of the sub-cleaning robot 200 coincides with the accommodating position 111a of the mother cleaning robot 100. The mother cleaning robot is provided with a control component on the accommodating position 111a. In this way, the sub-cleaning robot 200 and the mother cleaning robot 100 can be connected to charge the sub-cleaning robot 200 or the mother cleaning robot 100 can achieve more functional control over the sub-cleaning robot 200.

[0091] It is understandable that those skilled in the art can make equivalent substitutions or changes based on the technical solution and inventive concept of the present invention, and all these changes or substitutions should fall within the scope of protection of the claims attached to the present invention.

Claims

1. A female cleaning robot, characterized in that: The mother cleaning robot comprises a guide member for guiding the sub-cleaning robot, the mother cleaning robot is provided with a receiving position, and the guide member is used to connect with the sub-cleaning robot and guide the sub-cleaning robot to be received in the receiving position; The guide member has a first state in which it extends out of the main body of the mother cleaning robot to connect to the sub-cleaning robot, and a second state in which the guide member retracts into the main body of the mother cleaning robot to accommodate the sub-cleaning robot; The guide member includes a slide rail and a telescopic structure, the slide rail is arranged in the accommodating cavity of the mother cleaning robot, the telescopic structure is slidably connected to the slide rail, when the telescopic structure is extended, the guide member is in a first state, and when the telescopic structure is retracted, the guide member is in a second state; The telescopic structure is provided with a positioning portion located on the walking path of the sub-cleaning robot, the upper surface of the positioning portion is concave downward, or the positioning portion is set as a hollow structure, for limiting the sub-cleaning robot; The telescopic structure includes a sensing component, and the sensing component is provided with a sensor. The sensor can identify the sub-cleaning robot that reaches a preset position on the positioning part.

2. The cleaning robot according to claim 1, characterized in that: The slide rails include two groups, and the two groups of slide rails are arranged at intervals.

3. The cleaning robot according to claim 2, characterized in that: The telescopic structure includes a telescopic rod, a guide rod and a connecting rod. The telescopic rods are provided in two groups, which are respectively slidably connected to the two groups of slide rails. There are two guide rods, which are arranged in parallel and distributed between the two telescopic rods. Their extension direction is the same as that of the telescopic rods. There are two connecting rods, each of which is respectively connected to one telescopic rod and one guide rod. The sensing component is arranged between the two guide rods and is respectively connected to the two connecting rods.

4. The cleaning robot according to claim 3, characterized in that: An upper surface of an overlapping portion of the connecting rod and the guide rod is lower than an upper surface of the guide rod.

5. The cleaning robot according to claim 3, characterized in that: The overlapping portion between the connecting rod and the guide rod is a hollow structure.

6. The cleaning robot according to claim 2, characterized in that: The telescopic structure includes a telescopic rod and a connecting rod. The connecting rods are provided in two groups and are arranged on the corresponding two sides of the sensing component. Each group of connecting rods is respectively connected to a group of the slide rails and one side of the sensing component; the telescopic rod is configured to drive the connecting rod to move back and forth along the extension direction of the slide rail.

7. The female cleaning robot according to claim 3 or 6, characterized in that: The middle of the sensing component is hollowed out, and two or more groups of sensors are provided on the sensing component, and the sensors are respectively arranged on both sides of the sensing component.

8. The cleaning robot according to claim 7, characterized in that: The sensors include two sensors, which are symmetrically arranged on the left and right sides of the sensing component.

9. The cleaning robot according to claim 7, characterized in that: The hollow portion in the middle of the sensing component is in a cube shape.

10. A cleaning device, comprising a sub-cleaning robot, characterized in that: It also includes a mother cleaning robot as described in any one of claims 1 to 9, and the sub-cleaning robot is signal-connected to the mother cleaning robot.

11. The cleaning device according to claim 10, characterized in that An accommodating position is provided inside the mother cleaning robot. When the sub-cleaning robot is recovered into the mother cleaning robot, the hollow portion of the sensing component of the guide member faces the accommodating position.

12. The cleaning device according to claim 10, characterized in that If the telescopic structure includes a guide rod, the width of the upper surface of the guide rod is greater than the width of the running wheels of the sub-cleaning robot.

13. The cleaning device according to claim 10, characterized in that If the telescopic structure includes a guide rod and a connecting rod, the length of the hollow structure at the overlapping portion of the guide rod and the connecting rod along the forward direction of the sub-cleaning robot is smaller than the diameter of the running wheel of the sub-cleaning robot.

14. The cleaning device according to claim 10, characterized in that The length of the positioning portion along the forward direction of the sub-cleaning robot is smaller than the diameter of the running wheel of the sub-cleaning robot.

15. A method for recycling a sub-cleaning robot, characterized in that: The cleaning device according to any one of claims 10 to 14, comprising: The sub-cleaning robot sends a cleaning completion signal; After receiving the signal, the mother cleaning robot sends a recovery command, and the guide member switches from the second state to the first state; The sub-cleaning robot senses the position of the guide member, adjusts its position, and walks along the guide member; The sub-cleaning robot senses the sensor on the guide and stops moving; The guide member switches from the first state to the second state, driving the sub-cleaning robot to be recovered to a designated position in the main cleaning robot, thereby realizing the connection between the sub-cleaning robot and the main cleaning robot.

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