Cleaning system and method of returning to a cleaning base station

Abstract

The application provides a cleaning system and a method for returning to a cleaning base station, the cleaning system comprising: a cleaning base station, wherein a homing signal emitting device is arranged on the cleaning base station; a cleaning robot, comprising: a robot body; a control module arranged in the robot body; a first homing signal receiving device arranged on the front side of the robot body and electrically connected to the control module; a second homing signal receiving device arranged on the rear side of the robot body and electrically connected to the control module; and a driving assembly electrically connected to the control module; wherein the control module performs forward homing according to the signal received by the first homing signal receiving device and returns to the cleaning base station in the forward direction; or the control module performs reverse homing according to the signal received by the second homing signal receiving device and returns to the cleaning base station in the reverse direction.

Description

Technical Field

[0001] This invention relates to the field of smart home technology, and more particularly to a cleaning system and a method for returning to a cleaning base station. Background Technology

[0002] With the development of robotics technology, various types of robots with intelligent systems have emerged, such as robotic vacuum cleaners, robotic mops, vacuum cleaners, and lawnmowers. These robots can automatically move and clean or remove debris in a designated area without user intervention. They typically avoid obstacles by measuring distance and communicate with and dock with a cleaning base station via sensors. Cleaning robots need to return to the base station for charging, rehydration, and other necessary operations.

[0003] In the background section, the information disclosed above is only used to enhance the understanding of the background of the present invention, and therefore may include prior art information that does not constitute prior art known to those skilled in the art. Summary of the Invention

[0004] At least one embodiment of the present invention provides a cleaning system and a method for returning to a base station.

[0005] In a first aspect, at least one embodiment of the present invention provides a cleaning system, comprising: a cleaning base station, wherein a return-to-base signal transmitting device is provided on the cleaning base station; a cleaning robot, comprising: a robot body; a control module disposed within the robot body; a first return-to-base signal receiving device disposed on the front side of the robot body, the first return-to-base signal receiving device being electrically connected to the control module; a second return-to-base signal receiving device disposed opposite to the first return-to-base signal receiving device on the rear side of the robot body, the second return-to-base signal receiving device being electrically connected to the control module; and a drive assembly disposed on the robot body, the drive assembly being electrically connected to the control module; wherein the control module performs forward-facing return-to-base driving based on the signal received by the first return-to-base signal receiving device, thereby driving the robot body forward-facing to the cleaning base station via the drive assembly; or the control module performs reverse-facing return-to-base driving based on the signal received by the second return-to-base signal receiving device, thereby driving the robot body reverse-facing to the cleaning base station via the drive assembly.

[0006] In a second aspect, at least one embodiment of the present invention provides a method for returning to a cleaning base station based on the cleaning system in the first aspect embodiment, comprising: the control module receiving an instruction instructing the cleaning robot to return to the cleaning base station; when the instruction to return to the base station is a reverse pile-up instruction, the control module controls the cleaning robot to move forward to a first position adjacent to the cleaning base station; the control module controls the cleaning robot to rotate 180 degrees in place; and the control module controls the cleaning robot to reverse pile-up and return to the cleaning base station.

[0007] For example, in some embodiments of the first and second aspects of the present invention, the return-to-base signal transmitting device includes: a base station location signal transmitter for transmitting a location signal of the cleaning base station, wherein the first return-to-base signal receiving device and / or the second return-to-base signal receiving device receive the location signal, and the cleaning robot performs forward or reverse pile driving according to the location signal; and an alignment signal transmitter for transmitting an alignment signal to guide the cleaning robot back to the base station, wherein the first return-to-base signal receiving device and / or the second return-to-base signal receiving device receive the alignment signal.

[0008] For example, in some embodiments of the first and second aspects of the present invention, the first pile return signal receiving device includes: a first signal receiver disposed on the left side of the front of the robot body; and a second signal receiver disposed on the right side of the front of the robot body.

[0009] For example, in some embodiments of the first and second aspects of the present invention, with the center of the cleaning robot as the lead-out point, the included angle between the first signal receiver and the second signal receiver is no greater than 90°.

[0010] For example, in some embodiments of the first and second aspects of the present invention, the second pile return signal receiving device includes: a third signal receiver disposed behind the robot body; and a fourth signal receiver disposed behind the robot body, the fourth signal receiver being disposed adjacent to the third signal receiver.

[0011] For example, in some embodiments of the first and second aspects of the present invention, with the center of the cleaning robot as the lead-out point, the included angle between the third signal receiver and the fourth signal receiver is no greater than 90°.

[0012] For example, in some embodiments of the first and second aspects of the present invention, the method of returning to the cleaning base station further includes: when the instruction to return to the base station is a forward-facing instruction, the control module controls the cleaning robot to return to the cleaning base station forward-facing.

[0013] For example, in some embodiments of the first and second aspects of the present invention, the forward movement of the cleaning robot to a first position adjacent to the cleaning base station includes: the cleaning robot adjusting its direction of travel according to signals received by a first information receiving device and / or a second pile return signal receiving device, so that the first information receiving device faces the cleaning base station; and the control module performing forward movement based on signals received by the first pile return signal receiving device to reach the first position.

[0014] For example, in some embodiments of the first and second aspects of the present invention, the instruction to return to the base station is one or more of a charging instruction, a water replenishment instruction, and a dust collection instruction.

[0015] For example, in some embodiments of the second aspect of the invention, the control module receiving an instruction to return the cleaning robot to the cleaning base station includes: the control module receiving the instruction to return to the cleaning base station when the cleaning robot self-tests that it needs to return to the cleaning base station; or, the control module receiving the instruction to return to the cleaning base station from the user.

[0016] For example, in some embodiments of the second aspect of the invention, the first position is a pre-set transit position.

[0017] In the cleaning system of this invention, the cleaning robot can not only move forward onto the cleaning station but also backward onto it, making the robot's path planning more flexible and adaptable to a wider range of cleaning base stations. This fulfills the functional requirement of the cleaning robot moving backward onto the cleaning station to dock with it.

[0018] It should be understood that the above general description and the following detailed description are merely exemplary and do not limit the invention. Attached Figure Description

[0019] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0020] Figure 1 A schematic diagram of the structure of a cleaning robot according to an example embodiment of the present invention is shown.

[0021] Figure 2 A structural schematic diagram of a cleaning robot according to an exemplary embodiment of the present invention is shown from another perspective.

[0022] Figure 3 A schematic diagram of the structure of a cleaning robot according to some embodiments of the present invention is shown.

[0023] Figure 4 A schematic diagram of the structure of a filter gate according to an embodiment of the present invention is shown.

[0024] Figure 5-8 The diagram shows the structure of a cleaning robot according to an embodiment of the present invention from different perspectives.

[0025] Figure 9 A schematic diagram of the internal structure of a cleaning robot with the dust extraction door closed, according to an embodiment of the present invention, is shown.

[0026] Figure 10 A schematic diagram of the external structure of a cleaning robot in the closed state of the dust extraction door, according to an embodiment of the present invention, is shown.

[0027] Figure 11 A schematic diagram of the internal structure of a cleaning robot with the dust extraction door open, according to an embodiment of the present invention, is shown.

[0028] Figure 12 A schematic diagram of the external structure of a cleaning robot with the dust extraction door open, according to an embodiment of the present invention, is shown.

[0029] Figure 13 A schematic diagram of the structure of a cleaning system according to an exemplary embodiment of the present invention is shown.

[0030] Figure 14 A schematic diagram of the cleaning system according to an exemplary embodiment of the present invention is shown from another perspective.

[0031] Figure 15 A cross-sectional view of a cleaning system according to an exemplary embodiment of the present invention is shown.

[0032] Figure 16 A flowchart illustrating a forward piling method for a cleaning system according to an exemplary embodiment of the present invention is shown.

[0033] Figure 17 A flowchart illustrating a reverse piling method for a cleaning system according to an exemplary embodiment of the present invention is shown. Detailed Implementation

[0034] Exemplary embodiments will now be described more fully with reference to the accompanying drawings. However, these exemplary embodiments can be implemented in many forms and should not be construed as limited to the embodiments set forth herein; rather, they are provided so that the invention will be thorough and complete, and the concept of the exemplary embodiments will be fully conveyed to those skilled in the art. The same reference numerals in the drawings denote the same or similar parts, and therefore repeated descriptions of them will be omitted.

[0035] The described features, structures, or characteristics can be combined in any suitable manner in one or more embodiments. Numerous specific details are provided in the following description to give a full understanding of embodiments of this disclosure. However, those skilled in the art will recognize that the technical solutions of this disclosure can be practiced without one or more of these specific details, or other methods, components, materials, devices, or the like. In these cases, well-known structures, methods, devices, implementations, materials, or operations will not be shown or described in detail.

[0036] The flowcharts shown in the accompanying drawings are merely illustrative and do not necessarily include all content and operations / steps, nor do they necessarily have to be performed in the described order. For example, some operations / steps can be broken down, while others can be combined or partially combined; therefore, the actual execution order may change depending on the specific circumstances.

[0037] The terms "first," "second," etc., used in the specification, claims, and accompanying drawings of this invention are used to distinguish different objects, not to describe a specific order. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or apparatus that includes a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units not listed, or may optionally include other steps or units inherent to these processes, methods, products, or apparatuses.

[0038] An embodiment of the first aspect of the present invention provides a cleaning robot, and an embodiment of the second aspect of the present invention provides a cleaning system, wherein the cleaning system includes a cleaning robot and a cleaning base station. The cleaning robot is mainly used for cleaning and adsorbing debris on the ground and carpet. After adsorption, the cleaning robot is driven by a drive component to move to dock with the cleaning base station. The cleaning base station is used to pick up the debris collected by the cleaning robot and charge the cleaning robot.

[0039] Among them, cleaning robots are intelligent cleaning devices with self-moving functions, such as sweeping robots, mopping robots, floor polishing robots, or lawn mowing robots, all of which are included. For ease of description, the embodiments of the present invention use sweeping robots as an example to describe the technical solution of the present invention.

[0040] In embodiments of the present invention, the cleaning robot includes: a robot body, a return signal receiving device, a control module, a drive component, a dust removal component, an energy component, and a human-machine interaction component. These components coordinate with each other, enabling the cleaning equipment to move autonomously to perform its cleaning function. The functional elements constituting these components are integrated within the main body of the cleaning equipment.

[0041] The main body of the device has an approximately circular shape (both front and back are circular), but it may also have other shapes, including but not limited to an approximately D-shaped shape with a circular front and rear. The return signal receiving device includes an infrared signal module located above or to the side of the robot body. The controller of the control module is connected to the infrared signal module and performs functional control of the self-moving device based on the sensing results of the infrared signal module.

[0042] The control module issues action commands to other components based on received terminal commands or commands determined by the cleaning robot itself. The drive component includes at least drive wheels and omnidirectional wheels. The drive component can be a single, integrated structure, meaning it has a combined wheel system containing both drive wheels and driven omnidirectional wheels. Alternatively, the drive component can consist of multiple distributed wheel systems, with drive wheels and omnidirectional wheels located in different parts of the cleaning robot. The drive component is used to propel the robot body.

[0043] The dust removal component is mainly used for cleaning and adsorbing debris on floors and carpets. The power component provides energy for the operation of other components of the cleaning robot. The human-machine interface component interacts with control commands from the terminal and transmits these commands to the cleaning robot's control module.

[0044] Furthermore, the cleaning base station in the cleaning system of this embodiment includes at least: a pile base, a charging port, a dust collection port, and a return signal transmitting device.

[0045] The base has a storage space at its bottom to accommodate the cleaning robot when it returns to the cleaning station. A charging port is located within this space to connect to the cleaning robot's power components, thus charging them. A dust collection port connects to the cleaning robot's exhaust port; debris collected by the robot is then sucked into the cleaning station's dust collection port through the exhaust port.

[0046] The return signal transmitter is used to transmit a signal to the cleaning robot to guide it back to the cleaning base station during the return process.

[0047] The cleaning robot according to an embodiment of the present invention will now be described in detail with reference to the accompanying drawings.

[0048] Figure 1 and Figure 2 A schematic diagram of the structure of a cleaning robot according to an example embodiment of the present invention is shown. Figure 3 A schematic diagram of the structure of a cleaning robot according to some embodiments of the present invention is shown.

[0049] See Figure 1 , Figure 2 and Figure 3The cleaning robot 100 in the example embodiment includes: a robot body 110, a control module 120, a drive assembly 130, a dust collection unit 140, a robot guide unit 150, a charging spring 160, a filter door 170, an air duct 180, and a return signal receiving device 190.

[0050] like Figure 1 and Figure 2 As shown, the robot body 110 has an approximately disc-shaped structure, and the control module 120 is located inside the robot body 110. The control module 120 has multiple electrical connection interfaces.

[0051] The drive assembly 130 is located at the bottom of the robot body 110 and is electrically connected to the control module 120. The drive assembly 130 is used to drive the cleaning robot 100 to move on its own.

[0052] A dust collection unit 140 is disposed within a dust collection cavity 111 at the rear of the robot body 110. On one hand, the dust collection unit 140 is connected to a cleaning roller brush 141 at the bottom of the robot body. Debris on the floor or carpet is sucked up by the cleaning roller brush 141 and then drawn into the dust collection unit 140. On the other hand, the dust collection unit 140 includes an air outlet 142, which connects to the external ambient air via the air outlet 142 and an air duct 180.

[0053] The dust collection unit 140 can be configured as a dust collection component with any shape, such as a dust bin or dust box, and its shape can be any shape such as a cylinder, cuboid, or sphere.

[0054] The robot guide 150 is located at the front or rear of the robot body 110. When the robot guide 150 is configured as a guide protrusion, the robot guide 150 is at the highest position of the cleaning robot 100. When the cleaning robot 100 returns to the cleaning base station, the robot guide 150 is used to dock with the base station guide of the cleaning base station.

[0055] Similarly, when the robot guide 150 is configured as a guide slide, the base station guide of the cleaning base station is configured as a guide protrusion. The docking relationship between the two guides guides the cleaning robot 100 back to its base station. The guide slide configured by the robot guide 150 extends in the same direction as the cleaning robot 100's return to its base station, thus minimizing the need for the cleaning robot 100 to adjust its posture excessively during its return to the cleaning base station.

[0056] The charging spring 160 is disposed on the robot body 110 and is used to connect to the charging port of the cleaning base station when the cleaning robot 100 returns to the cleaning base station, thereby realizing the charging of the cleaning robot 100.

[0057] See further Figure 7 The charging spring 160 of the cleaning robot 100 can be further divided into a first charging spring 161 and a second charging spring 162. The first charging spring 161 is disposed at the bottom front end of the robot body 110 and is used to charge the cleaning robot 100 when it is moving upwards. The second charging spring 162 is disposed on the rear side wall of the robot body 110 and is used to charge the cleaning robot 100 when it is moving upwards in the opposite direction.

[0058] Optionally, the second charging spring 162 includes two sets of springs, and the two sets of springs of the second charging spring 162 are symmetrically arranged on both sides of the dust collection part 140 so that the second charging spring 162 and the dust collection part 140 can simultaneously connect to the cleaning base station when reversing the charging process. In some embodiments, the second charging spring 162 may also be configured to include multiple sets of springs according to the needs of its use.

[0059] The drive assembly 130 for driving the cleaning robot 100 to move independently can be divided into omnidirectional wheels 132 and drive wheels 133. The omnidirectional wheels 132 are located at the bottom front section of the robot body 110 and are used to adjust the direction of the cleaning robot 100 entering the pile in conjunction with the drive wheels 133 when the cleaning robot 100 returns to the pile.

[0060] The first charging spring 161 includes two sets of springs, which are symmetrically arranged relative to the universal wheel 132. During the adjustment of the cleaning robot 100's entry direction, because the first charging spring 161 is symmetrically arranged relative to the universal wheel 132, the relative positional relationship between the first charging spring 161 and the charging connector on the cleaning station can be adjusted by only slightly adjusting the rotation angle of the universal wheel 132 under the drive of the drive wheel 133. Therefore, during the adjustment of the cleaning robot 100's entry direction via the universal wheel 132 and the drive wheel 133, the charging angle of the first charging spring 161 can be flexibly adjusted simultaneously.

[0061] Similarly, in some embodiments, the first charging spring 161 may also be configured to include multiple sets of springs according to the needs of its use.

[0062] The first charging contact 161 is disposed on the bottom of the robot body 110, while the second charging contact 162 is disposed on the side wall of the robot body 110. During the charging process of the cleaning robot 100 back at its charging station, the first charging contact 161 and the second charging contact 162 can respectively connect with two different charging connectors. That is, the cleaning robot 100 of this embodiment can adapt to cleaning base stations with different charging heights and angles. In some embodiments, the first charging contact 161 can also be configured to be disposed on the side wall of the robot body 110, and the second charging contact 162 can also be configured to be disposed on the bottom of the robot body 110.

[0063] Optionally, the operating current of the first charging spring 161 and the second charging spring 162 is kept consistent to avoid damage to the electronic components inside the cleaning robot 100 due to the difference in charging current during the process of changing the charging method.

[0064] The filter door 170 is located between the air outlet 142 of the dust collection section 140 and the air duct 180 to intercept dust or debris near the air outlet 142 of the dust collection section 140, and to separate solid and gas flows, so as to intercept solid waste such as dust or debris in the dust collection section 140.

[0065] Specifically, such as Figure 3 and Figure 4 As shown, the filter door 170 includes a first pivot 171, a first opening 172, a filter screen 173, and a filter screen frame 174.

[0066] The first pivot shaft 171 is fixed inside the dust collection cavity 111, and the filter door 170 pivots around the first pivot shaft 171.

[0067] After the dust collection unit 140 is removed, the filter door 170 can be rotated to create space for disassembly, thereby enabling the filter door 170 to be disassembled, cleaned, and replaced.

[0068] Optionally, the filter screen 173 of the filter door 170 may be one or more of electrostatic cotton, filter cotton, and sponge.

[0069] The sponge is mainly used to absorb moisture from the impurities in the dust collection section 140. The filter cotton is mainly used to absorb large dust particles in the dust collection section 140. The high-dust-capacity electrostatic cotton filter is made by combing PP short fibers, needle-punching them into a web, and then treating them with electrostatic electret to obtain the final product. It mainly absorbs small particles of impurities in the dust collection section 140. The high-dust-capacity electrostatic cotton filter can maintain stable filtration for a longer period, reducing the frequency of cleaning or replacing the electrostatic cotton, thus reducing the cleaning frequency of the filter section 173. Furthermore, the filtration efficiency of the high-dust-capacity electrostatic cotton filter is much higher than that of ordinary needle-punched cotton, and it can achieve anti-static properties, heat insulation, and recyclability to a certain extent, thereby reducing the operating cost of the filter section 173.

[0070] The multi-layered filter section 173 can specifically intercept dust or debris near the air outlet 142 of the dust collection section 140. In actual configuration, different types of filters can be selected for different types of debris or dust, thereby preventing debris or difficult-to-collect dust from entering the air duct 180 and causing blockage.

[0071] Furthermore, the multi-layered filter section 173 can increase the dust holding capacity of the filter section 173, thereby reducing the frequency of cleaning the filter section 173 and improving the user's experience with the cleaning robot 100.

[0072] The filter frame 174 is made of elastic material and is fitted onto the filter part 173. During the cleaning process of the filter part 173, the cleaner can hold the filter frame 174 to clean the filter part 173.

[0073] In addition, the filter frame 174, made of elastic material, can establish a closer fit with the dust collection unit 140, the air duct 180, and the robot body 110, thereby ensuring that the filter door 170 has good airtightness and preventing dust and debris in the dust collection unit 140 from entering the air duct 180 through the gaps in the filter frame 174 and affecting the filtration effect of the filter door 170.

[0074] The elastic material used to prepare the filter frame 174 can be common elastic materials such as synthetic resin, rubber, and plastic. It can be flexibly selected according to external factors such as usage scenario, cost, sealing requirements, and insulation requirements. The embodiments of the present invention are not limited to filter frames 174 prepared from a specific elastic material.

[0075] The air outlet 142 of the dust collection unit 140 is located on the upper side of the dust collection unit 140. After the adsorbed debris and dust enter the dust collection unit 140, they will first accumulate in the dust collection unit 140. When the cleaning robot 100 docks with the cleaning base station, the cleaning base station will suck up the dust and debris in the dust collection unit 140 through the dust exhaust port 181 of the cleaning robot 100. The dust and debris in the dust collection unit 140 will be sucked out from the dust exhaust port 181 under the action of suction.

[0076] The first opening 172 of the filter door 170 is directly connected to the air outlet 142 of the dust collection section 140. Dust and debris sucked out from the air outlet 142 enter the filter door 170 through the first opening 172 for filtration, thereby intercepting solid waste in the dust collection section 140.

[0077] The air duct 180 and the air outlet 142 are connected to the other side of the filter door 170. The gas in the dust collection section 140 is filtered by the filter door 170 and then enters the air duct 180, and is then discharged into the external ambient air.

[0078] Optionally, the air duct 180 is connected to the bottom of the filter door 170 to prevent the air duct 180 from being directly opposite the air outlet 142, thereby avoiding the air convection phenomenon that may occur when they are opposite each other from affecting the filtration effect of the filter door 170.

[0079] See further Figure 5 A limiting part 112 is provided on the inner wall of the dust collection cavity 111. An anti-rotation part 143 is provided on the side wall of the dust collection part 140. After the dust collection part 140 is placed in the dust collection cavity 111, the anti-rotation part 143 cooperates with the limiting part 112 to prevent the dust collection part 140 from rotating along its circumference.

[0080] In some embodiments of the present invention, the dust collection cavity 111 has an open end 113, making the dust collection cavity 111 generally crescent-shaped. The anti-rotation part 143 includes a first anti-rotation rib 1431 and a second anti-rotation rib 1432. The first anti-rotation rib 1431 abuts against the left outer edge of the open end 113, and the second anti-rotation rib 1432 abuts against the right outer edge of the open end 113. Through the cooperation of the first anti-rotation rib 1431 with the left outer edge of the open end 113 and the second anti-rotation rib 1432 with the right outer edge of the open end 113, the dust collection part 140 is prevented from rotating within the dust collection cavity 111.

[0081] The first anti-rotation rib 1431 can extend circumferentially along the side wall of the dust collection part 140. In this design, the extension direction of the first anti-rotation rib 1431 is the same as or opposite to the rotation trend direction of the dust collection part 140, thereby improving the strength of the first anti-rotation rib 1431 in resisting the rotation of the dust collection part 140. Similarly, the second anti-rotation rib 1432 can also extend circumferentially along the side wall of the dust collection part 140, so that both the first anti-rotation rib 1431 and the second anti-rotation rib 1432 have good strength in resisting the rotation of the dust collection part 140.

[0082] The first anti-rotation rib 1431 can also extend along the axial direction of the dust collection part 140 on the side wall of the dust collection part 140. In this design, the extension direction of the first anti-rotation rib 1431 is perpendicular to the rotation trend direction of the dust collection part 140, thereby effectively preventing the dust collection part 140 from shaking within the dust collection part receiving cavity 111, effectively reducing the noise generated by the dust collection part 140 during operation, and preventing the shaking of the dust collection part 140 from affecting the user's cleaning experience. Similarly, the second anti-rotation rib 1432 can also extend along the axial direction of the dust collection part 140 on the side wall of the dust collection part 140, so that both the first anti-rotation rib 1431 and the second anti-rotation rib 1432 have a good effect in dealing with the shaking of the dust collection part 140 within the dust collection part receiving cavity 111.

[0083] In actual installation, due to the influence of surrounding environmental factors, such as changes in the shape of the dust collection chamber 111, changes in the shape of the dust collection section 140, and the space occupied by external accessories of the dust collection section 140, the orientation of the anti-rotation section 143 can be flexibly selected according to requirements. That is, the orientation of the anti-rotation section 143 can be changed according to the actual needs of the dust collection section 140 during use, seeking a better configuration between anti-rotation performance and anti-shaking effect. This invention is not limited to an anti-rotation section 143 extending solely along the axial or circumferential direction of the dust collection section 140.

[0084] In another embodiment of the present invention, the limiting part 112 may also be a first groove extending into the inner wall of the dust collection cavity 111. Correspondingly, the anti-rotation part 143 is a third anti-rotation rib provided on the outer wall of the dust collection part 140. With the anti-rotation part 143 and the limiting part 112 in this configuration, the dust collection part 140 can be completely confined within the dust collection cavity 111. When the dust collection part 140 needs to be removed and replaced, it is removed along the extending direction of the first groove.

[0085] Optionally, the first groove extends along the height direction of the dust collection cavity 111 to the inner wall of the dust collection cavity 111, so as to prevent the dust collection part 140 from wobbling relative to each other in the dust collection cavity 111 after the anti-rotation part 143 and the limiting part 112 are engaged. At the same time, the extension of the limiting part 112 along the height direction of the dust collection cavity 111 also facilitates the installation and disassembly of the dust collection part 140.

[0086] The first groove can be a wedge-shaped groove, which has at least two contact surfaces with the anti-rotation part 143. The wedge-shaped groove gradually narrows from top to bottom along the height direction of the dust collection part receiving cavity 111, thereby preventing the dust collection part 140 from shaking in the dust collection part receiving cavity 111 while facilitating the operator to install and remove the dust collection part 140 from the top of the dust collection part receiving cavity 111.

[0087] Furthermore, in other embodiments of the present invention, the relative arrangement of the anti-rotation part 143 and the limiting part 112 can also be reversed, that is, the anti-rotation part 143 is a second groove extending into the side wall of the dust collection part 140. The limiting part 112 is a limiting rib extending into the inner wall of the dust collection part receiving cavity 111, and the dust collection part 140 is prevented from rotating within the dust collection part receiving cavity 111 by the limiting part 112 engaging with the anti-rotation part 143.

[0088] The control module 120 is located on the robot body; the drive component 130 is located below the robot body 110, and the drive component 130 is electrically connected to the control module 120. The drive component 130 is used to drive the cleaning robot 100 to move on its own; the dust collection unit 140 is located at the rear of the robot body.

[0089] The robot guide 150 is located at the front or rear of the robot body 110. When the cleaning robot 100 returns to the pile, the robot guide 150 is used to dock with the base station guide of the cleaning base station, thereby guiding the return direction of the cleaning robot 100.

[0090] In addition, the robot guide 150 can also be used to dock with the lower surface of furniture such as sofas, chairs, and tables to prevent the cleaning robot 100 from interfering with or getting stuck with the furniture during the cleaning process, which would restrict the movement of the cleaning robot 100.

[0091] The robot guide 150 can be one or more of the following: a ball bearing, a roller, a caster wheel, a ramp, or a boss. During the retraction process of the cleaning robot 100, the robot guide 150 directly engages with the base station guide. When the robot guide 150 is a roller, ball bearing, or caster wheel, it rolls along the base station guide, simultaneously adjusting the retraction direction of the cleaning robot 100. When the robot guide 150 is a boss or ramp, it engages with the base station guide during the retraction process, thereby adjusting the retraction direction of the cleaning robot 100.

[0092] Since the robot guide 150 will frequently come into contact with the base station guide or surfaces such as sofas and table corners during the use of the cleaning robot 100, the robot guide 150 can be made of an elastic material, such as rubber. This prevents damage to the robot guide 150 or other parts due to collisions during use.

[0093] Optionally, the robot guide 150 is located on top of the dust collection unit 140, meaning the top of the dust collection unit 140 has a corresponding mounting device for the robot guide 150. On one hand, the installation height of the dust collection unit 140 can be adjusted, thereby adjusting the height of the robot guide 150 to match the height of the base station guide for cleaning the base station. On the other hand, this arrangement allows for the simultaneous installation and removal of the robot guide 150 and the dust collection unit 140. When the robot guide 150 needs maintenance or replacement, only the dust collection unit 140 needs to be removed to obtain sufficient working space.

[0094] Furthermore, the dust collection unit 140 can be further divided into a dust box 144, a rotating shaft 145, and a handle 146. The dust box 144 is the central main structure used to hold the collected dust and debris. The rotating shaft is pivotally connected to the top of the dust box 144, and the handle 146 is coupled to the rotating shaft 145, so as to be rotatably disposed on the top of the dust box 144 via the rotating shaft 145. The robot guide 150 is disposed at the apex of the handle 146, so that the height of the guide can be adjusted by rotating the handle 146 to accommodate base station guides or furniture of different heights of cleaning base stations.

[0095] In some embodiments, the cleaning robot 100 further includes a lifting device (not shown in the figure), which is vertically and vertically disposed on the robot body 110. The robot guide 150 is disposed on the top of the lifting device. When the operator wants to adjust the height of the robot guide 150, he only needs to adjust the height of the lifting device.

[0096] Optionally, the lifting device is electrically connected to the control module 120. The cleaning robot 100 can determine whether the height of the robot guide 150 needs to be adjusted based on the received terminal instructions or the judgment structure of its built-in return signal receiving device or detection device. Then, the lifting device is controlled by the control module 120 to adjust the height of the robot guide 150.

[0097] The detection device can be one or more of a micro switch, a laser detector, and an infrared detector, used to identify the relative positional relationship between the cleaning robot 100 and the base station guide of the cleaning base station. The present invention is not limited to the specific form of a particular identification device.

[0098] See Figures 1-15 The clean base station 200 of this invention includes a pile base 210, a base station guide 220, a dust collection port 230, a charging unit 240, a return signal transmitter 250, a fan 260, and a sealing element 270.

[0099] The base 210 has a accommodating space 211 at its bottom, which is used to accommodate the cleaning robot 100 when it returns to the cleaning base station 200. A base station guide 220 is disposed within the accommodating space 211 and is used to dock with the robot guide 150 of the cleaning robot 100 to guide the cleaning robot 100 back to the cleaning base station 200. A dust collection port 230 is also disposed within the accommodating space 211 and is used to dock with the dust discharge port 181 of the cleaning robot 100.

[0100] A charging unit 240 is disposed within the accommodating space 211 and is used to dock with the charging spring 160 of the cleaning robot 100. The charging unit 240 includes a second charging connector 241 and a first charging connector (not shown). The first charging connector extends vertically to the bottom of the cleaning base station 200, and the first charging spring 161 docks with the first charging connector from bottom to top. The second charging connector 241 extends horizontally to the side wall of the cleaning base station 200, and the second charging spring 162 docks with the second charging connector 241 in a horizontal direction.

[0101] The first charging connector can be installed on a cleaning base station that only supports forward-facing piles, and the second charging connector can be installed on a cleaning base station that only supports reverse-facing piles. Alternatively, the first and second charging connectors can be installed on a cleaning base station that supports both forward-facing and reverse-facing piles.

[0102] The first charging connector and the second charging connector 241 provide the same charging current, ensuring that the charging current remains consistent whether the cleaning robot 100 is charging forward or backward, thus preventing damage to the circuit performance of the cleaning robot 100 due to inconsistent charging current. In some embodiments, the charging current provided by the first charging connector and the second charging connector 241 can also be configured to be different to adapt to cleaning robots with different charging current requirements; this invention does not impose specific limitations on this.

[0103] A return signal transmitter 250 is installed inside the side wall of the accommodating space 211. It guides the cleaning robot 100 back to the cleaning base station 200 during the return process. During the reverse pile mounting process, the return signal transmitter 250 and the base station guide 220 work together to simultaneously connect the cleaning robot 100's dust exhaust port 181 and charging spring 160 to the cleaning base station 200. A fan 260 is installed in the pile base 210 and is connected to the cleaning robot 100's dust exhaust port 181 via a dust collection port 230.

[0104] During the process of the cleaning base station 200 sucking up the dust or debris collected by the cleaning robot 100, the fan 260 provides negative pressure, and the dust or debris collected by the cleaning robot 100 enters the cleaning base station 200 through the dust discharge channel formed by the dust discharge port 181 of the cleaning robot 100 and the dust collection port 230 of the cleaning base station 200, thereby completing the collection of dust and debris in the dust collection section 140.

[0105] The sealing element 270, shaped like a U-shape, surrounds the dust collection port 230. The sealing element 270 seals the dust discharge channel formed by the dust collection port 230 and the dust discharge port 181 of the cleaning robot 100 after docking. After docking, the sealing element 270 is partially lifted by the negative pressure generated by the fan 260, and the partially lifted sealing element 270 fits tightly against the lower surface of the dust collection unit 140, thus sealing the dust discharge channel between the dust collection port 230 and the dust discharge port 181. This prevents dust or debris from falling onto the cleaning station base 210 through the gap between the dust collection port 230 and the dust discharge port 181 during collection. The U-shaped design ensures good sealing performance of the dust discharge channel formed by the dust collection port 230 and the dust discharge port 181.

[0106] The cleaning base station 200 also includes a waste receiving chamber, which is located inside the pile base 210 and is connected to the dust collection port 230 of the cleaning base station 200. Driven by the negative pressure generated by the fan 260, the waste collected by the cleaning robot 100 can be sucked into the interior of the waste receiving chamber through the dust discharge channel formed by the dust collection port 230 and the dust discharge port 181 of the cleaning robot 100.

[0107] According to some embodiments of the present invention, the cleaning robot 100 is provided with a dust discharge door 182 at the dust discharge port 181. After the cleaning robot 100 docks with the cleaning base station 200, the dust discharge door 182 is opened under the negative pressure generated by the fan 260, and the garbage collected by the dust collection unit 140 enters the dust collection port 230 of the cleaning base station 200 through the dust discharge port 181, thereby completing the garbage collection by the cleaning base station 200.

[0108] In the non-dust collection state, that is, during the normal cleaning process of the cleaning robot 100, the dust discharge door 182 remains closed and sealed to block the dust discharge port 181, so as to prevent garbage from leaking out of the cleaning robot 100 through the dust discharge port 181.

[0109] Optionally, the dust collection unit 140 further includes a dust exhaust door hinge 183, hooks 184, and a tension spring 185. The hooks 184 are respectively disposed on the dust exhaust door body 182 and the dust box 144. The dust exhaust door body 182 rotates via the dust exhaust door hinge 183. The two ends of the tension spring are respectively connected to the hooks 184 at both ends. Under the tension of the tension spring 185, the dust exhaust door body 182 can continuously maintain the state of blocking the dust exhaust port 181. After docking with the cleaning base station 200, driven by the negative pressure generated by the fan 260, the dust exhaust door body 182 can overcome the tension of the tension spring 185, so that the dust exhaust door body 182 no longer blocks the dust exhaust port 181.

[0110] Optionally, the dust exhaust door 182 is made of an elastic material, i.e., the dust exhaust door 182 is an elastic dust exhaust door. The elastic dust exhaust door can fit more tightly with the bottom of the dust collection part 140, resulting in better airtightness of the dust exhaust port 181. In addition, since there is a possibility of interference with the inner wall of the sealing element 270 when the dust exhaust door 182 is opened by negative pressure, the elastic dust exhaust door can avoid scratching the inner wall of the sealing element 270.

[0111] Similarly, the seal 270 can also be configured to be made of an elastic material, which can make the sealing effect tighter.

[0112] Optionally, the base station guide 220 is a wedge-shaped groove. Along the retraction direction of the cleaning robot 100, the width of the base station guide 220 gradually narrows. In conjunction with the robot guide 150 of the cleaning robot 100 and the fan 260 and seal 270 of the cleaning base station 200, the wedge-shaped base station guide 220 can gradually guide the cleaning robot 100, ensuring that the cleaning robot 100 is gradually aligned during the retraction process. In other embodiments of the invention, the base station guide 220 can also be an arc-shaped groove, in which the robot guide 150 of the cleaning robot 100 slides to align the retraction direction.

[0113] In some embodiments not shown in this application, the base station guide 220 may also be configured as one or more of rollers, balls, casters, protrusions, and ramps, and the corresponding robot guide 150 may be configured as one or more of guide grooves, guide rails, and guide ramps. This application does not impose specific limitations herein.

[0114] Specifically, during the re-entry process of the cleaning robot 100, driven by the drive component 130, the cleaning robot 100 gradually adheres to the surface of the seal 270 until the dust exhaust port 181 of the cleaning robot 100 is fully aligned with the dust collection port 230 of the cleaning base station 200. The negative pressure generated by the fan 260 partially lifts the seal 270, causing the cleaning robot 100 to be sucked in and tend to move downwards. As the cleaning robot 100 gradually adheres to the surface of the seal 270, the robot guide 150 at the top of the cleaning robot 100 slides within the base station guide 220 to guide the re-entry direction of the cleaning robot 100.

[0115] The blower 260 is installed along the height of the pile base 210. The airflow generated by the blower 260 is drawn from bottom to top to generate negative pressure and lift the seal 270 part.

[0116] Limiting ribs 221 are provided on both sides of the base station guide 220 to restrict the movement of the robot guide 150, so as to prevent the robot guide 150 from directly detaching from the base station guide 220 during the re-piling process of the cleaning robot 100, causing the re-piling position of the cleaning robot 100 to deviate, making it difficult to realize the dust collection and charging functions of the cleaning base station 200 for the cleaning robot 100.

[0117] Optionally, the base station guide 220 is made of an elastic material, wherein the elastic material is selected from one or more of PE, PP, soft PVC, silicone, EVA, POE, or TPES. During contact with the robot guide 150 of the cleaning robot 100, due to the material properties of the elastic material itself, elastic deformation will occur at the contact point, which greatly reduces the friction between the robot guide 150 of the cleaning robot 100 and the base station guide 220, and avoids the cleaning robot 100 from tilting up during the retraction process.

[0118] In an optional embodiment of the present invention, the second charging connector 241 is symmetrically arranged above both sides of the dust collection port 230, so that when the dust collection port 230 is connected to the dust discharge port 181, the second charging connector 241 can be simultaneously connected to the second charging spring 162 of the cleaning robot 100.

[0119] Since most return-to-base signal transmitters rely on infrared signals for this process, an infrared receiving module is installed on the cleaning robot. During the return-to-base process, the robot's infrared receiving module identifies the signal from the return-to-base signal transmitter, thus guiding the robot's return. However, this return-to-base positioning method is difficult to achieve precise positioning and cannot guarantee that the cleaning robot's dust collection and charging devices will simultaneously connect to the cleaning base station.

[0120] The return signal transmitter 250 emits continuous return signals. For example, the return signal transmitter 250 emits infrared signals, which the cleaning robot 100 receives and identifies through the return signal receiver 190. This allows the cleaning robot 100 to know the location status of the cleaning base station 200.

[0121] Optionally, the return signal transmitter 250 may also be equipped with an amplifier circuit, which can amplify the intensity of the return signal emitted by the return signal transmitter and continuously output the amplified return signal so that the return signal receiver 190 of the cleaning robot 100 can more conveniently and accurately identify the return signal.

[0122] The cleaning robot 100's pile return signal receiving device 190 includes a first pile return signal receiving device 191 and a second pile return signal receiving device 192. The first pile return signal receiving device 191 is located on the front side of the robot body 110 and is electrically connected to the control module 120. The second pile return signal receiving device 192 is located opposite to the first pile return signal receiving device 191 on the rear side of the robot body 110 and is also electrically connected to the control module 120. The control module 120 can control the operation of the first pile return signal receiving device 191 and the second pile return signal receiving device 192 respectively.

[0123] Specifically, by identifying the signals received by the first pile return signal receiving device 191 or the second pile return signal receiving device 192, the control module 120 identifies whether the cleaning robot 100 is in a forward pile return process or a reverse pile return process during the pile return process, and issues corresponding pile return commands to the execution structure of the cleaning robot 100.

[0124] Specifically, by recognizing the signal from the return signal transmitter 250 of the cleaning base station 200 received by the first return signal receiver 191, the cleaning robot 100 is driven upwards to the cleaning base station 200 for charging; by recognizing the signal from the return signal transmitter 250 received by the second return signal receiver 192, the cleaning robot 100 is driven upwards in the opposite direction to the cleaning base station 200 for charging.

[0125] The pile return signal transmitter 250 can be further subdivided into a pile-finding signal transmitter 251 and an alignment signal transmitter. There can be an even number of pile-finding signal transmitters 251, each disposed at a first position within the side wall of the accommodating space. This first position can be the center of the accommodating space, or optionally, it can be located within the side wall above the dust collection port. The alignment signal transmitter specifically includes a first alignment signal transmitter 252 and a second alignment signal transmitter 253. The first alignment signal transmitter 252 is disposed adjacent to the pile-finding signal transmitter 251, and the second alignment signal transmitter 253 is disposed at a second position within the side wall of the accommodating space, adjacent to the charging connector.

[0126] In some embodiments, the cleaning robot further includes a communication signal transmitter, which is disposed adjacent to the docking signal receiver located at the rear end of the robot body, for sending signals to the cleaning base station, thereby enabling the cleaning robot to send information to the cleaning base station. The cleaning base station further includes a communication signal transceiver 254, which is disposed adjacent to the second alignment signal transmitter 253. The communication signal transceiver 254 can achieve bidirectional communication with the communication signal receiver and the communication signal transmitter in the cleaning robot to exchange information. The communication signal receiver in the cleaning robot can be the same device as the docking signal receiver, or it can be a separate device located adjacent to the docking signal receiver.

[0127] The coverage area of ​​the signal emitted by the marker locator 251 is greater than that of the signal emitted by the alignment signal transmitter. During the relocation process, if the cleaning robot 100 is far from the cleaning base station 200, the cleaning robot 100 will first receive the marker locator signal transmitter 251 for initial guidance. After receiving the position signal from the marker locator signal transmitter 251, the cleaning robot 100 will automatically move closer to the cleaning base station 200.

[0128] During the pile return process, the control module 120 determines whether the cleaning robot 100 is in a forward pile return process or a reverse pile return process. The basis for this determination can be various, such as the control module 120 planning a more convenient pile return path based on the position status of the cleaning robot 100 and the cleaning base station 200, the control module 120 determining the final pile return direction based on the pile return requirements of the cleaning robot 100, or the control module 120 receiving instructions from the terminal to execute the forward or reverse pile return process. It is understood that there can be multiple prerequisites for the cleaning robot 100 to be in a forward or reverse pile return process, and this application does not impose specific limitations here. In optional embodiments, the cleaning base station can be a base station that only supports forward pile return, or a base station that only supports reverse pile return, or a base station that supports both forward and reverse pile return.

[0129] Optionally, the pile-finding signal transmitter 251 of the cleaning base station 200 is disposed in the side wall of the accommodating space 211, including a pile-finding signal transmitter lamp and a PCB board. The pile-finding signal transmitter lamp is used to emit a location signal for pile finding, while the PCB board is used to power the pile-finding signal transmitter lamp.

[0130] If the cleaning robot 100 is in the forward pile-laying process, when the cleaning robot 100 is far from the cleaning base station 200 and has initially received a signal, the first pile-return signal receiver 191 or the second pile-return signal receiver 192 only receives the signal emitted by the pile-finding signal transmitter 251. However, when the cleaning robot 100 moves closer to the cleaning base station 200 through self-movement, the first pile-return signal receiver 191 will receive an alignment signal emitted by the first alignment signal transmitter 252. The alignment signal received by the first pile-return signal receiver 191 is used to guide the cleaning robot 100 back to the cleaning base station 200 during the forward pile-laying process.

[0131] If the cleaning robot 100 is in the reverse pile-mounting process, when the cleaning robot 100 is far from the cleaning base station 200 and initially receiving signals, the signal emitted by the pile-finding signal transmitter 251 is received by either the first pile-returning signal receiver 191 or the second pile-returning signal receiver 192. After the cleaning robot 100 moves closer to the cleaning base station 200 through self-movement and adjusts its posture to the reverse pile-mounting posture, the signal from the second alignment signal transmitter 253 is received by the second pile-returning signal receiver 192. The alignment signal received by the second pile-returning signal receiver 192 is used to guide the cleaning robot 100 back to the cleaning base station 200 during the reverse pile-mounting process.

[0132] The first pile driving signal receiving device 191 can be composed of multiple signal receivers. For example, the first pile driving signal receiving device 191 may include a first signal receiver 1911 and a second signal receiver 1912. The first signal receiver 1911 is located slightly to the left of the front of the robot body 110, while the second signal receiver 1912 is located slightly to the right of the front of the first signal receiver 1911. The first signal receiver 1911 and the second signal receiver 1912 work together to expand the signal receiving range of the first pile driving signal receiving device 191, and at the same time, they can prevent the entire first pile driving signal receiving device 191 from failing due to the failure of a single signal receiver. In other embodiments of the present invention not shown, the spacing between the first signal receiver 1911 and the second signal receiver 1912 can be adjusted according to usage requirements to obtain the required signal receiving angle and signal receiving strength.

[0133] It is understandable that, with the center of the cleaning robot 100 as the starting point, the included angle of the signal receiver in the first pile signal receiving device 191 should not be greater than 90°, so as to avoid affecting the signal recognition effect of the second pile signal receiving device 192.

[0134] Optionally, the operating frequency of the signal receiver in the first pile return signal receiving device 191 can be selected to adopt a stepped frequency setting to cope with the different frequencies of pile return signals emitted by the pile return signal transmitting device 250.

[0135] The second pile driving signal receiving device 192 can also be composed of multiple signal receivers. For example, the second pile driving signal receiving device 192 may include a third signal receiver 1921 and a fourth signal receiver 1922, wherein the third signal receiver 1921 and the fourth signal receiver 1922 are arranged adjacent to the second charging spring 162 of the robot body 110. There is a certain distance between the third signal receiver 1921 and the fourth signal receiver 1922 to expand the signal receiving range of the second pile driving signal receiving device 192, and at the same time, to avoid the failure of the second pile driving signal receiving device 192 as a whole due to the failure of a single signal receiver.

[0136] Similarly, taking the center of the cleaning robot 100 as the starting point, the included angle of the signal receiver in the second pile signal receiving device 192 should not exceed 90° to avoid affecting the signal recognition effect of the first pile signal receiving device 191. It is understandable that the operating frequency of the signal receiver in the second pile signal receiving device 192 can also be designed differently from that of the signal receiver in the first pile signal receiving device 191.

[0137] like Figure 16 As shown, the present invention also discloses a method for a cleaning robot to return to its post in a forward direction, comprising the following steps: S1: the control module 120 receives a return command from the cleaning robot 100; S2: when the return command is a forward-facing command, the control module 120 controls the cleaning robot 100 to return to the cleaning base station 200 in a forward direction.

[0138] like Figure 17 As shown, the present invention also discloses a method for a cleaning robot to reverse onto a pile, comprising the following steps: S1: the control module 120 receives a return-to-pile command from the cleaning robot 100; S2: when the return-to-pile command is a reverse-up-to-pile command, the control module 120 controls the cleaning robot 100 to move forward to a first position adjacent to the cleaning base station 200; S3: the control module 120 controls the cleaning robot 100 to rotate 180 degrees in place; S4: the control module 120 controls the cleaning robot 100 to return to the cleaning base station 200 in the reverse direction.

[0139] The control module 120 can receive the return command from the cleaning robot 100 from various sources. For example, the command could come from the user issuing a return command based on their needs; it could also come from the cleaning base station 200 issuing a return command to the cleaning robot 100 based on timing settings, power detection, or other arbitrary judgment logic; or it could come from the robot body 110 itself detecting that it has insufficient power, needs to return to the dock for dust collection, needs water replenishment, or has other cleaning needs, and then sending the command instructing the cleaning robot 100 to return to the dock to the control module 120.

[0140] When the cleaning robot 100 receives the return-to-base station command, the orientation of the return-to-base station signal receiver 190, which is used by the cleaning robot 100 to receive signals from the return-to-base station signal transmitter 250, is unclear. In the actual return-to-base station process, the cleaning robot 100 can receive signals from the return-to-base station signal transmitter 250 during one rotation in place to determine the position of the cleaning base station 200 relative to the first return-to-base station signal receiver 191 and the second return-to-base station signal receiver 192, thereby determining whether to execute a forward or reverse return-to-base station process.

[0141] During the reverse pile-mounting process, the cleaning robot 100 first needs to move to a first position adjacent to the cleaning base station 200, and then move forward in the opposite direction to mount the pile. Optionally, the cleaning robot 100 can be pre-set to move forward or backward during its self-movement to the first position.

[0142] If the cleaning robot 100 moves forward during its self-movement to the first position, it will rotate in place by a certain angle after reaching the first position to adjust its posture in order to execute the subsequent reverse forward movement onto the pile.

[0143] If the cleaning robot 100 moves in the opposite direction during its journey to the first position, it will slightly adjust its angle or maintain its original direction of travel after reaching the first position in order to perform the subsequent reverse-moving pile-mounting process.

[0144] The first position can be a pre-set transfer position or a transfer position temporarily selected by the cleaning robot 100.

[0145] Optionally, the first location is set to a position within one to half a meter of the clean base station, and the signal range of the signal transmitter covers the first location.

[0146] When multiple cleaning base stations 200 are set up in the working environment where the cleaning robot 100 is located, in order to distinguish the return signals emitted by different cleaning base stations 200, the return signal transmitting devices 250 of different cleaning base stations can be encoded. For example, the signal can be encoded with infrared signals before the return signal is emitted. The infrared signal encoding standard can be PWM (Pulse Width Modulation) of NEC Protocol or PPM (Pulse Position Modulation) of Philips RC-5 Protocol. Based on different infrared signal encoding methods, the return signal receiving device 190 of the cleaning robot 100 receives the infrared signal and decodes the infrared signal encoding.

[0147] In some embodiments, the method for the cleaning robot 100 to return to its designated position includes determining the orientation of the robot body 110 to ascertain the position of the cleaning robot 100. When the first return signal receiving device 191 receives a return signal from the return signal transmitting device 250 while the second return signal receiving device 192 does not receive a return signal from the return signal transmitting device 250, it can be determined that the position of the cleaning robot 100 is such that the first return signal receiving device 191 is facing the cleaning base station 200. If the cleaning robot 100 receives a forward-moving return command, it moves forward by self-movement, enabling it to execute the forward-moving return command. If the cleaning robot 100 receives a reverse return command, it moves forward by self-movement to a first position and then rotates in place, enabling it to execute the reverse return command.

[0148] It is understandable that when the second pile return signal receiving device 192 receives the pile return signal emitted by the pile return signal transmitting device 250, while the first pile return signal receiving device 191 does not receive the pile return signal emitted by the pile return signal transmitting device 250, it can be determined that the position of the cleaning robot 100 is that the second pile return signal receiving device 192 is facing the cleaning base station 200.

[0149] Before executing the forward or reverse pile-up process, the cleaning robot 100 will first rotate in place to allow it to move forward. Specifically, if the cleaning robot 100 receives a forward pile-up command, it will first rotate in place and then move forward by its own movement to execute the forward pile-up command. If the cleaning robot 100 receives a reverse pile-up command, it will first rotate in place and then move forward by its own movement to the first position, before rotating in place again to execute the reverse pile-up command.

[0150] In some embodiments, if the cleaning robot 100 has difficulty maintaining backward movement for a long time, in the reverse charging process, the robot body 110 can be moved forward to a position near the cleaning base station 200 by the cooperation of the first return signal receiving device 191 and the second return signal receiving device 192. Then, the robot body 110 can be rotated in place by the drive component 130 until the second return signal receiving device 192 is facing the return signal transmitting device 250. Finally, a small amount of backward movement is performed until the reverse charging process of the cleaning robot 100 is completed.

[0151] In one specific embodiment of the present invention, when the first pile return signal receiving device 191 receives the pile return signal emitted by the pile return signal transmitting device 250, the control module 120 controls the robot body 110 to rotate clockwise. When the second pile return signal receiving device 192 receives the pile return signal emitted by the pile return signal transmitting device 250, the control module 120 controls the robot body 110 to rotate counterclockwise.

[0152] In a complete upward pile-laying process, adjusting the first pile-laying signal receiver 191 to face the pile-laying signal transmitter 250 can be done in multiple stages. First, the drive assembly 130 rotates the cleaning robot 100 clockwise by a certain angle. Then, a second positioning is performed to re-determine the relative position of the cleaning robot 100 and the cleaning base station 200. Based on this re-determined position, the control module 120 determines a more precise rotation angle. Then, the drive assembly 130 rotates the cleaning robot 100 clockwise again until the first pile-laying signal receiver 191 is accurately facing the transmitter 250, thus ensuring the accuracy of the cleaning robot 100's upward pile-laying.

[0153] Specifically, after determining its initial direction angle, the cleaning robot 100 moves towards the cleaning base station 200 along that initial direction angle, while simultaneously acquiring and receiving the pile return signal in real time. It records the signal encoding and, based on this encoding, determines changes in the pile return path. Upon detecting a change in the received pile return signal, the cleaning robot 100 makes corresponding adjustments, such as slowing its forward speed or rotating at a certain angle. By making these adjustments, the cleaning robot 100 can flexibly adjust its actual pile-laying angle and direction, effectively coping with complex working environments or unexpected events. This ensures the high stability and accuracy of the pile-laying process.

[0154] Similarly, in a complete reverse pile driving process, adjusting the second pile driving signal receiver 192 to face the pile driving signal transmitter 250 can also be done in multiple stages. First, the drive assembly 130 rotates the cleaning robot 100 counterclockwise by a certain angle. Then, a second positioning is performed to re-determine the relative position of the cleaning robot 100 and the cleaning base station 200. Based on the re-determined position, the control module 120 determines a more precise rotation angle. Then, the drive assembly 130 rotates the cleaning robot 100 counterclockwise again until the second pile driving signal receiver 192 is accurately facing the transmitter, thus ensuring the accuracy of the cleaning robot 100's upward pile driving direction.

[0155] Exemplary embodiments of the present invention have been specifically shown and described above. It should be understood that the present invention is not limited to the detailed structures, arrangements, or implementations described herein; rather, the present invention is intended to cover various modifications and equivalent arrangements contained within the spirit and scope of the appended claims.

Claims

1. A cleaning system, characterized in that, include: A cleaning base station, wherein the cleaning base station is equipped with a return signal transmitting device; Cleaning robots, including: The robot itself; The control module is located within the robot body; The first pile driving signal receiving device is located on the front side of the robot body and is electrically connected to the control module. The second pile return signal receiving device is disposed on the rear side of the robot body opposite to the first pile return signal receiving device, and the second pile return signal receiving device is electrically connected to the control module; A drive component is disposed on the robot body, and the drive component is electrically connected to the control module; The control module executes forward pile driving based on the signal received by the first pile driving signal receiving device, and drives the robot body forward pile driving to the cleaning base station through the drive component; or The control module executes reverse pile driving based on the signal received by the second pile driving signal receiving device, and drives the robot body to reverse pile driving to the cleaning base station through the drive component.

2. The cleaning system according to claim 1, characterized in that, The pile return signal transmitting device includes: A pile-finding signal transmitter is used to emit the location signal of the cleaning base station. The first pile return signal receiving device and / or the second pile return signal receiving device receive the location signal. The cleaning robot performs forward pile-up or reverse pile-up according to the location signal. An alignment signal transmitter is used to send an alignment signal to guide the cleaning robot back to the base station, and the first return signal receiving device and / or the second return signal receiving device receive the alignment signal.

3. The cleaning system according to claim 1, characterized in that, The first pile return signal receiving device includes: The first signal receiver is located on the left side of the front of the robot body; The second signal receiver is located on the right side of the front of the robot body.

4. The cleaning system according to claim 3, characterized in that, With the center of the cleaning robot as the starting point, the angle between the first signal receiver and the second signal receiver is no greater than 90°.

5. The cleaning system according to claim 1, characterized in that, The second pile driving signal receiving device includes: The third signal receiver is located at the rear of the robot body; A fourth signal receiver is located at the rear of the robot body, and is arranged adjacent to the third signal receiver.

6. The cleaning system according to claim 5, characterized in that, With the center of the cleaning robot as the starting point, the angle between the third signal receiver and the fourth signal receiver is no greater than 90°.

7. A method for returning to a cleaning base station based on the cleaning system according to any one of claims 1-6, characterized in that, The method for returning to the clean base station includes: The control module receives an instruction instructing the cleaning robot to return to the cleaning base station; When the instruction to return to the base station is a reverse pile-up instruction, the control module controls the cleaning robot to move forward to a first position adjacent to the cleaning base station; The control module controls the cleaning robot to rotate 180 degrees in place; The control module controls the cleaning robot to reverse its direction and return to the cleaning base station; When the instruction to return to the base station is a forward-facing instruction, the control module controls the cleaning robot to return to the cleaning base station forward-facing.

8. The method for returning to the cleaning base station according to claim 7, wherein the cleaning robot moves forward to a first position adjacent to the cleaning base station, comprising: The cleaning robot adjusts its direction of travel according to the signals received by the first information receiving device and / or the second pile signal receiving device, so that the first information receiving device faces the cleaning base station; The control module performs forward movement based on the signal received by the first pile driving signal receiving device to reach the first position.

9. The method for returning to a clean base station according to claim 7, characterized in that, The instruction to return to the base station is one or more of the following: a charging instruction, a water replenishment instruction, and a dust collection instruction.

10. The method for returning to a clean base station according to claim 7, characterized in that, The control module receives instructions instructing the cleaning robot to return to the cleaning base station, including: when the cleaning robot self-tests and needs to return to the cleaning base station, the control module receives the instruction to return to the cleaning base station; or, the control module receives the instruction to return to the cleaning base station from the user.

11. The method for returning to a clean base station according to claim 7, characterized in that, The first location is a pre-set transit location.

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