Base station and cleaning system

Abstract

The invention relates to a base station and a cleaning system. The base station comprises a machine body and a cleaning device. The machine body is provided with a stopping part for stopping the self-moving equipment; the cleaning device comprises a screw rod rotationally connected to the machine body, a driving mechanism for driving the screw rod to rotate and a brush body assembly matched with the screw rod, and the brush body assembly is constructed to do reciprocating motion in the axial direction of the screw rod under rotation of the screw rod so as to clean the self-moving equipment. In the working process of the base station, the screw rod can be driven to rotate through the driving mechanism, the brush body assembly on the screw rod is driven to do reciprocating motion in the axial direction of the screw rod, and therefore the self-moving equipment is cleaned. When the brush body assembly is separated from the thread arranged on the screw rod, the reset device can pre-press the brush body assembly at the position matched with the thread, so that the situation that the brush body assembly excessively moves towards one side and extrudes parts on the machine body can be avoided, and the situation that the parts on the base station are damaged is prevented.

Description

Technical Field

[0001] The present disclosure relates to the field of cleaning equipment, and more precisely, to a base station; the present disclosure also relates to a cleaning system. Background Art

[0002] As a new self-moving cleaning equipment, self-moving lawn mowers are usually used for lawn mowing and maintenance in homes, parks, gardens, communities, and golf courses. Since self-moving lawn mowers can move and mow automatically without manual operation, they can reduce manpower, improve work efficiency, and maintain the stability of mowing height and quality, and are well received by customers.

[0003] Existing self-propelled lawn mowers are usually equipped with sensors such as cameras and rangefinders to collect image information or distance information on the route. However, due to the fact that residual weeds, sludge and other foreign objects are easily adsorbed onto the sensors during the mowing process, the sensors cannot work properly. Therefore, the base stations equipped with existing self-propelled lawn mowers usually have cleaning devices to clean the sensors. However, when the cleaning device is detached from the transmission mechanism, it is easy to cause the base station to not work properly, or even damage various components of the base station. Summary of the invention

[0004] In order to solve the problems existing in the prior art, the present disclosure provides a base station and a cleaning system.

[0005] According to a first aspect of the present disclosure, a base station is provided, including:

[0006] A machine body, wherein the machine body is provided with a docking portion for docking the mobile device;

[0007] A cleaning device, the cleaning device comprising a screw rotatably connected to the body, a driving mechanism driving the screw to rotate, and a brush assembly cooperating with the screw, the brush assembly being configured to reciprocate along the axial direction of the screw under the rotation of the screw to clean the self-moving device;

[0008] A reset device is configured to pre-press the brush body assembly to a position matching with the thread when the brush body assembly is disengaged from the thread arranged on the screw rod.

[0009] In one embodiment of the present disclosure, the reset device is an elastic member arranged near the end of the screw, and the elastic member is compressed when the screw drives the brush body assembly to move through the thread, and when the brush body assembly is disengaged from the thread on the screw, the elastic force is applied to the brush body assembly to pre-press the brush body assembly onto the thread of the screw.

[0010] In one embodiment of the present disclosure, the elastic member is sleeved on the screw rod, and one end of the elastic member abuts against the machine body, and the other end of the elastic member abuts against the brush body assembly;

[0011] Alternatively, a guide rod is provided on the machine body and is located on the side of the screw rod, the brush body assembly is slidably matched with the guide rod, the elastic member is sleeved on the guide rod, and one end of the elastic member is against the machine body, and the other end of the elastic member is against the brush body assembly.

[0012] In one embodiment of the present disclosure, the guide rod is parallel to the extending direction of the screw rod, and the brush body assembly is provided with a guide hole that slidably cooperates with the guide rod.

[0013] In one embodiment of the present disclosure, a threaded section and a non-threaded section are provided on the screw rod, the threaded section is used to cooperate with the brush body assembly threadably to drive the brush body assembly to move during rotation, and the non-threaded section is used to cooperate with the brush body assembly slidingly so that the reset device can pre-press the brush body assembly onto the threaded section when the brush body assembly is disengaged from the threaded section.

[0014] In one embodiment of the present disclosure, the unthreaded section includes a first unthreaded area and a second unthreaded area arranged at both ends of the threaded section, and the reset device includes a first reset mechanism and a second reset mechanism corresponding to the first unthreaded area and the second unthreaded area respectively.

[0015] In one embodiment of the present disclosure, the brush body assembly is configured to reciprocate between a first position and a second position under the rotation of the screw; the first reset mechanism corresponds to the first position, and the second reset mechanism corresponds to the second position;

[0016] The first reset mechanism is configured to pre-press the brush body assembly to a position matching the thread of the first position after the brush body assembly moves toward the first position to disengage from the thread of the screw rod;

[0017] The second reset mechanism is configured to pre-press the brush body assembly to a position matching with the threads at the second position after the brush body assembly moves toward the second position to disengage from the threads on the screw.

[0018] In one embodiment of the present disclosure, the lengths of the first non-threaded zone and the second non-threaded zone are configured to allow the brush body assembly to be completely disengaged from the threads on the screw rod.

[0019] In one embodiment of the present disclosure, the first return mechanism is a first return spring corresponding to the first position, one end of the first return spring is configured to abut against the side wall of the body, and the other end of the first return spring is configured to extend toward the second position to exceed the first position;

[0020] and / or,

[0021] The second reset mechanism is a second reset spring corresponding to the second position, and one end of the second reset spring is configured to abut against the side wall of the body;

[0022] The other end of the second return spring is configured to extend toward the first position and beyond the second position.

[0023] In one embodiment of the present disclosure, it also includes:

[0024] A detection unit, the detection unit comprising a first sensor and a second sensor; the brush body assembly is configured to trigger the first sensor when the brush body assembly moves to a first position, and trigger the second sensor when the brush body assembly moves to a second position;

[0025] A control unit is configured to control the driving mechanism to drive the screw to rotate in the opposite direction based on the electrical signal triggered by the first sensor or the second sensor.

[0026] In one embodiment of the present disclosure, when the first sensor and / or the second sensor fails, the control unit is configured to control the driving mechanism to drive the screw to rotate in the opposite direction based on parameters of the driving mechanism.

[0027] In one embodiment of the present disclosure, when the first sensor fails, the control unit is configured to control the driving mechanism to drive the screw to rotate in the opposite direction based on the decrease in the current of the driving mechanism, so as to drive the brush body assembly to move from the first position to the second position;

[0028] and / or,

[0029] When the second sensor fails, the control unit is configured to control the driving mechanism to drive the screw to rotate in the opposite direction based on the decrease in current of the driving mechanism, so as to drive the brush body assembly to move from the second position to the first position.

[0030] According to a second aspect of the present disclosure, there is provided a cleaning system, comprising:

[0031] Self-mobile equipment;

[0032] The base station is configured to clean the self-moving device through the cleaning device when the self-moving device is located at the docking portion of the body.

[0033] During the operation of the base station disclosed in the present invention, the screw can be driven to rotate by the driving mechanism, driving the brush assembly on the screw to reciprocate along the axial direction of the screw to clean the self-moving device. When the brush assembly is disengaged from the thread set on the screw, the reset device can pre-press the brush assembly to a position that matches the thread, which can not only prevent the brush assembly from moving too much to one side and causing the brush assembly to squeeze the parts on the body, but also prevent the parts on the base station from being damaged; in addition, because the reset device pre-presses the brush assembly to a position that matches the thread, the brush assembly can be re-threaded with the screw by controlling the screw to reverse, ensuring the normal operation of the base station.

[0034] Other features and advantages of the present disclosure will become apparent from the following detailed description of exemplary embodiments of the present disclosure with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] The accompanying drawings, which are incorporated in and constitute a part of the specification, illustrate embodiments of the present disclosure and, together with the description, serve to explain the principles of the present disclosure.

[0036] Figure 1 is a three-dimensional schematic diagram of a cleaning system provided by an embodiment of the present disclosure;

[0037] Figure 2 is a cross-sectional schematic diagram of a cleaning system provided by an embodiment of the present disclosure;

[0038] Figure 3 is a bottom schematic diagram of a partial structure of a base station provided by an embodiment of the present disclosure;

[0039] Figure 4 is a top schematic diagram of a partial structure of a base station provided by an embodiment of the present disclosure;

[0040] Figure 5 is a schematic cross-sectional diagram of a partial structure of a base station provided by an embodiment of the present disclosure;

[0041] Figure 6 is another cross-sectional schematic diagram of a partial structure of a base station provided by an embodiment of the present disclosure;

[0042] Figure 7 is a top schematic diagram of another part of the structure of a base station provided by an embodiment of the present disclosure;

[0043] Figure 8 is a logical schematic diagram of a base station provided by an embodiment of the present disclosure;

[0044] Fig. 9 is a schematic diagram of the steps of the cleaning control method provided by an embodiment of the present disclosure;

[0045] Fig.10is a schematic diagram of the steps of another cleaning control method provided by an embodiment of the present disclosure;

[0046] Fig.11 It is a schematic diagram of the steps of another cleaning control method provided in an embodiment of the present disclosure.

[0047] Figures 1 to 8 The corresponding relationship between the component names and reference numerals is as follows:

[0048] 1. Machine body; 11. Accommodating chamber; 12. Base; 13. Frame; 14. Cover plate; 2. Brush body assembly; 21. Sliding seat; 22. Brush; 23. Screw; 231. Driven pulley; 232. First non-threaded area; 233. Second non-threaded area; 234. Threaded section; 24. Driving mechanism; 241. Active pulley; 25. Guide rod; 26. Transmission belt; 271. First return spring; 272. Second return spring; 3. Detection unit; 31. First sensor; 32. Second sensor; 4. Control unit; 5. Self-moving device. DETAILED DESCRIPTION

[0049] Various exemplary embodiments of the present disclosure will now be described in detail with reference to the accompanying drawings. It should be noted that the relative arrangement of components and steps, numerical expressions and numerical values ​​set forth in these embodiments do not limit the scope of the present disclosure unless otherwise specifically stated.

[0050] The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the present disclosure, its application, or uses.

[0051] Technologies, methods, and equipment known to ordinary technicians in the relevant art may not be discussed in detail, but where appropriate, the technologies, methods, and equipment should be considered as part of the specification.

[0052] It should be noted that like reference numerals and letters refer to similar items in the following figures, and therefore, once an item is defined in one figure, it need not be further discussed in subsequent figures.

[0053] The specific embodiments of the present disclosure are described below in conjunction with the accompanying drawings.

[0054] In this document, “upper”, “lower”, “front”, “back”, “left”, “right”, etc. are only used to indicate the relative position relationship between related parts, rather than to limit the absolute positions of these related parts.

[0055] In this article, "first", "second", etc. are only used to distinguish each other, and do not indicate the importance and order, or the premise of each other's existence.

[0056] In this document, “equal”, “same”, etc. are not strictly limited in a mathematical and / or geometric sense, but also include errors that can be understood by those skilled in the art and are allowed in manufacturing or use.

[0057] The present disclosure provides a base station that can be used in conjunction with a self-moving device, which can be a lawn mowing robot, a cleaning robot, or other device that can move autonomously. The self-moving device can enter the base station for charging, cleaning, etc., depending on the type of the self-moving device. For example, when the self-moving device of the present disclosure is a self-moving lawn mowing device, the self-moving lawn mowing device can move on the lawn to complete automatic lawn mowing operations. When the self-moving lawn mowing device has finished mowing, it can enter the base station for docking. Not only can the self-moving lawn mowing device be charged through the base station, but the self-moving lawn mowing device can also be cleaned by a cleaning device provided on the base station.

[0058] The base station disclosed in the present invention comprises at least a machine body, a cleaning device and a reset device. The machine body is provided with a docking portion for the self-moving device to dock; the cleaning device comprises a screw rotatably connected to the machine body, a driving mechanism for driving the screw to rotate, and a brush assembly matched with the screw, the brush assembly being configured to reciprocate along the axial direction of the screw under the rotation of the screw to clean the self-moving device; the reset device is configured to pre-press the brush assembly to a position matched with the thread when the brush assembly is disengaged from the thread set on the screw.

[0059] In this way, during the operation of the base station disclosed in the present invention, the screw can be driven to rotate by the driving mechanism, driving the brush assembly on the screw to reciprocate along the axial direction of the screw to clean the mobile device. When the brush assembly is disengaged from the thread set on the screw, the reset device can pre-press the brush assembly to a position that matches the thread, which can not only prevent the brush assembly from moving too much to one side and causing the brush assembly to squeeze the parts on the body, but also prevent the parts on the base station from being damaged; in addition, because the reset device pre-presses the brush assembly to a position that matches the thread, the brush assembly can be threadedly matched with the screw again by controlling the screw to reverse, ensuring the normal operation of the base station.

[0060] For ease of understanding, refer to Figures 1 to 11 , the specific structure and working principle of the base station disclosed in the present invention are explained in detail in combination with an embodiment.

[0061] like Figure 1 and Figure 2As shown, the present disclosure provides a base station, which can be used in conjunction with a self-moving device 5, and the self-moving device 5 can be a device that can move autonomously, such as a lawn mowing robot, a cleaning robot, etc. The self-moving device 5 can enter the base station for charging, cleaning, etc., depending on the type of the self-moving device 5. For example, when the self-moving device 5 of the present disclosure is a self-moving lawn mowing device, the self-moving lawn mowing device can move on the lawn to complete the automatic lawn mowing operation. When the self-moving lawn mowing device has finished mowing, it can enter the base station for docking. Not only can the self-moving lawn mowing device be charged through the base station, but the self-moving lawn mowing device can also be cleaned by a cleaning device provided on the base station.

[0062] It is understandable that due to the working environment of the self-moving lawn mower, various dirt such as dust and grass clippings may stick to the outer wall of the self-moving lawn mower, especially fall on various sensors of the self-moving lawn mower, thereby affecting the normal use of the self-moving lawn mower. When the self-moving lawn mower enters the base station, the self-moving lawn mower can be cleaned by the cleaning device on the base station, for example, weeds, dust and other dirt covering the sensors can be removed to ensure that each sensor can function normally.

[0063] Specifically, the base station of the present disclosure comprises at least a body 1 and a cleaning device. The body 1 is provided with a docking portion for the self-moving robot to dock. Figure 2 As shown, in one embodiment of the present disclosure, a receiving cavity 11 having an open end is provided on the body 1, and the open end is configured to allow the mobile device 5 to enter the receiving cavity 11, and the docking portion is the interior of the receiving cavity 11. Figure 2 As shown, in one embodiment of the present disclosure, the body 1 includes a frame 13 formed with a receiving cavity 11 , and a base 12 located in an area above the receiving cavity 11 , and a docking portion is disposed in the receiving cavity 11 .

[0064] like Figure 2 and Figure 3 As shown, the cleaning device includes a screw 23 rotatably connected to the body 1, a driving mechanism 24 driving the screw 23 to rotate, and a brush assembly 2 matched with the screw 23. Specifically, the brush assembly 2 may include a brush 22 and a sliding seat 21. The brush 22 is used to clean the sensor and other structures of the self-propelled mowing device. The brush 22 is installed on the sliding seat 21, and the sliding seat 21 is used to match with the screw 23. Specifically, a threaded hole is provided on the sliding seat 21, and the threaded hole is threadedly matched with the screw 23.

[0065] In this way, during the operation of the base station of the present disclosure, the driving mechanism 24 can drive the screw 23 to rotate, driving the brush assembly 2 on the screw 23 to reciprocate along the axial direction of the screw 23 to clean the self-moving device 5.

[0066] Specifically, in order to realize that the driving mechanism 24 drives the screw 23 to rotate, the brush assembly 2 on the screw 23 is driven to reciprocate along the axial direction of the screw 23, as shown in FIG. Figure 3 and Figure 4 As shown, in one embodiment of the present disclosure, the machine body 1 is provided with a guide rod 25 located on the side of the screw rod 23, and the brush body assembly 2 is slidably matched with the guide rod 25. Specifically, the guide rod 25 is parallel to the extending direction of the screw rod 23, and the sliding seat 21 is provided with a guide hole matched with the guide rod 25.

[0067] Since the sliding seat 21 is provided with a guide hole that cooperates with the guide rod 25, and the extension direction of the guide rod 25 is parallel to the extension direction of the screw rod 23, the sliding seat 21 can reciprocate along the extension direction of the guide rod 25, and due to the limiting effect of the guide rod 25, the sliding seat 21 cannot rotate with the screw rod 23. Therefore, during the rotation of the screw rod 23, the sliding seat 21 will not rotate with the screw rod 23, but will move along the extension direction of the guide rod 25; when the screw rod 23 rotates forward, the sliding seat 21 will move to one side along the extension direction of the guide rod 25, and when the screw rod 23 rotates reversely, the sliding seat 21 will move to the other side along the extension direction of the guide rod 25. In this way, the sliding seat 21 can be controlled to reciprocate along the extension direction of the guide rod 25 by the forward and reverse rotation of the screw rod 23.

[0068] Further, such as Figure 3 and Figure 4 As shown, in one embodiment of the present disclosure, there are two guide rods 25, which are respectively arranged on opposite sides of the screw rod 23. By arranging two guide rods 25 on opposite sides of the screw rod 23, it is possible to better ensure that the brush body assembly 21 reciprocates along the extension direction of the guide rod 25 without deflecting to one side.

[0069] The driving mechanism 24 for driving the screw 23 to rotate can be a general rotary motor, which can directly drive the screw 23 to rotate, or can indirectly drive the screw 23 to rotate. Figure 2 and Figure 5 As shown, in one embodiment of the present disclosure, the screw rod 23 is rotatably connected to the base 12; the driving mechanism 24 is fixed to the upper end of the base 12 and is configured to be drivingly connected to the screw rod 23. In this way, the space above the base 12 can be effectively utilized to arrange the driving mechanism 24, thereby reducing the occupied area of ​​the base station and improving the utilization efficiency of the space on the base station.

[0070] Specifically, Figure 3 and Figure 6As shown, in one embodiment of the present disclosure, a driving pulley 241 is provided on the output shaft of the driving mechanism 24, a driven pulley 231 is provided at one end of the screw 23, and a transmission belt 26 is wound around the driving pulley 241 and the driven pulley 231, so that the driving mechanism 24 can indirectly drive the screw 23 to rotate through the transmission belt 26.

[0071] In this way, during the operation of the base station disclosed herein, the screw 23 can be controlled to rotate, thereby driving the screw 23 to rotate, and then driving the brush 22 to reciprocate in the accommodating chamber 11, so that the brush 22 can dock on the self-moving device 5 in the accommodating chamber 11 for cleaning.

[0072] Further, such as Figure 7 As shown, in one embodiment of the present disclosure, a cover plate 14 is provided above the base 12, and the cover plate 14 is configured to cover the top of the base 12. By providing the cover plate 14, the top of the base 12 can be sealed to prevent dust, weeds or other foreign matter from entering other cavities of the frame 13 during cleaning.

[0073] In order to control the movement of the cleaning device of the present disclosure, as Figure 8 As shown, in one embodiment of the present disclosure, the base station of the present disclosure also includes a detection unit 3 and a control unit 4, the detection unit 3 includes a first sensor 31 and a second sensor 32; the brush body assembly 2 is constructed to trigger the first sensor 31 when it moves to the first position, and to trigger the second sensor 32 when it moves to the second position; the control unit 4 is configured to control the driving mechanism 24 to drive the screw 23 to rotate in the opposite direction based on the electrical signal triggered by the first sensor 31 or the second sensor 32.

[0074] In this way, during the operation of the base station disclosed in the present invention, the screw 23 can be controlled to rotate to drive the brush assembly 2 to move in the direction of the first position; when the brush assembly 2 moves to the first position and triggers the first sensor 31, the control unit 4 controls the drive mechanism 24 to drive the screw 23 to rotate in the opposite direction based on the electrical signal triggered by the first sensor 31, thereby driving the brush assembly 2 to move in the direction of the second position; when the brush assembly 2 moves to the second position and triggers the second sensor 32, the control unit 4 controls the drive mechanism 24 to drive the screw 23 to rotate in the opposite direction based on the electrical signal triggered by the second sensor 32, thereby driving the brush assembly 2 to move in the direction of the first position. In this way, the brush assembly 2 can be reciprocated on the machine body 1.

[0075] During the operation of the base station disclosed in the present invention, the first sensor 31 and the second sensor 32 may fail. After the first sensor 31 or the second sensor 32 fails, the screw 23 will continue to rotate, thereby causing the brush body assembly 2 to detach from the thread set on the screw 23. After the brush body assembly 2 detaches from the thread set on the screw 23, it is possible to squeeze the components on the body 1, causing damage to the components on the base station.

[0076] Therefore, the base station of the present disclosure further includes a reset device, which is configured to pre-press the brush body assembly 2 to a position matching with the thread when the brush body assembly 2 is disengaged from the thread provided on the screw rod 23 .

[0077] In this way, during the operation of the base station of the present disclosure, the screw 23 can be driven to rotate by the driving mechanism 24, driving the brush assembly 2 on the screw 23 to reciprocate along the axial direction of the screw 23, so as to clean the self-moving device 5. When the brush assembly 2 is disengaged from the thread set on the screw 23, the reset device can pre-press the brush assembly 2 to a position that matches the thread, which can not only prevent the brush assembly 2 from moving too much to one side and causing the brush assembly 2 to squeeze the components on the body 1, but also prevent the components on the base station from being damaged; in addition, because the reset device pre-presses the brush assembly 2 to a position that matches the thread, the brush assembly 2 can be re-threaded with the screw 23 by controlling the screw 23 to reverse, thereby ensuring the normal operation of the base station.

[0078] Specifically, in one embodiment of the present disclosure, the reset device is an elastic member arranged near the end of the screw 23, and the elastic member is compressed when the screw 23 drives the brush body assembly 2 to move through the thread, and when the brush body assembly 2 is disengaged from the thread on the screw 23, the elastic force is applied to the brush body assembly 2 to pre-press the brush body assembly 2 on the thread of the screw 23. In this way, during the operation of the base station of the present disclosure, when the brush body assembly 2 is disengaged from the thread set on the screw 23, the elastic member can apply elastic force to the brush body assembly 2 to pre-press the brush body assembly 2 at a position matching with the thread, so as to avoid the brush body assembly 2 from moving too much to one side and causing the brush body assembly 2 to squeeze the components on the body 1; in addition, because the elastic member applies elastic force to the brush body assembly 2 to pre-press the brush body assembly 2 at a position matching with the thread, the brush body assembly 2 can be threadedly matched with the screw 23 again by controlling the reverse rotation of the screw 23, thereby ensuring the normal operation of the base station.

[0079] Furthermore, in one embodiment of the present disclosure, an elastic member is sleeved on the screw 23, and one end of the elastic member abuts against the body 1, and the other end of the elastic member abuts against the brush body assembly 2. When the brush body assembly 2 is disengaged from the thread on the screw 23, the elastic member on the screw 23 will be squeezed, and the elastic member can apply elastic force to the brush body assembly 2, thereby pre-pressing the brush body assembly 2 on the thread of the screw 23. Moreover, since the elastic member can apply elastic force to the brush body assembly 2, the brush body assembly 2 is continuously pre-pressed on the thread of the screw 23. When the screw 23 is reversed, the screw 23 and the brush body assembly 2 can be re-threaded together, and the brush body assembly 2 can be driven to continuously move in the reverse direction. Not only does it not require external control, but it also has a simple structure and low cost.

[0080] And as Figure 3 and Figure 4 As shown, in another embodiment of the present disclosure, the elastic member is sleeved on the guide rod 25, and one end of the elastic member abuts against the machine body 1, and the other end of the elastic member abuts against the brush body assembly 2. Similarly, when the brush body assembly 2 is disengaged from the thread on the screw rod 23, the elastic member on the guide rod 25 is squeezed, and the elastic member can apply elastic force to the brush body assembly 2, thereby pre-pressing the brush body assembly 2 on the thread of the screw rod 23.

[0081] Further, such as Figure 3 and Figure 4 As shown, in one embodiment of the present disclosure, elastic members can be provided on both guide rods 25. When the brush body assembly 2 is disengaged from the threads on the screw rod 23, the elastic members on the two guide rods 25 will be squeezed, and both elastic members can apply elastic force to the brush body assembly 2, so that the brush body assembly 2 is pre-pressed on the threads of the screw rod 23, and the elastic force of the elastic members on both sides of the brush body assembly 2 is also relatively balanced, so that the brush body assembly 2 is pre-pressed on the threads of the screw rod 23 to be aligned.

[0082] like Figure 5 As shown, in one embodiment of the present disclosure, a threaded section 234 and a non-threaded section are provided on the screw rod 23, the threaded section 234 is used to threadably cooperate with the brush body assembly 2 to drive the brush body assembly 2 to move during rotation, and the non-threaded section is used to slidingly cooperate with the brush body assembly 2 so that the reset device can pre-press the brush body assembly 2 on the threaded section 234 when the brush body assembly 2 is disengaged from the threaded section 234.

[0083] It can be understood that when the brush body assembly 2 disengages from the threaded section 234 and reaches the non-threaded section, the screw 23 can no longer push the brush body assembly 2 to move because the non-threaded section has no threads. This can avoid the sensor failure causing the brush body assembly 2 to continue moving and interfere with other components, thereby avoiding damage to other components or damage to the transmission mechanism.

[0084] like Figure 5As shown, in one embodiment of the present disclosure, the unthreaded section includes a first unthreaded area 232 and a second unthreaded area 233 arranged at both ends of the threaded section 234, and the reset device includes a first reset mechanism and a second reset mechanism corresponding to the first unthreaded area 232 and the second unthreaded area 233 respectively.

[0085] In this way, whether the brush body assembly 2 moves to the first non-threaded area 232 or the second non-threaded area 233, the first reset mechanism and the second reset mechanism can push the brush body assembly 2 to pre-press the threaded fitting position, thereby effectively ensuring that the brush body assembly 2 can be reset to the thread.

[0086] Further, in one embodiment of the present disclosure, the brush body assembly 2 is configured to reciprocate between the first position and the second position under the rotation of the screw 23; the first reset mechanism corresponds to the first position, and the second reset mechanism corresponds to the second position; the first reset mechanism is configured to pre-press the brush body assembly 2 at a position that matches the thread of the first position after the brush body assembly 2 moves in the direction of the first position to disengage from the thread on the screw 23; the second reset mechanism is configured to pre-press the brush body assembly 2 at a position that matches the thread of the second position after the brush body assembly 2 moves in the direction of the second position to disengage from the thread on the screw 23. In this way, during the reciprocating movement of the brush body assembly 2 between the first position and the second position under the rotation of the screw 23, whether the brush body assembly 2 moves to the first position to the first non-threaded area 232 or moves to the second position to the second non-threaded area 233, the first reset mechanism and the second reset mechanism can push the brush body assembly 2 to be pre-pressed at a position that matches the thread, thereby effectively ensuring that the brush body assembly 2 can be reset to the thread.

[0087] Further, in one embodiment of the present disclosure, the lengths of the first non-threaded area 232 and the second non-threaded area 233 are configured to allow the brush body assembly 2 to completely disengage from the threads on the screw 23. In this way, since the lengths of the first non-threaded area 232 or the second non-threaded area 233 are configured to allow the brush body assembly 2 to completely disengage from the threads on the screw 23, when the brush body assembly 2 completely enters the first non-threaded area 232 or the second non-threaded area 233, it will not touch the base 12, thereby completely avoiding the brush body assembly 2 from squeezing the base 12 and causing damage to the base 12.

[0088] Specifically, in one embodiment of the present disclosure, the first reset mechanism is a first reset spring 271 corresponding to the first position, one end of the first reset spring 271 is constructed to abut against the side wall of the body 1, and the other end of the first reset spring 271 is constructed to extend toward the second position to exceed the first position; and / or, the second reset mechanism is a second reset spring 272 corresponding to the second position, one end of the second reset spring 272 is constructed to abut against the side wall of the body 1; the other end of the second reset spring 272 is constructed to extend toward the first position to exceed the second position.

[0089] In this way, when the brush body assembly 2 moves to the first position until it abuts against the first return spring 271, after the brush body assembly 2 moves to the first position, the first return spring 271 can apply elastic force to the brush body assembly 2, thereby pre-pressing the brush body assembly 2 on the thread of the screw 23, and because the other end of the first return spring 271 extends toward the second position to exceed the first position, after the first return spring 271 pre-presses the brush body assembly 2 on the thread of the screw 23, it can continue to apply elastic force to the brush body assembly 2, so that when the screw 23 reverses, the screw 23 and the brush body assembly 2 are re-threaded together, and the brush body assembly 2 is driven to continue to move in the opposite direction until the brush body assembly 2 is completely disengaged from the first return spring 271. The effect of the second return spring 272 is similar to that of the first return spring 271, and will not be repeated here. Through the first return spring 271 and the second return spring 272, not only can the brush body assembly 2 be pushed to a position that cooperates with the thread without external control, but the installation of the first return spring 271 and the second return spring 272 can be achieved by utilizing the existing guide rod 25 or screw rod 23, without setting a separate installation position, which is more convenient.

[0090] When the brush body assembly 2 is detached from the thread set on the screw 23, the parameters of the driving mechanism 24 will change. Therefore, in one embodiment of the present disclosure, when the first sensor 31 and / or the second sensor 32 fails, the control unit 4 is configured to control the driving mechanism 24 to drive the screw 23 to rotate in the opposite direction based on the parameters of the driving mechanism 24, thereby driving the brush body assembly 2 to move toward the threaded section 234.

[0091] Specifically, when the brush body assembly 2 is detached from the thread set on the screw 23, the resistance on the screw 23 becomes smaller, and the current of the driving mechanism 24 will decrease accordingly. Therefore, it is possible to judge whether the brush body assembly 2 is detached from the thread set on the screw 23 based on the current change of the driving mechanism 24.

[0092] Therefore, in one embodiment of the present disclosure, when the first sensor 31 fails, the control unit 4 is configured to control the drive mechanism 24 to drive the screw 23 to rotate in the opposite direction based on the current of the drive mechanism 24 becoming smaller, so as to drive the brush body assembly 2 to move from the first position to the second position; and / or, when the second sensor 32 fails, the control unit 4 is configured to control the drive mechanism 24 to drive the screw 23 to rotate in the opposite direction based on the current of the drive mechanism 24 becoming smaller, so as to drive the brush body assembly 2 to move from the second position to the first position.

[0093] Specifically, when the first sensor 31 fails, when the screw 23 drives the brush assembly 2 to move to the first position, the brush assembly 2 cannot trigger the first sensor 31, so the screw 23 will continue to rotate until the brush assembly 2 moves away from the thread on the screw 23. When the brush assembly 2 is separated from the thread on the screw 23, the resistance of the screw 23 becomes smaller, and the current of the driving mechanism 24 will decrease accordingly, so that the control unit 4 can control the driving mechanism 24 to drive the screw 23 to rotate in the opposite direction. Since the reset device can pre-press the brush assembly 2 to a position that matches the thread after the brush assembly 2 is separated from the thread on the screw 23; when the screw 23 rotates in the opposite direction, the brush assembly 2 can be threaded together with the screw 23 again, and the brush assembly 2 can be driven to move in the direction of the second position, thereby ensuring that the base station can still ensure normal cleaning work when the first sensor 31 fails. The situation when the second sensor 32 fails is the same, which will not be repeated here.

[0094] like Fig. 9 As shown, the present disclosure also provides a cleaning control method, which is implemented by the aforementioned base station and includes the following steps:

[0095] Step S101: Control the mobile device 5 to dock at the docking portion of the base station.

[0096] Specifically, the self-moving device 5 can be a device that can move autonomously, such as a mowing robot or a cleaning robot. The self-moving device 5 can enter the base station for charging, cleaning, etc., depending on the type of the self-moving device 5. For example, when the self-moving device 5 of the present disclosure is a self-moving mowing device, the self-moving mowing device can move on the lawn to complete the automatic mowing operation. When the self-moving mowing device has finished mowing, it can enter the docking part of the base station for docking, so as to carry out the next cleaning work.

[0097] Step S102: Control the driving mechanism 24 to drive the screw 23 to rotate, and the brush body assembly 2 reciprocates along the axial direction of the screw 23 under the rotation of the screw 23 to clean the self-moving device 5.

[0098] When the self-moving device 5 is docked at the docking part of the base station, the base station of the present invention can control the driving mechanism 24 to drive the screw 23 to rotate, and the screw 23 drives the brush body assembly 2 to reciprocate between the first position and the second position, so that the brush 22 on the brush body assembly 2 cleans the self-moving device 5, thereby cleaning various impurities such as dust and grass clippings attached to the self-moving mowing device, and avoiding dust, grass clippings and other impurities from being adsorbed on various sensors of the self-moving mowing device as much as possible.

[0099] Further, such as Fig.10 As shown, in one embodiment of the present disclosure, step S102: controlling the driving mechanism 24 to drive the screw 23 to rotate, and the brush body assembly 2 reciprocates along the axial direction of the screw 23 under the rotation of the screw 23 to clean the self-moving device 5 includes:

[0100] Step S1021: Control the driving mechanism 24 to drive the screw 23 to rotate in the first direction.

[0101] When the driving mechanism 24 drives the screw rod 23 to rotate in the first direction, the brush assembly 2 moves toward the side where the first position is located.

[0102] Step S1022: Determine whether the brush body assembly 2 triggers the first sensor 31, if yes, execute step S1023, if not, return to execute step S1022.

[0103] When the brush assembly 2 moves to the first position, the first sensor 31 is triggered. At this time, the brush assembly 2 needs to be controlled to move in the reverse direction to prevent the brush assembly 2 from continuing to move and hitting the base 12 .

[0104] Step S1023: Control the driving mechanism 24 to drive the screw 23 to rotate in the second direction.

[0105] When the driving mechanism 24 drives the screw rod 23 to rotate in the second direction, the brush body assembly 2 moves toward the side where the second position is located.

[0106] S1024: Determine whether the brush body assembly 2 triggers the second sensor 32, if yes, execute step S1025, if no, return to execute step S1024.

[0107] After receiving the electrical signal triggered by the second sensor 32 , the control unit 4 can control the driving mechanism 24 to drive the screw 23 to rotate in the first direction, so that the brush body assembly 2 moves toward the side where the first position is located.

[0108] Step S1025: Determine whether the cleaning time has been reached, if so, execute step S1026, if not, return to execute step S1021.

[0109] When the control unit 4 receives the electrical signal triggered by the second sensor 32 , it can control the driving mechanism 24 to drive the screw 23 to rotate in the first direction if the cleaning time has not yet arrived.

[0110] Step S1026: Control the driving mechanism 24 to stop driving the screw rod 23 to rotate.

[0111] When the cleaning time is reached, the control unit 4 can control the driving mechanism 24 to stop driving the screw 23 to rotate, thereby completing the entire cleaning process.

[0112] It can be seen that the base station disclosed in the present invention can control the driving mechanism 24 to drive the screw 23 to reciprocate between the first position and the second position through the feedback electrical signals from the first sensor 31 and the second sensor 32, so as to control the brush 22 on the brush body assembly 2 to reciprocate and clean the self-moving device 5, thereby cleaning various impurities such as dust and grass clippings attached to the self-moving mowing device, avoiding the adsorption of various impurities such as dust and grass clippings on various sensors of the self-moving mowing device, and ensuring that the self-moving mowing device can work normally.

[0113] Of course, in another embodiment of the present disclosure, the driving mechanism 24 can be controlled to drive the screw 23 to rotate in the second direction. The step of determining whether the cleaning time has been reached can also be replaced in sequence or performed simultaneously with other steps as needed, without specific limitation.

[0114] Further, in one embodiment of the present disclosure, after the first sensor 31 fails, when the brush body assembly 2 moves to the first position and disengages from the thread on the screw 23, the brush body assembly 2 is pre-pressed at a position in contact with the thread under the action of the reset device;

[0115] The control unit 4 controls the driving mechanism 24 to drive the screw 23 to rotate in the second direction based on the decrease in the current of the driving mechanism 24 , so that the brush body assembly 2 and the screw 23 are threadedly engaged with each other again and drive the brush body assembly 2 to move toward the second position.

[0116] When the brush body assembly 2 is disengaged from the thread set on the screw rod 23, the resistance of the screw rod 23 becomes smaller, and the current of the driving mechanism 24 will also decrease accordingly. Therefore, it is possible to judge whether the brush body assembly 2 is disengaged from the thread set on the screw rod 23 based on the current change of the driving mechanism 24.

[0117] Therefore, in one embodiment of the present disclosure, in the control method of the cleaning device provided by the present disclosure, after the first sensor 31 fails, when the brush body assembly 2 moves to the first position and disengages from the thread on the screw rod 23, the brush body assembly 2 is pre-pressed at a position in contact with the thread under the action of the reset device;

[0118] The control unit 4 controls the driving mechanism 24 to drive the screw 23 to rotate in the second direction based on the decrease in the current of the driving mechanism 24 , so that the brush body assembly 2 and the screw 23 are threadedly engaged with each other again and drive the brush body assembly 2 to move toward the second position.

[0119] That is Fig.11 As shown, the control method of the cleaning device provided by the present disclosure comprises the following steps:

[0120] Step S200: The first sensor 31 fails.

[0121] This step S200 is the initial condition of the control method, but is not a step that needs to be performed.

[0122] Step S201: the brush body assembly 2 moves to the first position and disengages from the thread on the screw rod 23. Under the action of the reset device, the brush body assembly 2 is pre-pressed to a position in contact with the thread.

[0123] After the brush body assembly 2 moves to the first position and disengages from the thread on the screw rod 23 , the reset device can pre-press the brush body assembly 2 to the position in contact with the thread again.

[0124] Step S202: the control unit 4 controls the driving mechanism 24 to drive the screw 23 to rotate in the second direction based on the decrease in the current of the driving mechanism 24, so that the brush assembly 2 and the screw 23 are threadedly engaged with each other again and drive the brush assembly 2 to move toward the second position.

[0125] When the brush assembly 2 is separated from the thread on the screw 23, the resistance of the screw 23 becomes smaller, and the current of the driving mechanism 24 will also become smaller, so that the control unit 4 can control the driving mechanism 24 to drive the screw 23 to rotate in the opposite direction. Since the reset device can pre-press the brush assembly 2 in a position that matches the thread after the brush assembly 2 is separated from the thread on the screw 23; when the screw 23 rotates in the opposite direction, the brush assembly 2 can be re-threaded with the screw 23, and the brush assembly 2 can be driven to move in the direction of the second position, thereby moving away from the side wall of the base 12 on the side where the first position is located, thereby preventing the brush assembly 2 from touching the base 12, thereby completely avoiding the brush assembly 2 from squeezing the base 12 and causing damage to the base 12.

[0126] The situation after the second sensor 32 fails is similar to the situation after the first sensor 31 fails, and will not be described in detail here.

[0127] The present disclosure also provides a cleaning system, including a self-moving device 5 and the aforementioned base station. The self-moving device 5 may be a self-moving lawn mower, a self-moving floor scrubber, a self-moving floor sweeper, or any other self-moving cleaning device; the base station is configured to clean the self-moving device 5 through a cleaning device when the self-moving device 5 is located at the docking portion of the machine body 1. The specific structure and application principle of the base station are the same as those described above, and the structure of the base station will not be described in detail herein.

[0128] Application Scenario

[0129] The present disclosure provides a base station, which can be used in conjunction with a self-moving device 5. The self-moving device 5 can be a lawn mowing robot, a cleaning robot, or other autonomously movable device.

[0130] The base station disclosed in the present invention at least comprises a body 1, a cleaning device and a reset device. The body 1 is provided with a docking portion for the self-moving robot to dock. The cleaning device comprises a screw 23 rotatably connected to the body 1, a driving mechanism 24 driving the screw 23 to rotate, and a brush assembly 2 cooperating with the screw 23. In this way, during the operation of the base station disclosed in the present invention, the screw 23 can be driven to rotate by the driving mechanism 24, driving the brush assembly 2 on the screw 23 to reciprocate along the axial direction of the screw 23, so as to clean the self-moving device 5.

[0131] In order to drive the screw 23 to rotate through the driving mechanism 24 and drive the brush assembly 2 on the screw 23 to reciprocate along the axial direction of the screw 23, a guide rod 25 is provided on the body 1 and is located on the side of the screw 23. The brush assembly 2 and the guide rod 25 are slidably matched.

[0132] The reset device is constructed to pre-press the brush body assembly 2 to a position that matches the thread when the brush body assembly 2 is disengaged from the thread set on the screw 23. Specifically, the reset device is an elastic member arranged near the end of the screw 23, and the elastic member is compressed when the screw 23 drives the brush body assembly 2 to move through the thread, and when the brush body assembly 2 is disengaged from the thread on the screw 23, an elastic force is applied to the brush body assembly 2 to pre-press the brush body assembly 2 on the thread of the screw 23. In this way, during the operation of the base station disclosed in the present invention, when the brush body assembly 2 is disengaged from the thread set on the screw 23, the elastic member can apply an elastic force to the brush body assembly 2 to pre-press the brush body assembly 2 to a position that matches the thread, so as to avoid the brush body assembly 2 from moving too much to one side and causing the brush body assembly 2 to squeeze the components on the body 1; in addition, since the elastic member applies an elastic force to the brush body assembly 2 to pre-press the brush body assembly 2 to a position that matches the thread, the brush body assembly 2 can be threaded together again with the screw 23 by controlling the reverse rotation of the screw 23, so as to ensure the normal operation of the base station.

[0133] The embodiments of the present disclosure have been described above, and the above description is exemplary, not exhaustive, and is not limited to the disclosed embodiments. Many modifications and changes will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments. The choice of terms used herein is intended to best explain the principles of the embodiments, practical applications, or technical improvements in the marketplace, or to enable other persons of ordinary skill in the art to understand the embodiments disclosed herein. The scope of the present disclosure is defined by the appended claims.

Claims

1. A base station, characterized in that: include: A machine body (1), wherein the machine body (1) is provided with a docking portion for a mobile device (5) to dock; A cleaning device, the cleaning device comprising a screw (23) rotatably connected to the machine body (1), a driving mechanism (24) driving the screw (23) to rotate, and a brush assembly (2) cooperating with the screw (23), the brush assembly (2) being configured to reciprocate along the axial direction of the screw (23) under the rotation of the screw (23) so as to clean the self-moving device (5); A reset device is configured to pre-press the brush body assembly (2) to a position matching the thread when the brush body assembly (2) is disengaged from the thread provided on the screw rod (23).

2. The base station according to claim 1, characterized in that The resetting device is an elastic member arranged near the end of the screw (23); the elastic member is compressed when the screw (23) drives the brush body assembly (2) to move via the thread; and when the brush body assembly (2) is disengaged from the thread on the screw (23), an elastic force is applied to the brush body assembly (2) to pre-press the brush body assembly (2) onto the thread of the screw (23).

3. The base station according to claim 2, characterized in that The elastic member is sleeved on the screw rod (23), and one end of the elastic member abuts against the machine body (1), and the other end of the elastic member abuts against the brush body assembly (2); Alternatively, a guide rod (25) is provided on the machine body (1) and is located on the side of the screw rod (23); the brush body assembly (2) is slidably matched with the guide rod (25); the elastic member is sleeved on the guide rod (25); one end of the elastic member is against the machine body (1); and the other end of the elastic member is against the brush body assembly (2).

4. The base station according to claim 3, characterized in that The guide rod (25) is parallel to the extending direction of the screw rod (23), and the brush body assembly (2) is provided with a guide hole which is slidably matched with the guide rod (25).

5. The base station according to claim 1, characterized in that The screw rod (23) is provided with a threaded section (234) and a non-threaded section. The threaded section (234) is used for threaded cooperation with the brush body assembly (2) so as to drive the brush body assembly (2) to move when rotating. The non-threaded section is used for sliding cooperation with the brush body assembly (2) so that the reset device can pre-press the brush body assembly (2) onto the threaded section (234) when the brush body assembly (2) is disengaged from the threaded section (234).

6. The base station according to claim 5, characterized in that The non-threaded section comprises a first non-threaded area (232) and a second non-threaded area (233) arranged at both ends of the threaded section (234), and the resetting device comprises a first resetting mechanism and a second resetting mechanism corresponding to the first non-threaded area (232) and the second non-threaded area (233) respectively.

7. The base station according to claim 6, characterized in that The brush body assembly (2) is configured to reciprocate between a first position and a second position under the rotation of the screw rod (23); the first reset mechanism corresponds to the first position, and the second reset mechanism corresponds to the second position; The first reset mechanism is configured to pre-press the brush body assembly (2) to a position matching the thread at the first position after the brush body assembly (2) moves in the direction of the first position to disengage from the thread on the screw rod (23); The second reset mechanism is configured to pre-press the brush body assembly (2) to a position matching the threads at the second position after the brush body assembly (2) moves in the direction of the second position to disengage from the threads on the screw rod (23).

8. The base station according to claim 6, characterized in that The lengths of the first non-threaded area (232) and the second non-threaded area (233) are configured to allow the brush body assembly (2) to be completely disengaged from the threads on the screw rod (23).

9. The base station according to claim 6, characterized in that The first reset mechanism is a first reset spring (271) corresponding to the first position, one end of the first reset spring (271) is configured to abut against the side wall of the body (1), and the other end of the first reset spring (271) is configured to extend toward the second position and beyond the first position; and / or, The second reset mechanism is a second reset spring (272) corresponding to the second position, and one end of the second reset spring (272) is configured to abut against a side wall of the machine body (1); The other end of the second return spring (272) is configured to extend toward the first position and beyond the second position.

10. The base station according to any one of claims 1 to 9, characterized in that: Also includes: A detection unit (3), the detection unit (3) comprising a first sensor (31) and a second sensor (32); the brush body assembly (2) is configured to trigger the first sensor (31) when it moves to a first position, and to trigger the second sensor (32) when it moves to a second position; A control unit (4), wherein the control unit (4) is configured to control the driving mechanism (24) to drive the screw (23) to rotate in the opposite direction based on the electrical signal triggered by the first sensor (31) or the second sensor (32).

11. The base station according to claim 10, characterized in that: When the first sensor (31) and / or the second sensor (32) fails, the control unit (4) is configured to control the driving mechanism (24) to drive the screw (23) to rotate in the opposite direction based on the parameters of the driving mechanism (24).

12. The base station according to claim 11, characterized in that When the first sensor (31) fails, the control unit (4) is configured to control the driving mechanism (24) to drive the screw (23) to rotate in the opposite direction based on the decrease in the current of the driving mechanism (24), so as to drive the brush body assembly (2) to move from the first position to the second position; and / or, When the second sensor (32) fails, the control unit (4) is configured to control the driving mechanism (24) to drive the screw (23) to rotate in the opposite direction based on the current of the driving mechanism (24) becoming smaller, so as to drive the brush body assembly (2) to move from the second position to the first position.

13. A cleaning system, characterized in that: include: Self-equipped device (5); The base station according to any one of claims 1 to 12 is configured to clean the self-moving device (5) by means of the cleaning device when the self-moving device (5) is located at the docking portion of the body (1).

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