Base station, cleaning robot and cleaning system

Abstract

The embodiment of the invention relates to the technical field of cleaning robots, in particular to a base station, a cleaning robot and a cleaning system. The base station comprises a base station body, a sweeping assembly, a dust collection assembly, a first communication assembly and a first controller, a containing cavity is formed in the bottom of the base station body and can contain a cleaning robot, a sensing component is installed on the surface of the cleaning robot, and the sweeping assembly is arranged in the containing cavity and can sweep dirt attached to the sensing component; the first controller is electrically connected with the dust collection assembly and the first communication assembly and can control the first communication assembly and the cleaning robot to transmit and receive interaction signals and control the working mode of the dust collection assembly according to the interaction signals so that the dust collection assembly can collect dirt cleaned down from the sensing component by the cleaning assembly in the working mode. The base station can interact with the cleaning robot, automatic cleaning and dust collection of the sensing part on the surface of the cleaning robot are achieved, the sensing part does not need to be manually cleaned, and the user experience is improved.

Description

Technical Field

[0001] The embodiments of the present application relate to the technical field of cleaning robots, and specifically to a base station, a cleaning robot and a cleaning system. Background Art

[0002] With the development of cleaning robot technology, more and more cleaning robots are equipped with numerous sensor components, such as inertial measurement unit (IMU), gyroscope, magnetic field meter, accelerometer or speedometer, lidar, infrared light sensor, wall detection sensor, ground detection sensor, RGB camera, ultrasonic sensor, etc. These sensor components are used to collect some motion parameters of the cleaning robot and various data of the environmental space to ensure that the cleaning robot can realize various functions.

[0003] Traditional cleaning robots work in dusty environments in most cases. The surfaces of sensor components installed on the cleaning robot, such as laser radar, infrared light sensors, wall detection sensors, floor detection sensors, RGB cameras, etc., are easily covered with dust and other dirt, which will affect the normal data collection of these sensor components and even cause the cleaning robot to fail to work properly. In order to avoid such problems, users are often required to manually clean these sensor components. However, manual cleaning will reduce the user experience. Summary of the invention

[0004] One purpose of the embodiments of the present application is to provide a base station, a cleaning robot and a cleaning system to solve the technical problem of poor user experience caused by users manually cleaning the sensor components.

[0005] In a first aspect, an embodiment of the present application provides a base station, including:

[0006] The base station body has a receiving cavity at the bottom, the receiving cavity is used to receive the cleaning robot, and a sensor component is installed on the surface of the cleaning robot;

[0007] A cleaning component, disposed in the accommodating cavity, for cleaning dirt attached to the sensing component;

[0008] A dust collection component installed on the base station body;

[0009] A first communication component, installed on the base station body;

[0010] The first controller is installed on the base station body and is electrically connected to the dust collection component and the first communication component respectively, and is used to control the first communication component to send and receive interactive signals with the cleaning robot, and control the working mode of the dust collection component according to the interactive signal, so that the dust collection component can collect the dirt cleaned from the sensor component by the cleaning component in the working mode.

[0011] Optionally, the cleaning robot generates a cleaning signal when determining that the sensing component meets the cleaning condition;

[0012] The interactive signal includes the cleaning signal. The first controller receives the cleaning signal sent by the cleaning robot through the first communication component, and controls the first communication component to send a rotation control signal to the cleaning robot according to the cleaning signal, so that the cleaning robot rotates in the accommodating cavity relative to the base station body according to the rotation control signal.

[0013] Optionally, the accommodating chamber is provided with a dust collecting port, and the dust collecting port is arranged at the cleaning component. The dust collecting port is connected to the dust collecting component, and when the cleaning robot rotates in the accommodating chamber relative to the base station body, the dirt swept from the sensor component by the cleaning component enters the dust collecting component through the dust collecting port.

[0014] Optionally, a first dust collection port and a second dust collection port are provided on both sides of the accommodating cavity, and the first dust collection port and the second dust collection port are both connected to the dust collection assembly;

[0015] The cleaning component includes a first cleaning unit and a second cleaning unit, the first cleaning unit is arranged at the first dust collecting port, and the second cleaning unit is arranged at the second dust collecting port, when the cleaning robot rotates in the accommodating cavity relative to the base station body, the first cleaning unit is used to clean the dirt attached to the sensor component so that the cleaned dirt enters the dust collecting component through the first dust collecting port, and the second cleaning unit is used to clean the dirt attached to the sensor component so that the cleaned dirt enters the dust collecting component through the second dust collecting port.

[0016] Optionally, the dust collection component comprises:

[0017] A dust collection container is installed on the base station body, and the dust collection container is provided with a dust inlet and an exhaust port;

[0018] A fan assembly, mounted on the base station body and connected to the exhaust port, and electrically connected to the first controller;

[0019] a pipe assembly, mounted on the base station body and respectively connected to the dust inlet, the first dust collection port and the second dust collection port, and electrically connected to the first controller;

[0020] The controller controls the fan assembly to enter a working state and controls the duct assembly and the dust collecting container to form a first dust collecting channel and / or a second dust collecting channel according to the cleaning signal, so that the duct assembly forms a negative pressure, and the dirt cleaned from the sensor component is sucked into the dust collecting container through the first dust collecting channel and / or the second dust collecting channel under the action of the negative pressure.

[0021] Optionally, the pipeline assembly comprises:

[0022] A first pipeline unit comprises a first dust collecting pipe and a switching part, wherein one end of the first dust collecting pipe is connected to the dust inlet, and the other end of the first dust collecting pipe is connected to the switching part;

[0023] The second pipeline unit comprises a second dust collecting pipe and a first electrically-controlled valve, wherein one end of the second dust collecting pipe is connected to the first dust collecting port, and the other end of the second dust collecting pipe is connected to the adapter, and the first electrically-controlled valve is sleeved on the second dust collecting pipe and is electrically connected to the first controller, and is used for forming the first dust collecting channel when the second dust collecting pipe, the first dust collecting pipe and the dust collecting container are opened under the control of the first controller, and not forming the first dust collecting channel when the second dust collecting pipe, the first dust collecting pipe and the dust collecting container are closed under the control of the first controller;

[0024] The third pipeline unit includes a third dust collecting pipe and a second electrically-controlled valve, one end of the third dust collecting pipe is connected to the second dust collecting port, the other end of the third dust collecting pipe is connected to the adapter, the second electrically-controlled valve is sleeved on the third dust collecting pipe, and is electrically connected to the first controller, and is used for forming the second dust collecting channel when the third dust collecting pipe, the first dust collecting pipe and the dust collecting container are opened under the control of the first controller, and not forming the second dust collecting channel when the third dust collecting pipe, the first dust collecting pipe and the dust collecting container are closed under the control of the first controller.

[0025] Optionally, the cleaning signal includes a quantity parameter and a position parameter of the sensing component to be cleaned, the rotation control signal includes a first control signal, and the working mode includes a single-channel dust collection mode;

[0026] The first controller determines whether the number of the sensing parts to be cleaned is 1 according to the quantity parameter. If it is 1, the first controller controls the first communication component to send the first control signal to the cleaning robot according to the position parameter, so that the cleaning robot rotates relative to the base station body according to the first control signal until the sensing parts to be cleaned are aligned with the target cleaning unit, and reciprocates relative to the base station body within a first preset angle range based on the target cleaning unit, and controls the target electric-controlled valve to open so that the dust collection component works in the single-channel dust collection mode. When the target cleaning unit is the first cleaning component, the target electric-controlled valve is the first electric-controlled valve, and when the target cleaning unit is the second cleaning component, the target electric-controlled valve is the second electric-controlled valve.

[0027] Optionally, the rotation control signal includes a second control signal;

[0028] If the number of sensor components to be cleaned is not 1, the first controller determines the maximum sensor component spacing of the sensor components to be cleaned according to the position parameters, and determines whether the maximum sensor component spacing is less than a preset distance threshold. If it is less than the preset distance threshold, the first controller calculates the target position and target angle range according to the position parameters, and controls the first communication component to send the second control signal to the cleaning robot according to the target position and target angle range, so that the cleaning robot rotates to the target position relative to the base station body according to the second control signal and aligns with the target cleaning unit, and reciprocates relative to the base station body according to the target angle range based on the target cleaning unit, and controls the target electric-controlled valve to open so that the dust collection component works in the single-channel dust collection mode, wherein, when the target cleaning unit is the first cleaning component, the target electric-controlled valve is the first electric-controlled valve, and when the target cleaning unit is the second cleaning component, the target electric-controlled valve is the second electric-controlled valve.

[0029] Optionally, the rotation control signal includes a third control signal, and the working mode includes a dual-channel dust collection mode;

[0030] If the maximum distance between the sensing components is not less than the preset distance threshold, the first controller controls the first communication component to send the third control signal to the cleaning robot, so that the cleaning robot can reciprocate relative to the base station body or rotate a preset number of times relative to the base station body within a second preset angle range according to the third control signal, and controls the first electrically-controlled valve and the second electrically-controlled valve to open so that the dust collection component can operate in the dual-channel dust collection mode, wherein the second preset angle range is larger than the first preset angle range.

[0031] Optionally, the cleaning signal includes a dirtiness parameter of the sensing component to be cleaned;

[0032] The first controller receives the dirtiness parameter sent by the cleaning robot through the first communication component, and controls the suction gear of the fan component according to the dirtiness parameter and / or sends a rotation control signal to the cleaning robot through the first communication component to control the cleaning robot according to the duration and / or speed and / or frequency of rotation in the accommodating cavity relative to the base station body.

[0033] Optionally, it further comprises an image acquisition device, which is disposed in the accommodating cavity and electrically connected to the first controller, and is used to photograph a target surface area of ​​the cleaning robot;

[0034] The first controller also determines, based on the position parameters, whether the sensing component to be cleaned includes a target sensing component, where the target sensing component is a sensing component to be cleaned installed on a target surface area of ​​the cleaning robot; if the target sensing component is included, the cleaning robot is controlled to rotate relative to the base station body to acquire a target image obtained by photographing the target surface area by the image acquisition device, and a sensor area image of the target sensing component is extracted based on the target image; a dirtiness calibration value of the target sensing component is determined based on the sensor area image; and a dirtiness parameter of the target sensing component is calibrated based on the dirtiness calibration value.

[0035] Optionally, the first cleaning unit includes a first horizontal brush and at least one first vertical brush, the first horizontal brush is arranged below the first dust collecting port, and at least one first vertical brush is arranged on the side of the first dust collecting port;

[0036] The second cleaning unit includes a second horizontal brush and at least one second vertical brush, wherein the second horizontal brush is arranged below the second dust collecting port, and the at least one second vertical brush is arranged on the side of the second dust collecting port.

[0037] In a second aspect, an embodiment of the present application provides a cleaning robot, the cleaning robot being used to cooperate with the base station as described above, the cleaning robot comprising:

[0038] A housing, comprising a receiving cavity;

[0039] A dust box is installed at a preset position of the receiving cavity, and the dust box is provided with a dust discharge port, and the dust box can discharge garbage to the base station through the dust discharge port;

[0040] A driving assembly, mounted on the bottom of the housing;

[0041] A charging assembly, mounted on the housing;

[0042] A second communication component is installed in the housing;

[0043] A sensor assembly is mounted on the housing;

[0044] The second controller is electrically connected to the driving component, the charging component, the second communication component and the sensor component respectively, and is used to detect whether the sensor component meets the sensor component cleaning condition. If the sensor component cleaning condition is met, the second communication component is controlled to send an interactive signal to the base station.

[0045] In a third aspect, an embodiment of the present application provides a cleaning system, characterized in that it includes:

[0046] A base station as described above; and

[0047] The cleaning robot as described above can be communicatively connected with the base station.

[0048] In the base station provided in the embodiment of the present application, it includes a base station body, a cleaning component, a dust collection component, a first communication component and a first controller. The dust collection component, the first communication component and the first controller are all installed on the base station body. A receiving cavity is provided at the bottom of the base station body, and the receiving cavity can accommodate a cleaning robot. A sensor component is installed on the surface of the cleaning robot. The cleaning component is provided in the receiving cavity and can clean dirt attached to the sensor component. The first controller is installed on the base station body and is electrically connected to the dust collection component and the first communication component respectively. It can control the first communication component to send and receive interactive signals with the cleaning robot, and control the working mode of the dust collection component according to the interactive signal, so that the dust collection component collects the dirt cleaned from the sensor component by the cleaning component in the working mode. The base station can interact with the cleaning robot to realize automatic cleaning and dust collection of the sensor component on the surface of the cleaning robot, without manual cleaning of the sensor component, which is conducive to improving user experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0049] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the description of the embodiments of the present application will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0050] Figure 1 A schematic diagram of the structure of a cleaning system provided in an embodiment of the present application;

[0051] Figure 2 A schematic diagram of the structure of a cleaning robot provided in an embodiment of the present application;

[0052] Figure 3 A schematic diagram of the structure of a cleaning robot provided in another embodiment of the present application;

[0053] Figure 4 for Figure 3 A schematic diagram of the structure of the sensor assembly shown;

[0054] Figure 5 A schematic diagram of the structure of a base station provided in an embodiment of the present application;

[0055] Figure 6 A schematic diagram of the structure of a base station provided in another embodiment of the present application;

[0056] Figure 7 is a structural diagram of a base station provided by another embodiment of the present application;

[0057] Figure 8 This is a structural diagram of a base station provided in yet another embodiment of the present application. DETAILED DESCRIPTION

[0058] In order to make the purpose, technical solutions and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not intended to limit the present application. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in the field without making creative work are within the scope of protection of the present application.

[0059] It should be noted that, if there is no conflict, the various features in the embodiments of the present application can be combined with each other, all within the scope of protection of the present application. In addition, although the functional module division is performed in the device schematic diagram and the logical order is shown in the flow chart, in some cases, the steps shown or described can be performed in a sequence different from the module division in the device or the flow chart. Furthermore, the words "first", "second", "third", etc. used in this application do not limit the data and execution order, but only distinguish the same items or similar items with basically the same functions and effects.

[0060] The present application embodiment provides a cleaning system. Figure 1 The cleaning system 100 includes a cleaning robot 10 and a base station 20. The cleaning robot 10 is connected to the base station 20 for communication and can interact with each other by sending and receiving interactive signals. The cleaning robot 10 or the base station 20 can control its own working mode according to the interactive signal. It is understandable that the cleaning robot 10 can be any one of a sweeping robot, a sweeping and mopping robot, or a mopping robot, which is not limited here.

[0061] Please also read Figure 2 and Figure 3 The cleaning robot 10 includes a shell 11, a dust box (not shown), a second controller 12, a sensor component 13, a driving component 14, a cleaning component 15, a charging component 16 and a second communication component 17.

[0062] The housing 11 is a protective shell of the cleaning robot 10, and is provided with a receiving cavity for receiving and installing various components. The outer shape of the housing 11 can be configured to be generally elliptical, triangular, D-shaped, or any other suitable shape. The housing 11 can be made of any suitable material, such as metal material, plastic with high hardness, or the like.

[0063] In some embodiments, Figure 3 As shown, a recessed portion is provided on the side of the housing 11, and the recessed portion is used to accommodate one or more sensing components in the sensing assembly 13. In some embodiments, the recessed portion includes a first window 111, a second window 112 and a third window 113.

[0064] The dust box is installed at a preset position of the receiving chamber, and is used to load dirt such as garbage and dust cleaned by the cleaning robot 10. The dust box is provided with a dust discharge port, and the dust box can discharge garbage to the base station 20 through the dust discharge port. In some embodiments, a soft rubber plug is provided at the dust discharge port, and the soft rubber plug is used to close the dust discharge port.

[0065] In some embodiments, the dust box may be configured into any suitable shape such as a square or a circle.

[0066] The second controller 12 is installed on the housing 11 , and serves as the control core of the cleaning robot 10 , and is used to control the cleaning robot 10 to complete relevant logical operations, such as cleaning along the wall and in different areas.

[0067] In some embodiments, the second controller 12 uses SLAM (simultaneous localization and mapping), a real-time positioning and mapping technology, to construct a map and position according to environmental data. Based on the map and the position of the cleaning robot 10, the second controller 12 instructs the cleaning robot 10 to completely traverse an environmental space through a full coverage path planning algorithm. When the cleaning robot 10 traverses, the sensor component 13 collects environmental data of the traversed area, which can be image data or radar point cloud data of the entire traversed area, or image data or radar point cloud data of a local traversed area in the entire traversed area. The second controller 12 generates a map based on the environmental data of the traversed area, and the map has indicated the area that the cleaning robot 10 needs to traverse and the coordinate positions of obstacles located in the traversed area.

[0068] The sensor component 13 is used to collect various motion parameters of the cleaning robot 10 and various data related to environmental space detection. The sensor component 13 may include various suitable sensor components, which can be installed at any suitable position such as the inside or surface of the shell 11 according to the actual implementation function.

[0069] In some embodiments, see Figure 4 The sensor component 13 includes a wall detection sensor 131 , a ground detection sensor 132 , an infrared light sensor 133 , an inertial measurement unit 134 , a laser radar 135 and an obstacle detection module 136 .

[0070] The wall detection sensor 131 is installed on the side surface of the shell 11 and is electrically connected to the second controller 12 for detecting the distance between the cleaning robot 10 and the wall. The wall detection sensor 131 can transmit the distance information to the second controller 12 to ensure that the second controller 12 can control the cleaning robot 10 to always walk along the edge of the wall, or control the cleaning robot 10 to always keep a certain distance from the wall, such as 10 mm, during the process of cleaning the gaps along the wall. In this way, the cleaning robot 10 can better clean the gaps along the wall and clean up the dust in the gaps along the wall.

[0071] The ground detection sensor 132 is installed on the bottom edge surface of the shell 11. It is a very important sensor in the cleaning robot 10 and plays a very critical role in the navigation and obstacle avoidance functions of the cleaning robot 10. The ground detection sensor 132 is electrically connected to the second controller 12 and is used to detect obstacles and potholes on the ground by detecting the height between the cleaning robot 10 and the ground. The ground detection sensor 132 can transmit the height information to the second controller 12 so that the second controller 12 can control the cleaning robot 10 to avoid these obstacles, or prevent the cleaning robot 10 from falling when encountering steps. For example, when the cleaning robot 10 moves to the edge of the step, if it is detected that the height between the cleaning robot 10 and the ground exceeds the preset height threshold, a signal is sent to the second controller 12, and the second controller 12 controls the cleaning robot 10 to turn according to the signal, and changes the forward direction of the cleaning robot 10, thereby achieving the purpose of preventing falling.

[0072] The ground detection sensor 132 can be a sensor that uses any suitable ranging method, such as infrared ranging or laser ranging, etc., wherein the ground detection sensor 132 that uses infrared ranging is usually composed of a reflective infrared detector and an infrared LED lamp. The reflective infrared detector can detect the light emitted by the infrared LED. When the light is reflected by an obstacle on the ground, the reflective infrared detector will receive the reflected light signal, thereby detecting the height between the cleaning robot 10 and the ground; the ground detection sensor 132 that uses laser ranging uses ultrasonic waves to measure the height between the cleaning robot 10 and the ground.

[0073] The infrared light sensor 133 is installed on the side surface of the housing 11, and is mainly used to realize the automatic recharging of the cleaning robot 10. The infrared light sensor 133 is electrically connected to the second controller 12. When the cleaning robot 10 meets the charging conditions, for example, when the battery of the cleaning robot 10 is about to run out of power, the second controller 12 will control the infrared light sensor 133 to search whether there is an infrared light emission source around, and a light emitting device will be installed on the base station 20 as an infrared light emission source. The second controller 12 controls the cleaning robot to search along a certain path, and determines whether infrared rays are received through the infrared light sensor 133. If infrared rays are received, the second controller 12 determines that the infrared emission source is nearby, so the second controller 12 controls the cleaning robot 10 to move toward the base station 20 according to the strength of the infrared signal. When the cleaning robot 10 approaches the base station, the infrared signal becomes stronger, and the second controller 12 controls the cleaning robot 10 to continue to follow the infrared signal until it arrives in front of the base station 20.

[0074] The inertial measurement unit 134 is installed inside the housing 11 and is electrically connected to the second controller 12. Its function in the cleaning robot 10 is mainly to detect the movement change information of the cleaning robot 10 in real time, such as angular velocity, acceleration, orientation, etc., and after giving this information to the second controller 12 for processing, the position and posture of the cleaning robot 10 can be solved, thereby realizing the positioning, obstacle avoidance, path planning, navigation, etc. of the cleaning robot 10. In some embodiments, the inertial measurement unit 134 includes a three-axis accelerometer and a three-axis gyroscope, which are used to measure the acceleration and angular velocity of the cleaning robot 10 in three-dimensional space, respectively, so as to solve the position and posture of the cleaning robot 10. The inertial measurement unit 134 can also detect the tilt and sudden collision of the cleaning robot 10, so as to prevent the cleaning robot 10 from falling or other accidents.

[0075] The laser radar 135 is installed above the housing 11 and is electrically connected to the second controller 12. It can emit lasers to the surrounding environment and calculate the distance between the laser radar 135 and the object based on the time difference of the signal reflected from the object, and give the distance information to the second controller 12 for processing, to ensure that the second controller 12 controls the cleaning robot 10 to avoid the obstacle in time when it walks in front of the obstacle, to prevent the cleaning robot 10 from colliding with the obstacle. The laser radar 135 can also collect real-time environmental data of the surrounding environment of the cleaning robot 10 by continuously rotating and scanning, and transmit it to the second controller 12. The second controller 12 can perform environmental perception and positioning based on the real-time environmental data, and generate a map by processing the real-time environmental data through a map building algorithm, wherein the map building algorithm can be any type of algorithm such as a SLAM algorithm. The second controller 12 can also continuously obtain real-time environmental data from the laser radar 135 to continuously update and optimize the map, which is conducive to the cleaning robot 10 gradually learning and optimizing the cleaning path and improving the cleaning efficiency.

[0076] The obstacle detection module 136 is disposed in the recessed portion of the housing 11 and is used to detect obstacles and identify the detected obstacles. Figure 3 The obstacle detection module 136 shown includes two line laser transmitters (not shown), an infrared camera 1361 and an RGB camera 1362 .

[0077] The two line laser emitters are electrically connected to the second controller 12 , and are used to emit line lasers outward through the second window 112 and the third window 113 respectively under the control of the second controller 12 .

[0078] The infrared camera 1361 is located at the first window 111 and is electrically connected to the second controller 12. It is used to collect images formed when the line lasers emitted by the two line laser transmitters hit objects or obstacles, and output the collected images to the second controller 12 so that the second controller 12 can detect obstacles based on these images.

[0079] The RGB camera 1362 is located at the first window 111 and is electrically connected to the second controller 12, and is used to capture the surrounding space environment to collect environmental object images in the surrounding space environment, wherein the environmental object images may be images of obstacles, such as images of three-dimensional obstacles such as shoes, textiles, pet feces, wires, and table and chair legs, or images of flat obstacles such as paper and liquid stains. The RGB camera 1362 is electrically connected to the second controller 12, and it can transmit the collected images of various obstacles to the second controller 12, so that the second controller 12 can identify the obstacle type based on these obstacle images, and intelligently execute different working modes or cleaning strategies based on the obstacle type.

[0080] It is understandable that since the cleaning robot 10 works in a dusty environment in most cases, the recessed portion of the shell 11 is prone to accumulate dust. When a lot of dust accumulates, the dust easily blocks the line laser emitter, infrared camera 1361 or RGB camera 1362, causing these sensor components to be unable to perform normal detection work.

[0081] The drive assembly 14 is installed at the bottom of the housing 11 and is used to control the cleaning robot 10 to walk. In some embodiments, the drive assembly 14 is electrically connected to the second controller 12. In this embodiment, the drive assembly 14 is controlled by the second controller 12 to drive the cleaning robot 10 forward or backward to complete the cleaning operation or the recharging operation. In some embodiments, the drive assembly 14 includes a left wheel drive unit and a right wheel drive unit. Taking the left wheel drive unit as an example, the left wheel drive unit includes a motor, a wheel drive mechanism and a left wheel. The shaft of the motor is connected to the wheel drive mechanism, the left wheel is connected to the wheel drive mechanism, the motor is electrically connected to the second controller 12, and the motor receives the control instruction sent by the second controller 12 to rotate its shaft, and transmits the torque to the left wheel through the wheel drive mechanism, thereby realizing the rotation of the left wheel. Therefore, under the mutual cooperation of the left wheel drive unit and the right wheel drive unit, the cleaning robot 10 can be driven forward or backward. In some embodiments, the drive assembly 14 also includes an omnidirectional wheel drive unit, which includes an omnidirectional wheel installed at the front position of the bottom of the shell 11. The omnidirectional wheel is a movable caster that can rotate 360 ​​degrees horizontally so that the cleaning robot 10 can turn flexibly. The omnidirectional wheel can also improve the walking stability of the cleaning robot 10.

[0082] The cleaning assembly 15 is electrically connected to the second controller 12, and is used to clean the floor, and can be configured into any suitable cleaning structure. For example, in some embodiments, the cleaning assembly 15 includes a cleaning motor and a roller brush, and a cleaning portion is provided on the surface of the roller brush. The roller brush is connected to the cleaning motor through a driving mechanism, and the cleaning motor is electrically connected to the second controller 12. The second controller 12 can send instructions to the cleaning motor to control the cleaning motor to drive the roller brush to rotate, so that its cleaning portion can effectively clean the floor. In some embodiments, the cleaning assembly 13 also includes a dust suction fan, which is connected to the dust box and electrically connected to the second controller 12. The dust suction fan receives the control instruction of the second controller 12 to generate suction so as to suck the dust or garbage stirred up when the roller brush rotates into the dust box.

[0083] The charging component 16 is installed inside the shell 11. As mentioned above, when the battery of the cleaning robot 10 is about to run out of power, the second controller 12 controls the cleaning robot 10 to follow the infrared signal until it arrives in front of the base station 20. When the cleaning robot 10 moves to the base station 20, the charging component 16 docks with the base station 20, and the power supply output by the base station 20 can charge the battery of the cleaning robot 10 through the charging component 16.

[0084] In some embodiments, the charging component 16 includes a charging electrode and a power processing circuit, the charging electrode is electrically connected to the power processing circuit, the second controller 12 is electrically connected to the power processing circuit, the power supply output by the base station 20 is transmitted to the power processing circuit through the charging electrode, and the second controller 12 controls the power processing circuit to convert the power supply into a suitable voltage for storage and supply to other power-consuming components.

[0085] In some embodiments, the power processing circuit includes a voltage conversion circuit and a battery. The second controller 12 is electrically connected to the voltage conversion circuit and the battery respectively. The voltage conversion circuit is electrically connected to the charging electrode. The voltage conversion circuit is used to reduce the voltage of the power supply and store the reduced voltage in the battery. The second controller 12 collects the voltage of the battery and controls the working state of the voltage conversion circuit according to the voltage of the battery.

[0086] The second communication component 17 is installed inside the housing 11 and is electrically connected to the second controller 12. The second controller 12 can control the second communication component 17 to send an interactive signal to the base station 20, and can also receive the interactive signal sent by the base station 20 through the second communication component 17, so that the second controller 12 and the base station 20 can send and receive interactive signals to each other, thereby realizing cooperative interaction. The second communication component 17 can be a communication component using any appropriate communication method, as long as the second controller 12 can achieve communication connection with the base station 20.

[0087] In some embodiments, the second controller 12 can detect whether the sensor component 13 meets the sensor component cleaning conditions. If the sensor component cleaning conditions are met, the second communication component 17 is controlled to send an interactive signal to the base station 20 so that the base station 20 can automatically clean and collect dust on the sensor component 13 according to the interactive signal.

[0088] In some embodiments, the second controller 12 can count the working time of the cleaning robot 10 and detect whether the sensor component 13 meets the sensor component cleaning condition according to the working time.

[0089] In some embodiments, the second controller 12 may also perform dirt detection on the sensor assembly 13, and detect whether the sensor assembly 13 meets the cleaning condition of the sensor components according to the dirtiness of each sensor component in the sensor assembly 13. For example, for the infrared light sensor 133, the second controller 12 may compare the intensity of the infrared light signal received and sent when there is no dirt attached to the surface of the infrared light sensor 133 with the intensity of the infrared light signal received and sent by the current infrared light sensor 133 to detect the dirt attached to the surface of the infrared light sensor 133, thereby determining the dirtiness of the infrared light sensor 133. For another example, for the RGB camera 1362, the second controller 12 may compare the image taken when there is no dirt attached to the surface of the RGB camera 1362 with the image taken by the current RGB camera 1362 to detect the dirt attached to the surface of the RGB camera 1362, thereby determining the dirtiness of the RGB camera 1362.

[0090] In some embodiments, when the second controller 12 detects that the dirtiness of one or more sensing components reaches a first preset dirtiness threshold, it determines that the sensing assembly 13 meets the sensing component cleaning condition.

[0091] For example, when the second controller 12 detects that the dirtiness of the wall detection sensor 131 reaches the first preset dirtiness threshold, it determines that the sensor assembly 13 meets the sensor component cleaning condition. For another example, when the second controller 12 detects that the dirtiness of the wall detection sensor 131 and the infrared light sensor 133 both reach the first preset dirtiness threshold, it determines that the sensor assembly 13 meets the sensor component cleaning condition. The first preset dirtiness threshold can be freely set according to actual needs and is not limited here.

[0092] In some embodiments, the second controller 12 can also detect whether the charging component 16 is charging in the base station 20. If it is charging in the base station 20, it detects whether the dirtiness of one or more sensor components reaches a first preset dirtiness threshold. If it reaches the first preset dirtiness threshold, it detects whether the battery power of the cleaning robot is greater than or equal to the preset power threshold. If it is greater than or equal to the preset power threshold, it disconnects the charging component 16 from charging and controls the second communication component 17 to send an interactive signal (cleaning signal) to the base station 20. The preset power threshold can be freely set according to actual needs, for example, it can be 20%, 30%, 50%, etc.

[0093] In actual applications, when the base station 20 automatically cleans and collects dust for the sensor component 13 of the cleaning robot 10, the charging component 16 needs to disconnect charging, and the cleaning robot 10 needs to consume electricity. Therefore, this embodiment can ensure that there is sufficient power during the process of the base station 20 automatically cleaning and collecting dust for the sensor component 13 of the cleaning robot 10, thereby avoiding the impact of insufficient power on cleaning and dust collection.

[0094] In some embodiments, the interactive signal includes a cleaning signal. When the second controller 12 determines that the sensor component 13 meets the cleaning conditions of the sensor component, it can generate a cleaning signal and control the second communication component 17 to send the cleaning signal to the base station 20, wherein the cleaning signal is a signal for instructing the first controller 23 to clean and collect dust on the sensor component of the cleaning robot 10.

[0095] Please also read Figures 5 to 8 The base station 20 includes a base station body 21, a cleaning component 22, a first controller 23, a first communication component 24, a power supply component 25, a dust collection component 26 and an image acquisition device 27.

[0096] The base station body 21 is the main structure of the base station 20, and various components can be accommodated therein. The base station body 21 can be configured into any suitable shape such as a cylinder, an approximately "L" shape, etc. The base station body 21 can be made of any suitable material such as metal material, plastic with high hardness, etc.

[0097] The bottom of the base station body 21 is provided with a receiving chamber 211, which can receive the cleaning robot 10. The receiving chamber 211 can be configured into any suitable shape such as a semicircle, a semi-ellipse, a semi-rectangle, etc., wherein the height of the receiving chamber 211 is at least greater than the height of the cleaning robot 10, and the width of the receiving chamber 211 can be greater than the maximum body width of the cleaning robot 10, or can be equal to the maximum body width of the cleaning robot 10, or can be less than the maximum body width of the cleaning robot 10, as long as the body of the cleaning robot 10 can partially extend into the receiving chamber 211. Figure 8 As shown, the bottom of the accommodating chamber 211 extends horizontally with a carrying portion 212 that can carry the cleaning robot 10. The carrying portion 212 can limit and fix the cleaning robot 10, and can also release the limit and fixation of the cleaning robot 10. When the carrying portion 212 limits and fixes the cleaning robot 10, the base station 20 can charge the cleaning robot 10, collect dust, and other functions. When the carrying portion 212 releases the limit and fixation of the cleaning robot 10, the cleaning robot 10 can rotate relative to the base station body 21. The accommodating chamber 211 and the carrying portion 212 can form a parking area for the cleaning robot, and the parking area can be constructed into any type of area such as an open, semi-enclosed, fully enclosed, etc., which is not limited here.

[0098] The accommodating cavity 211 of the base station body 21 is provided with at least one dust collecting port, which serves as an entrance for the base station 20 to collect dirt, dust and other contaminants of the cleaning robot 10. The dust collecting port is connected to the dust collecting assembly 26. When the cleaning robot 10 rotates relative to the base station body 21 in the accommodating cavity 211, the cleaning assembly 22 can clean the dirt attached to the sensor component, and the cleaned dirt can enter the dust collecting assembly 26 through the dust collecting port, thereby achieving the purpose of dust collection.

[0099] The number of dust collection ports can be one or more, and can be freely set according to actual needs. Figure 6 As shown, there are two dust collecting ports, namely a first dust collecting port 213 and a second dust collecting port 214 . The first dust collecting port 213 and the second dust collecting port 214 are arranged on both sides of the accommodating cavity 211 .

[0100] The cleaning component 22 is arranged in the accommodating cavity 211. When the cleaning robot 10 moves to the accommodating cavity 211, the cleaning component 22 can clean the dirt attached to various sensor components installed on the surface of the shell 11 of the cleaning robot 10. These sensor components that can be cleaned can be the wall detection sensor 131 installed on the side surface of the shell 11, the infrared light sensor 133, the RGB camera 1362 or the ground detection sensor 132 installed on the bottom edge surface of the shell 11.

[0101] When the cleaning component 22 cleans dirt attached to various sensor components installed on the surface of the shell 11 of the cleaning robot 10, the cleaning component 22 can move relative to the cleaning robot 10. For example, the cleaning component 22 moves relative to the base station body 21 and the cleaning robot 10 is stationary relative to the base station body 21, or the cleaning component 22 is stationary relative to the base station body 21 and the cleaning robot 10 moves relative to the base station body 21, or the cleaning component 22 moves relative to the base station body 21 and the cleaning robot 10 moves relative to the base station body 21.

[0102] The cleaning assembly 22 may include one or more cleaning units, each of which may be used in conjunction with a dust collection port so that dirt cleaned from the sensor component by each cleaning unit enters the dust collection assembly 26 through the corresponding dust collection port. Figure 6 As shown, the cleaning assembly 22 includes a first cleaning unit 221 and a second cleaning unit 222 . The first cleaning unit 221 is disposed at the first dust collecting port 213 , and the second cleaning unit 222 is disposed at the second dust collecting port 214 .

[0103] The first cleaning unit 221 or the second cleaning unit 222 may include one or more cleaning components, such as 2, 3, 4, etc. When the first cleaning unit 221 or the second cleaning unit 222 includes multiple cleaning components, the types of different cleaning components may be the same or different, and the type of the cleaning component may be a brush, a rag, etc. The cleaning component of the first cleaning unit 221 may be disposed at any suitable position at the first dust collecting port 213, such as above, below, on the left side or on the right side of the first dust collecting port 213, and the cleaning component of the second cleaning unit 222 may be disposed at any suitable position at the second dust collecting port 214, such as above, below, on the left side or on the right side of the second dust collecting port 214.

[0104] In some embodiments, the first cleaning unit 221 includes a first horizontal brush 2211 and at least one first vertical brush 2212 , the first horizontal brush 2211 is disposed below the first dust collecting port 213 , and the at least one first vertical brush 2212 is disposed on the side of the first dust collecting port 213 .

[0105] The shapes of the first horizontal brush 2211 and the first vertical brush 2212 can be freely set according to actual needs as long as the cleaning requirements are met. Figure 6 As shown, the first horizontal brush 2211 and the first vertical brush 2212 are both in the shape of long strips.

[0106] The number of the first vertical brushes 2212 can be freely set according to actual needs as long as the cleaning requirements are met. Figure 6 As shown, the number of the first vertical brushes 2212 is two, one of which is disposed on the left side of the first dust collecting port 213 , and the other first vertical brush 2212 is disposed on the right side of the first dust collecting port 213 .

[0107] In some embodiments, the second cleaning unit 222 includes a second horizontal brush 2221 and at least one second vertical brush 2222 , the second horizontal brush 2221 is disposed below the second dust collecting port 214 , and the at least one second vertical brush 2222 is disposed on the side of the second dust collecting port 214 .

[0108] The shapes of the second horizontal brush 2221 and the second vertical brush 2222 can be freely set according to actual needs as long as the cleaning requirements are met. Figure 6 As shown, the second horizontal brush 2221 and the second vertical brush 2222 are both in the shape of long strips.

[0109] The number of the second vertical brushes 2222 can be freely set according to actual needs as long as the cleaning requirements are met. Figure 6As shown, the number of the second vertical brushes 2222 is two, one of the second vertical brushes 2222 is disposed on the left side of the second dust collecting port 214 , and the other second vertical brush 2222 is disposed on the right side of the second dust collecting port 214 .

[0110] It can be understood that the first horizontal brush 2211 and the second horizontal brush 2221 can clean the sensor components installed on the bottom edge surface of the cleaning robot 10, such as the ground detection sensor 132, and the first vertical brush 2212 and the second vertical brush 2222 can clean the sensor components installed on the side surface of the cleaning robot 10, such as the wall detection sensor 131, the infrared light sensor 133, the RGB camera 1362, etc.

[0111] The first controller 23 is installed on the base station body 21 , and serves as the control core of the base station 20 , and is used to control the base station 20 to complete relevant logical operations, such as powering the cleaning robot 10 , collecting dust, and the like.

[0112] The first communication component 24 is installed on the base station body 21 and is electrically connected to the first controller 23. The first controller 23 can control the first communication component 24 to send an interactive signal to the cleaning robot 10, and can also receive the interactive signal sent by the cleaning robot 10 through the first communication component 24, so that the first controller 23 and the cleaning robot 10 can send and receive interactive signals to each other, thereby realizing cooperative interaction. The first communication component 24 can be a communication component using any appropriate communication method, as long as the first controller 23 can achieve communication connection with the cleaning robot 10.

[0113] Since the first controller 23 and the second controller 12 are connected to each other by the first communication component 24 and the second communication component 17, in some embodiments, the first communication component 24 and the second communication component 17 support at least the same communication protocol. When the first communication component 24 adopts an infrared transceiver, the second communication component 17 includes a second infrared transmitter and a second infrared receiver, and the second infrared transmitter and the second infrared receiver are both installed on the housing 11, and the second infrared transmitter and the first infrared receiver are installed at the same height, that is, on the same plane. The second infrared receiver and the second infrared transmitter are installed at the same height, that is, on the same plane. The second infrared transmitter can send an interactive signal to the base station 20, and the second infrared receiver can receive the interactive signal sent by the base station 20.

[0114] In some embodiments, the first controller 23 receives a cleaning signal sent by the cleaning robot 10 through the first communication component 24, and controls the first communication component 24 to send a rotation control signal to the cleaning robot 10 according to the cleaning signal, so that the cleaning robot 10 rotates relative to the base station body 21 in the accommodating cavity 211 according to the rotation control signal.

[0115] When the cleaning robot 10 rotates in the accommodating cavity 211 relative to the base station body 21, the first cleaning unit 221 and the second cleaning unit 222 can contact the sensor components installed on the surface of the shell 11 of the cleaning robot 10, thereby cleaning the dirt attached to the surface of these sensor components.

[0116] The power supply component 25 is installed on the base station body 21 and is electrically connected to the first controller 23 , and is used to dock with the charging component 16 of the cleaning robot 10 to provide power supply, thereby charging the cleaning robot 10 .

[0117] The dust collecting component 26 is respectively connected to the first dust collecting port 213 and the second dust collecting port 214 and is electrically connected to the first controller 23. When entering the working mode under the control of the first controller 23, it is used to collect the dirt cleaned from the sensor component of the cleaning robot 10 by the cleaning component 22 in this working mode.

[0118] Therefore, the base station 20 can interact with the cleaning robot 10 to achieve automatic cleaning and dust collection of the surface sensing components of the cleaning robot 10, without the need for manual cleaning of the sensing components, which is beneficial to improving user experience.

[0119] In some embodiments, the dust collecting assembly 26 is used to collect dirt that is swept off the sensor component by the cleaning assembly 22 and enters through the first dust collecting port 213 and / or the second dust collecting port 214 when the cleaning robot 10 rotates relative to the base station body 21 in the accommodating cavity 211.

[0120] In some embodiments, Figure 8 As shown, the dust collecting assembly 26 includes a dust collecting container 261 , a fan assembly 262 and a pipeline assembly 263 .

[0121] The dust collection container 261 is installed on the base station body 21, and includes a dust collection chamber and a dust bag. The dust collection chamber is provided with a dust inlet and an exhaust port. The shape of the dust collection chamber can be any suitable shape, including but not limited to a cube, a cuboid, a cylinder or other irregular shapes. The dust bag is arranged in the dust collection chamber and connected to the dust inlet, and is used to store garbage, dust and other dirt. The dust bag can be made of any suitable material, and it can be a rigid container such as a plastic shell, such as a dust collection box, or it can be a flexible container made of materials such as cotton, non-woven fabrics, such as a dust collection bag, or it can be a dust collection bag including a rigid mounting member. The shape of the dust bag can also be arbitrary, as long as the dust bag can be accommodated in the dust collection chamber.

[0122] The dust collecting container 261 further includes an openable and closable sealing cover 2611 , which is disposed on the side of the dust collecting container 261 to ensure the sealing effect of the dust collecting container 261 and avoid air leakage or dust leakage.

[0123] The fan assembly 262 is installed on the base station body 21 and connected to the exhaust port and electrically connected to the first controller 23 .

[0124] The fan assembly 262 is used to change its rotation speed under the control of the first controller 23 so as to adjust its suction. The first controller 23 is configured with a plurality of corresponding relationships between suction and a plurality of suction gears, and the suction corresponds to the suction gear one by one. For example, the suction gear includes a first gear, a second gear and a third gear, the suction corresponding to the first gear is 2000Pa, the suction corresponding to the second gear is 3000Pa, and the suction corresponding to the third gear is 4000Pa. The first controller 23 can determine the suction gear of the fan assembly 262 according to the interactive signal received from the second controller 12 through the first communication component 24, and query the suction corresponding to the suction gear to control the fan assembly 262, thereby achieving the purpose of controlling the suction of the dust collecting component 26 when collecting dust. When the fan assembly 262 is working, the air in the dust collecting chamber can be drawn out through the exhaust port.

[0125] The duct assembly 263 is installed on the base station body and is respectively connected to the dust inlet, the first dust collection port 213 and the second dust collection port 214 and is electrically connected to the first controller 23. In some embodiments, the first controller 23 receives the cleaning signal sent by the cleaning robot 10 through the first communication assembly 24, controls the fan assembly 262 to enter the working state, and controls the duct assembly 263 and the dust collection container 261 to form the first dust collection channel and / or the second dust collection channel, so that the duct assembly 263 forms a negative pressure, and the dirt cleaned from the sensor component is sucked into the dust collection container 261 through the first dust collection channel and / or the second dust collection channel under the action of the negative pressure.

[0126] When the first dust collection channel is formed, under the action of negative pressure, the dirt swept from the sensor component will enter the first dust collection port 213 and enter the dust bag through the first dust collection channel. Similarly, when the second dust collection channel is formed, under the action of negative pressure, the dirt swept from the sensor component will enter the second dust collection port 214 and enter the dust bag through the second dust collection channel.

[0127] It is worth mentioning that the first controller 23 can control the duct assembly 263 and the dust collecting container 261 to form the first dust collecting channel and the second dust collecting channel at the same time, or can control the duct assembly 263 and the dust collecting container 261 to only form the first dust collecting channel without forming the second dust collecting channel, or can control the duct assembly 263 and the dust collecting container 261 to only form the second dust collecting channel without forming the first dust collecting channel.

[0128] In some embodiments, Figure 6As shown, the base station body 21 is also provided with a third dust collecting port 215 in the accommodating cavity 211. The third dust collecting port 215 is connected to the pipe assembly 263. The pipe assembly 263 and the dust collecting container 261 can also form a third dust collecting channel. When the third dust collecting channel is formed, under the action of negative pressure, the dirt near the third dust collecting port 215 will be sucked into the third dust collecting port 215 and enter the dust bag through the third dust collecting port 215.

[0129] The third dust collecting port 215 is also used to connect with the dust exhaust port of the cleaning robot 10. When the third dust collecting port 215 is connected with the dust exhaust port of the cleaning robot 10, the third dust collecting port 215 pushes open the soft rubber plug at the dust exhaust port, so that the dust box is connected with the third dust collecting channel. Under the action of negative pressure, the garbage, dust and other dirt in the dust box are discharged into the dust bag through the third dust collecting channel. Alternatively, when the third dust collecting port 215 is not connected with the dust exhaust port of the cleaning robot 10, under the action of negative pressure, the dirt near the third dust collecting port 215 can also be sucked into the dust bag through the third dust collecting channel.

[0130] In some embodiments, Figure 7 As shown, the pipeline assembly 263 includes a first pipeline unit 2631 , a second pipeline unit 2632 and a third pipeline unit 2633 .

[0131] The first pipeline unit 2631 includes a first dust collecting pipe 26311 and a connecting portion 26312 . One end of the first dust collecting pipe 26311 is connected to the dust inlet, and the other end of the first dust collecting pipe 26311 is connected to the connecting portion 26312 .

[0132] In some embodiments, the adapter 26312 is also connected to the third dust collecting port 215, and the first dust collecting pipe 26311 and the dust collecting container 261 can form a third dust collecting channel.

[0133] The second pipeline unit 2632 includes a second dust collecting pipe 26321 and a first electrically-controlled valve 26322, one end of the second dust collecting pipe 26321 is connected to the first dust collecting port 213, and the other end of the second dust collecting pipe 26321 is connected to the adapter 26312, the first electrically-controlled valve 26322 is sleeved on the second dust collecting pipe 26321 and is electrically connected to the first controller 23, and is used to be opened or closed under the control of the first controller 23. When the first electrically-controlled valve 26322 is opened, the second dust collecting pipe 26321, the first dust collecting pipe 26311 and the dust collecting container 261 form a first dust collecting channel, and when the first electrically-controlled valve 26322 is closed, the second dust collecting pipe 26321, the first dust collecting pipe 26311 and the dust collecting container 261 do not form the first dust collecting channel.

[0134] The third pipeline unit 2633 includes a third dust collecting pipe 26331 and a second electrically-controlled valve 26332. One end of the third dust collecting pipe 26331 is connected to the second dust collecting port 214, and the other end of the third dust collecting pipe 26331 is connected to the adapter 26312. The second electrically-controlled valve 26332 is sleeved on the third dust collecting pipe 26331 and is electrically connected to the first controller 23, and is used to be opened or closed under the control of the first controller 23. When the second electrically-controlled valve 26332 is opened, the third dust collecting pipe 26331, the first dust collecting pipe 26311 and the dust collecting container 261 form a second dust collecting channel. When the second electrically-controlled valve 26332 is closed, the third dust collecting pipe 26331, the first dust collecting pipe 26311 and the dust collecting container 261 do not form a second dust collecting channel.

[0135] In some embodiments, the pipeline assembly 263 includes a third pipeline unit and a fourth pipeline unit, the third pipeline unit includes a fourth dust collecting pipe and a adapter, one end of the fourth dust collecting pipe is connected to the dust inlet, the other end of the fourth dust collecting pipe is connected to the adapter, and the adapter is also connected to the third dust collecting port 215, the fourth pipeline unit includes a fifth dust collecting pipe, a sixth dust collecting pipe and a third electrically-controlled valve, one end of the fifth dust collecting pipe is connected to the first dust collecting port 213, the other end of the fifth dust collecting pipe is connected to the third electrically-controlled valve, one end of the sixth dust collecting pipe is connected to the second dust collecting port 214, the other end of the sixth dust collecting pipe is connected to the third electrically-controlled valve, and the third electrically-controlled valve is also connected to the adapter and electrically connected to the first controller 23.

[0136] The fourth dust collecting pipe and the dust collecting container 261 can form a third dust collecting channel, and the third electrically-controlled valve can be opened or closed under the control of the first controller 23. When the third electrically-controlled valve is opened, the fifth dust collecting pipe, the fourth dust collecting pipe and the dust collecting container can form a first dust collecting channel, and the sixth dust collecting pipe, the fourth dust collecting pipe and the dust collecting container can form a second dust collecting channel. When the third electrically-controlled valve is closed, the fifth dust collecting pipe, the fourth dust collecting pipe and the dust collecting container do not form a first dust collecting channel, and the sixth dust collecting pipe, the fourth dust collecting pipe and the dust collecting container do not form a second dust collecting channel.

[0137] This embodiment is different from the above-mentioned embodiments in that this embodiment can control the pipeline assembly 263 and the dust collecting container 261 to simultaneously form the first dust collecting channel and the second dust collecting channel or not form the first dust collecting channel and the second dust collecting channel at the same time through only one electric-controlled valve, thereby reducing the control complexity and cost. However, this embodiment cannot control the first dust collecting channel and the second dust collecting channel separately.

[0138] The image acquisition device 27 is disposed in the accommodating cavity 211 and is electrically connected to the first controller 23, and is used to photograph the target surface area of ​​the cleaning robot 10. The target surface area can be any area of ​​the cleaning robot 10 where the sensing component is installed. For example, if the target surface area is the side surface of the shell 11 of the cleaning robot 10, the image acquisition device 27 can be disposed in the middle of the accommodating cavity 211 accordingly, as long as the image acquisition device 27 can photograph the side surface of the shell 11. If the target surface area is the bottom edge surface of the shell 11 of the cleaning robot 10, the image acquisition device 27 can be disposed at the bottom of the accommodating cavity 211 accordingly, as long as the image acquisition device 27 can photograph the bottom edge surface of the shell 11. The image acquisition device 27 can be any device that can capture images, such as a camera.

[0139] In some embodiments, when the first controller 23 receives a cleaning signal sent by the cleaning robot 10 through the first communication component 24, the cleaning signal may be equivalent to a cleaning instruction, and the first controller 23 may control the first communication component 24 to send a rotation control signal to the cleaning robot 10 according to the cleaning signal. At this time, the cleaning robot 10 may reciprocate relative to the base station body 21 according to the rotation control signal according to a preset angle range, for example, the preset angle range is (-100°, 100°), then the cleaning robot 10 rotates 100° counterclockwise relative to the base station body 21 at the designated position, and then the cleaning robot 10 rotates clockwise relative to the base station body 21 to the designated position and then continues to rotate 100°, and so on for a designated number of times, wherein the designated position can be freely set according to actual needs, for example, it can be set to the position when the cleaning robot 10 is charging, and the designated number of times can also be freely set according to actual needs, for example, 10 times. The cleaning robot 10 can also rotate a preset number of circles relative to the base station body 21 according to the rotation control signal, and the preset number of circles can be freely set according to actual needs, for example, the preset number of circles is 10 circles. When the cleaning robot 10 rotates relative to the base station body 21, the first horizontal brush 2211 and the second horizontal brush 2221 will contact the sensor components installed on the bottom edge surface of the shell 11 of the cleaning robot 10 and clean the dirt attached to these sensor components, and the first vertical brush 2212 and the second vertical brush 2222 will contact the sensor components installed on the side surface of the shell 11 of the cleaning robot 10 and clean the dirt attached to these sensor components. At the same time, the first controller 23 controls the fan assembly 262 to operate at a preset suction gear, which can be freely set according to actual needs. For example, the preset suction gear is the maximum suction gear, and the first controller 23 controls the pipeline assembly 263 and the dust collecting container 261 to form a first dust collecting channel and a second dust collecting channel respectively. The first dust collecting channel, the second dust collecting channel and the third dust collecting channel and the dust collecting container 261 form an airflow passage under the action of negative pressure. The dirt swept from the sensor component by the first horizontal brush 2211 and the first vertical brush 2212 enters the dust bag from the first dust collecting port 213 through the first dust collecting channel, the dirt swept from the sensor component by the second horizontal brush 2221 and the second vertical brush 2222 enters the dust bag from the second dust collecting port 214 through the second dust collecting channel, and the dirt near the third dust collecting port 215 enters the dust bag from the third dust collecting port 215 through the third dust collecting channel, thereby achieving the purpose of cleaning and collecting dust on the sensor component.

[0140] In some embodiments, the working mode of the dust collection component 26 includes a single-channel dust collection mode and a dual-channel dust collection mode. Among them, the single-channel dust collection mode is a mode in which dirt near the first dust collection port 213 is sucked into the dust bag through the first dust collection channel or dirt near the second dust collection port 214 is sucked into the dust bag through the second dust collection channel, and the dual-channel dust collection mode is a mode in which dirt near the first dust collection port 213 is sucked into the dust bag through the first dust collection channel and dirt near the second dust collection port 214 is sucked into the dust bag through the second dust collection channel. It can be understood that if the suction force of the fan component 262 is the same, the suction force of the dust collection channel opened in the single-channel dust collection mode is relative to the suction force of the two dust collection channels in the dual-channel dust collection mode, for example, the first dust collection channel is opened and the second dust collection channel is closed. At this time, the working mode of the dust collection component 26 is the single-channel dust collection mode, and the suction force of the opened first dust collection channel is greater than the suction force of the first dust collection channel or the second dust collection channel opened simultaneously in the dual-channel dust collection mode.

[0141] In some embodiments, the first controller 23 can also flexibly control the working mode of the dust collection component 26 and the rotation mode of the cleaning robot 10 relative to the base station body 21 according to the cleaning signal.

[0142] In some embodiments, the cleaning signal includes a quantity parameter and a position parameter of the sensing components to be cleaned.

[0143] The sensing component to be cleaned is a sensing component that is installed on the side surface or bottom edge surface of the shell 11 of the cleaning robot 10 and needs to be cleaned. For example, if the second controller 12 detects that the dirtiness of the infrared light sensor 133 is greater than the first preset dirtiness threshold, it is determined that the infrared light sensor 133 is the sensing component to be cleaned. If the second controller 12 detects that the dirtiness of the RGB camera 1362 is less than the first preset dirtiness threshold, it is determined that the RGB camera 1362 is not the sensing component to be cleaned.

[0144] The quantity parameter is used to indicate the quantity of the sensor components to be cleaned, and the position parameter is used to indicate the installation position of the sensor components to be cleaned on the cleaning robot 10.

[0145] In some embodiments, the rotation control signal includes a first control signal. The first controller 23 determines whether the number of sensing parts to be cleaned is 1 according to the quantity parameter. If it is 1, the first communication component 24 is controlled to send a first control signal to the cleaning robot according to the position parameter, so that the cleaning robot rotates relative to the base station body according to the first control signal until the sensing parts to be cleaned are aligned with the target cleaning unit, and reciprocates relative to the target cleaning unit according to the first preset angle range based on the target cleaning unit, and controls the target electric-controlled valve to open so that the dust collection component 26 works in a single-channel dust collection mode. When the target cleaning unit is the first cleaning unit 221, the target electric-controlled valve is the first electric-controlled valve 26322, and when the target cleaning unit is the second cleaning unit 222, the target electric-controlled valve is the second electric-controlled valve 26332.

[0146] In this embodiment, since the number of sensor components to be cleaned is one, the base station 20 only needs to perform targeted cleaning and dust collection on the sensor component to be cleaned. Accordingly, only one cleaning unit is needed for cleaning, and only one dust collection channel needs to be opened. The first controller 23 can determine the rotation angle of the cleaning robot 10 from the current position relative to the base station body 21 to the point where the sensing part to be cleaned is aligned with the first cleaning unit 221 or the second cleaning unit 222 according to the position of the sensing part to be cleaned, wherein when the cleaning robot 10 rotates clockwise or counterclockwise from the current position relative to the base station body 21 to the point where the rotation angle required for the sensing part to be cleaned to be aligned with the first cleaning unit 221 is minimized, the first controller 23 can select the first cleaning unit 221 as the target cleaning unit, and when the cleaning robot 10 rotates clockwise or counterclockwise from the current position relative to the base station body 21 to the point where the rotation angle required for the sensing part to be cleaned to be aligned with the second cleaning unit 222 is minimized, the first controller 23 can select the second cleaning unit 222 as the target cleaning unit. After determining the target cleaning unit, the first controller 23 uses the rotation direction and rotation angle as the first control signal, and controls the first communication component 24 to send the first control signal to the cleaning robot 10.

[0147] The second controller 12 receives the first control signal sent by the base station 20 through the second communication component 17 and analyzes the first control signal to obtain the rotation direction and rotation angle, and rotates relative to the base station body 21 according to the rotation direction and rotation angle until the sensing component to be cleaned is aligned with the target cleaning unit. In this way, the sensing component to be cleaned can be quickly aligned with the target cleaning unit, thereby improving the cleaning efficiency.

[0148] The second controller 12 also parses the first preset angle range from the first control signal. When the sensing component to be cleaned is aligned with the target cleaning unit, the second controller 12 takes the current position as the starting position, and reciprocates from the starting position relative to the target cleaning component according to the first preset angle range. The first preset angle range can be freely set according to actual needs. For example, the first preset angle range is (-30°, 30°). The cleaning robot 10 rotates 30° counterclockwise relative to the base station body 21 at the starting position, and then rotates clockwise relative to the base station body 21 to the starting position and then continues to rotate 30°, and so on. Since the cleaning robot 10 reciprocates relative to the target cleaning component within a smaller angle range based on the target cleaning unit, the frequency of the target cleaning component contacting the sensing component to be cleaned can be increased, thereby improving the cleaning efficiency of the sensing component to be cleaned.

[0149] Taking the target cleaning unit as the first cleaning unit 221 as an example, the first controller 23 controls the first electrically controlled valve 26322 to open and controls the second electrically controlled valve 26332 to close. At this time, the second dust collecting tube 26321, the first dust collecting tube 26311 and the dust collecting container 261 form a first dust collecting channel. Since the fan assembly 262 is in working condition at this time, the dirt cleaned from the sensing component to be cleaned by the first cleaning unit 221 enters the first dust collecting port 213 under the action of negative pressure and enters the dust bag through the first dust collecting channel. Since the working mode of the dust collecting assembly 26 is the single-channel dust collecting mode at this time, the second dust collecting channel is closed, thereby enhancing the suction force of the first dust collecting channel, thereby improving the cleaning and dust collection effect of the cleaning sensing component.

[0150] In some embodiments, the rotation control signal includes a second control signal. If the number of sensor components to be cleaned is not 1, the first controller 23 determines the maximum sensor component spacing of the sensor components to be cleaned according to the position parameters, and determines whether the maximum sensor component spacing is less than a preset distance threshold. If it is less than the preset distance threshold, the first controller 23 calculates the target position and the target angle range according to the position parameters, and controls the first communication component 24 to send a second control signal to the cleaning robot according to the target position and the target angle range, so that the cleaning robot 10 rotates to the target position relative to the base station body according to the second control signal and aligns with the target cleaning unit, and reciprocates relative to the base station body 21 according to the target angle range with the target cleaning unit as a reference, and controls the target electric-controlled valve to open so that the dust collection component works in a single-channel dust collection mode. When the target cleaning unit is the first cleaning unit 221, the target electric-controlled valve is the first electric-controlled valve 26322, and when the target cleaning unit is the second cleaning unit 222, the target electric-controlled valve is the second electric-controlled valve 26332.

[0151] In this embodiment, since the number of sensor components to be cleaned is not 1, it means that the number of sensor components to be cleaned is more than 2. Assuming that the number of sensor components to be cleaned is 3, namely sensor component A, sensor component B and sensor component C, the first controller 23 determines the distance between sensor component A and sensor component B according to the positions of sensor component A and sensor component B and records it as the first candidate distance, determines the distance between sensor component A and sensor component C according to the positions of sensor component A and sensor component C and records it as the second candidate distance, determines the distance between sensor component B and sensor component C according to the positions of sensor component B and sensor component C and records it as the third candidate distance, and then the first controller 23 determines the maximum value among the first candidate distance, the second candidate distance and the third candidate distance as the maximum sensor component distance. It can be understood that when the maximum sensor component distance is less than the preset distance threshold, it means that the installation positions of multiple sensor components to be cleaned on the housing 11 of the cleaning robot 10 are relatively concentrated.

[0152] The target position can be the midpoint of the line segment connecting the position points of the two sensor components that form the maximum sensor component spacing. The target angle range is positively correlated to the maximum sensor component spacing. The target angle range can be adaptively adjusted according to the maximum sensor component spacing. As long as the cleaning robot 10 reciprocates relative to the base station body 21 according to the target angle range based on the target cleaning unit, the target cleaning unit can cover the cleaning of all components to be cleaned. For example, when the maximum sensor component spacing is in the first distance range (smaller range), the target angle range can be set to (-45°, 45°). When the maximum sensor component spacing is in the second distance range (larger range), the target angle range can be set to (-60°, 60°).

[0153] Therefore, on the one hand, the present embodiment can ensure that each sensor component to be cleaned can be effectively cleaned, thereby avoiding the situation of missing cleaning. On the other hand, since the installation positions of multiple sensor components to be cleaned on the shell 11 of the cleaning robot 10 are relatively concentrated, only one cleaning unit is needed to clean these sensor components to be cleaned. The cleaning robot 10 reciprocates relative to the target cleaning component within a smaller angle range based on the target cleaning unit. This can increase the frequency of the target cleaning component contacting the sensor component to be cleaned, thereby improving the cleaning efficiency of the sensor component to be cleaned. Similarly, since the working mode of the dust collection component 26 is a single-channel dust collection mode, the suction force of the target dust collection channel can be enhanced, thereby improving the cleaning and dust collection effects on the cleaning sensor components.

[0154] In some embodiments, the rotation control signal includes a third control signal. If the maximum distance between the sensing components is not less than a preset distance threshold, the first controller 23 controls the first communication component 24 to send a third control signal to the cleaning robot 10, so that the cleaning robot 10 reciprocates relative to the base station body 21 or rotates a preset number of times relative to the base station body 21 according to the third control signal within a second preset angle range, and controls the first electrically-controlled valve 26322 and the second electrically-controlled valve 26332 to be opened so that the dust collection component 26 works in a dual-channel dust collection mode, wherein the second preset angle range is greater than the first preset angle range.

[0155] In this embodiment, the second preset angle range can be freely set according to actual needs, as long as the cleaning robot 10 reciprocates relative to the base station body 21 according to the second preset angle range, the first cleaning unit 221 and the second cleaning unit 222 can clean each sensing component to be cleaned. For example, the second preset angle range is (-100°, 100°), then the cleaning robot 10 rotates 100° counterclockwise relative to the base station body 21 at the specified position, and then the cleaning robot 10 rotates clockwise relative to the base station body 21 to the specified position and then continues to rotate 100°, and so on. The preset number of turns can be freely set according to actual needs, for example, the preset number of turns is 10 turns.

[0156] When the maximum distance between the sensor components is not less than the preset distance threshold, it means that the installation positions of the multiple sensor components to be cleaned on the shell 11 of the cleaning robot 10 are relatively scattered. Therefore, this embodiment needs to use two cleaning units to clean these sensor components to be cleaned at the same time, which can ensure that each sensor component to be cleaned can be effectively cleaned, thereby avoiding missed cleaning. Accordingly, the first dust collection channel and the second dust collection channel need to be opened. At this time, the dust collection component 26 works in the dual-channel dust collection mode, so that the two cleaning units and the two dust collection channels can be fully utilized to improve the cleaning and dust collection effects.

[0157] In some embodiments, the cleaning signal includes a dirtiness parameter of the sensing component to be cleaned, and the dirtiness parameter is used to indicate the dirtiness of the sensing component to be cleaned. The first controller 23 can clean and collect dust of the sensing component to be cleaned more intelligently according to the dirtiness parameter.

[0158] In some embodiments, the first controller 23 receives dirtiness parameters sent by the cleaning robot through the first communication component 24, and controls the suction level of the fan component 262 according to the dirtiness parameters and / or sends a rotation control signal to the cleaning robot 10 through the first communication component 24 to control the duration and / or speed and / or frequency of the rotation of the cleaning robot 10 in the accommodating cavity relative to the base station body.

[0159] For example, when the number of sensor components to be cleaned is 1, the first controller 23 can determine whether the dirtiness parameter of the sensor component to be cleaned is greater than the second preset dirtiness threshold. The second preset dirtiness threshold can be freely set according to actual needs and is not limited here. If it is greater than the second preset dirtiness threshold, the first controller 23 can control the fan assembly 262 to operate at a larger suction gear, such as the third suction gear. If it is less than the second preset dirtiness threshold, the first controller 23 can control the fan assembly 262 to operate at a smaller suction gear, such as the second suction gear. When the dirtiness parameter of the sensing component to be cleaned is greater than the second preset dirtiness threshold, the first controller 23 may also send a rotation control signal to the cleaning robot 10 to control the first duration and / or first speed and / or first frequency of the cleaning robot 10 rotating in the accommodating cavity 211 relative to the base station body 21. When the dirtiness parameter of the sensing component to be cleaned is less than the second preset dirtiness threshold, the first controller 23 may also send a rotation control signal to the cleaning robot 10 to control the second duration and / or second speed and / or second frequency of the cleaning robot 10 rotating in the accommodating cavity 211 relative to the base station body 21, wherein the first duration is greater than the second duration, the first speed is greater than the second speed, and the first frequency is greater than the second frequency.

[0160] For example, when the dirtiness parameter of the sensing component to be cleaned is greater than the second preset dirtiness threshold, the first time duration for the cleaning robot 10 to reciprocate relative to the target cleaning unit within the first preset angle range based on the target cleaning unit is 5 minutes, and when the dirtiness parameter of the sensing component to be cleaned is less than the second preset dirtiness threshold, the second time duration for the cleaning robot 10 to reciprocate relative to the target cleaning unit within the first preset angle range based on the target cleaning unit is 3 minutes.

[0161] For another example, when there are multiple sensing components to be cleaned, the first controller 23 can select the maximum value of the dirtiness parameters corresponding to the multiple sensing components to be cleaned as the dirtiness parameter to be compared with the second preset dirtiness threshold, and control the suction gear of the fan component 262 according to the comparison result and / or send a rotation control signal to the cleaning robot 10 through the first communication component 24 to control the duration and / or speed and / or frequency of the cleaning robot 10 rotating in the accommodating cavity 211 relative to the base station body 21.

[0162] Therefore, this embodiment can adopt the optimal control strategy to ensure the cleaning and dust collection effect of the sensor component to be cleaned according to the dirtiness of the sensor component to be cleaned.

[0163] In some embodiments, the first controller 23 determines whether the sensing component to be cleaned includes a target sensing component based on the position parameters. The target sensing component is the sensing component to be cleaned installed on the target surface area of ​​the cleaning robot 10. If it includes the target sensing component, the cleaning robot 10 is controlled to rotate relative to the base station body 21 to obtain a target image obtained by photographing the target surface area by the image acquisition device, and extracts the sensor area image of the target sensing component based on the target image. Based on the sensor area image, the dirtiness calibration value of the target sensing component is determined, and based on the dirtiness calibration value, the dirtiness parameter of the target sensing component is calibrated.

[0164] For example, the sensing components to be cleaned include a wall detection sensor 131, a ground detection sensor 132 and an infrared light sensor 133. The target surface area is the side surface of the cleaning robot 10. The image acquisition device 27 is arranged in the middle of the accommodating cavity 211. Since the wall detection sensor 131 and the infrared light sensor 133 are installed on the side surface of the cleaning robot 10, the first controller 23 can determine that they are both target sensing components based on the position parameters of the wall detection sensor 131 and the infrared light sensor 133. Then, the first controller 23 controls the cleaning robot 10 to rotate relative to the base station body 21 to obtain the target image obtained by the image acquisition device 27 photographing the side surface of the cleaning robot 10.

[0165] The first controller 23 pre-stores a preset image corresponding to the side surface of the cleaning robot 10, and the preset image includes sensor area images corresponding to each sensing component installed on the side surface of the cleaning robot 10. After acquiring the target image, the first controller 23 compares the target image with the preset image to extract the sensor area image of the target sensing component.

[0166] The first controller 23 may perform image analysis on the sensor component area image of the target sensor component and the sensor component area image of the target sensor component when no dirt is attached to determine the dirtiness calibration value of the target sensor component, or, in advance, use a deep learning algorithm to calculate the sensor component area image of the target sensor component when dirt of different degrees of dirt is attached to obtain a deep learning model, and the first controller 23 then inputs the sensor component area image of the target sensor component into the deep learning model, and compares the sensor component area image of the target sensor component with the sensor component area image when dirt of different degrees of dirt is attached to determine the dirtiness calibration value of the target sensor component.

[0167] When calibrating the dirtiness parameter of the target sensing component according to the dirtiness calibration value, the first controller 23 may average the dirtiness calibration value and the corresponding dirtiness parameter to obtain the average dirtiness value and use the average dirtiness value as the new dirtiness parameter of the target sensing component, thereby realizing the dirtiness parameter calibration of the target sensing component. The first controller 23 may also use the maximum value of the dirtiness calibration value and the corresponding dirtiness parameter as the new dirtiness parameter of the target sensing component, thereby realizing the dirtiness parameter calibration of the target sensing component. By calibrating the dirtiness parameters of the target sensor component, the singleness and one-sidedness of the dirtiness of the target sensor component detected by the cleaning robot 10 can be avoided, which is beneficial to improving the accuracy and reliability of the dirtiness detection of the target sensor component. The first controller 23 controls the suction gear of the fan component 262 by using the dirtiness parameters after calibrating the dirtiness of the target sensor component and / or sends a rotation control signal to the cleaning robot 10 through the first communication component 24 to control the duration and / or speed and / or frequency of the cleaning robot 10 rotating relative to the base station body 21 in the accommodating cavity 211. This can ensure that the first controller 23 adopts the optimal control strategy according to the dirtiness of the sensor component to be cleaned to ensure the cleaning and dust collection effect of the sensor component to be cleaned.

[0168] Finally, it should be noted that the present application can be implemented in many different forms and is not limited to the embodiments described in this specification. These embodiments are not intended to be additional limitations on the content of the present application. The purpose of providing these implementation methods is to make the understanding of the disclosure of the present application more thorough and comprehensive. In addition, under the idea of ​​the present application, the above-mentioned technical features continue to be combined with each other, and there are many other changes in different aspects of the present application as described above, which are all considered to be within the scope of the present application specification; further, for ordinary technicians in this field, they can be improved or transformed according to the above description, and all these improvements and transformations should belong to the scope of protection of the claims attached to the present application.

Claims

1. A base station, characterized in that: include: The base station body has a receiving cavity at the bottom, the receiving cavity is used to receive the cleaning robot, and a sensor component is installed on the surface of the cleaning robot; A cleaning component, disposed in the accommodating cavity, for cleaning dirt attached to the sensing component; A dust collection component installed on the base station body; A first communication component, installed on the base station body; The first controller is installed on the base station body and is electrically connected to the dust collection component and the first communication component respectively, and is used to control the first communication component to send and receive interactive signals with the cleaning robot, and control the working mode of the dust collection component according to the interactive signal, so that the dust collection component can collect the dirt cleaned from the sensor component by the cleaning component in the working mode.

2. The base station according to claim 1, characterized in that The cleaning robot generates a cleaning signal when determining that the sensing component meets the cleaning condition; The interactive signal includes the cleaning signal. The first controller receives the cleaning signal sent by the cleaning robot through the first communication component, and controls the first communication component to send a rotation control signal to the cleaning robot according to the cleaning signal, so that the cleaning robot rotates in the accommodating cavity relative to the base station body according to the rotation control signal.

3. The base station according to claim 2, characterized in that The accommodating chamber is provided with a dust collecting port, and the dust collecting port is arranged at the cleaning component. The dust collecting port is connected to the dust collecting component. When the cleaning robot rotates in the accommodating chamber relative to the base station body, the dirt cleaned from the sensor component by the cleaning component enters the dust collecting component through the dust collecting port.

4. The base station according to claim 2, characterized in that A first dust collection port and a second dust collection port are provided on both sides of the accommodating cavity, and the first dust collection port and the second dust collection port are both connected to the dust collection assembly; The cleaning component includes a first cleaning unit and a second cleaning unit, the first cleaning unit is arranged at the first dust collecting port, and the second cleaning unit is arranged at the second dust collecting port, when the cleaning robot rotates in the accommodating cavity relative to the base station body, the first cleaning unit is used to clean the dirt attached to the sensor component so that the cleaned dirt enters the dust collecting component through the first dust collecting port, and the second cleaning unit is used to clean the dirt attached to the sensor component so that the cleaned dirt enters the dust collecting component through the second dust collecting port.

5. The base station according to claim 4, characterized in that The dust collection component comprises: A dust collection container, mounted on the base station body and provided with a dust inlet and an exhaust port; A fan assembly, mounted on the base station body and connected to the exhaust port and electrically connected to the first controller; a pipe assembly, mounted on the base station body and respectively connected to the dust inlet, the first dust collecting port and the second dust collecting port and electrically connected to the first controller; The first controller controls the fan assembly to enter a working state and controls the duct assembly and the dust collecting container to form a first dust collecting channel and / or a second dust collecting channel according to the cleaning signal, so that the duct assembly forms a negative pressure, and the dirt cleaned from the sensor component is sucked into the dust collecting container through the first dust collecting channel and / or the second dust collecting channel under the action of the negative pressure.

6. The base station according to claim 5, characterized in that The pipeline assembly comprises: A first pipeline unit comprises a first dust collecting pipe and a switching part, wherein one end of the first dust collecting pipe is connected to the dust inlet, and the other end of the first dust collecting pipe is connected to the switching part; The second pipeline unit comprises a second dust collecting pipe and a first electrically-controlled valve, wherein one end of the second dust collecting pipe is connected to the first dust collecting port, and the other end of the second dust collecting pipe is connected to the adapter, and the first electrically-controlled valve is sleeved on the second dust collecting pipe and is electrically connected to the first controller, and is used for forming the first dust collecting channel when the second dust collecting pipe, the first dust collecting pipe and the dust collecting container are opened under the control of the first controller, and not forming the first dust collecting channel when the second dust collecting pipe, the first dust collecting pipe and the dust collecting container are closed under the control of the first controller; The third pipeline unit includes a third dust collecting pipe and a second electrically-controlled valve, one end of the third dust collecting pipe is connected to the second dust collecting port, the other end of the third dust collecting pipe is connected to the adapter, the second electrically-controlled valve is sleeved on the third dust collecting pipe, and is electrically connected to the first controller, and is used for forming the second dust collecting channel when the third dust collecting pipe, the first dust collecting pipe and the dust collecting container are opened under the control of the first controller, and not forming the second dust collecting channel when the third dust collecting pipe, the first dust collecting pipe and the dust collecting container are closed under the control of the first controller.

7. The base station according to claim 6, characterized in that The cleaning signal includes a quantity parameter and a position parameter of the sensing component to be cleaned, the rotation control signal includes a first control signal, and the working mode includes a single-channel dust collection mode; The first controller determines whether the number of the sensing parts to be cleaned is 1 according to the quantity parameter. If it is 1, the first controller controls the first communication component to send the first control signal to the cleaning robot according to the position parameter, so that the cleaning robot rotates relative to the base station body according to the first control signal until the sensing parts to be cleaned are aligned with the target cleaning unit, and reciprocates relative to the base station body within a first preset angle range based on the target cleaning unit, and controls the target electric-controlled valve to open so that the dust collection component works in the single-channel dust collection mode. When the target cleaning unit is the first cleaning unit, the target electric-controlled valve is the first electric-controlled valve, and when the target cleaning unit is the second cleaning unit, the target electric-controlled valve is the second electric-controlled valve.

8. The base station according to claim 7, characterized in that: The rotation control signal includes a second control signal; If the number of sensor components to be cleaned is not 1, the first controller determines the maximum sensor component spacing of the sensor components to be cleaned according to the position parameters, and determines whether the maximum sensor component spacing is less than a preset distance threshold. If it is less than the preset distance threshold, the first controller calculates the target position and target angle range according to the position parameters, and controls the first communication component to send the second control signal to the cleaning robot according to the target position and target angle range, so that the cleaning robot rotates to the target position relative to the base station body according to the second control signal and aligns with the target cleaning unit, and reciprocates relative to the base station body according to the target angle range based on the target cleaning unit, and controls the target electric-controlled valve to open so that the dust collection component works in the single-channel dust collection mode. When the target cleaning unit is the first cleaning component, the target electric-controlled valve is the first electric-controlled valve, and when the target cleaning unit is the second cleaning component, the target electric-controlled valve is the second electric-controlled valve.

9. The base station according to claim 8, characterized in that The rotation control signal includes a third control signal, and the working mode includes a dual-channel dust collection mode; If the maximum distance between the sensing components is not less than the preset distance threshold, the first controller controls the first communication component to send the third control signal to the cleaning robot, so that the cleaning robot can reciprocate relative to the base station body or rotate a preset number of times relative to the base station body within a second preset angle range according to the third control signal, and controls the first electrically-controlled valve and the second electrically-controlled valve to open so that the dust collection component can operate in the dual-channel dust collection mode, wherein the second preset angle range is larger than the first preset angle range.

10. The base station according to claim 5, characterized in that The cleaning signal includes a dirtiness parameter of the sensing component to be cleaned; The first controller receives the dirtiness parameter sent by the cleaning robot through the first communication component, and controls the suction gear of the fan component according to the dirtiness parameter and / or sends a rotation control signal to the cleaning robot through the first communication component to control the duration and / or speed and / or frequency of the cleaning robot's rotation in the accommodating cavity relative to the base station body.

11. The base station according to claim 5, characterized in that: Also included is an image acquisition device, which is disposed in the accommodating cavity and electrically connected to the first controller, and is used to photograph a target surface area of ​​the cleaning robot; The first controller determines, based on the position parameters, whether the sensing component to be cleaned includes a target sensing component, where the target sensing component is a sensing component to be cleaned installed on a target surface area of ​​the cleaning robot; if the target sensing component is included, the cleaning robot is controlled to rotate relative to the base station body to acquire a target image obtained by photographing the target surface area by the image acquisition device, and extracts a sensor area image of the target sensing component based on the target image; determines a dirtiness calibration value of the target sensing component based on the sensor area image; and calibrates a dirtiness parameter of the target sensing component based on the dirtiness calibration value.

12. The base station according to any one of claims 4 to 11, characterized in that: The first cleaning unit includes a first horizontal brush and at least one first vertical brush, wherein the first horizontal brush is arranged below the first dust collecting port, and at least one first vertical brush is arranged on the side of the first dust collecting port; The second cleaning unit includes a second horizontal brush and at least one second vertical brush, wherein the second horizontal brush is arranged below the second dust collecting port, and the at least one second vertical brush is arranged on the side of the second dust collecting port.

13. A cleaning robot, the cleaning robot being used to cooperate with the base station according to any one of claims 1 to 12, characterized in that: The cleaning robot comprises: A housing, comprising a receiving cavity; A dust box is installed at a preset position of the receiving cavity, and the dust box is provided with a dust discharge port, and the dust box can discharge garbage to the base station through the dust discharge port; A driving assembly, mounted on the bottom of the housing; A charging assembly, mounted on the housing; A second communication component is installed in the housing; A sensor assembly is mounted on the housing; The second controller is electrically connected to the driving component, the charging component, the second communication component and the sensor component respectively, and is used to detect whether the sensor component meets the sensor component cleaning condition. If the sensor component cleaning condition is met, the second communication component is controlled to send an interactive signal to the base station.

14. A cleaning system, characterized in that: include: The base station according to any one of claims 1 to 12; as well as The cleaning robot as described in claim 13 can be communicatively connected with the base station.

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