Cleaning robot system

Abstract

The invention discloses a cleaning robot system which comprises a charging base station arranged underwater, the charging base station comprises a first communication unit and a first charging unit, and the first communication unit is arranged above the first charging unit; the cleaning robot comprises a second charging unit, and the second charging unit is used for charging the cleaning robot when the second charging unit is in butt joint with the first charging unit; the second communication unit is used for being in communication connection with the first communication unit when the charging base station is located in the communication range of the second communication unit and controlling the cleaning robot to move towards the charging base station; and the inertial navigation unit is used for navigating the cleaning robot into the communication range of the second communication unit. Wireless charging of the cleaning robot can be achieved through communication connection of the inertial navigation unit, the first communication unit and the second communication unit and mutual butt joint of the first charging unit and the second charging unit.

Description

Technical Field

[0001] The present invention relates to the technical field of cleaning robots, and more particularly to a cleaning robot system. Background Art

[0002] With the rapid development of the technology in the cleaning robot industry, cleaning robots featuring high efficiency, environmental protection, automatic intelligence, and lithium battery power supply have become the technological trend. Modeling of underwater complex environments, map path planning, navigation, etc. are the technological development directions of new cleaning robots.

[0003] In related technologies, due to the diversity and complexity of the underwater working environment where the cleaning robot is located, relatively high requirements are imposed on the technical level of the cleaning robot. In the past, most cleaning robots were mainly powered by wire, and the cleaning method was mainly random cleaning. However, random cleaning requires manual intervention and has drawbacks such as cumbersome operation and low efficiency. Summary of the Invention

[0004] The present invention aims to solve at least one of the technical problems existing in the prior art. For this purpose, the present invention provides a cleaning robot system. Through the communication connection of an inertial navigation unit, a first communication unit, and a second communication unit, and through the mutual docking of a first charging unit and a second charging unit, wireless charging of the cleaning robot can be achieved.

[0005] The cleaning robot system according to an embodiment of the present invention includes: a charging base station disposed underwater, the charging base station including: a first communication unit and a first charging unit, the first communication unit being disposed above the first charging unit; a cleaning robot for underwater cleaning, the cleaning robot including: a second charging unit for charging the cleaning robot when docked with the first charging unit; a second communication unit disposed above the second charging unit, the second communication unit being used for communicating with the first communication unit and controlling the cleaning robot to move towards the charging base station when the charging base station is within the communication range of the second communication unit; an inertial navigation unit disposed inside the cleaning robot, the inertial navigation unit being used for navigating the cleaning robot to within the communication range of the second communication unit.

[0006] The cleaning robot system according to an embodiment of the present invention can achieve the docking of the cleaning robot and the charging base station through the inertial navigation unit and the communication connection of the first communication unit and the second communication unit, and can achieve wireless charging of the cleaning robot through the mutual docking of the first charging unit and the second charging unit. This can improve the long-term automatic operation ability of the cleaning robot underwater and eliminate additional manual intervention.

[0007] According to some embodiments of the present invention, the first communication unit includes: at least two of the first communication components, the at least two first communication components are spaced apart in the width direction of the charging base station, and the at least two first communication components face different directions; and, the second communication unit includes: at least two of the second communication components, the at least two second communication components are spaced apart in the width direction of the cleaning robot, and the at least two second communication components face different directions.

[0008] According to some embodiments of the present invention, the transmission areas of the two middle first communication components overlap with each other, and the overlapping angle is α1, and α1 satisfies the relationship: α1 ≤ 10°; and, the transmission angle of the at least two first communication components is α2, and α2 satisfies the relationship: 40° ≤ α2 ≤ 50°.

[0009] According to some embodiments of the present invention, the reception angle of the at least two second communication components is α3, and α3 satisfies the relationship: 15° ≤ α3 ≤ 25°.

[0010] According to some embodiments of the present invention, the charging base station further includes: a condenser, and the condenser is disposed at the light-emitting end of the first communication component.

[0011] According to some embodiments of the present invention, the cleaning robot system further includes: a first magnetic member and a second magnetic member, the first magnetic member is disposed on one side of the first charging unit in the width direction, the second magnetic member is disposed on one side of the second charging unit in the width direction, and when the first magnetic member and the second magnetic member attract each other, the first charging unit and the second charging unit correspond to each other.

[0012] According to some embodiments of the present invention, both the first magnetic member and the second magnetic member are two, the two first magnetic members are disposed on both sides of the first charging unit in the width direction, the two second magnetic members are disposed on both sides of the second charging unit in the width direction, and the two first magnetic members and the two second magnetic members are attracted to each other one by one.

[0013] According to some embodiments of the present invention, the cleaning robot further includes: a Hall sensor, the Hall sensor is disposed on one side of the second magnetic member, and the Hall sensor controls the cleaning robot to brake when the first magnetic member and the second magnetic member attract each other.

[0014] According to some embodiments of the present invention, the cleaning robot further includes: a negative pressure channel, a negative pressure motor, and a filter element. The negative pressure motor is disposed in the negative pressure channel, the filter element is disposed at the water inlet of the negative pressure channel, and the Hall sensor is electrically connected to the negative pressure motor to control the start of the negative pressure motor when the first magnetic member and the second magnetic member are attracted to each other.

[0015] According to some embodiments of the present invention, the cleaning robot system further includes: a third communication unit and a fourth communication unit. The third communication unit is disposed above the first charging unit, the fourth communication unit is disposed above the second charging unit, and the third communication unit and the fourth communication unit are communicatively connected to control the wireless charging of the charging base to be turned on or off.

[0016] Additional aspects and advantages of the present invention will be given in part in the following description, will become apparent in part from the following description, or will be learned through the practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The above and / or additional aspects and advantages of the present invention will become apparent and readily understood from the following description of the embodiments in conjunction with the accompanying drawings, in which:

[0018] Figure 1 is a schematic structural diagram of a charging base according to an embodiment of the present invention;

[0019] Figure 2 is a schematic structural diagram of a cleaning robot according to an embodiment of the present invention;

[0020] Figure 3 is a schematic diagram of the transmission of the first communication unit of the charging base according to an embodiment of the present invention;

[0021] Figure 4 is a schematic diagram of the reception of the second communication unit of the cleaning robot according to an embodiment of the present invention.

[0022] REFERENCE SIGNS:

[0023] 10, charging base; 11, first charging unit; 12, first communication member; 13, first magnetic member; 14, third communication unit;

[0024] 20, cleaning robot; 21, second charging unit; 22, second communication member; 23, wheel set; 24, second magnetic member; 25, Hall sensor; 26, fourth communication unit. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0025] Embodiments of the present invention will be described in detail below. The embodiments described with reference to the accompanying drawings are exemplary. Embodiments of the present invention will be described in detail below.

[0026] Refer to the following Figures 1 - 4 to describe the cleaning robot 20 system according to an embodiment of the present invention.

[0027] As Figure 1 and Figure 2 shown, the cleaning robot 20 system according to an embodiment of the present invention includes: a charging base station 10 and a cleaning robot 20.

[0028] As Figure 1 shown, among them, the charging base station 10 is arranged underwater. The charging base station 10 includes: a first communication unit and a first charging unit 11, and the first communication unit is arranged above the first charging unit 11. Specifically, the first charging unit 11 integrated in the charging base station 10 includes two or more transmitting coils to increase the transmitting area, ensuring that the cleaning robot 20 can obtain normal charging power even under the condition that it is not completely aligned with the charging base station 10 due to water pressure interference.

[0029] In addition, the charging base station 10 supplies power to the first charging unit 11 through a wired DC adapter, and the DC adapter is installed on the ground.

[0030] As Figure 2 shown, the cleaning robot 20 is used for underwater cleaning. The cleaning robot 20 includes: a second charging unit 21, a second communication unit, and an inertial navigation unit.

[0031] The second charging unit 21 is used to charge the cleaning robot 20 when it docks with the first charging unit 11. That is to say, when the second charging unit 21 and the first charging unit 11 face each other, the first charging unit 11 and the second charging unit 21 can be electrically connected, so that the cleaning robot 20 can be charged through the charging base station 10. Among them, both the first charging unit 11 and the second charging unit 21 are wireless charging units.

[0032] The second communication unit is arranged above the second charging unit 21. The second communication unit is used to communicate with the first communication unit when the charging base station 10 is within the communication range of the second communication unit, and controls the cleaning robot 20 to move towards the charging base station 10.

[0033] The inertial navigation unit is arranged inside the cleaning robot 20, and the inertial navigation unit is used to navigate the cleaning robot 20 to within the communication range of the second communication unit.

[0034] Among them, wireless charging of the cleaning robot 20 underwater is realized between the cleaning robot 20 and the charging base station 10 through the first charging unit 11 and the second charging unit 21 with a frequency of 20KHz, so as to prevent the problem of insufficient charging power caused by excessive attenuation of the conventional wireless charging frequency in the underwater environment.

[0035] When the cleaning robot 20 needs to return for charging, it first uses inertial navigation based on the odometer of the wheel set 23 and the inertial sensor to navigate the cleaning robot 20 to the infrared communication coverage area within 1 meter near the charging base station 10. Until the second communication unit of the cleaning robot 20 recognizes the infrared communication signal emitted by the first communication unit of the charging base station 10, it controls the cleaning robot 20 to move towards the charging base station 10, and realizes the docking of the first charging unit 11 and the second charging unit 21, starts the first charging unit 11 of the charging base station 10 to perform wireless charging output, and enables wireless energy replenishment of the cleaning robot 20. Through the above steps, contactless automatic energy replenishment of the cleaning robot 20 in the underwater environment can be achieved, thereby improving the long-term automatic operation ability of the cleaning robot 20 underwater and eliminating additional human intervention.

[0036] Thus, through the communication connection of the inertial navigation unit and the first communication unit and the second communication unit, the docking of the cleaning robot 20 and the charging base station 10 can be realized, and wireless charging of the cleaning robot 20 can be achieved through the mutual docking of the first charging unit 11 and the second charging unit 21, which can improve the long-term automatic operation ability of the cleaning robot 20 underwater and eliminate additional human intervention.

[0037] Among them, referring to Figure 1 and Figure 2 As shown, the first communication unit includes: at least two first communication components 12, at least two first communication components 12 are spaced apart in the width direction of the charging base station 10, at least two first communication components 12 face different directions, and the second communication unit includes: at least two second communication components 22, at least two second communication components 22 are spaced apart in the width direction of the cleaning robot 20, at least two second communication components 22 face different directions. Among them, at least two first communication components 12 on the charging base station 10 all use a special structure outside the infrared emitting tube to limit the emission angle within a certain area to prevent mutual interference. Similarly, at least two second communication components 22 on the cleaning robot 20 all use a special structure outside the infrared emitting tube to limit the emission angle within a certain area to prevent mutual interference.

[0038] That is, when the cleaning robot 20 recognizes the infrared communication signal emitted by the charging base station 10 through the second communication component 22, it determines its relative position with the charging base station 10 according to the positions of different received first communication components 12, and performs pile recognition and pose correction. Only when the cleaning robot 20 simultaneously receives the infrared communication signals of the two middle first communication components 12, that is, when the robot is in the overlapping area of the two middle first communication components 12, it is determined that the cleaning robot 20 and the charging base station 10 are in the alignment position.

[0039] Among them, as Figure 3As shown in the figure, the emission areas of the two middle first communication components 12 overlap with each other, and the overlapping angle is α1. α1 satisfies the relationship: α1 ≤ 10°. In this way, the overlapping angle of the two middle first communication components 12 is controlled below 10°. When the cleaning robot 20 simultaneously receives the infrared communication signals of the two middle first communication components 12, it proves that the cleaning robot 20 and the charging base 10 are in a facing state.

[0040] Furthermore, the smaller the overlapping angle, the more facing the cleaning robot 20 and the charging base 10 are when the cleaning robot 20 simultaneously receives the infrared communication signals of the two middle first communication components 12.

[0041] And, as Figure 3 shown, the emission angle of at least two first communication components 12 is α2, and α2 satisfies the relationship: 40° ≤ α2 ≤ 50°. In this way, the emission angle of the first communication component 12 is controlled between 40° and 50°, so that the infrared emission area of the charging base 10 is larger, thus facilitating the cleaning robot 20 to obtain the infrared communication signal of the charging base 10.

[0042] Preferably, the emission angle of the first communication component 12 is 45°.

[0043] In addition, as Figure 4 shown, the receiving angle of at least two second communication components 22 is α3, and α3 satisfies the relationship: 15° ≤ α3 ≤ 25°. In this way, the receiving angles of the two second communication components 22 are controlled below 15° - 25°. When the cleaning robot 20 simultaneously receives the infrared communication signals of the two middle first communication components 12, it proves that the cleaning robot 20 and the charging base 10 are in a facing state.

[0044] Specifically, the charging base 10 further includes: a condenser. The condenser is arranged at the light-emitting end of the first communication component 12. Among them, due to the interference of the underwater environment on light, the light will decay rapidly. Therefore, a condenser is added to the first communication component 12 to make the beam energy more concentrated. Among them, the condenser can be a convex lens.

[0045] At the same time, the infrared emission lamp tube used in the present invention adopts a high-power lamp tube, which is matched with a high-power emission circuit to increase the infrared light emission energy, extend the communication distance, and ensure that the infrared signal can cover the area within 1 - 2 m near the base station.

[0046] In addition, combined with Figure 1 and Figure 2As shown, the cleaning robot 20 system further includes: a first magnetic member 13 and a second magnetic member 24. The first magnetic member 13 is disposed on one side of the first charging unit 11 in the width direction, and the second magnetic member 24 is disposed on one side of the second charging unit 21 in the width direction. When the first magnetic member 13 and the second magnetic member 24 are attracted to each other, the first charging unit 11 and the second charging unit 21 correspond to each other. Among them, when the charging base 10 and the cleaning robot 20 are opposite to each other, the first magnetic member 13 and the second magnetic member 24 are attracted to each other, and the first charging unit 11 and the second charging unit 21 are made to correspond to each other. Thus, through the mutual attraction of the first magnetic member 13 and the second magnetic member 24, the electrical connection between the first charging unit 11 and the second charging unit 21 can be ensured, and the cleaning robot 20 can be prevented from deviating from the charging base 10 due to water pressure during charging.

[0047] Combined with Figure 1 and Figure 2 As shown, both the first magnetic member 13 and the second magnetic member 24 are two. The two first magnetic members 13 are disposed on both sides of the first charging unit 11 in the width direction, and the two second magnetic members 24 are disposed on both sides of the second charging unit 21 in the width direction. The two first magnetic members 13 and the two second magnetic members 24 are attracted to each other one by one. Thus, by providing two first magnetic members 13 and two second magnetic members 24, when the two first magnetic members 13 and the two second magnetic members 24 are attracted to each other, the cleaning robot 20 can be prevented from being deflected by water pressure during charging.

[0048] In addition, as Figure 2 shown, the cleaning robot 20 further includes: a Hall sensor 25. The Hall sensor 25 is disposed on one side of the second magnetic member 24, and the Hall sensor 25 controls the cleaning robot 20 to brake when the first magnetic member 13 and the second magnetic member 24 are attracted to each other. By providing the Hall sensor 25 on the cleaning robot 20, it is possible to obtain whether the cleaning robot 20 is in relative contact with the charging base 10 through the Hall sensor 25. For example, when the first magnetic member 13 and the second magnetic member 24 are attracted to each other, the Hall sensor 25 is activated, and at this time, it is proved that the cleaning robot 20 is in contact with the charging base 10.

[0049] Furthermore, when the Hall sensor 25 is activated, the Hall sensor 25 can control the cleaning robot 20 to brake, preventing the cleaning robot 20 from being deflected by water pressure during charging.

[0050] In addition, the cleaning robot 20 further includes: a negative pressure channel, a negative pressure motor, and a filter element. The negative pressure motor is disposed in the negative pressure channel, and the filter element is disposed at the water inlet of the negative pressure channel. The Hall sensor 25 is electrically connected to the negative pressure motor to control the start of the negative pressure motor when the first magnetic member 13 and the second magnetic member 24 are attracted to each other. In this way, by providing a negative pressure motor on the cleaning robot 20, the negative pressure motor is controlled to start when the Hall sensor 25 is activated, and the negative pressure generated when the negative pressure motor operates can generate a downward thrust for the cleaning robot 20 to prevent the cleaning robot 20 from being deflected by the water pressure during charging.

[0051] In addition, by providing a filter element at the water inlet of the negative pressure channel, impurities in the water can be filtered by the filter element to prevent the impurities from entering the negative pressure channel and affecting the operation of the negative pressure motor.

[0052] Combined Figure 1 and Figure 2 As shown, the cleaning robot 20 system further includes: a third communication unit 14 and a fourth communication unit 26. The third communication unit 14 is disposed above the first charging unit 11, and the fourth communication unit 26 is disposed above the second charging unit 21. The third communication unit 14 and the fourth communication unit 26 are communicatively connected to control the wireless charging of the charging base 10 to be turned on or off.

[0053] That is to say, when the microprocessor inside the cleaning robot 20 obtains the signal of successful docking through the Hall sensor 25, it controls the wheel set 23 to brake and starts the negative pressure motor to generate a downward thrust to fix the cleaning robot 20. The microprocessor of the cleaning robot 20 then transmits an infrared control signal to the third communication unit 14 of the charging base 10 through the fourth communication unit 26. After the microprocessor of the charging base 10 receives the infrared control signal, it turns on the first charging unit 11, and at this time, an electrical connection can be achieved between the first charging unit 11 and the second charging unit 21.

[0054] Moreover, when the cleaning robot 20 finishes energy replenishment, the microprocessor of the cleaning robot 20 transmits an infrared control signal to the third communication unit 14 of the charging base 10 through the fourth communication unit 26. After the microprocessor of the charging base 10 receives the infrared control signal, it stops the wireless charging emission. The microprocessor of the cleaning robot 20 controls the wheel set 23 to run in a reverse straight line to disengage from the charging base 10 and continue to perform the cleaning task.

[0055] The charging process of the cleaning robot 20 according to the embodiment of the present invention is described below:

[0056] When the cleaning robot 20 needs to return for charging and replenishment, the internal microprocessor of the cleaning robot 20 realizes inertial navigation through the odometer of the wheel group 23 and the 9-axis IMU unit, and controls the cleaning robot 20 to automatically navigate to the infrared beacon coverage area within 1 meter near the charging base station 10. Then, the microprocessor receives the 38KHz carrier infrared beacon transmitted by the second communication component 22 on the charging base station 10 through the second communication component 22 on the cleaning robot 20, determines its relative pose with the charging base station 10 according to the received beacon, and adjusts the pose in real time until the cleaning robot 20 is located within the overlapping area of the two middle first communication components 12, locks the traveling direction, and travels straight to the charging base station 10.

[0057] Among them, the steps for the cleaning robot 20 to return to the charging base station 10 are as follows:

[0058] When the cleaning robot 20 only receives the infrared signal of the first communication component 12 on the left side, the microprocessor determines that the cleaning robot 20 is located on the left side of the charging base station 10. At this time, the microprocessor drives the left wheel forward and the right wheel backward through the driving circuit of the wheel group 23 to adjust the pose of the cleaning robot 20 to turn right; until the second communication component 22 on the right side of the cleaning robot 20 receives the infrared signal of the first communication component 12 on the right side, stop; the microprocessor then drives the left wheel backward and the right wheel forward to adjust the pose of the cleaning robot 20 to turn left until both second communication components 22 of the cleaning robot 20 can receive the communication signals of the two middle first communication components 12, and then brake.

[0059] When the cleaning robot 20 only receives the infrared signal of the first communication component 12 on the right side, the microprocessor determines that the cleaning robot 20 is located on the right side of the charging base station 10. At this time, the microprocessor drives the right wheel forward and the left wheel backward through the driving circuit of the wheel group 23 to adjust the pose of the cleaning robot 20 to turn left. Until the second communication component 22 on the left side of the cleaning robot 20 receives the infrared signal of the first communication component 12 on the left side, stop; the microprocessor then drives the right wheel backward and the left wheel forward to adjust the pose of the cleaning robot 20 to turn right until both second communication components 22 of the cleaning robot 20 can receive the communication signals of the two middle first communication components 12, and then brake.

[0060] When both second communication components 22 of the cleaning robot 20 can receive the communication signals of the two middle first communication components 12, the microprocessor can determine that the cleaning robot 20 is aligned with the charging base station 10, lock the traveling direction, control the left wheel and the right wheel to move straight forward until the Hall induction signal is triggered and then brake, and the docking is completed.

[0061] In addition, the charging steps of the cleaning robot 20 are as follows:

[0062] When the microprocessor inside the cleaning robot 20 obtains the signal of successfully docking with the charging pile through the Hall sensor 25, it controls the wheel set 23 to brake and starts the negative pressure motor to generate a downward thrust to fix the cleaning robot 20. Then, the microprocessor of the cleaning robot 20 transmits an infrared control signal to the third communication unit 14 of the charging base 10 through the fourth communication unit 26. After receiving the infrared control signal, the microprocessor of the charging base 10 turns on the first charging unit 11, and at this time, an electrical connection can be achieved between the first charging unit 11 and the second charging unit 21.

[0063] Among them, when the cleaning robot 20 needs to be replenished with energy, the infrared control signal transmitted by the fourth communication unit 26 is a 38KHz carrier infrared charging control signal.

[0064] When the energy replenishment of the cleaning robot 20 is completed, the microprocessor of the cleaning robot 20 transmits an infrared control signal to the third communication unit 14 of the charging base 10 through the fourth communication unit 26. After receiving the infrared control signal, the microprocessor of the charging base 10 stops wireless charging transmission. The microprocessor of the cleaning robot 20 controls the wheel set 23 to run in a reverse straight line, disengages from the charging base 10, and continues to perform the cleaning task.

[0065] Among them, when the energy replenishment of the cleaning robot 20 is completed, the infrared control signal transmitted by the fourth communication unit 26 is a 38KHz carrier infrared power-off control signal.

[0066] In the description of the present invention, it should be understood that the orientation or positional relationship indicated by the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the present invention.

[0067] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "schematic embodiments", "examples", "specific examples", or "some examples", etc. means that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example.

[0068] Although embodiments of the present invention have been shown and described, those of ordinary skill in the art can understand that various changes, modifications, substitutions, and variations can be made to these embodiments without departing from the principles and spirit of the present invention. The scope of the present invention is defined by the claims and their equivalents.

Claims

1. A cleaning robot system, characterized in that, it includes: A charging base station, which is arranged underwater. The charging base station includes: a first communication unit and a first charging unit, and the first communication unit is arranged above the first charging unit; A cleaning robot, which is used for underwater cleaning. The cleaning robot includes: A second charging unit, which is used to charge the cleaning robot when it is docked with the first charging unit; A second communication unit, which is arranged above the second charging unit. When the charging base station is within the communication range of the second communication unit, the second communication unit is used to communicate with the first communication unit and control the cleaning robot to move towards the charging base station; An inertial navigation unit, which is arranged inside the cleaning robot, and the inertial navigation unit is used to navigate the cleaning robot to within the communication range of the second communication unit.

2. The cleaning robot system according to claim 1, characterized in that, The first communication unit includes: at least two first communication components, at least two first communication components are arranged at intervals in the width direction of the charging base station, and at least two first communication components face different directions; and, The second communication unit includes: at least two second communication components, at least two second communication components are arranged at intervals in the width direction of the cleaning robot, and at least two second communication components face different directions.

3. The cleaning robot system according to claim 2, characterized in that, The emission areas of the two middle first communication components overlap each other, and the overlapping angle is α1, and α1 satisfies the relationship: α1≤10°; and, The emission angle of at least two first communication components is α2, and α2 satisfies the relationship: 40°≤α2≤50°.

4. The cleaning robot system according to claim 2, characterized in that, The receiving angle of at least two second communication components is α3, and α3 satisfies the relationship: 15°≤α3≤25°.

5. The cleaning robot system according to claim 2, characterized in that, The charging base station further includes: a light condensing component, and the light condensing component is arranged at the light emitting end of the first communication component.

6. The cleaning robot system according to claim 1, characterized in that, It further includes: A first magnetic component and a second magnetic component. The first magnetic component is arranged on one side of the first charging unit in the width direction, and the second magnetic component is arranged on one side of the second charging unit in the width direction. When the first magnetic component and the second magnetic component are attracted to each other, the first charging unit and the second charging unit correspond to each other.

7. The cleaning robot system according to claim 6, characterized in that, Both the first magnetic component and the second magnetic component are two. The two first magnetic components are arranged on both sides of the first charging unit in the width direction, and the two second magnetic components are arranged on both sides of the second charging unit in the width direction. The two first magnetic components and the two second magnetic components are attracted to each other one by one.

8. The cleaning robot system according to claim 6, characterized in that, it further comprises: a Hall sensor, which is arranged on one side of the second magnetic member, and the Hall sensor controls the braking of the cleaning robot when the first magnetic member and the second magnetic member are attracted to each other.

9. The cleaning robot system according to claim 8, characterized in that, the cleaning robot further comprises: a negative pressure channel, a negative pressure motor and a filter element. The negative pressure motor is arranged in the negative pressure channel, and the filter element is arranged at the water inlet of the negative pressure channel. The Hall sensor is electrically connected to the negative pressure motor to control the start of the negative pressure motor when the first magnetic member and the second magnetic member are attracted to each other.

10. The cleaning robot system according to claim 1, characterized in that, it further comprises: a third communication unit and a fourth communication unit. The third communication unit is arranged above the first charging unit, and the fourth communication unit is arranged above the second charging unit. The third communication unit and the fourth communication unit are communicatively connected to control the wireless charging of the charging base station to be turned on or off.

Images