Cleaning base station, sub-robot and cleaning system

Abstract

The utility model provides a cleaning base station, a sub-robot and a cleaning system. The cleaning base station comprises a base station body, a containing cavity, a first charging pole piece, a second charging pole piece and at least two first positioning devices. The accommodating cavity has an opening; the at least two first positioning devices are arranged on the wall body of the accommodating cavity; the first charging pole piece is arranged on the wall body of the accommodating cavity and comprises a first positive pole piece and a first negative pole piece, and when the main robot reaches the accommodating cavity, the first charging pole piece is electrically connected with a charging terminal of the main robot; the second charging pole piece comprises a second positive pole piece and a second negative pole piece, and the second positive pole piece and the second negative pole piece are arranged at the ends of the at least two first positioning devices correspondingly and electrically connected with the charging terminal of the sub-robot when the sub-robot reaches the containing cavity. On the basis that the functional structure of an existing cleaning base station is kept, the function that the sub-robot stops and is charged is achieved.

Description

Technical Field

[0001] The utility model relates to the field of cleaning robots, in particular to a cleaning base station, a sub-robot and a cleaning system. Background Art

[0002] Existing intelligent cleaning systems mostly use self-propelled cleaning robots to perform cleaning operations, and use cleaning base stations that cooperate with the cleaning robots to charge, clean, and collect dust for the cleaning robots. However, with the diversification of application scenarios, intelligent cleaning systems are also developing in the direction of multi-machine collaborative operations. For example, on the basis of the original cleaning robot (hereinafter referred to as the main robot for the convenience of distinguishing it from the sub-robot), sub-robots can be added to cooperate with the original cleaning robot to achieve cleaning operations in more areas and under more working conditions. This puts higher functional requirements on the cleaning base station used in conjunction with the main robot and the sub-robot. Therefore, how to realize the docking and charging of the sub-robot in the base station based on the original cleaning base station of the main robot has become an urgent problem to be solved. Utility Model Content

[0003] In view of the above shortcomings of the prior art, the utility model provides a cleaning base station, a sub-robot and a cleaning system, so as to realize the function of the sub-robot docking and charging in the base station while maintaining the functional structure of the existing cleaning base station.

[0004] To achieve the above-mentioned purpose and other related purposes, the first aspect of the utility model is to provide a cleaning base station for use with a main robot and a sub-robot, the cleaning base station comprising: a base station body, a receiving cavity, a first charging electrode, a second charging electrode and at least two first positioning devices. The receiving cavity is arranged at the bottom of the base station body and has an opening for the main robot and the sub-robot to interchangeably enter; at least two first positioning devices are arranged in the receiving cavity and located on the wall body opposite to the opening, so as to cooperate with the positioning structure of the main robot to position the main robot; the first charging electrode is arranged on the wall body opposite to the opening of the receiving cavity, including a first positive electrode and a first negative electrode, when the main robot reaches the first set position of the receiving cavity, the first charging electrode is electrically connected to the charging terminal of the main robot; the second charging electrode includes a second positive electrode and a second negative electrode, the second positive electrode and the second negative electrode are respectively arranged at the ends of at least two of the first positioning devices, and when the sub-robot reaches the second set position, it can be electrically connected to the charging terminal of the sub-robot.

[0005] In an embodiment of the present utility model, the first positioning device cooperates with the positioning structure of the sub-robot to position the sub-robot.

[0006] In one embodiment of the utility model, the first positioning device protrudes into the accommodating cavity to form a first positioning protrusion, and the first positioning protrusion extends into the positioning structure of the main robot or the sub-robot along the moving direction of the main robot and the sub-robot for positioning, and the end surface area of ​​the first positioning protrusion is smaller than the bottom surface area of ​​the first positioning protrusion.

[0007] In an embodiment of the present invention, at least a portion of the first positioning protrusion is a frustum, and the small end of the frustum faces the opening.

[0008] In one embodiment of the utility model, when the main robot reaches the first set position of the accommodating chamber, the main robot reaches the third position of the first positioning device, and when the sub-robot reaches the second set position of the accommodating chamber, the sub-robot reaches the fourth position of the first positioning device, and the distance from the cross-sectional centroid of the first positioning protrusion at the fourth position to the wall of the accommodating chamber opposite to the opening is greater than or equal to the distance from the cross-sectional centroid of the first positioning protrusion at the third position to the wall of the accommodating chamber opposite to the opening.

[0009] In an embodiment of the present invention, the second charging electrode is disposed on an end wall of the first positioning protrusion close to the opening.

[0010] In one embodiment of the utility model, the first positioning device includes an elastic telescopic structure, which is telescopic along the entry direction of the main robot, and the second charging electrode is arranged on the end wall of the first positioning device close to the opening.

[0011] In an embodiment of the present invention, the first positioning protrusion is a non-retractable structure.

[0012] In one embodiment of the utility model, the first positioning protrusion includes a fixed body and a movable body, the fixed body is fixedly mounted on the wall of the accommodating cavity opposite to the opening, the movable body is slidably mounted on the fixed body, and includes a sliding body and an elastic body, the sliding body can slide relative to the fixed body and is connected to the elastic body, and the elastic body stores or releases energy during the sliding process of the sliding body.

[0013] In one embodiment of the utility model, the elastic body is a spring, an installation cavity is provided on the fixed body, the spring is installed in the installation cavity, the sliding body is slidably inserted into the installation cavity, and the spring is squeezed or released during the sliding process to retract the second charging electrode into the installation cavity or extend from the installation cavity.

[0014] In an embodiment of the present invention, the third position and the fourth position are located on the fixed body.

[0015] In one embodiment of the utility model, the positioning structure on the main robot and / or the positioning structure on the sub-robot includes a positioning groove and a flared portion located at the opening of the positioning groove to guide the first positioning device to enter, and the first positioning device includes a positioning body and a guide body, the positioning body matches the positioning groove, and the guide body guides the positioning body into the positioning groove.

[0016] In an embodiment of the present utility model, a soft structure for protecting the main robot and / or the sub-robot from impact is provided on the wall opposite to the opening.

[0017] In one embodiment of the utility model, the cleaning base station further comprises a second positioning device, which is located on the side wall or the bottom of the accommodating cavity to cooperate with the positioning structure of the sub-robot to position the sub-robot.

[0018] In one embodiment of the utility model, the cleaning base station includes a cleaning tank arranged at the bottom of the accommodating cavity. When the main robot reaches the first set position, the cleaning tank corresponds to the cleaning component of the main robot to clean the cleaning component.

[0019] In one embodiment of the utility model, the cleaning component includes a rag plate, and a cleaning rib component for cleaning the rag plate is provided in the cleaning tank. When the main robot reaches the first set position, the cleaning rib component corresponds to the rag plate to clean the rag plate.

[0020] In one embodiment of the utility model, when the sub-robot reaches the second set position, the walking wheels of the sub-robot are located outside the cleaning tank, and the cleaning rib assembly is configured to support the part of the sub-robot that extends above the cleaning tank.

[0021] In one embodiment of the utility model, when the sub-robot reaches the second set position, the walking wheels of the sub-robot are located in the cleaning tank, and a passage is provided in the cleaning tank to allow the sub-robot to pass through and reach the second set position.

[0022] In an embodiment of the present utility model, a limiting member for limiting the position of the sub-robot is arranged in the channel.

[0023] In one embodiment of the utility model, the cleaning component includes a first rag plate and a second rag plate, and the first rag plate and the second rag plate are arranged along the width direction of the main robot, and the cleaning rib component includes a first cleaning rib unit and a second cleaning rib unit, the first cleaning rib unit is arranged corresponding to the first rag plate, and the second cleaning rib unit is arranged corresponding to the second rag plate, and the channel is arranged on the cleaning ribs of the first cleaning rib unit and the second cleaning rib unit or between the cleaning ribs.

[0024] In an embodiment of the utility model, the limiting member includes a baffle plate arranged in the cleaning tank, and along a plane perpendicular to the walking direction of the sub-robot, the height of the baffle plate is less than or equal to the height of the cleaning rib assembly.

[0025] In one embodiment of the utility model, the channel is a track for the running wheels of the sub-robot to run on, and the running wheels of the sub-robot run along the track to enter the cleaning tank.

[0026] In one embodiment of the utility model, the track is arranged to protrude from the bottom of the cleaning tank, and along the plane perpendicular to the walking direction of the sub-robot, the height of the track is less than or equal to the height of the cleaning rib assembly, one end of the track is connected to a side of the cleaning tank close to the opening, and the other end of the track extends into the cleaning tank along the entry direction of the sub-robot.

[0027] In one embodiment of the utility model, the track also includes a wall surface arranged along at least one side of the moving direction of the sub-robot, and the height of the top of the wall surface along the plane perpendicular to the walking direction of the sub-robot is less than or equal to the height of the cleaning rib assembly.

[0028] In an embodiment of the utility model, anti-skid ribs are arranged on the track surface of the track.

[0029] In an embodiment of the present utility model, the cleaning rib assembly includes longitudinal ribs extending along the walking direction of the sub-robot, and the track is the longitudinal ribs.

[0030] In an embodiment of the utility model, a sewage filter is arranged in the cleaning tank, and the limiting member is arranged on the sewage filter.

[0031] In one embodiment of the utility model, the cleaning base station includes a climbing surface, the two ends of which are respectively connected to the ground and the accommodating cavity, and the climbing surface is provided with anti-slip ribs and an auxiliary structure to assist the sub-robot to pass through the climbing surface.

[0032] In one embodiment of the utility model, the auxiliary structure includes a rotating body rotatably mounted on the climbing surface; the rotating body transports the sub-robot through the climbing surface and / or limits the sub-robot during the sub-robot climbing process.

[0033] In an embodiment of the utility model, the auxiliary structure further includes a driving device, and the driving device drives the rotating body to rotate so as to provide transmission power for the sub-robot to climb the climbing surface.

[0034] In one embodiment of the utility model, the axis of the rotating body extends along the width direction of the climbing surface, and at least two of the rotating bodies are arranged at intervals along the climbing direction of the climbing surface, and recesses for limiting the walking wheels of the sub-robot are formed between adjacent rotating bodies.

[0035] In one embodiment of the utility model, the sub-robot includes two coaxially arranged walking wheels; at least two sub-climbing tracks are arranged on the climbing surface corresponding to the two walking wheels respectively, and the rotating body includes a first rotating body group and a second rotating body group arranged at intervals on the climbing surface along the width direction of the climbing surface, the first rotating body group includes at least one first rotating body, the second rotating body group includes at least one second rotating body, the outer peripheral surface of the first rotating body is arranged corresponding to one of the walking wheels, and the outer peripheral surface of the second rotating body is arranged corresponding to the end surface of the other walking wheel, so as to limit the sub-robot.

[0036] In one embodiment of the utility model, the rotating axes of the first rotating body and the second rotating body are perpendicular to the rotating axes of the walking wheels and perpendicular to the moving direction of the sub-robot, the outer peripheral surface of the first rotating body is arranged corresponding to the inner end surface of one of the walking wheels, and the outer peripheral surface of the second rotating body is arranged corresponding to the inner end surface of the other walking wheel.

[0037] In one embodiment of the utility model, the rotating axes of the first rotating body and the second rotating body are perpendicular to the rotating axes of the walking wheels and perpendicular to the moving direction of the sub-robot, the outer peripheral surface of the first rotating body is arranged corresponding to the outer end surface of one of the walking wheels, and the outer peripheral surface of the second rotating body is arranged corresponding to the outer end surface of the other walking wheel.

[0038] In one embodiment of the utility model, the sub-robot includes two coaxially arranged walking wheels; at least two sub-climbing tracks are arranged on the climbing surface corresponding to the two walking wheels respectively, and the rotating body includes a first rotating body group and a second rotating body group arranged at intervals on the climbing surface along the width direction of the climbing surface, the first rotating body group includes at least one first rotating body, the second rotating body group includes at least one second rotating body, the end face of the first rotating body is arranged corresponding to the end face of one of the walking wheels, and the end face of the second rotating body is arranged corresponding to the end face of another of the walking wheels, so as to limit the sub-robot.

[0039] In one embodiment of the utility model, the rotating axes of the first rotating body and the second rotating body are parallel to the rotating axes of the walking wheels; the outer end face of the first rotating body is arranged corresponding to the inner end face of the walking wheel on one side, and the outer end face of the second rotating body is arranged corresponding to the inner end face of the walking wheel on the other side.

[0040] In one embodiment of the utility model, the rotating axes of the first rotating body and the second rotating body are parallel to the rotating axes of the walking wheels; the inner end surface of the first rotating body is arranged corresponding to the outer end surface of the walking wheel on one side, and the inner end surface of the second rotating body is arranged corresponding to the outer end surface of the walking wheel on the other side.

[0041] In one embodiment of the utility model, the sub-robot includes two coaxially arranged running wheels; the climbing surface is provided with at least two sub-climbing tracks respectively corresponding to the two running wheels, and the rotating body includes a first rotating body group and a second rotating body group arranged at intervals on the climbing surface along the width direction of the climbing surface, the first rotating body group includes at least two first rotating bodies, the second rotating body group includes at least two second rotating bodies, at least two of the first rotating bodies are arranged at intervals along the extension direction of the sub-climbing track on one side, and the axes are parallel to each other; the second rotating bodies are arranged at intervals along the extension direction of the sub-climbing track on the other side, and the axes are parallel to each other.

[0042] In one embodiment of the utility model, the base station body includes a dust collection system, the dust collection system includes a dust collection port, the main robot includes a first dust discharge port, and the sub-robot includes a second dust discharge port; when the main robot enters to the first set position, the dust collection port matches and docks with the first dust discharge port, and when the sub-robot enters to the second set position, the dust collection port matches and docks with the second dust discharge port.

[0043] In one embodiment of the utility model, the dust collection port includes a first interface and a second interface, the first interface and the second interface are connected to the suction port of the dust collection system, when the main robot enters to the first set position, the first interface is matched and docked with the first dust discharge port, when the sub-robot enters to the second set position, the second interface is matched and docked with the second dust discharge port.

[0044] In one embodiment of the utility model, a walking guide assembly is installed on the base station body; the walking guide assembly cooperates with the walking guide assembly on the main robot to guide the main robot to reach the first set position of the accommodating cavity, and cooperates with the walking guide assembly on the sub-robot to guide the sub-robot to reach the second set position of the accommodating cavity.

[0045] In one embodiment of the utility model, the walking guide component includes at least one of an infrared positioning module and a visual positioning component, or a combination of both.

[0046] In one embodiment of the present invention, the projection of the main robot on the horizontal plane when it is in the first setting position covers the projection of the sub-robot on the horizontal plane when it is in the second setting position.

[0047] In an embodiment of the utility model, the cleaning base station is provided with a locking structure in the accommodating cavity for locking the main robot and / or the sub-robot.

[0048] In an embodiment of the utility model, a guide roller for guiding the main robot to enter is arranged in the accommodating cavity.

[0049] In one embodiment of the utility model, the auxiliary structure includes one or more combinations of a roller transmission assembly, a crawler transmission assembly, a gear rack transmission assembly, and a chain transmission assembly to transmit the sub-robot upward along the climbing surface so that the sub-robot passes through the climbing surface.

[0050] In an embodiment of the present invention, the rotating body is a mechanical roller.

[0051] The second aspect of the utility model is to provide a sub-robot for cooperating with a main robot and any of the above-mentioned cleaning base stations to complete corresponding cleaning operations, wherein the cleaning base station includes at least two first positioning devices for limiting the main robot, and the sub-robot includes: a sub-machine housing, a cleaning component, a running wheel, and a charging terminal. The cleaning component is installed on the sub-machine housing; the running wheel is installed on the bottom of the sub-machine housing and moves by itself so that the cleaning component completes the corresponding cleaning operation; the charging terminal is arranged on the sub-machine housing and corresponds to the position of the two first positioning devices, so as to electrically connect with the second charging electrodes on the two first positioning devices when the sub-robot reaches the second set position of the cleaning base station.

[0052] In one embodiment of the utility model, the first positioning device protrudes into the accommodating cavity of the cleaning base station and extends along the moving direction of the sub-robot, and a positioning groove matching the first positioning device is provided on the sub-machine housing, and the charging terminal is arranged in the positioning groove.

[0053] In one embodiment of the utility model, the sub-robot also includes a dust discharge port, the cleaning base station includes a dust collection system, the dust collection system includes a dust collection port for collecting dust for the main robot, and when the sub-robot enters to the second set position, the dust discharge port position of the sub-robot matches and docks with the dust collection port.

[0054] In one embodiment of the utility model, the sub-robot also includes a dust discharge port, the cleaning base station includes a dust collection system, the dust collection system includes a first dust collection port for collecting dust for the main robot and a second interface for collecting dust for the sub-robot, when the sub-robot enters to the second set position, the dust discharge port position of the sub-robot matches and docks with the second interface.

[0055] The third aspect of the utility model is to provide a cleaning system, comprising a main robot, a sub-robot and any one of the cleaning base stations described above, wherein the main robot and the sub-robot share the cleaning base station for charging.

[0056] In the cleaning base station of the utility model, the second charging electrode for charging the sub-robot is arranged on the first positioning device matched with the main robot, and the charging operation of the sub-robot can be realized on the existing cleaning base station matched with the main robot. On the one hand, the structure and function matching the existing cleaning robot in the cleaning base station can be maintained on the basis of realizing the charging demand of the sub-robot. On the other hand, the first positioning device and the second charging electrode corresponding to the sub-robot are integrated to obtain greater space utilization. At the same time, the cleaning base station can also be used only in conjunction with the existing cleaning robot (which can be understood as the main robot), and can also meet the needs of the interchangeable use of the main robot and the sub-robot. It is flexible and can take into account the compatibility matching of the new and old cleaning robots in the existing market. It has strong versatility and low manufacturing cost. The cleaning system of the utility model includes the cleaning base station of the utility model. On the basis of having the beneficial effects of the cleaning base station of the utility model, it can realize cleaning operations in more areas and under more working conditions. The sub-robot of the utility model has a charging terminal matched with the cleaning base station of the utility model, can be used in conjunction with the cleaning base station of the utility model to complete cleaning work in a small area, and does not need to avoid the first positioning device in the existing cleaning base station in terms of structure, and can be electrically connected through the first positioning device, and the structure is more optimized.

[0057] Furthermore, considering that the first positioning device in the existing cleaning base stations is mostly a protruding structure protruding into the accommodating cavity, such a setting can, on the one hand, reduce the interference of the first positioning device on the charging of the sub-robot, and on the other hand, it can also enable the sub-robot to achieve charging operations without having to move to a deeper depth, thereby reducing the difficulty of the sub-robot moving in the accommodating cavity. BRIEF DESCRIPTION OF THE DRAWINGS

[0058] In order to more clearly illustrate the embodiments of the utility model or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the utility model. For ordinary technicians in this field, other embodiments can be obtained based on these drawings without paying creative work.

[0059] Figure 1 This is a front view of an embodiment of the cleaning base station of the utility model;

[0060] Figure 2 for Figure 1 A three-dimensional side view of the figure;

[0061] Figure 3 A three-dimensional side view of another embodiment of the cleaning base station of the utility model;

[0062] Figure 4 A three-dimensional side view of another embodiment of the cleaning base station of the utility model;

[0063] Figure 5 A three-dimensional side view of another embodiment of the cleaning base station of the utility model;

[0064] Figure 6 This is a schematic diagram of the structure of the first positioning device in an embodiment of the cleaning base station of the utility model when the second charging electrode is in an extended state;

[0065] Figure 7 It is a structural schematic diagram of the first positioning device in an embodiment of the cleaning base station of the utility model when the second charging electrode is retracted;

[0066] Figure 8 This is a schematic structural diagram of the first positioning device in another embodiment of the cleaning base station of the utility model when the second charging electrode is in an extended state;

[0067] Fig. 9 This is a schematic structural diagram of the first positioning device in another embodiment of the cleaning base station of the utility model when the second charging electrode is retracted;

[0068] Fig.10 It is a cross-sectional view of a first positioning device in an embodiment of a cleaning base station of the utility model;

[0069] Fig.11 It is a top view of the climbing surface and the cleaning tank part in one embodiment of the cleaning base station of the utility model;

[0070] Fig.12 for Fig.11 3D view of

[0071] Fig.13 for Fig.12 Enlarged view of the middle II region;

[0072] Fig.14 A top view of a climbing surface and a cleaning tank in another embodiment of the cleaning base station of the utility model;

[0073] Fig.15 for Fig.14 3D view of

[0074] Fig.16 A top view of a climbing surface and a cleaning tank in another embodiment of the cleaning base station of the utility model;

[0075] Fig.17 for Fig.16 3D view of

[0076] Fig.18 A top view of a climbing surface and a cleaning tank in another embodiment of the cleaning base station of the utility model;

[0077] Fig.19 for Fig.18 3D view of

[0078] Fig. 20 A top view of a climbing surface and a cleaning tank in another embodiment of the cleaning base station of the utility model;

[0079] Fig.21 for Fig. 20 3D view of

[0080] Fig. 22 A top view of a climbing surface and a cleaning tank in another embodiment of the cleaning base station of the utility model;

[0081] Fig.23 for Fig. 22 3D view of

[0082] Fig.24 A top view of a climbing surface and a cleaning tank in another embodiment of the cleaning base station of the utility model;

[0083] Fig.25 for Fig.24 3D view of

[0084] Fig.26 A three-dimensional bottom view of a main robot in an embodiment of the cleaning system of the utility model;

[0085] Fig. 27 A three-dimensional rear view of a main robot in an embodiment of the cleaning system of the utility model;

[0086] Fig.28 This is a three-dimensional top view of the main robot in one embodiment of the cleaning system of the utility model.

[0087] Component number description

[0088] 100, cleaning base station; 110, first positioning device; 111, fixed body; 1111, first stopper; 112, movable body; 1121, second stopper; 113, elastic body; 114, wire; 115, mounting cavity; 116, end face; 117, second charging electrode; 120, base station body; 121, accommodating cavity; 122, auxiliary structure; 123, opening; 124, first charging electrode; 130, cleaning tank; 131, first cleaning rib unit; 1311, first longitudinal rib; 1312, first stopper; 132, second cleaning rib unit; 1321, second longitudinal rib; 1322, second limit member; 140, climbing surface; 141, main climbing track; 1411, first parking position; 142, sub-climbing track; 1421, second parking position; 143, first rotating body; 1431, first recess; 144, second rotating body; 1441, second recess; 150, sewage filter; 160, first walking guide assembly; 170, locking structure; 180, water inlet; 200, main robot; 210, first rag plate; 250, second rag plate; 220, second walking guide assembly; 230, first positioning groove; 240, walking wheel of the main robot. DETAILED DESCRIPTION

[0089] The following describes the implementation of the present invention through specific examples, and those skilled in the art can easily understand other advantages and effects of the present invention from the contents disclosed in this specification. The present invention can also be implemented or applied through other different specific implementations, and the details in this specification can also be modified or changed in various ways based on different viewpoints and applications without departing from the spirit of the present invention. It should be noted that the following embodiments and the features in the embodiments can be combined with each other without conflict. It should also be understood that the terms used in the embodiments of the present invention are intended to describe specific implementation schemes, rather than to limit the scope of protection of the present invention. The test methods for which specific conditions are not specified in the following examples are usually carried out under conventional conditions or under the conditions recommended by the manufacturers.

[0090] When numerical ranges are given in the embodiments, it should be understood that unless otherwise specified in the present invention, both endpoints of each numerical range and any value between the two endpoints can be selected. Unless otherwise defined, all technical and scientific terms used in the present invention are in accordance with the prior art mastery of those skilled in the art and the description of the present invention, and any prior art methods, equipment and materials similar or equivalent to the methods, equipment and materials in the embodiments of the present invention can also be used to implement the present invention.

[0091] It should be noted that the terms such as "upper", "lower", "left", "right", "middle" and "one" cited in this specification are only for the convenience of description and are not used to limit the scope of implementation of the present utility model. Changes or adjustments to their relative relationships should be regarded as the scope of implementation of the present utility model without substantially changing the technical content.

[0092] Existing cleaning robots are generally large in size and cannot perform cleaning work in low or narrow gaps. Therefore, in order to meet the needs of various application scenarios, cleaning systems are also developing in the direction of multi-machine collaborative operation, that is, a collaborative robot with a smaller volume or size is set on the basis of the cleaning robot to complete the cleaning work in low or narrow areas. At this time, for the sake of easy distinction, the original cleaning robot with a larger size is often named the main robot, and the robot with a smaller volume or size used to complete the cleaning work in low or narrow areas is named the sub-robot. Considering the compatibility and matching of the cleaning base station, the utility model provides a cleaning base station, a sub-robot and a cleaning system to realize the charging function of the sub-robot in the base station while maintaining the functional structure of the existing cleaning base station.

[0093] See also Figures 1 to 28 The cleaning system of the utility model includes a main robot 200, a sub-robot (not shown) and a cleaning base station 100. The main robot 200 and the sub-robot share the cleaning base station 100 for charging. The cleaning base station 100 is used in conjunction with the main robot 200 and the sub-robot. The cleaning base station 100 includes: a base station body 120, a receiving cavity 121, at least two first positioning devices 110, a first charging electrode 124 and a second charging electrode 117.

[0094] The appearance of the base station body 120 is not limited. For example, the overall shape may be roughly rectangular, or the lower part may be rectangular and the top may be spherical. However, it is not limited to this. However, considering the needs of indoor decoration, it is better to be beautiful and small in size. The accommodating chamber 121 is arranged at the bottom of the base station body 120, and has an opening 123 for the main robot 200 and the sub-robot to interchangeably enter, so that the main robot 200 and the sub-robot can walk into the accommodating chamber 121. As long as it can accommodate the cleaning components and charging terminals of the main robot 200, the size and shape of the accommodating chamber 121 are not limited. For example, the main robot 200 can be fully accommodated, or partially accommodated. The shape of the accommodating chamber 121 may not be consistent with the entry part of the main robot 200. For example, when the main robot 200 enters the accommodating chamber 121, the main robot 200 can enter the accommodating chamber 121. When the shape of one side of the accommodating cavity 121 is an arc surface, the side wall of the accommodating cavity 121 is surrounded by a square or prism that can accommodate the arc surface. However, preferably, considering the space saving and the accuracy of the guide, the shape of the matching part of the accommodating cavity 121 and the main robot 200 is approximately matched with the main robot 200. For example, when the shape of the side of the main robot 200 entering the accommodating cavity 121 is an arc surface, the side wall of the accommodating cavity 121 is also surrounded by an arc surface that is similar to the arc surface; when the shape of the side of the main robot 200 entering the accommodating cavity 121 is a plane, the side wall of the accommodating cavity 121 facing the opening 123 is also a plane. The shape of the opening 123 is based on the principle that the main robot 200 and the sub-robot can smoothly enter the accommodating cavity 121. For example, it can be a rectangle or other shapes, and no examples are given one by one.

[0095] At least two first positioning devices 110 are arranged in the accommodating cavity 121 and located on the wall opposite to the opening 123, so as to cooperate with the positioning structure of the main robot 200 to limit the main robot 200; the number of the first positioning devices is preferably two, so as to respectively install the positive electrode plate and the negative electrode plate of the second charging electrode plate. It can be understood by those skilled in the art that if there is a large space and the cost factor is not considered, more first positioning devices 110 can also be set. The structure and shape of the first positioning device 110 can refer to the positioning device structure of the existing cleaning base station 100 and the cleaning robot, including but not limited to a positioning protrusion or positioning groove that can cooperate with the positioning structure on the main robot 200. Considering that the positioning structure on the main robot 200 is set in a protruding shape, it will affect the mobility of the main robot 200 in a narrow area and the ability to stick to the edge during cleaning. In this embodiment, the positioning structure on the main robot 200 includes a first positioning groove 230, and the first positioning device 110 on the cleaning base station 100 is a first positioning protrusion that protrudes into the accommodating cavity 121 and matches the first positioning groove 230. However, those skilled in the art can understand that if the mobility and the ability to stick to the edge are not taken into consideration, the positioning structure on the main robot 200 can also be a positioning protrusion, and the first positioning device 110 on the cleaning base station 100 can also be a positioning groove matching the positioning protrusion on the main robot 200.

[0096] The first charging electrode 124 is arranged on the wall of the accommodating chamber 121 opposite to the opening 123, and includes a first positive electrode and a first negative electrode. When the main robot 200 reaches the first set position of the accommodating chamber 121, the first charging electrode 124 is electrically connected to the charging terminal of the main robot 200. For example, the first charging electrode 124 can be arranged at any position beside the first positioning device 110, so as to be convenient for corresponding electrical connection with the charging terminal on the main robot 200. Considering that the existing main robot 200 mostly carries a cleaning component and needs to be cleaned, preferably, in this embodiment, the first charging electrode 124 is arranged above the first positioning component and close to the first positioning component. In this way, on the one hand, it is close to the first positioning device 110 to obtain a higher charging docking accuracy, and on the other hand, it is far away from the cleaning component, and when the sewage splashes upward, the risk of water being thrown out to the first charging electrode 124 and causing a short circuit can be reduced.

[0097] The second charging electrode 117 includes a second positive electrode and a second negative electrode. The second positive electrode and the second negative electrode are respectively arranged on at least two of the first positioning devices 110 and can be electrically connected to the charging terminal of the sub-robot when the sub-robot reaches the second set position. The second positive electrode and the second negative electrode are arranged on the first positioning device 110 in any manner, including but not limited to being wrapped on the end of the first positioning device 110 facing the opening 123, so as to be able to stably contact the sub-robot when it reaches the second set position. The second charging electrode 117 for charging the sub-robot is arranged on the first positioning device 110 matched with the main robot 200, and the charging operation of the sub-robot can be realized on the existing cleaning base station 100 matched with the main robot 200. On the one hand, the structure and function matching the existing cleaning robot in the cleaning base station 100 can be maintained on the basis of realizing the charging demand of the sub-robot. On the other hand, the first positioning device 110 and the second charging electrode 117 corresponding to the sub-robot are integrated to obtain greater space utilization. At the same time, the cleaning base station 100 can also be used only in conjunction with an existing cleaning robot (which can be understood as the main robot 200), and can also meet the needs of interchangeable use of the main robot 200 and the sub-robot. It is both flexible and can take into account the compatibility and matching of new and old cleaning robots on the existing market. It has strong versatility and low manufacturing cost.

[0098] See also Figure 6 to Figure 7In one embodiment of the utility model, the moving direction of the main robot 200 entering the accommodating chamber is parallel to the moving direction of the sub-robot entering the accommodating chamber, the first positioning device 110 protrudes into the accommodating chamber 121 to form a first positioning protrusion, the first positioning protrusion extends into the positioning structure of the main robot 200 or the sub-robot along the moving direction of the main robot 200 and the sub-robot for positioning, the second charging electrode 117 is arranged at the end of the first positioning protrusion close to the opening 123, when the sub-robot reaches the second set position of the cleaning base station, the first positioning protrusion is inserted into the positioning structure of the sub-robot, and the charging terminal of the sub-robot is electrically connected to the second charging electrode 117 at the end of the first positioning protrusion. Since the sub-robot is used to cooperate with the main robot 200 to realize the cleaning operation in a low or narrow area, the sub-robot has a small volume or a low height, so the first positioning device 110 is set as a raised first positioning protrusion, and the second charging electrode 117 for charging the sub-robot is set on the first positioning protrusion matched with the main robot 200. The main robot and the sub-robot share the same set of first positioning protrusions when docked in the accommodating chamber, which simplifies the structure of the cleaning base station, and the second charging electrode for charging the sub-robot is set on the first positioning protrusion, which can flexibly adapt to the size of the sub-robot and can realize the charging operation of the sub-robot on the existing cleaning base station 100 matched with the main robot 200. At the same time, the raised setting of the first positioning device 110 can make the sub-robot have a long distance from the water injection device and the charging device of the original cleaning base station 100, so when the sub-machine is charged, there is no need to avoid the structure in the existing cleaning base station 100, such as the first positioning device 110, the water injection device, the charging device of the main robot 200, etc.

[0099] See also Figure 6 to Figure 7 In one embodiment of the utility model, the first positioning device 110 protrudes into the accommodating cavity 121 to form a first positioning protrusion, and the end surface area of ​​the first positioning protrusion is smaller than the bottom surface area of ​​the first positioning protrusion. This design not only achieves accurate and stable positioning, ensures the accurate parking of the main robot 200 and the sub-robot in the base station, and can effectively prevent the robot from moving or offsetting during the charging process, but also the end surface area of ​​the first positioning protrusion is smaller than its bottom surface area, so that the first positioning protrusion can be more smoothly extended into the first positioning groove 230 on the main robot 200 or the second positioning groove on the sub-robot, reducing the problem of jamming or inaccurate positioning caused by excessive area. At the same time, the smaller end surface area also helps to reduce friction with the positioning structure, further improving the stability and durability of positioning.

[0100] See also Figure 6 to Figure 7In one embodiment of the utility model, the first positioning device 110 is a first positioning protrusion, and the first positioning protrusion is at least partially a frustum, and the small end of the frustum faces the opening 123. The shapes of the small end face and the large end face of the frustum are not limited, and can be one or more combinations of a circle, an ellipse or a polygon. The frustum makes it easier for the first positioning protrusion to achieve a smooth transition when it extends into the positioning structure of the main robot 200 or the sub-robot, reducing the problem of blocking or inaccurate positioning caused by shape mismatch or inappropriate size. In addition, the bottom of the frustum is a large end face with a large area, which can provide a more stable support, so that the main robot 200 or the sub-robot is not prone to shaking or offset during the positioning process. This stability is crucial to ensure the accuracy and continuity of the robot positioning. In addition, the positioning device in the shape of a frustum also has a certain degree of self-adaptation. Even if there is a certain size deviation or shape change in the positioning structure, the design of the frustum shape can adapt and compensate to a certain extent, thereby ensuring the accuracy and reliability of positioning.

[0101] In one embodiment of the utility model, the first positioning device 110 is a first positioning protrusion. When the main robot 200 reaches the first set position of the accommodating cavity 121, the main robot 200 reaches the third position of the first positioning protrusion. When the sub-robot reaches the second set position of the accommodating cavity 121, the sub-robot reaches the fourth position of the first positioning protrusion. The distance from the centroid of the cross-section of the first positioning protrusion at the fourth position to the wall of the accommodating cavity opposite to the opening is greater than or equal to the distance from the centroid of the cross-section of the first positioning protrusion at the third position to the wall of the accommodating cavity opposite to the opening.

[0102] The second charging electrode 117 is arranged on the end wall of the first positioning protrusion close to the opening 123. The direction of movement of the main robot 200 entering the accommodating chamber is parallel to the direction of movement of the sub-robot entering the accommodating chamber. The sub-robot is provided with a second positioning groove (not shown) that can match and position with the first positioning protrusion at the corresponding position of the second charging electrode 117. The sub-robot is provided with a corresponding charging terminal on the inner wall of the second positioning groove. When the sub-robot reaches the second set position, the first positioning protrusion extends into the second positioning groove and is electrically connected with the charging terminal of the sub-robot for charging. Considering the corresponding matching of the first positioning protrusion and the positioning groove of the main robot 200, when the main robot 200 is docked at the first set position, the second charging electrode 117 can extend into the positioning groove on the main robot 200 to protect the second charging electrode 117, so as to prevent the liquid from splashing onto the second charging electrode 117 when the cleaning component of the main robot 200 is cleaned, causing a short circuit during charging.

[0103] See also Figures 1 to 6 and Figure 8In one embodiment of the utility model, the first positioning protrusion is a non-retractable structure and extends along the entry direction of the main robot 200 and the sub-robot. The first positioning protrusion is fixedly installed on the side wall of the accommodating cavity 121 opposite to the opening 123.

[0104] See also Fig.10 In another embodiment of the utility model, the first positioning protrusion includes an elastic telescopic structure, and the elastic telescopic structure is extended and retracted along the direction of entry of the main robot 200. The first positioning protrusion includes an elastic telescopic structure. On the one hand, when the main robot 200 enters the first set position, the residual kinetic energy of the main robot 200 can be absorbed by the compression of the elastic telescopic structure, and the impact of the first positioning protrusion on the main robot 200 can be buffered. On the other hand, when the main robot 200 is docked at the first set position, the second charging electrode piece 117 extends into the positioning groove on the main robot 200 to protect the second charging electrode piece 117, so as to prevent the liquid from splashing onto the second charging electrode piece 117 when the cleaning component of the main robot 200 is cleaned, resulting in a short circuit during charging. It should be noted that, considering that the charging terminal is often stamped with a terminal protrusion, and the terminal protrusion has a certain elastic buffering effect, it can be understood by those skilled in the art that if the elastic buffering effect is not considered, the first positioning protrusion in this application can also be set as a non-retractable structure.

[0105] In another embodiment of the utility model, the cleaning base station 100 further includes a second positioning device, which is located on the side wall or bottom of the accommodating chamber 121 to cooperate with the positioning structure of the sub-robot to position the sub-robot. The second positioning device can be used to define the position of the sub-robot when the sub-robot reaches the accommodating chamber 121, which can improve the position accuracy and docking stability of the sub-robot in the accommodating chamber 121. Considering that the second positioning device set on the side wall of the accommodating chamber 121 for positioning the sub-robot may also affect the main robot 200 from reaching the first set position or require the structure of the host robot to be changed, in this embodiment, when the side wall structure of the accommodating chamber 121 of the cleaning base station 100 remains unchanged, a second charging electrode 117 is set on the top of the raised first positioning protrusion, and the sub-robot is provided with a second positioning groove at a position corresponding to the first positioning protrusion, and a corresponding charging terminal is set in the second positioning groove, so that the raised first positioning protrusion is deeply inserted into the second positioning groove of the sub-robot and docked with the charging terminal of the sub-robot for charging. The raised first positioning protrusion may be a column with a prism-like structure, and the column may be partially retractable or not retractable. The retractable column may buffer the impact and collision when the main robot 200 and the sub-robot are in place. In the present invention, the first positioning protrusion can provide a limit for the sub-robot when inserted into the second positioning groove on the sub-robot. Therefore, the second positioning device may not be provided separately in the present invention. The first positioning protrusion is used to match and position with the first positioning groove 230 on the main robot 200 when the main robot 200 enters the first set position, and to match and position with the second positioning groove on the sub-robot when the sub-robot enters the second set position. This arrangement can save the internal space of the accommodating cavity 121 and can realize the integration of the function of the first positioning protrusion. When the side wall structure of the accommodating cavity 121 of the cleaning base station 100 remains unchanged, it is only necessary to simply optimize the structure of the first positioning groove 230 on the main robot 200 and the first positioning protrusion in the base station 100. In the original positioning mode of the main robot, the second positioning groove is arranged on the sub-robot, so that the cleaning base station 100 can position and charge the sub-robot. At the same time, the extended first positioning protrusion can also reduce the depth of the sub-robot entering the accommodating cavity 121, thereby reducing the difficulty of the sub-robot walking in the accommodating cavity 121.

[0106] See also Fig.10In one embodiment of the utility model, the first positioning protrusion of the elastic telescopic structure includes a fixed body 111 and a movable body 112. The fixed body 111 is fixedly installed on the wall of the accommodating cavity 121 opposite to the opening 123. The structural form of the fixed body 111 is not limited, based on the ability to be stably fixedly installed on the wall and to provide stable installation for the movable body 112. The fixing method of the fixed body 111 on the wall includes but is not limited to one-piece molding, bolt connection or clamping. The movable body 112 is slidably installed on the fixed body 111 and includes a sliding body and an elastic body 113. The sliding body can slide relative to the fixed body 111. The sliding body is slidably mounted on the fixed body 111. The sliding mounting method of the sliding body on the fixed body 111 is not limited, including but not limited to sliding mounting methods such as sliding insertion, slide rail slider, etc. Preferably, the second charging electrode 117 is arranged on the end wall of the sliding body facing the opening 123, and the sliding body is connected to the elastic body 113. One end of the elastic body 113 along the compression direction abuts against the side wall of the fixed body 111 or the accommodating cavity 121, and the other end abuts against the sliding body, so as to store energy when the sliding body slides toward the fixed body 111, and release energy when the sliding body slides away from the fixed body 111. The telescopic structure using the combination of the fixed body 111, the elastic body 113 and the movable body 112 is relatively simple in structure, that is, it can maintain a small volume and have a large telescopic distance. The first positioning protrusion in the utility model adopts a unique design of combining the fixed body 111 with the movable body 112, which significantly improves the stability and flexibility of positioning. The fixed body 111 is firmly mounted on the wall of the accommodating cavity 121 opposite to the opening 123, providing a solid foundation for the entire positioning device. The movable body 112 slides on the fixed body 111 through the sliding body, and combined with the effect of the elastic body 113, it is realized that during the positioning process, the position of the main robot 200 or the sub-robot deep into the base station is dynamically adjusted and the energy of the main robot 200 or the sub-robot hitting the base station is buffered. In addition, the relative sliding of the sliding body can also make the first positioning protrusion adapt to robots of different sizes and shapes, thereby improving the inclusiveness and adaptability of positioning. The elastic body 113 can store or release energy during the sliding process of the sliding body, which not only helps to smoothly complete the positioning action, but also reduces the impact and vibration that may be generated during the positioning process, and further enhances the stability and durability of the positioning.

[0107] The elastic body 113 in the present invention can be any elastic structure, including but not limited to a spring, a bent reed or a polymer elastic material. Fig.10In this embodiment, the elastic body 113 is a spring, which is a standard part with low cost and high quality stability. The fixed body 111 is provided with an installation cavity 115, in which the spring is installed. The sliding body is inserted into the installation cavity 115 and squeezes or releases the spring during the sliding process. The second charging electrode 117 is provided on the end wall of the sliding body away from the spring and is electrically connected to the electrical unit on the base station through the wire 114. It should be noted that in order to better maintain the stability of the sliding body installation, a limiting structure can also be set between the fixed body 111 and the sliding body. The limiting structure can be any suitable structural type to prevent the sliding body from detaching from the fixed body. In this embodiment, the limiting structure includes a first stop body 1111 arranged on the movable body and a second stop body 1121 arranged on the fixed body. The second stop body 1121 is arranged on the end wall of the installation cavity 115 facing the opening. The first stop body 1111 is located at one end of the sliding body inserted into the installation cavity 115. When sliding into place, the second stop body 1121 stops the first stop body 1111 to prevent the sliding body from detaching from the fixed body 111.

[0108] In an embodiment of the utility model, the third position and the fourth position are located on the fixed body 111. Preferably, the fixed body 111 is approximately in the shape of a frustum, and the third position and the fourth position are both located on the frustum. This design allows the positioning point to be determined, thereby improving the accuracy and convenience of positioning. At the same time, compared with the solution of setting the third position on the sliding body, the structure of the positioning device is simplified, and the manufacturing cost and maintenance difficulty are reduced.

[0109] Considering that the existing main robot 200 first docks with the first positioning protrusion and then docks with the water injection port 180 during the process of reaching the first set position of the cleaning base station 100, and finally electrically contacts with the first charging electrode 124, and the raised first positioning protrusion is the basis for water injection positioning and charging positioning of the main robot 200, the cleaning base station 100 of the utility model is limited in structure in the accommodating cavity 121 (the accommodating cavity 121 of the existing cleaning base station 100 is mostly provided with positioning protrusions, water injection port 180, the first charging electrode 124 of the main robot 200, anti-collision rubber strips, etc.). The structure is arranged to be approximately truncated cone-shaped, and the opening size and depth of the first positioning groove 230 on the main robot 200 and the second positioning groove on the sub-robot are set according to the entry depth when the sub-robot reaches the second set position and the entry depth when the main robot 200 reaches the first set position. The first positioning protrusion can position the main robot 200 and the sub-robot, so that when the sub-robot reaches the second set position, the second charging electrode 117 of the end wall of the first positioning protrusion is extended and can be electrically connected to the charging terminal of the sub-robot for charging. It should be understood that at this time, the sub-robot The main robot 200 is located at the fourth position of the first positioning protrusion, and when the main robot 200 reaches the first set position, one embodiment is that the first positioning protrusion is a non-retractable structure, and the opening size and depth of the first positioning groove 230 of the main robot 200 cooperate with the cone-shaped structure of the first positioning protrusion to limit the depth of the main robot 200. When the main robot 200 reaches the first set position, the main robot 200 is at the third position of the first positioning protrusion, and the second charging electrode 117 of the end wall of the first positioning protrusion is located in the cavity of the first positioning groove 230 of the main robot 200. Another embodiment is the first The positioning protrusion is a retractable structure. When the main robot 200 reaches the first set position, the bottom of the first positioning groove 230 of the main robot 200 can press the movable body 112 into the installation cavity 115 on the fixed body 111, and make the end wall 116 of the installation cavity 115 and the second charging electrode piece 117 abut against the bottom of the first positioning groove 230 on the main robot 200. In this way, when the first positioning protrusion is hit, the side wall end surface of the installation cavity 115 can bear the impact force, and the second charging electrode piece 117 can be retracted into the installation cavity 115 to protect the second charging electrode piece 117. When the main robot 200 and the sub-robot enter the accommodating cavity 121 and hit the first positioning protrusion, the second charging electrode piece 117 can be protected in this way.

[0110] In addition, in view of the fact that the cleaning base station 100 of the present invention sets the second charging electrode 117 on the end wall of the raised first positioning protrusion, when the main robot reaches the first set position of the accommodating chamber, the main robot reaches the third position of the first positioning protrusion, and when the sub-robot reaches the second set position of the accommodating chamber, the sub-robot reaches the fourth position of the first positioning protrusion, and the distance from the cross-sectional centroid of the first positioning protrusion at the fourth position to the wall of the accommodating chamber opposite to the opening is greater than or equal to the distance from the cross-sectional centroid of the first positioning protrusion at the third position to the wall of the accommodating chamber opposite to the opening. Therefore, on the basis of minimizing the changes to the structure of the main robot 200 itself and the structure of the cleaning base station 100, the depth of the sub-robot penetrating into the accommodating chamber 121 when reaching the second set position is less than or equal to the depth of the main robot 200 penetrating into the accommodating chamber 121 when reaching the first set position, thereby avoiding the influence of the original positioning protrusion, water injection port 180, first charging electrode 124, anti-collision rubber strip and other structures of the main robot 200 on the sub-robot reaching the position when charging in the accommodating chamber.

[0111] In one embodiment of the utility model, the positioning structure on the main robot 200 includes a first positioning groove 230 and a first flared portion located at the opening of the first positioning groove 230 for guiding the end of the first positioning protrusion to enter. The opening of the first flared portion gradually decreases along the extension direction of the first positioning protrusion until it is connected to the wall of the first positioning groove 230. As long as the first positioning protrusion can be smoothly guided into the first positioning groove 230, the tapered surface of the first flared portion can be tapered in a regular or irregular manner. By providing the first flared portion on the main robot 200, the positioning error window between the main robot 200 and the cleaning base station 100 can be increased, and the position of the main robot 200 can be corrected and positioned when the main robot 200 deviates in walking.

[0112] In one embodiment of the utility model, the positioning structure on the sub-robot includes a second positioning groove and a second flared portion located at the opening of the second positioning groove for guiding the end of the first positioning protrusion to enter. The opening of the second flared portion gradually shrinks along the extension direction of the first positioning protrusion until it is connected to the wall of the second positioning groove. As long as the first positioning protrusion can be smoothly guided into the second positioning groove, the tapered surface of the second flared portion can also be tapered in a regular or irregular manner. By providing the second flared portion on the sub-robot, the positioning error window between the sub-robot and the cleaning base station 100 can be increased, and the position of the sub-robot can be corrected and positioned when the sub-robot deviates in walking.

[0113] In one embodiment of the present invention, the first positioning protrusion includes a positioning body and a guide body. The positioning body matches the first positioning groove 230 and the second positioning groove. The guide body is arranged at the end of the first positioning protrusion. The guide body cooperates with the first flared portion to guide the positioning body into the first positioning groove 230. The structure of the guide body is not limited, as long as it can cooperate with the first flared portion to guide the positioning body into the first positioning groove 230. For example, the guide body is a prism or a frustum. Please refer to Fig.10 , when the first positioning protrusion includes an elastic telescopic structure, the first positioning protrusion includes the fixed body 111 and the movable body 112, the movable body 112 is slidably mounted on the fixed body 111, and includes a sliding body and an elastic body 113, and the sliding body can slide relative to the fixed body 111, the guide body can be the sliding body, the positioning body can be the fixed body 111, and the guide body can slide on the positioning body to achieve elastic telescopicity, thereby dynamically adjusting the position of the main robot 200 or the sub-robot to penetrate into the base station during the positioning process and buffering the energy of the main robot 200 or the sub-robot hitting the base station. The guide body is arranged at the end of the first positioning protrusion, and the positioning error window of the main robot 200, the sub-robot and the first positioning protrusion can be further increased compared with the solution of not arranging the guide body and only arranging the first flaring part on the main robot 200 and only arranging the second flaring part on the sub-robot, so that the position of the sub-robot can be corrected and positioned when the sub-robot walks with deviation.

[0114] In one embodiment of the utility model, a soft structure for impact protection of the main robot 200 and the sub-robot is provided on the wall of the accommodating cavity 121 opposite to the opening 123. The structural form of the soft structure is not limited and can be an integral type or a multi-piece combination type. The material of the soft structure includes but is not limited to an elastomer 113 such as rubber and silicone. The soft structure is arranged away from the first positioning protrusion, for example, it can be located at the upper part of the first positioning protrusion, or it can be located at the lower part of the first positioning protrusion, or it can be located at both the upper and lower sides of the first positioning protrusion, as long as it can be blocked between the shell of the main robot 200 and the hard wall of the accommodating cavity 121 when the main robot 200 enters, and between the shell of the sub-robot and the hard wall of the accommodating cavity 121 when the sub-robot enters. The soft structure can provide impact protection for the main robot 200 and the sub-robot. It can be understood by those skilled in the art that if the optimal protection effect is not considered, the soft structure can also only provide impact protection for the main robot 200 or the sub-robot.

[0115] In one embodiment of the utility model, the cleaning base station 100 includes a cleaning tank 130 disposed at the bottom of the accommodating cavity 121. The structure and shape of the cleaning tank 130 are not limited, and it is preferred to be able to correspond to and accommodate the cleaning components of the main robot 200. When the main robot 200 reaches the first set position, the cleaning tank 130 corresponds to the cleaning components of the main robot 200 to clean the cleaning components. The provision of the cleaning tank 130 reduces the tediousness of manual operation and greatly improves the cleaning efficiency, ensuring that the main robot 200 can quickly return to the optimal working state after completing the cleaning task. The addition of the cleaning tank 130 also enhances the practicality and functionality of the cleaning base station 100.

[0116] In one embodiment of the present invention, the cleaning assembly includes a rag tray, see Figures 11 to 25 The cleaning tank 130 is provided with a cleaning rib assembly for cleaning the rag disc. The structure and shape of the cleaning rib assembly are not limited. For example, it can be in a cross shape, a straight extension shape, or other corresponding shapes, so as to be able to effectively scrape the rag disc when the main robot 200 rotates the rag disc at the first set position. When the main robot 200 reaches the first set position, the cleaning rib assembly corresponds to the rag disc to clean the rag disc. When the main robot 200 walks to the first set position, the cleaning base station 100 can spray water on the rag disc, and the main robot 200 drives the rag disc to rotate. The cleaning ribs can comb and scrape the rag disc during the rotation of the rag disc, so that the rag disc can be cleaned more comprehensively.

[0117] In an embodiment of the present invention, when the sub-robot reaches the second set position, the walking wheels of the sub-robot are located outside the cleaning tank 130, and the cleaning rib assembly is configured to support the portion of the sub-robot extending above the cleaning tank 130. This arrangement can increase the docking stability of the sub-robot and reduce the impact of equipment vibration on the contact stability between the charging terminal of the sub-robot and the second charging electrode 117.

[0118] In one embodiment of the utility model, when the sub-robot reaches the second set position, the walking wheels of the sub-robot are located in the cleaning tank 130, and a channel is provided in the cleaning tank to allow the sub-robot to pass through and reach the second set position. The shape of the channel is not limited, and can be recessed in the bottom of the cleaning tank or protruded from the bottom of the cleaning tank, so as to enable the sub-robot to pass smoothly without affecting the docking of the main robot 200. The channel design in the cleaning tank not only ensures that the sub-robot can smoothly reach the second set position for charging or dust collection, but also avoids interference with the cleaning rib assembly, reduces potential damage risks, and provides protection for the sub-robot to walk in the cleaning tank 130.

[0119] In one embodiment of the utility model, a limiting member for limiting the position of the sub-robot is provided in the channel. The limiting member can limit the sub-robot within the effective range where the guide body and the second flared portion can contact, thereby preventing the guide body from being located outside the second flared portion and causing the guide failure problem.

[0120] The structural form of the cleaning component in the present invention is not limited, as long as it can complete the cleaning work of the cleaning component. In one embodiment of the present invention, the cleaning component includes a first rag plate 210 and a second rag plate 250, and the first rag plate 210 and the second rag plate 250 are arranged along the width direction of the main robot 200. The cleaning rib assembly includes a first cleaning rib unit 131 and a second cleaning rib unit 132, the first cleaning rib unit 131 is arranged corresponding to the first rag plate 210, the second cleaning rib unit 132 is arranged corresponding to the second rag plate 250, and the channel is arranged on the cleaning ribs of the first cleaning rib unit 131 and the second cleaning rib unit 132 or between the cleaning ribs. Two cleaning rib units are arranged in the cleaning tank 130, so that the first rag plate 210 and the second rag plate 250 can be cleaned at the same time, thereby improving the cleaning efficiency. The channel is arranged on the cleaning ribs of the first cleaning rib unit 131 and the second cleaning rib unit 132 or between the cleaning ribs, which can effectively avoid the first cleaning rib unit 131 and the second cleaning rib unit 132, and at the same time can ensure that the sub-robot can smoothly reach a deeper position of the cleaning plate.

[0121] In an embodiment of the present invention, the position-limiting member includes a baffle plate disposed in the cleaning tank 130, and the height of the baffle plate is less than or equal to the height of the cleaning rib assembly along a plane perpendicular to the walking direction of the sub-robot. In this way, the baffle plate can limit the position of the sub-robot and does not affect the docking of the main robot 200 in the accommodating chamber 121.

[0122] Considering that the cleaning tank 130 has a certain depth and the size of the running wheels of the sub-robot is relatively small, in order to allow the sub-robot to smoothly enter the cleaning tank 130, in one embodiment of the utility model, the channel is a track for the running wheels of the sub-robot to run, and the running wheels of the sub-robot run along the track to enter the cleaning tank 130. By setting a track matching the running wheels of the sub-robot, the sub-robot can be guided to enter smoothly, which provides a guarantee for the stability and accuracy of the sub-robot when entering the cleaning tank 130.

[0123] In one embodiment of the utility model, the track is protruding from the bottom of the cleaning tank 130, and the height of the track along the plane perpendicular to the walking direction of the sub-robot is less than or equal to the height of the cleaning rib assembly. One end of the track is connected to the side of the cleaning tank 130 close to the opening 123, and the other end of the track extends into the cleaning tank 130 along the entry direction of the sub-robot. Along the moving direction of the sub-robot, the track surface of the track can be gradually lowered to guide the sub-robot to smoothly enter the cleaning tank 130. Along the plane perpendicular to the walking direction of the sub-robot, the height of the track is designed to be less than or equal to the height of the cleaning rib assembly, which ensures that when the main robot 200 enters the cleaning tank 130, the track will not interfere with the entry and cleaning work of the main robot 200, thereby ensuring smooth cleaning. One end of the track is connected to the side of the cleaning tank 130 close to the opening 123, and the other end extends into the cleaning tank 130 along the entry direction of the sub-robot, which not only provides a clear travel path for the sub-robot, but also ensures that the sub-robot can smoothly transition when entering the cleaning tank 130, avoiding bumps or jams caused by unclear or sudden changes in the path. Preferably, along the plane perpendicular to the walking direction of the sub-robot, the height of the track is designed to be equal to the height of the cleaning rib assembly. When the main robot 200 is in the cleaning tank 130, the track can also support the main robot 200 to ensure that the main robot 200 is stably docked in the base station accommodating cavity 121. At the same time, the track surface gradually decreases in the travel direction of the sub-robot, which can not only further guide the sub-robot to smoothly enter the cleaning tank 130, but also use the natural guiding force generated by its slope to help the sub-robot complete the entry action more smoothly.

[0124] In one embodiment of the utility model, the track further includes a wall surface provided along at least one side of the moving direction of the sub-robot. The shape of the wall surface is not limited. The wall surface can be used as a limiter provided in the channel for limiting the sub-robot. Along the plane perpendicular to the moving direction of the sub-robot, the height of the top of the wall surface is less than or equal to the height of the cleaning rib assembly so as not to hinder the entry of the main robot 200. Providing a wall surface on at least one side of the track can support the main robot 200 and / or the sub-robot, and can also serve as a scraper for the rag plate of the main robot 200, which can assist the cleaning rib assembly in cleaning the rag plate.

[0125] In one embodiment of the utility model, the track surface of the track is provided with anti-skid ribs. The anti-skid ribs are provided on the track surface, and the anti-skid ribs can increase the friction between the track surface and the sub-robot's running wheels, thereby effectively preventing the sub-robot from slipping or deviating from the track when entering the cleaning tank 130 or driving. At the same time, the anti-skid ribs can be used as cleaning rib components to scrape and clean the rag plate of the main robot 200.

[0126] See also Figures 11 to 25 The cleaning rib assembly includes a first cleaning rib unit 131 and a second cleaning rib unit 132. The first cleaning rib unit 131 is arranged corresponding to the first rag plate 210 and includes a first longitudinal rib 1311. The second cleaning rib unit 132 is arranged corresponding to the second rag plate 250 and includes a second longitudinal rib 1321. The first longitudinal rib 1311 and the second longitudinal rib 1321 are parallel to each other and extend along the walking direction of the sub-robot. The side of the first longitudinal rib 1311 and the second longitudinal rib 1321 away from the first positioning device 110 is connected to the side of the cleaning tank 130 close to the opening 123. The track is the first longitudinal rib 1311 and the second longitudinal rib 1321. The first longitudinal rib 1311 is provided with a first limiter 1312 for limiting one running wheel of the sub-robot, and the second longitudinal rib 1321 is provided with a second limiter 1322 for limiting another running wheel of the sub-robot. The first limiter 1312 and the second limiter 1322 are walls provided on at least one side of the track along the travel direction of the sub-robot. The longitudinal ribs in the cleaning rib assembly are directly designed as tracks, which realizes the perfect combination of cleaning and guiding functions. This design not only simplifies the structure of the cleaning base station 100 and reduces the manufacturing cost, but also improves the overall functionality and practicality. Limiters are respectively provided on the first longitudinal rib 1311 and the second longitudinal rib 1321, which provide a guarantee for the stable docking of the sub-robot on the first longitudinal rib 1311 and the second longitudinal rib 1321.

[0127] See also Figures 11 to 25 In some embodiments of the utility model, a sewage filter 150 is provided in the cleaning tank 130. The sewage filter 150 can be any suitable sewage filter 150 type of the existing cleaning base station 100. The sewage filter 150 can effectively filter out impurities and particulate matter in the sewage generated during the cleaning process, ensure the water quality in the cleaning tank 130 is clean, and improve the cleaning effect. The limiter is arranged on the sewage filter 150, so that the sewage filter 150 and the limiter are combined together to optimize the overall structure of the cleaning base station, simplify the connection and assembly between components, and improve the stability and durability of the cleaning base station 100. Preferably, a sewage filter hole is also provided on the track surface of the track, and the sewage and fine dirt in the track are filtered and discharged from the track to prevent the sewage and fine dirt from accumulating in the track and reducing the cleaning efficiency of the cleaning component of the main robot 200 in the cleaning tank.

[0128] In the present utility model, if the height difference between the cleaning tank 130 and the ground is relatively small, the climbing surface 140 may not be provided. However, considering that the existing cleaning base station 100 collects sewage at the bottom of the cleaning tank 130, it is necessary to have a higher height. Therefore, in the present embodiment, the cleaning base station 100 also includes a climbing surface 140, and the two ends of the climbing surface 140 are respectively connected to the ground and the accommodating chamber 121, thereby providing a convenient passage for the main robot 200 or the sub-robot to enter and leave the cleaning base station 100. It should be noted that in the present utility model, the cleaning tank 130 and the climbing surface 140 can also be fixedly or detachably connected to form the chassis of the cleaning base station, and the chassis is detachably connected to the rest of the base station body. Considering the entry and exit of the main robot and the sub-robot, the climbing surface 140 is provided with a main climbing track 141, a sub-climbing track 142 and an auxiliary structure 122 for assisting the sub-robot to pass through the climbing surface 140, and the main climbing track 141 corresponds to the walking wheel of the main robot 200, and is provided with anti-skid ribs. The sub-climbing track 142 corresponds to the running wheel of the sub-robot and is also provided with anti-skid ribs. The anti-skid ribs are mainly aimed at increasing friction to prevent the running wheels of the main robot 200 or the sub-robot from slipping. The specific structure is not limited, and can be a combination of one or more striped or dot arrays. The anti-skid ribs can effectively increase the friction coefficient of the climbing surface 140, prevent the main robot 200 or the sub-robot from slipping or losing stability during the climbing process, thereby ensuring the smooth progress of the climbing action. The auxiliary structure 122 can be any suitable structure and type that can help the sub-robot successfully complete the climbing, including but not limited to setting a rolling limit structure, a conveying device, etc. The anti-skid ribs and the auxiliary structure 122 that assists the sub-robot to pass through further improve the stability and safety of the sub-robot during the climbing process. The anti-skid ribs can effectively increase the friction coefficient of the climbing surface 140, prevent the sub-robot from slipping or losing stability during the climbing process, thereby ensuring the smooth progress of the climbing action. At the same time, the auxiliary structure 122 can provide additional support and limit guidance for the sub-robot, and also reduce the difficulty and risk of climbing, making the movement of the sub-robot in the cleaning base station 100 smoother and more efficient.

[0129] See also Figures 11 to 25In one embodiment of the utility model, the auxiliary structure 122 includes a rotating body rotatably mounted on the climbing surface 140. The structural form of the rotating body is not limited, and it is suitable to limit the sub-robot through the outer peripheral surface or the end surface along the axial direction during the rotation. In this embodiment, the rotating body is a mechanical roller, which can be obtained by general commercial means without separate preparation, and the cost is low. The rotating body transmits the sub-robot through the climbing surface 140 and / or limits the sub-robot during the climbing process of the sub-robot. The rotating body can reduce the resistance and limiting friction during the climbing process under the premise of achieving the limit, thereby improving the movement efficiency and stability of the sub-robot. Through the rotation and positioning of the rotating body, it is possible to ensure that the sub-robot maintains the correct posture and position during the climbing process, and prevent safety risks caused by offset or tilt. This limiting function not only enhances the safety of the sub-robot climbing, but also improves the stability and reliability of the overall cleaning base station 100.

[0130] See also Fig.16 and Fig.17 In one embodiment of the utility model, the sub-robot includes two coaxially arranged running wheels; when the sub-robot reaches the second position, the two running wheels of the sub-robot are respectively located on the first longitudinal rib 1311 and the second longitudinal rib 1321 inside the cleaning tank 130. The rotating body includes a first rotating body group and a second rotating body group arranged at intervals along the width direction of the climbing surface 140 on the climbing surface 140, the first rotating body group includes at least two first rotating bodies 143, and the second rotating body group includes at least two second rotating bodies 144. The axis of the rotating shaft of the first rotating body 143 and the axis of the rotating shaft of the second rotating body 144 both extend along the width direction of the climbing surface 140, and at least two of the first rotating bodies 143 are arranged at intervals along the climbing direction of the climbing surface 140, and at least two of the second rotating bodies 144 are arranged at intervals along the climbing direction of the climbing surface 140, and the first rotating body 143 and the second rotating body 144 are arranged to form two sub-climbing tracks 142 corresponding to the two running wheels of the sub-robot and connected to the two longitudinal ribs. In the present invention, the climbing direction of the climbing surface 140 is defined as a direction extending from the end of the climbing surface 140 connected to the ground to the end of the climbing surface 140 connected to the accommodating cavity 121, and the projection of the climbing direction on the horizontal plane is perpendicular to the plane formed by connecting the left and right ends of the side wall of the base station (see Fig.12 The width direction of the climbing surface 140 is defined as a direction extending perpendicularly to the climbing direction along the climbing surface 140 (see Fig.12Y direction), the same will not be repeated below. The auxiliary structure 122 also includes a driving device, which includes but is not limited to a motor or a combination of a motor and a reduction assembly, and the reduction assembly includes but is not limited to one or more combinations of a gear reduction assembly, a belt reduction assembly, and a chain reduction assembly. The driving device drives the first rotating body 143 and the second rotating body 144 to rotate to transmit the walking wheels located on the sub-climbing track 142. The driving device drives the first rotating body 143 and the second rotating body 144 to rotate to provide uphill power for the sub-robot to climb on the climbing surface 140, transmit the walking wheels of the sub-robot to the second set position, and transmit the sub-robot during the downhill process of the sub-robot to make it go downhill smoothly. By introducing a driving device as part of the auxiliary structure 122, the sub-robot can be transmitted by the rotating rotating body while limiting, so that the sub-robot can easily cope with the challenges of various slopes when the driving force for climbing is insufficient. This not only improves the climbing ability of the sub-robot, but also ensures its stability and reliability in complex terrain. A first recess 1431 is formed between adjacent first rotating bodies 143, and a second recess 1441 is formed between adjacent second rotating bodies 144. The first recess 1431 and the second recess 1441 are used to limit the running wheels of the sub-robot. Since the axis of the rotating body is consistent with the width direction of the climbing surface 140, the rotating body can provide better stability and prevent the sub-robot from sliding or deviating when climbing. And by setting the rotating bodies at intervals and the recesses between the rotating bodies, the running wheels of the sub-robot can be limited, which helps to ensure that the sub-robot maintains the correct travel trajectory during the climbing process and prevents it from slipping from the climbing surface 140.

[0131] In one embodiment of the utility model, the sub-robot includes two coaxially arranged running wheels; when the sub-robot reaches the second position, the two running wheels of the sub-robot are respectively located on the first longitudinal rib 1311 and the second longitudinal rib 1321 inside the cleaning tank 130. The climbing surface 140 is provided with at least two sub-climbing tracks 142 respectively arranged corresponding to the running wheels of the two sub-robots, one end of one sub-climbing track 142 is connected with the first longitudinal rib 1311, and one end of the other sub-climbing track 142 is connected with the second longitudinal rib 1321, thereby forming two running tracks for the sub-machine to travel to the second set position. When climbing, the two running wheels of the sub-robot respectively correspond to the two sub-climbing tracks 142 arranged on the climbing surface 140, and when walking into the cleaning tank 130, the two running wheels of the sub-robot walk on the first longitudinal rib 1311 and the second longitudinal rib 1321. The sub-climbing track 142 can be either protruding from the climbing surface 140 or flush with the climbing surface 140. Anti-skid ribs can also be set in the sub-climbing track 142 to provide a stable travel path for the walking wheels to ensure that the sub-robot can move in a predetermined direction during the climbing process. The rotating body includes a first rotating body group and a second rotating body group arranged at intervals on the climbing surface 140 along the width direction of the climbing surface 140. The first rotating body group includes at least one first rotating body 143, and the second rotating body group includes at least one second rotating body 144. The rotating body can be as follows Figure 22 to Figure 25 As shown, the outer peripheral surface of the first rotating body 143 is arranged corresponding to the end surface of one of the running wheels, and the outer peripheral surface of the second rotating body 144 is arranged corresponding to the end surface of the other running wheel. Figures 11 to 17, so that the end face of the first rotating body 143 is set corresponding to the end face of one of the walking wheels, and the end face of the second rotating body 144 is set corresponding to the end face of the other walking wheel, so as to limit the sub-robot. It should be noted that in the present utility model, the outer peripheral surface of the first rotating body 143 or the outer peripheral surface of the second rotating body 144 is defined as the outermost surface formed when the rotating body rotates in space. For example, when the first rotating body 143 and the second rotating body 144 are cylinders, their outer peripheral surfaces are the side surfaces of the cylinder. The end face of the first rotating body 143 or the end face of the second rotating body 144 is defined as the plane at both ends of the rotating body in the axial direction. For example, for a cylinder, its end face is the two planes at the top and bottom of the cylinder. The same will be omitted below. The two groups of rotating bodies are arranged at intervals along the width direction of the climbing surface 140, and their positions correspond to the sub-climbing track 142. When the sub-robot starts to climb, the running wheels roll forward in the sub-climbing track 142, and prevent it from deviating from the sub-climbing track 142 by contacting the outer peripheral surface or end surface of the first rotor 143 and the second rotor 144. The outer peripheral surface or end surface of these rotors is in contact with the end surface of the running wheel, and the first rotor 143 and the second rotor 144 rotate under the friction of the sub-robot running wheel, which can enable the sub-robot to climb smoothly while achieving the limit. Since the rotor is arranged corresponding to the running wheel, the lateral movement of the sub-robot along the width direction of the climbing surface 140 during the climbing process can be effectively limited. This design significantly improves the stability, guidance and limiting effect of the sub-robot during the climbing process by optimizing the configuration of the running wheel, the sub-climbing track 142 and the rotor group, and provides a strong guarantee for its efficient and accurate execution of tasks in various application scenarios.

[0132] In the present invention, the outer circumference of the first rotating body 143 and the outer circumference of the second rotating body 144 are arranged to correspond to the end surface of the running wheel, so there are many schemes for limiting the running wheel, such as Figure 22 to Figure 23 As shown, in one embodiment of the present invention, the rotation axes of the first rotating body 143 and the second rotating body 144 are perpendicular to the rotation axes of the running wheels and perpendicular to the moving direction of the sub-robot, the outer peripheral surface of the first rotating body 143 is arranged corresponding to the inner end surface of one of the running wheels, and the outer peripheral surface of the second rotating body 144 is arranged corresponding to the inner end surface of the other running wheel. Figure 24 to Figure 25As shown, in another embodiment of the utility model, the rotating shafts of the first rotating body 143 and the second rotating body 144 are perpendicular to the rotating shafts of the walking wheels and perpendicular to the traveling direction of the sub-robot, the outer peripheral surface of the first rotating body 143 is arranged corresponding to the outer end surface of one of the walking wheels, and the outer peripheral surface of the second rotating body 144 is arranged corresponding to the outer end surface of the other walking wheel. It should be noted that the inner end surface of the walking wheel is defined as the end surface perpendicular to the walking wheel rotating shaft and facing the other walking wheel, and the outer end surface of the walking wheel is defined as the end surface perpendicular to the walking wheel rotating shaft and away from the other walking wheel, and the same will be omitted below. The rotating shafts of the first rotating body 143 and the second rotating body 144 are perpendicular to the traveling direction of the sub-robot and the rotating shafts of the walking wheels. This vertical layout ensures that the friction between the outer peripheral surface of the rotating body and the end surface of the walking wheel is rolling friction, which can greatly reduce the friction between the first rotating body 143 and the second rotating body 144.

[0133] See also Figures 11 to 17 In the present invention, the end face of the first rotating body 143 is arranged corresponding to the end face of one of the walking wheels, and the end face of the second rotating body 144 is arranged corresponding to the end face of the other walking wheel, so there are multiple schemes for limiting the walking wheels. In the present invention, the inner end face of the first rotating body 143 is defined as the end face perpendicular to the rotation axis of the first rotating body 143 and facing the second rotating body 144; the inner end face of the second rotating body 144 is defined as the end face perpendicular to the rotation axis of the second rotating body 144 and facing the first rotating body 143; the outer end face of the first rotating body 143 is defined as the end face perpendicular to the rotation axis of the first rotating body 143 and away from the second rotating body 144; the outer end face of the second rotating body 144 is defined as the end face perpendicular to the rotation axis of the second rotating body 144 and away from the first rotating body 143.

[0134] See also Figure 11 to Figure 12In one embodiment of the utility model, the sub-robot includes two coaxially arranged running wheels; when the sub-robot reaches the second position, the two running wheels of the sub-robot are respectively located on the first longitudinal rib 1311 and the second longitudinal rib 1321 inside the cleaning tank 130. The rotating body includes a first rotating body group and a second rotating body group arranged at intervals along the width direction of the climbing surface 140 on the climbing surface 140, the first rotating body group includes at least two first rotating bodies 143, and the second rotating body group includes at least two second rotating bodies 144. The rotating axes of the first rotating body 143 and the second rotating body 144 are parallel to the rotating axes of the running wheels when they climb on the climbing surface 140; the first rotating body 143 and the second rotating body 144 are both located between the two sub-climbing tracks 142, the outer end surface of the first rotating body 143 is arranged corresponding to the inner end surface of the running wheel on one side, and the outer end surface of the second rotating body 144 is arranged corresponding to the inner end surface of the running wheel on the other side. In this way, when the sub-robot is climbing, the outer end surface of the first rotating body 143 and the outer end surface of the second rotating body 144 respectively limit the inner end surface of the running wheel. It should also be noted that in this embodiment, the height of the top of the outer peripheral surface of the first rotating body 143 and the second rotating body 144 can also be set according to the distance between the lower edge of the running wheel and the bottom of the sub-robot when the sub-robot is walking, so as to support the bottom of the sub-robot when the sub-robot passes by, and reduce the resistance to the sub-robot through the rotation of the first rotating body 143 and the second rotating body 144 while supporting.

[0135] See also Figure 14 to Figure 15 In another embodiment, with Figure 11 to Figure 12 Compared with the embodiment, although the rotating axes of the first rotating body 143 and the second rotating body 144 are also parallel to the rotating axes of the walking wheels, the inner end face of the first rotating body 143 is arranged corresponding to the outer end face of the walking wheel on one side, and the inner end face of the second rotating body 144 is arranged corresponding to the outer end face of the walking wheel on the other side. This is applicable to the situation where it is not allowed to set a rotating body between the inner end faces of the two walking wheels.

[0136] Although the first rotating body 143 and the second rotating body 144 are arranged opposite to each other, the sub-robot can be limited when the sub-robot passes through the position. Figures 11 to 25In the multiple embodiments shown, the first rotating body group includes at least two first rotating bodies 143, and the second rotating body group includes at least two second rotating bodies 144. At least two of the first rotating bodies 143 are arranged at intervals along the extension direction of the sub-climbing track 142 on one side, and the axes of each of the first rotating bodies 143 are parallel to each other; the second rotating bodies 144 are arranged at intervals along the extension direction of the sub-climbing track 142 on the other side, and the axes of each of the second rotating bodies 144 are parallel to each other. This arrangement can limit the sub-robot at multiple points on its travel route, and the travel limit accuracy of the sub-robot is higher. It can be understood by those skilled in the art that if the cost is not considered, more first rotating bodies 143 and more second rotating bodies 144 can also be arranged along the extension direction of the travel area.

[0137] It should be noted that, according to the size of the sub-robot, the sub-climbing track 142 in the present invention can be connected to the longitudinal ribs so that the sub-robot can walk into the cleaning tank 130, or it can be disconnected from the cleaning ribs so that the walking wheels of the sub-robot are located outside the cleaning tank 130. Figures 18 to 21 In another embodiment of the utility model, when the main robot 200 reaches the first set position, the main robot's running wheels 240 are located outside the cleaning tank 130, and the main climbing track 141 is provided with a first stop position 1411 on one side close to the cleaning tank 130. When the main robot 200 reaches the first set position, the main robot's running wheels 240 are located at the first stop position 1411. When the sub-robot reaches the second set position, the sub-robot's running wheels are also located outside the cleaning tank 130, and the sub-climbing track 142 is provided with a second stop position 1421 on one side close to the cleaning tank 130. When the sub-robot reaches the second set position, the sub-robot's running wheels are located at the second stop position 1421. In this way, when the sub-robot is docked outside the cleaning tank 130, the electrical connection between the sub-machine charging terminal and the second charging electrode 117 can be achieved. Therefore, the sub-robot does not need to move into the cleaning tank 130, but only needs to stop at the second docking position 1421 outside the cleaning tank 130. In this case, the sub-climbing track 142 is not connected to the longitudinal ribs of the cleaning rib assembly. The rotating body includes a first rotating body group and a second rotating body group arranged at intervals along the width direction of the climbing surface 140 on the climbing surface 140, the first rotating body group includes at least one first rotating body 143, and the second rotating body group includes at least one second rotating body 144. The first rotating body 143 and the second rotating body 144 can be positioned in a variety of ways for the sub-robot walking wheels, for example, Figure 18 to Figure 19As shown, in one embodiment of the utility model, the rotation axes of the first rotating body 143 and the second rotating body 144 are parallel to the rotation axes of the running wheels when they are climbing on the climbing surface 140; the first rotating body 143 and the second rotating body 144 are both located between the two sub-climbing tracks 142, the outer end surface of the first rotating body 143 is arranged corresponding to the inner end surface of the running wheel on one side, and the outer end surface of the second rotating body 144 is arranged corresponding to the inner end surface of the running wheel on the other side. Figure 18 to Figure 19 The difference between the embodiment in the embodiment is that the first rotating body 143 and the second rotating body 144 are both located on both sides of the two sub-climbing tracks 142, the inner end surface of the first rotating body 143 is arranged corresponding to the outer end surface of the running wheel on one side, and the inner end surface of the second rotating body 144 is arranged corresponding to the outer end surface of the running wheel on the other side, which is applicable to the situation where it is not allowed to arrange a rotating body between the inner end surfaces of the two running wheels. Figure 20 to Figure 21 As shown, in another embodiment, the rotation axes of the first rotating body 143 and the second rotating body 144 are perpendicular to the rotation axes of the running wheels and perpendicular to the moving direction of the sub-robot, the outer peripheral surface of the first rotating body 143 is arranged corresponding to the inner end surface of one of the running wheels, and the outer peripheral surface of the second rotating body 144 is arranged corresponding to the inner end surface of the other running wheel. Figure 20 to Figure 21 The difference between the embodiments is that the first rotating body 143 and the second rotating body 144 are respectively located on both sides of the two sub-climbing tracks 142 (that is, the first rotating body 143 is located between the sub-climbing track 142 and the main climbing track 141 on one side, and the second rotating body 144 is located between the sub-climbing track 142 and the main climbing track 141 on the other side), and the outer peripheral surface of the first rotating body 143 is arranged corresponding to the outer end surface of one of the walking wheels, and the outer peripheral surface of the second rotating body 144 is arranged corresponding to the outer end surface of the other walking wheel.

[0138] In one embodiment of the utility model, the base station body 120 includes a dust collection system, the dust collection system includes a dust collection port, the main robot 200 includes a first dust discharge port, and the sub-robot includes a second dust discharge port; when the main robot 200 enters the first set position, the dust collection port matches and docks with the first dust discharge port, and when the sub-robot enters the second set position, the dust collection port matches and docks with the second dust discharge port. By introducing the dust collection system into the cleaning base station 100 of the utility model, the functionality and practicality of the cleaning base station 100 are significantly improved. Under the positioning of the first positioning protrusion and the first positioning groove 230 on the main robot 200 and the second positioning groove on the sub-robot, the dust collection port equipped with the dust collection system can be more accurately docked with the first dust discharge port of the main robot 200 or the second dust discharge port of the sub-robot, realizing automated and efficient dust collection and processing. When the main robot 200 moves to the first set position, the dust collection port automatically matches and docks with the first dust discharge port to clean the dust; similarly, when the sub-robot moves to the second set position, the dust collection port can also smoothly dock with the second dust discharge port to complete dust collection.

[0139] Considering the size of the sub-robot, it may be impossible to share an interface with the main robot 200. In one embodiment of the utility model, the dust collection port includes a first interface and a second interface. The first interface and the second interface are both connected to the suction port of the dust collection system. When the main robot 200 enters the first set position, the second interface is closed or blocked by the main robot 200. The first interface is matched and docked with the first dust discharge port to perform dust collection operations. When the sub-robot enters the second set position, the first interface is closed or blocked by the sub-robot, and the second interface is matched and docked with the second dust discharge port. It should be noted that the closure of the first interface or the second interface can be achieved by an existing electric control valve assembly, which can be obtained by general commercial means and will not be repeated here.

[0140] It should be noted that the cleaning base station 100 of the utility model also includes the necessary parts of the existing conventional cleaning base station 100, such as the walking guide assembly for guiding the main robot 200 and the sub-robot to enter and exit the accommodating chamber 121. In this embodiment, the base station body 120 is installed with a first walking guide assembly 160, and the sub-robot and the main robot are respectively installed with corresponding second walking guide assemblies 220; the first walking guide assembly 160 cooperates with the second walking guide assembly 220 on the main robot 200 to guide the main robot 200 to reach the first set position of the accommodating chamber 121, and cooperates with the second walking guide assembly 220 on the sub-robot to guide the sub-robot to reach the second set position of the accommodating chamber 121. As long as it can cooperate to guide the main robot 200 and the sub-robot to walk to the corresponding positions in the accommodating chamber 121, the specific structural form and installation method of the first walking guide assembly 160 and the second walking guide assembly 220 are not limited, including but not limited to conventional positioning guide assemblies of walking robots such as infrared positioning modules, laser recognition assemblies, and visual positioning assemblies, or a combination of multiple. In this embodiment, the first walking guide component 160 installed on the cleaning base station 100 is a transmitting component of the infrared positioning module, and the second walking guide component 220 on the main robot 200 and the sub-robot is a receiving component matched with the transmitting component, and the transmitting component and the receiving component cooperate to guide the main robot 200 or the sub-robot to enter the accommodating cavity 121. It should be noted that the control means for guiding the main robot 200 or the sub-robot to walk to the cleaning base station 100 by the infrared positioning component is an existing means and will not be repeated here.

[0141] In an embodiment of the present invention, the projection of the main robot 200 on the horizontal plane when it is in the first setting position covers the projection of the sub-robot on the horizontal plane when it is in the second setting position. This arrangement enables the accommodating cavity 121 to have a smaller volume, which is conducive to reducing the overall volume of the cleaning base station 100.

[0142] See also Figure 1 to Figure 2 In one embodiment of the utility model, the cleaning base station 100 is provided with a locking structure 170 in the accommodating cavity 121 for locking the main robot 200 and / or the sub-robot. The locking structure is used to lock the sub-robot and / or the sub-robot on the cleaning base station 100 after the sub-robot and / or the sub-robot walks into position. The locking structure can be a hook or an elastic locking structure, and the locking structure between the existing cleaning base station and the cleaning robot can be referred to, and will not be repeated here.

[0143] In one embodiment of the utility model, a guide roller (not shown) for guiding the main robot 200 to enter is arranged in the accommodating cavity 121. The guide roller can guide the main robot 200 to enter the first position of the cleaning base station 100. The setting method and position of the guide roller can refer to the existing base station form, and will not be repeated here.

[0144] In one embodiment of the utility model, the sub-robot is unable to complete passing through the climbing surface 140 by itself. In order to enable the sub-robot to smoothly pass through the climbing surface 140 and reach the second set position, the auxiliary structure 122 includes one or more combinations of a roller transmission assembly, a crawler transmission assembly, a gear rack transmission assembly, and a chain transmission assembly to transmit the sub-robot upward along the climbing surface 140, so that the sub-robot can walk to the second position by itself after passing through the climbing surface 140.

[0145] It should be noted that the various embodiments of the climbing surface 140 described above can be combined with various embodiments of the structure inside the cleaning tank to form different chassis structures of the cleaning base station, which will not be described in detail.

[0146] The second aspect of the utility model is to provide a sub-robot for cooperating with the main robot 200 and the cleaning base station 100 described in any one of the above items to complete the corresponding cleaning operation, the cleaning base station 100 includes at least two first positioning devices 110 for limiting the main robot 200, and the sub-robot includes: a sub-machine housing, a cleaning component, a walking wheel and a charging terminal. The shape of the sub-machine housing includes but is not limited to a nearly circular machine, a D-shaped machine, a rectangular machine or a square machine, the forward part of the sub-robot extending into the accommodating cavity 121 of the cleaning base station 100 is contoured to the shape of the base station cavity, and the charging terminal, dust collection port, and receiving component of the sub-robot opposite to the transmitting component of the infrared positioning module on the cleaning base station 100 are all integrated on the forward part of the wall of the sub-robot facing the accommodating cavity 121. The cleaning component is installed at the bottom of the sub-machine housing; the walking wheels are installed at the bottom of the sub-machine housing and move by themselves so that the cleaning component completes the corresponding cleaning operation; the charging terminal is arranged on the sub-machine housing and corresponds to the position of the two first positioning devices 110, so as to be electrically connected to the second charging electrodes 117 on the two first positioning devices 110 when the sub-robot reaches the second set position of the cleaning base station 100.

[0147] In one embodiment of the utility model, the first positioning device 110 protrudes into the accommodating cavity 121 of the cleaning base station 100 and extends along the moving direction of the sub-robot. The sub-machine housing is provided with a second positioning groove matching the first positioning device 110, and the charging terminal is provided in the second positioning groove. The sub-robot of the utility model has a charging terminal matching the cleaning base station 100 of the utility model, and can be used in conjunction with the cleaning base station 100 of the utility model to complete the cleaning work of small or low areas, and the structure does not need to avoid the structure of the existing cleaning base station 100, such as the first positioning device 110, the water injection device, the main robot 200 charging device, etc., and can be electrically connected through the first positioning device 110, and the structure is more optimized.

[0148] In one embodiment, the positioning structure on the sub-robot includes a second flared portion located at the opening of the second positioning groove for guiding the end of the first positioning protrusion to enter, and the opening 123 of the second flared portion gradually shrinks along the extension direction of the first positioning protrusion until it is connected to the wall of the second positioning groove. As long as the first positioning device 110 can be smoothly guided into the second positioning groove, the tapered surface of the second flared portion can also be tapered in a regular or irregular manner. By providing the second flared portion on the sub-robot, the positioning error window between the sub-robot and the cleaning base station 100 can be increased, and the position of the sub-robot can be corrected and positioned when the sub-robot walks with deviations.

[0149] It should also be noted that the structure of the main robot 200 in the present invention can refer to the structure of any existing suitable cleaning robot, and the relevant parts of the cleaning base station 100 and the sub-robot that are not described in detail can also refer to the existing technology and will not be repeated here.

[0150] In the cleaning base station of the utility model, the second charging electrode for charging the sub-robot is arranged on the first positioning device matched with the main robot, and the charging operation of the sub-robot can be realized on the existing cleaning base station matched with the main robot. On the one hand, the structure and function matching the existing cleaning robot in the cleaning base station can be maintained on the basis of realizing the charging demand of the sub-robot. On the other hand, the first positioning device and the second charging electrode corresponding to the sub-robot are integrated to obtain greater space utilization. At the same time, the cleaning base station can also be used only in conjunction with the existing cleaning robot (which can be understood as the main robot), and can also meet the needs of the interchangeable use of the main robot and the sub-robot. It is flexible and can take into account the compatibility matching of the new and old cleaning robots in the existing market. It has strong versatility and low manufacturing cost. The cleaning system of the utility model includes the cleaning base station of the utility model. On the basis of having the beneficial effects of the cleaning base station of the utility model, it can realize cleaning operations in more areas and under more working conditions. The sub-robot of the utility model has a charging terminal that matches the cleaning base station of the utility model, and can be used in conjunction with the cleaning base station of the utility model to complete the cleaning work in a small area. The structure does not need to avoid the first positioning device in the existing cleaning base station, and can be electrically connected through the first positioning device, which is more optimized in structure. Therefore, the utility model effectively overcomes some practical problems in the prior art and has a high utilization value and use significance. The above embodiments are only illustrative of the principles and effects of the utility model, and are not used to limit the utility model. Anyone familiar with this technology can modify or change the above embodiments without violating the spirit and scope of the utility model. Therefore, all equivalent modifications or changes made by those with ordinary knowledge in the relevant technical field without departing from the spirit and technical ideas disclosed by the utility model should still be covered by the claims of the utility model.

Claims

1. A cleaning base station, characterized in that: Used in conjunction with a main robot and a sub-robot, the cleaning base station comprises: Base station body; An accommodating cavity is arranged at the bottom of the base station body and has an opening for the main robot and the sub-robot to interchangeably enter; At least two first positioning protrusions are arranged in the accommodating cavity and located on the wall body opposite to the opening, so as to cooperate with the positioning structure of the main robot to position the main robot; A first charging electrode sheet is disposed in the accommodating cavity and opposite to the opening; the first charging electrode sheet includes a first positive electrode sheet and a first negative electrode sheet, and when the main robot reaches a first set position of the accommodating cavity, the first charging electrode sheet is electrically connected to a charging terminal of the main robot; and The second charging electrode plate includes a second positive electrode plate and a second negative electrode plate. The second positive electrode plate and the second negative electrode plate are respectively arranged at the end portions of at least two of the first positioning protrusions, and can be electrically connected to the charging terminal of the sub-robot when the sub-robot reaches the second set position.

2. The cleaning base station according to claim 1, characterized in that: The first positioning protrusion is retractable, and the first positioning protrusion is retracted along the entry direction of the main robot. The moving direction of the sub-robot entering the accommodating cavity is parallel to the moving direction of the main robot entering the accommodating cavity.

3. The cleaning base station according to claim 1, characterized in that: The first positioning protrusion is a non-retractable structure.

4. A cleaning base station, characterized in that: Used in conjunction with a main robot and a sub-robot, the cleaning base station comprises: Base station body; An accommodating cavity is arranged at the bottom of the base station body and has an opening for the main robot and the sub-robot to interchangeably enter; At least two first positioning protrusions are arranged in the accommodating cavity and located on the wall opposite to the opening, so as to cooperate with the positioning structure of the main robot to position the main robot; when the main robot reaches the first set position of the accommodating cavity, the charging terminal of the main robot is electrically connected to the first charging electrode in the accommodating cavity; the first positioning protrusion includes an elastic telescopic structure, and the elastic telescopic structure is telescopic along the moving direction of the main robot entering the accommodating cavity; and The second charging electrode plate includes a second positive electrode plate and a second negative electrode plate. The second positive electrode plate and the second negative electrode plate are respectively arranged at the end portions of at least two of the first positioning protrusions, and can be electrically connected to the charging terminal of the sub-robot when the sub-robot reaches the second set position.

5. The cleaning base station according to claim 2 or 4, characterized in that: The first positioning protrusion includes a fixed body and a movable body, the fixed body is fixedly installed on the wall of the accommodating cavity opposite to the opening, the movable body is slidably installed on the fixed body, and the second charging electrode is arranged on the movable body.

6. The cleaning base station according to claim 5, characterized in that: The movable body includes a sliding body and an elastic body. The sliding body can slide relative to the fixed body and is connected to the elastic body. The elastic body stores or releases energy during the sliding of the sliding body. The second charging electrode is arranged on the sliding body.

7. The cleaning base station according to claim 6, characterized in that: The elastic body is a spring, and an installation cavity is provided on the fixed body. The spring is installed in the installation cavity. The sliding body is slidably inserted into the installation cavity and squeezes or releases the spring during the sliding process to retract the second charging electrode into the installation cavity or extend from the installation cavity.

8. A cleaning base station, characterized in that: Used in conjunction with a main robot and a sub-robot, the cleaning base station comprises: Base station body; An accommodating cavity is arranged at the bottom of the base station body and has an opening for the main robot and the sub-robot to interchangeably enter; At least two first positioning protrusions are arranged in the accommodating cavity and located on the wall body opposite to the opening, so as to cooperate with the positioning structure of the main robot to position the main robot; A first charging electrode sheet is disposed in the accommodating cavity and opposite to the opening; the first charging electrode sheet includes a first positive electrode sheet and a first negative electrode sheet, and when the main robot reaches a first set position of the accommodating cavity, the first charging electrode sheet is electrically connected to a charging terminal of the main robot; a second charging electrode sheet, comprising a second positive electrode sheet and a second negative electrode sheet, wherein the second positive electrode sheet and the second negative electrode sheet are respectively arranged at ends of at least two of the first positioning protrusions, and can be electrically connected to the charging terminal of the sub-robot when the sub-robot reaches the second set position; A climbing surface, with two ends of the climbing surface connected to the ground and the accommodating cavity respectively, and anti-skid ribs and an auxiliary structure for assisting the sub-robot to pass through the climbing surface are arranged on the climbing surface.

9. The cleaning base station according to claim 8, characterized in that: The auxiliary structure includes a rotating body rotatably mounted on the climbing surface; the rotating body transmits the sub-robot to pass through the climbing surface, and / or the rotating body limits the sub-robot during the sub-robot climbing the slope.

10. The cleaning base station according to claim 9, characterized in that: The sub-robot comprises two coaxially arranged running wheels, and the outer peripheral surface or end surface of the rotating body contacts the end surface of the running wheel of the sub-robot to limit the position of the sub-robot.

11. The cleaning base station according to claim 9, characterized in that: The sub-robot comprises two coaxially arranged running wheels; and the climbing surface is provided with at least two sub-climbing tracks respectively arranged corresponding to the two running wheels.

12. The cleaning base station according to claim 9, characterized in that: The sub-robot includes two coaxially arranged walking wheels; the rotating body includes a first rotating body group and a second rotating body group arranged at intervals on the climbing surface along the width direction of the climbing surface, the first rotating body group includes at least one first rotating body, the second rotating body group includes at least one second rotating body, the outer peripheral surface of the first rotating body is arranged corresponding to the end surface of one of the walking wheels, and the outer peripheral surface of the second rotating body is arranged corresponding to the end surface of the other walking wheel, so as to limit the sub-robot.

13. The cleaning base station according to claim 12, characterized in that: The outer peripheral surface of the first rotating body is arranged corresponding to the inner end surface of one of the running wheels, and the outer peripheral surface of the second rotating body is arranged corresponding to the inner end surface of the other running wheel.

14. The cleaning base station according to claim 12, characterized in that: The outer peripheral surface of the first rotating body is arranged corresponding to the outer end surface of one of the running wheels, and the outer peripheral surface of the second rotating body is arranged corresponding to the outer end surface of the other running wheel.

15. The cleaning base station according to claim 13 or 14, characterized in that: The rotation axes of the first rotating body and the second rotating body are perpendicular to the rotation axes of the walking wheels and perpendicular to the moving direction of the sub-robot.

16. The cleaning base station according to claim 9, characterized in that: The sub-robot includes two coaxially arranged walking wheels; the rotating body includes a first rotating body group and a second rotating body group arranged at intervals on the climbing surface along the width direction of the climbing surface, the first rotating body group includes at least one first rotating body, the second rotating body group includes at least one second rotating body, the end face of the first rotating body is arranged corresponding to the end face of one of the walking wheels, and the end face of the second rotating body is arranged corresponding to the end face of another of the walking wheels, so as to limit the sub-robot.

17. The cleaning base station according to claim 16, characterized in that: The outer end surface of the first rotating body is arranged corresponding to the inner end surface of the running wheel on one side, and the outer end surface of the second rotating body is arranged corresponding to the inner end surface of the running wheel on the other side.

18. The cleaning base station according to claim 16, characterized in that: The inner end surface of the first rotating body is arranged corresponding to the outer end surface of the running wheel on one side, and the inner end surface of the second rotating body is arranged corresponding to the outer end surface of the running wheel on the other side.

19. The cleaning base station according to claim 17 or 18, characterized in that: The rotation axes of the first rotating body and the second rotating body are parallel to the rotation axis of the walking wheel.

20. The cleaning base station according to claim 9, characterized in that: The sub-robot includes two coaxially arranged running wheels; at least two sub-climbing tracks are arranged on the climbing surface respectively corresponding to the two running wheels; the rotating body includes a first rotating body group and a second rotating body group arranged at intervals on the climbing surface along the width direction of the climbing surface, the first rotating body group includes at least two first rotating bodies, the second rotating body group includes at least two second rotating bodies, at least two of the first rotating bodies are arranged at intervals along the extension direction of the sub-climbing track on one side; at least two of the second rotating bodies are arranged at intervals along the extension direction of the sub-climbing track on the other side.

21. The cleaning base station according to claim 20, characterized in that: Axial directions of at least two of the first rotating bodies are parallel to each other, and axial directions of at least two of the second rotating bodies are parallel to each other.

22. The cleaning base station according to claim 9, characterized in that: The rotating body is a mechanical roller.

23. The cleaning base station according to claim 9, characterized in that: The auxiliary structure also includes a driving device, which drives the rotating body to rotate so as to provide a transmission power for transmitting the sub-robot through the climbing surface on the climbing surface.

24. The cleaning base station according to claim 23, characterized in that: The axis of the rotating shaft of the rotating body extends along the width direction of the climbing surface, and at least two of the rotating bodies are arranged at intervals along the climbing direction of the climbing surface to transport the sub-robot.

25. The cleaning base station according to claim 24, characterized in that: A recessed portion for limiting the position of the walking wheels of the sub-robot is formed between adjacent rotating bodies.

26. The cleaning base station according to claim 8, characterized in that: The auxiliary structure includes one or more combinations of a roller transmission assembly, a crawler transmission assembly, a gear rack transmission assembly, and a chain transmission assembly to transmit the sub-robot upward along the climbing surface so that the sub-robot passes through the climbing surface.

27. A cleaning base station, characterized in that: Used in conjunction with a main robot and a sub-robot, the cleaning base station comprises: Base station body; An accommodating cavity is arranged at the bottom of the base station body and has an opening for the main robot and the sub-robot to interchangeably enter; At least two first positioning protrusions are arranged in the accommodating cavity and located on the wall body opposite to the opening, so as to cooperate with the positioning structure of the main robot to position the main robot; A first charging electrode sheet is disposed in the accommodating cavity and opposite to the opening; the first charging electrode sheet includes a first positive electrode sheet and a first negative electrode sheet, and when the main robot reaches a first set position of the accommodating cavity, the first charging electrode sheet is electrically connected to a charging terminal of the main robot; a second charging electrode sheet, comprising a second positive electrode sheet and a second negative electrode sheet, wherein the second positive electrode sheet and the second negative electrode sheet are respectively disposed at ends of at least two of the first positioning protrusions, and can be electrically connected to the charging terminal of the sub-robot when the sub-robot reaches the second set position; and A cleaning tank is arranged at the bottom of the accommodating cavity. When the main robot reaches the first set position, the cleaning tank corresponds to the cleaning component of the main robot to clean the cleaning component.

28. The cleaning base station according to claim 27, characterized in that: The cleaning component includes a rag plate, and a cleaning rib component for cleaning the rag plate is arranged in the cleaning tank. When the main robot reaches the first set position, the cleaning rib component corresponds to the rag plate to clean the rag plate; a cleaning rib component for cleaning the rag plate is arranged in the cleaning tank, and the cleaning rib component includes a first cleaning rib unit and a second cleaning rib unit.

29. A cleaning base station, characterized in that: Used in conjunction with a main robot and a sub-robot, the cleaning base station comprises: Base station body; An accommodating cavity is arranged at the bottom of the base station body and has an opening for the main robot and the sub-robot to interchangeably enter; At least two first positioning protrusions are arranged in the accommodating cavity and located on the wall body opposite to the opening, so as to cooperate with the positioning structure of the main robot to position the main robot; A first charging electrode sheet is disposed in the accommodating cavity and opposite to the opening; the first charging electrode sheet includes a first positive electrode sheet and a first negative electrode sheet, and when the main robot reaches a first set position of the accommodating cavity, the first charging electrode sheet is electrically connected to a charging terminal of the main robot; a second charging electrode sheet, comprising a second positive electrode sheet and a second negative electrode sheet, wherein the second positive electrode sheet and the second negative electrode sheet are respectively arranged at ends of at least two of the first positioning protrusions, and can be electrically connected to the charging terminal of the sub-robot when the sub-robot reaches the second set position; A cleaning tank, disposed at the bottom of the accommodating chamber; and A climbing surface, wherein both ends of the climbing surface are respectively connected to the ground and the accommodating cavity, the sub-robot includes two coaxially arranged running wheels, and the climbing surface is provided with at least two sub-climbing tracks respectively arranged corresponding to the two running wheels of the sub-robot, and the two running wheels of the sub-robot can respectively walk along at least two sub-climbing tracks into the accommodating cavity, when the main robot reaches the first set position, the cleaning tank corresponds to the cleaning component of the main robot to clean the cleaning component, the cleaning component includes a rag plate, and a cleaning rib component for cleaning the rag plate is provided in the cleaning tank, and the cleaning rib component includes a first cleaning rib unit and a second cleaning rib unit.

30. The cleaning base station according to claim 28 or 29, characterized in that: The sub-robot includes two coaxially arranged running wheels. When the sub-robot reaches the second set position, the running wheels of the sub-robot are located outside the cleaning tank, and the cleaning rib assembly is configured to support the part of the sub-robot that extends above the cleaning tank.

31. The cleaning base station according to claim 28 or 29, characterized in that: The sub-robot includes two coaxially arranged running wheels. When the sub-robot reaches the second set position, the running wheels of the sub-robot are located in the cleaning tank. The cleaning tank is provided with a channel allowing the sub-robot to pass through and reach the second set position.

32. The cleaning base station according to claim 31, characterized in that: A limiting member for limiting the position of the sub-robot is arranged in the channel.

33. The cleaning base station according to claim 31, characterized in that: The cleaning component includes a first rag plate and a second rag plate, and the first rag plate and the second rag plate are arranged along the width direction of the main robot. The cleaning rib component includes a first cleaning rib unit and a second cleaning rib unit. The first cleaning rib unit is arranged corresponding to the first rag plate, and the second cleaning rib unit is arranged corresponding to the second rag plate. The channel is arranged on the cleaning ribs of the first cleaning rib unit and the second cleaning rib unit or between the cleaning ribs.

34. The cleaning base station according to claim 32, characterized in that: The limiting member comprises a baffle plate arranged in the cleaning tank, and along a plane perpendicular to the walking direction of the sub-robot, the height of the baffle plate is less than or equal to the height of the cleaning rib assembly.

35. The cleaning base station according to claim 31, characterized in that: The channel is a track for the running wheels of the sub-robot to run on, and the running wheels of the sub-robot run along the track to enter the cleaning tank.

36. The cleaning base station according to claim 35, characterized in that: The track is protruding from the bottom of the cleaning tank. Along the plane perpendicular to the walking direction of the sub-robot, the height of the track is less than or equal to the height of the cleaning rib assembly. One end of the track is connected to a side of the cleaning tank close to the opening, and the other end of the track extends into the cleaning tank along the entry direction of the sub-robot.

37. The cleaning base station according to claim 35, characterized in that: The track also includes a wall surface arranged along at least one side of the moving direction of the sub-robot, and along a plane perpendicular to the walking direction of the sub-robot, the height of the top of the wall surface is less than or equal to the height of the cleaning rib assembly.

38. The cleaning base station according to claim 35, characterized in that: Anti-skid ribs are arranged on the track surface of the track.

39. The cleaning base station according to claim 35, characterized in that: The first cleaning rib unit includes a first longitudinal rib, the second cleaning rib unit includes a second longitudinal rib, the first longitudinal rib and the second longitudinal rib extend along the walking direction of the sub-robot, and the track includes the first longitudinal rib and the second longitudinal rib.

40. The cleaning base station according to claim 39, characterized in that: The cleaning base station includes a climbing surface, on which are arranged at least two sub-climbing tracks respectively corresponding to the two walking wheels of the sub-robot, one end of one of the sub-climbing tracks is connected to the first longitudinal rib, and one end of the other sub-climbing track is connected to the second longitudinal rib.

41. The cleaning base station according to claim 40, characterized in that: The first longitudinal ribs and the second longitudinal ribs are parallel to each other.

42. The cleaning base station according to claim 32, characterized in that: A sewage filter is arranged in the cleaning tank, and the limiting member is arranged on the sewage filter.

43. The cleaning base station according to claim 1 or 2 or 3 or 4 or 8 or 9 or 27 or 29, characterized in that: The first positioning protrusion cooperates with the positioning structure of the sub-robot to position the sub-robot.

44. The cleaning base station according to claim 43, characterized in that: The first positioning protrusion extends into the positioning structure of the main robot or the sub-robot along the moving direction of the main robot and the sub-robot for positioning.

45. The cleaning base station according to claim 1 or 2 or 3 or 4 or 8 or 9 or 27 or 29, characterized in that: The second charging electrode is located at an end of the first positioning protrusion close to the opening.

46. ​​The cleaning base station according to claim 1 or 2 or 3 or 4 or 8 or 9 or 27 or 29, characterized in that: An end surface area of ​​the first positioning protrusion is smaller than a bottom surface area of ​​the first positioning protrusion.

47. The cleaning base station according to claim 46, characterized in that: At least a portion of the first positioning protrusion is a frustum, and a small end of the frustum faces the opening.

48. The cleaning base station according to claim 47, characterized in that: The shapes of the small end face and the large end face of the frustum are circular, elliptical or polygonal or a combination thereof.

49. The cleaning base station according to claim 1 or 2 or 3 or 4 or 8 or 9 or 27 or 29, characterized in that: A soft structure for protecting the main robot and / or the sub-robot from impact is arranged on the wall opposite to the opening.

50. The cleaning base station according to claim 1 or 2 or 3 or 4 or 8 or 9 or 27 or 29, characterized in that: The cleaning base station further includes a second positioning device, which is located on the side wall or the bottom of the accommodating cavity to cooperate with the positioning structure of the sub-robot to position the sub-robot.

51. The cleaning base station according to claim 1 or 2 or 3 or 4 or 8 or 9 or 27 or 29, characterized in that: The positioning structure on the main robot and / or the positioning structure on the sub-robot includes a positioning groove and a flared portion located at the opening of the positioning groove to guide the first positioning protrusion to enter, the first positioning protrusion includes a positioning body and a guide body, the positioning body matches the positioning groove, the guide body is arranged at the end of the first positioning protrusion, and the guide body cooperates with the flared portion to guide the positioning body into the positioning groove.

52. The cleaning base station according to claim 1 or 2 or 4 or 8 or 9 or 27 or 29, characterized in that: When the main robot reaches the first set position of the accommodating cavity, the main robot reaches the third position of the first positioning protrusion, and when the sub-robot reaches the second set position of the accommodating cavity, the sub-robot reaches the fourth position of the first positioning protrusion, and the distance from the cross-sectional centroid of the first positioning protrusion at the fourth position to the wall of the accommodating cavity opposite to the opening is greater than or equal to the distance from the cross-sectional centroid of the first positioning protrusion at the third position to the wall of the accommodating cavity opposite to the opening.

53. The cleaning base station according to claim 52, characterized in that: The first positioning protrusion includes a fixed body and a movable body, the fixed body is fixedly mounted on a wall of the accommodating cavity opposite to the opening, the movable body is slidably mounted on the fixed body, and the third position and the fourth position are both located on the fixed body.

54. The cleaning base station according to claim 53, characterized in that: At least a portion of the first positioning protrusion is a frustum, and the third position and the fourth position are both located on the frustum.

55. The cleaning base station according to claim 1 or 2 or 3 or 4 or 8 or 9 or 27 or 29, characterized in that: The base station body includes a dust collection system, the dust collection system includes a dust collection port, the main robot includes a first dust discharge port, and the sub-robot includes a second dust discharge port; when the main robot enters the first set position, the dust collection port matches and docks with the first dust discharge port, and when the sub-robot enters the second set position, the dust collection port matches and docks with the second dust discharge port.

56. The cleaning base station according to claim 55, characterized in that: The dust collection port includes a first interface and a second interface, the first interface and the second interface are connected to the suction port of the dust collection system, when the main robot enters to the first set position, the first interface is matched and docked with the first dust discharge port, when the sub-robot enters to the second set position, the second interface is matched and docked with the second dust discharge port.

57. The cleaning base station according to claim 1 or 2 or 3 or 4 or 8 or 9 or 27 or 29, characterized in that: A walking guide component is installed on the base station body; the walking guide component cooperates with the walking guide component on the main robot to guide the main robot to reach the first set position of the accommodating cavity, and cooperates with the walking guide component on the sub-robot to guide the sub-robot to reach the second set position of the accommodating cavity.

58. The cleaning base station according to claim 57, characterized in that: The walking guide component includes at least one of an infrared positioning module and a visual positioning component or a combination of the two.

59. The cleaning base station according to claim 1 or 2 or 3 or 4 or 8 or 9 or 27 or 29, characterized in that: The projection of the main robot on the horizontal plane when it is in the first setting position covers the projection of the sub-robot on the horizontal plane when it is in the second setting position.

60. The cleaning base station according to claim 1 or 2 or 3 or 4 or 8 or 9 or 27 or 29, characterized in that: The cleaning base station is provided with a locking structure in the accommodating cavity for locking the main robot and / or the sub-robot.

61. The cleaning base station according to claim 1 or 2 or 3 or 4 or 8 or 9 or 27 or 29, characterized in that: A guide roller for guiding the main robot to enter is arranged in the accommodating cavity.

62. The cleaning base station according to claim 1 or 2 or 3 or 4 or 8 or 9 or 27 or 29, characterized in that: When the sub-robot reaches the second set position, the second charging electrode of the end wall of the first positioning protrusion extends out.

63. A sub-robot, characterized in that: Used to cooperate with the main robot and the cleaning base station according to any one of claims 1 to 62 to complete the corresponding cleaning operation, the cleaning base station includes at least two first positioning devices for limiting the main robot, the first positioning device protrudes into the accommodating cavity to form a first positioning protrusion, and the sub-robot includes: A sub-unit housing, wherein the sub-unit housing is provided with a positioning groove matching the first positioning protrusion; A cleaning component, installed on the sub-machine housing; A running wheel, which is mounted on the bottom of the sub-machine housing and moves by itself to enable the cleaning assembly to complete the corresponding cleaning operation; A charging terminal is arranged in the positioning groove to be electrically connected to the second charging electrodes on the two first positioning protrusions when the sub-robot reaches the second set position of the cleaning base station.

64. The sub-robot according to claim 63, characterized in that: The charging terminal of the sub-robot is located on the inner wall of the positioning groove of the sub-robot.

65. The sub-robot according to claim 63, characterized in that: When the sub-robot reaches the second set position, the first positioning protrusion extends into the positioning groove of the sub-robot and is electrically connected to the charging terminal of the sub-robot for charging.

66. The sub-robot according to claim 63 or 65, characterized in that: The charging terminal of the sub-robot is located at the bottom of the positioning groove of the sub-robot.

67. The sub-robot according to claim 63, characterized in that: The sub-robot includes a second positioning groove and a second flared portion located at an opening of the second positioning groove for guiding the end of the first positioning protrusion to enter, and the opening of the second flared portion gradually shrinks along the extending direction of the first positioning protrusion until it is connected to the wall of the second positioning groove.

68. The sub-robot according to claim 67, characterized in that: The tapered surface of the second flared portion tapers in a regular or irregular manner.

69. The sub-robot according to claim 63, characterized in that: The sub-robot also includes a dust discharge port, the cleaning base station includes a dust collection system, and the dust collection system includes a dust collection port for collecting dust for the main robot. When the sub-robot enters the second set position, the dust discharge port position of the sub-robot matches and docks with the dust collection port.

70. The sub-robot according to claim 63, characterized in that: The sub-robot also includes a dust discharge port, and the cleaning base station includes a dust collection system. The dust collection system includes a first dust collection port for collecting dust for the main robot and a second interface for collecting dust for the sub-robot. When the sub-robot enters the second set position, the dust discharge port position of the sub-robot matches and docks with the second interface.

71. A cleaning system, comprising a main robot and a sub-robot, characterized in that: It also includes the cleaning base station according to any one of claims 1 to 62, wherein the main robot and the sub-robot share the cleaning base station for charging.

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