Base station, autonomous mobile device and autonomous cleaning system

Abstract

The utility model provides a base station, autonomous mobile equipment and an autonomous cleaning system. When the autonomous mobile device moves to the opening of the storage cavity of the base station in a way-finding manner, the posture of the autonomous mobile device is greatly inclined, the autonomous mobile device is in contact with the roller arranged at the front end edge of the opening, and rolling friction force generated between the roller and the autonomous mobile device is utilized; and the posture of the autonomous mobile equipment can be preliminarily corrected in the process that the autonomous mobile equipment continues to enter the storage cavity. When the autonomous mobile device enters the storage cavity and is close to the rear wall of the storage cavity of the base station, the autonomous mobile device can be further corrected by the guide positioning part and then positioned. Thus, according to the base station and the autonomous mobile device of the present disclosure, a guide structure can be realized with a relatively simple structure, so that the corresponding autonomous mobile device can be parked on the base station in a correct attitude, thereby simplifying internal structures of both the base station and the autonomous mobile device and reducing costs.

Description

Technical Field

[0001] The present disclosure relates to a guiding structure for a base station and an autonomous mobile device, and particularly to a base station, an autonomous mobile device cooperating with the base station, and an autonomous cleaning system including the above base station and autonomous mobile device. Background Art

[0002] An autonomous mobile device refers to an intelligent mobile device that autonomously executes a preset task, and the autonomous mobile device can autonomously move on a traveling surface according to the result sensed by its sensing component. Currently, autonomous mobile devices generally include, but are not limited to, self-moving cleaning devices (such as intelligent sweepers, intelligent mopping machines, window cleaning robots), companion mobile robots (such as intelligent electronic pets, nanny robots), service mobile robots (such as reception robots in hotels, inns, and meeting places), industrial inspection intelligent devices (such as power inspection robots, intelligent forklifts, etc.), and security robots (such as household or commercial intelligent guard robots).

[0003] Cooperating with the autonomous mobile device, a base station positioned on the traveling surface is usually further provided. The base station can be a charging stand or a charging pile, and the base station has a guiding system for guiding the autonomous mobile device to dock. When the autonomous mobile device finishes executing a task or needs to be charged, the guiding system can enable the autonomous mobile device to dock at the base station, and then operations such as charging the autonomous mobile device can be performed. In order to enable the autonomous mobile device to dock at the base station in a predetermined posture to ensure the smooth progress of operations such as charging, a scheme of combining QR code guidance with bar code guidance or infrared guidance is usually adopted to guide the autonomous mobile device to dock at the base station. However, such a scheme results in complex internal structures of both the base station and the autonomous mobile device and relatively high costs. Summary of the Utility Model

[0004] Based on the problems of the above prior art, the purpose of the present disclosure is to provide a base station that can realize a guiding structure with a relatively simple structure, enabling the corresponding autonomous mobile device to dock in a predetermined posture, thereby simplifying the internal structure of the base station and reducing costs. Another purpose of the present disclosure is to provide an autonomous mobile device including the above base station, which has a structure corresponding to the guiding structure of the base station, thereby simplifying the internal structure of the autonomous mobile device and reducing costs. Still another purpose of the present disclosure is to provide an autonomous cleaning system including the above base station and autonomous mobile device.

[0005] To achieve the above purposes, the present disclosure adopts the following technical solutions.

[0006] The present disclosure provides a base station for an autonomous mobile device to dock and be charged, the base station comprising:

[0007] A main body is formed with a storage cavity. The storage cavity has an opening that is open at the front side facing the base station, and the opening is for the autonomous mobile device to enter the storage cavity;

[0008] Rollers are rotatably connected to the main body such that the rollers can rotate about a rotation axis extending in the up - and - down direction of the base station. At least one roller is provided at each front edge of the opening; and

[0009] A first guiding and positioning portion is fixed to the rear wall of the storage cavity and is located in the storage cavity. The first guiding and positioning portion protrudes forward relative to the rear wall, and a part of the first guiding and positioning portion is formed as a tapered portion that tapers forward, and the part includes the front end portion of the first guiding and positioning portion.

[0010] In an alternative solution, a second guiding and positioning portion is further included. The second guiding and positioning portion is fixed to the rear wall of the main body. The second guiding and positioning portion protrudes forward relative to the rear wall and is spaced apart from the first guiding and positioning portion. The second guiding and positioning portion is formed as a cylindrical shape extending linearly.

[0011] In another alternative solution, guiding protrusions are further included. At least one guiding protrusion is fixedly provided on each of the left and right side walls of the storage cavity,

[0012] The guiding protrusions protrude toward the inside of the storage cavity, and the side surface of the guiding protrusion is formed as a guiding curved surface,

[0013] The guiding protrusions are located at a position behind the rollers and at a position in front of the first guiding and positioning portion and the second guiding and positioning portion.

[0014] In another alternative solution, a limiting portion is further included. The limiting portion is fixed to the main body and is located at a position behind both the tapered portion of the first guiding and positioning portion and the front end portion of the second guiding and positioning portion.

[0015] In another alternative solution, two elastic ejector pins are further included. The elastic ejector pins are installed on the main body and are located on the rear wall of the storage cavity,

[0016] The elastic ejector pins include ejector pins and springs. The ejector pins are formed to extend linearly forward and protrude forward relative to the rear wall, and the springs always apply a spring force forward to the ejector pins.

[0017] In another alternative solution, the base station further includes a plurality of first support ribs and a brush. The plurality of first support ribs are fixedly installed on the side wall of the storage cavity. The brush is arranged at the bottom of the storage cavity and can reciprocate relative to the main body. The first support ribs and the brush are used to support the autonomous mobile device; or

[0018] The base station further includes a plurality of second support ribs. The plurality of second support ribs are fixedly installed at the bottom of the storage cavity. The second support ribs are used to support the autonomous mobile device.

[0019] The present disclosure also provides an autonomous mobile device, which cooperates with the base station described in the above technical solution.

[0020] The autonomous mobile device includes a main body. The side surface of the main body is formed as a curved surface. The side surface of the main body is used to contact the roller of the base station, and

[0021] The autonomous mobile device is formed with a first guiding and positioning hole, which is used for the first guiding and positioning part of the base station to be inserted.

[0022] The autonomous mobile device is configured to be positioned in the storage cavity of the base station in a predetermined posture.

[0023] The present disclosure also provides an autonomous mobile device, which cooperates with the base station described in the above technical solution.

[0024] The autonomous mobile device includes a main body. The side surface of the main body is formed as a curved surface. The side surface of the main body is used to contact the roller of the base station, and

[0025] The autonomous mobile device is formed with a first guiding and positioning hole and a second guiding and positioning hole. The first guiding and positioning hole is used for the first guiding and positioning part of the base station to be inserted, and the second guiding and positioning hole is used for the second guiding and positioning part of the base station to be inserted.

[0026] The autonomous mobile device is configured to be positioned in the storage cavity of the base station in a predetermined posture.

[0027] In an alternative solution, the second guiding and positioning hole includes a gradually expanding part and a straight hole part.

[0028] The gradually expanding part gradually expands from the straight hole part towards the opening of the second guiding and positioning hole.

[0029] The straight hole part is in shape fit with the second guiding and positioning part.

[0030] The present disclosure also provides an autonomous mobile device, which cooperates with the base station described in the above technical solution.

[0031] The autonomous mobile device includes a main body and a wet cleaning assembly. The side surface of the main body is formed as a curved surface, which is used to contact the rollers of the base station. The wet cleaning assembly is assembled to the main body in a detachable manner. The wet cleaning assembly is formed with a first guiding and positioning hole, and the main body is formed with a second guiding and positioning hole. The first guiding and positioning hole is used for the first guiding and positioning portion of the base station to be inserted, and the second guiding and positioning hole is used for the second guiding and positioning portion of the base station to be inserted.

[0032] The autonomous mobile device is configured to be positioned in the receiving cavity of the base station in a predetermined posture.

[0033] In an alternative solution, the wet cleaning assembly includes a bracket, a guiding wheel, and a wet cleaning member assembled together.

[0034] The first guiding and positioning hole is formed in the bracket. The guiding wheel and the wet cleaning member are located below the bracket. During the process of the autonomous mobile device being guided into the receiving cavity, the guiding wheel can roll on the inclined guiding surface formed at the bottom of the receiving cavity.

[0035] The present disclosure also provides an autonomous cleaning system, including the base station according to any one of the above technical solutions and the autonomous mobile device according to any one of the above technical solutions. The autonomous mobile device is a self - moving cleaning device.

[0036] By adopting the above - mentioned technical solutions, the present disclosure provides a base station, an autonomous mobile device, and an autonomous cleaning system. The base station is used for the autonomous mobile device to dock and charge, and the base station includes a main body, rollers, and a first guiding and positioning portion assembled together. The main body is formed with a receiving cavity, and the receiving cavity has an opening that is open towards the front side of the base station. The opening is used for the autonomous mobile device to enter the receiving cavity. The rollers are rotatably connected to the main body, so that the rollers can rotate around a rotation axis extending along the up - and - down direction of the base station. At least one roller is provided at each front edge of the opening. The first guiding and positioning portion is fixed to the rear wall of the receiving cavity and is located in the receiving cavity. The first guiding and positioning portion protrudes forward relative to the rear wall, and a part of the first guiding and positioning portion including its front end portion is formed as a tapered portion that tapers forward. Cooperating with the base station, the autonomous mobile device includes a main body whose side surface is formed as a curved surface, and this main body side surface is used to contact the rollers of the base station. The autonomous mobile device is formed with a first guiding and positioning hole, and the first guiding and positioning hole is used for the first guiding and positioning portion of the base station to be inserted. The autonomous mobile device is configured to be positioned in the receiving cavity of the base station in a predetermined posture. Further, the autonomous cleaning system includes the above - mentioned base station and a self - moving cleaning device as the autonomous mobile device.

[0037] In this way, once the posture of the autonomous mobile device is greatly skewed when it moves along the path to the opening of the storage cavity of the base station, the autonomous mobile device contacts the rollers provided at the front edge of the opening, and uses the rolling friction generated between the rollers and the autonomous mobile device to preliminarily correct the posture of the autonomous mobile device during the process of the autonomous mobile device continuing to enter the storage cavity. When the autonomous mobile device enters the storage cavity and approaches the rear wall of the storage cavity of the base station, the first guiding and positioning portion that tapers forward can be used to further correct the autonomous mobile device and then achieve positioning. Thus, according to the base station and the autonomous mobile device of the present disclosure, a guiding structure can be implemented with a relatively simple structure, enabling the corresponding autonomous mobile device to dock in a correct posture, thereby simplifying the internal structures of both the base station and the autonomous mobile device and reducing costs. The autonomous cleaning system including the above base station and the self-moving cleaning device as the autonomous mobile device also has the same effect. Description of the Drawings

[0038] Figures 1A to 1C It is a perspective schematic view showing a partial structure of a base station according to a first embodiment of the present disclosure.

[0039] Figure 2 It is a perspective schematic view showing a partial structure of a base station according to a second embodiment of the present disclosure.

[0040] Figure 3A It shows Figure 1A and Figure 2 A perspective schematic view of a self-moving cleaning device according to an embodiment of the present disclosure that cooperates with the base station in

[0041] Figure 3B and Figure 3C It shows Figure 3A A perspective schematic view of a partial structure of the self-moving cleaning device in

[0042] Figure 3D and Figure 3E It shows Figure 3A A perspective schematic view of a wet cleaning assembly of the self-moving cleaning device in

[0043] Figures 4A to 4K It is used to illustrate Figure 3A The process in which the autonomous mobile device in Figure 1A and Figure 2 is corrected by the base station in

[0044] Explanation of Reference Numerals

[0045] CS - Base station;

[0046] 1 - Main body; 1c - Storage cavity; 1o1 - Opening; 1o2 - Suction port; 1w1 - Rear wall; 1w2 - Side wall; 1s - Inclined guiding surface;

[0047] 2 - Roller;

[0048] 3 - First guiding and positioning part; 311 - Tapered part; 312 - Base part;

[0049] 4 - Second guiding and positioning part;

[0050] 5 - Guiding protrusion; 5s - Side surface;

[0051] 6 - Limiting part;

[0052] 7 - Elastic ejector pin; 711 - Ejector pin; 712 - Spring;

[0053] 8 - First support rib;

[0054] 9 - Brush;

[0055] 10 - Second support rib;

[0056] 11 - Charging plate;

[0057] 12 - Liquid injection nozzle;

[0058] AM - Autonomous mobile device;

[0059] 13 - Main unit; 13s - Side of the main unit; 13h - Second guiding and positioning hole; 13h1 - Flaring part; 13h2 - Straight hole part; 13p - Liquid injection passage;

[0060] 14 - Wet cleaning component; 14h - First guiding and positioning hole; 141 - Bracket; 142 - Guiding wheel; 143 - Wet cleaning part;

[0061] 15 - Docking charging plate. Detailed implementation manners

[0062] The embodiments of the present disclosure will be described below with reference to the accompanying drawings. For ease of understanding, the elements shown in the respective drawings may include elements represented differently from the actual dimensions and scales, such as dimensions and scales.

[0063] In the present disclosure, unless otherwise specifically stated, the front side (front), rear side (rear), upper side (upper), lower side (lower), left side (left), and right side (right) respectively refer to the front side, rear side, upper side, lower side, left side, and right side of the base station. The base station is used for the docking of the autonomous mobile device, and the autonomous mobile device docks in the storage cavity of the base station from the front side of the base station.

[0064] The base station according to the first embodiment of the present disclosure will be described below in conjunction with the accompanying drawings of the specification.

[0065] As shown Figures 1A to 1C in the figure, the base station CS according to the first embodiment of the present disclosure includes a main body 1, rollers 2, a first guiding and positioning portion 3, a second guiding and positioning portion 4, guiding protrusions 5, a limiting portion 6, elastic ejector pins 7, a first support rib 8, and a brush 9 which are assembled together. The main body 1 is placed on the traveling surface (such as the surface to be cleaned) where the autonomous mobile device AM travels, and other components are all installed on and supported by the main body 1.

[0066] In this embodiment, as shown Figure 1A in the figure, the main body 1 is formed with a storage cavity 1c for the autonomous mobile device AM to dock. The contour shape of the inner wall surface of the storage cavity 1c matches the contour shape of the outer peripheral surface of the main body 13 of the autonomous mobile device AM. In this embodiment, the inner wall surface of the storage cavity 1c is formed as an arc surface. The storage cavity 1c has an opening 1o1 that is open toward the front side of the base station CS. The opening 1o1 is for the autonomous mobile device AM to enter the storage cavity 1c. Therefore, the left - right width of the opening 1o1 can be configured to be slightly larger than the maximum width of the autonomous mobile device AM. It can be understood that as long as the main body 1 is formed with a storage cavity 1c capable of storing the autonomous mobile device AM, the main body 1 can be formed into various structures and shapes according to needs, and does not have to be limited to any specific structure and shape.

[0067] In this embodiment, as shown Figure 1A and Figure 1B in the figure, the rollers 2 are formed in a cylindrical shape and are rotatably connected to the main body 1. One roller 2 is provided at each front edge of the opening 1o1 of the main body 1. The roller 2 can rotate around a rotation axis extending in the up - down direction of the base station CS, and this rotation axis coincides with the central axis of the roller 2. In this way, when the autonomous mobile device AM has a large skew amplitude relative to the main body 1, the autonomous mobile device AM can contact the main body side 13s of the roller 2, thereby correcting the attitude of the autonomous mobile device AM by using the frictional force. To achieve a better correction effect, multiple rollers 2 can be provided at each front edge of the opening 1o1 of the main body 1, and these rollers 2 can be arranged at intervals so as not to interfere with each other.

[0068] In this embodiment, as shown Figure 1A and Figure 1CAs shown, two first guiding and positioning portions 3 are fixed to the rear wall 1w1 of the accommodation cavity 1c and protrude forward relative to the rear wall 1w1, so that the first guiding and positioning portions 3 are located in the accommodation cavity 1c. Specifically, each first guiding and positioning portion 3 includes a base portion 312 connected to the main body 1 and a tapered portion 311 connected to the base portion 312 and protruding further forward into the accommodation cavity 1c. The base portion 312 is formed to have a relatively large left-right width dimension, and a part of the first guiding and positioning portion 3 including its front end portion is formed as a tapered portion 311 that tapers forward, that is, the tapered portion 311 is formed in a tapered shape starting from the base portion 312. In this way, it is beneficial for the first guiding and positioning portion 3 to be smoothly inserted into the first guiding and positioning hole 14h of the autonomous mobile device AM. In addition, the two first guiding and positioning portions 3 are arranged side by side at intervals in the left-right direction, thereby forming a structure similar to the shape of the letter W (see Figure 1C ). By using the first guiding and positioning portion 3 with the above structure, the autonomous mobile device AM can be more accurately calibrated and positioned. It can be understood that the number of the first guiding and positioning portions 3 can be adjusted as needed. For example, only one first guiding and positioning portion 3 can be provided, or more first guiding and positioning portions 3 can be provided.

[0069] In this embodiment, as shown in Figure 1A and Figure 1C , two second guiding and positioning portions 4 are fixed to the rear wall 1w1 of the accommodation cavity 1c and protrude forward relative to the rear wall 1w1. The second guiding and positioning portion 4 is spaced apart from the first guiding and positioning portion 3 and is located diagonally above the first guiding and positioning portion 3. Each second guiding and positioning portion 4 is formed as a cylindrically shaped member extending linearly. By using the cylindrically shaped second guiding and positioning portion 4, the autonomous mobile device AM can be more accurately calibrated and positioned.

[0070] In this embodiment, as shown in Figure 1A and Figure 1B , a guiding protrusion 5 is fixedly provided on each of the left and right side walls 1w2 of the accommodation cavity 1c. The guiding protrusion 5 protrudes toward the inside of the accommodation cavity 1c, and the side surface 5s of the guiding protrusion 5 is formed as a guiding curved surface, and the cross-sectional shape of the guiding curved surface can be various curved shapes such as an arc or a parabola. The guiding protrusion 5 is located at a position behind the roller 2 and in front of the first guiding and positioning portion 3 and the second guiding and positioning portion 4. In this way, when the posture of the autonomous mobile device AM still has a large degree of skew after being calibrated by the roller 2, the autonomous mobile device AM will contact the guiding protrusion 5, and by using the static or sliding friction force generated between the guiding protrusion 5 and the autonomous mobile device AM, the posture of the autonomous mobile device AM can be further calibrated during the process of the autonomous mobile device AM continuing to enter the accommodation cavity 1c.

[0071] In this embodiment, as shown inFigure 1A and Figure 1C As shown in Figure 1C , the limiting part 6 is fixed to the main body 1 and is formed as a limiting rib extending along the up and down direction. The limiting part 6 is located at the central position of the main body 1 in the left and right directions, and the limiting part 6 is located at a position behind both the tapered part 311 of the first guiding and positioning part 3 and the front end part of the second guiding and positioning part 4. In this way, after the autonomous mobile device AM is guided and positioned by the roller 2, the first guiding and positioning part 3 and the second guiding and positioning part 4 and reaches the predetermined position of the storage cavity 1c, the limiting part 6 can limit the autonomous mobile device AM to prevent the autonomous mobile device AM from moving excessively in the storage cavity 1c.

[0072] In this embodiment, as Figure 1A shown, two elastic ejector pins 7 are installed on the main body 1 and are located on the rear wall 1w1 of the storage cavity 1c. The two elastic ejector pins 7 are positioned in the left and right directions at positions outside both the first guiding and positioning part 3 and the second guiding and positioning part 4. Referring to Figure 4D , the elastic ejector pin 7 includes an ejector pin 711 and a spring 712 assembled together. The ejector pin 711 is formed to extend linearly forward and protrudes forward with respect to the rear wall 1w1. The spring 712 is a cylindrical helical spring. One end of the spring 712 can abut against the main body 1 and the other end abuts against the ejector pin 711, thereby always applying a spring force forward to the ejector pin 711. When the autonomous mobile device AM enters the storage cavity 1c and approaches the rear wall 1w1 of the storage cavity 1c, the autonomous mobile device AM abuts against the two elastic ejector pins 7. On the one hand, the elastic ejector pins 7 can apply a forward pressure to the autonomous mobile device AM, and the two elastic ejector pins 7 also play a role in assisting the guidance of the autonomous mobile device AM.

[0073] In this embodiment, as Figure 1A and Figure 1B shown, two first support ribs 8 are respectively fixedly installed on the left and right side walls 1w2 of the storage cavity 1c. Each first support rib 8 protrudes toward the inside of the storage cavity 1c with respect to the corresponding side wall 1w2. In the state where the autonomous mobile device AM is parked in the storage cavity 1c of the main body 1, the upper surfaces of the two first support ribs 8 are used to support the autonomous mobile device AM.

[0074] In this embodiment, as Figure 1A and Figure 1CAs shown, the main body 1 forms a cleaning groove at the bottom of the storage cavity 1c, and the brush 9 is arranged in the cleaning groove formed at the bottom of the storage cavity 1c. By using a motor and a corresponding transmission mechanism, the brush 9 can reciprocate in the left-right direction relative to the main body 1. Thus, when the autonomous mobile device AM is a self-mobile cleaning device and has the following wet cleaning assembly 14, the brush 9 can support the autonomous mobile device AM, especially the wet cleaning assembly 14 of the autonomous mobile device AM, and the brush 9 can also clean the wet cleaning part 143 such as a rag or a mop of the wet cleaning assembly 14.

[0075] In addition, as Figure 1A shown, the main body 1 further provides two charging plates 11 and a liquid injection nozzle 12 which are arranged at intervals on the rear wall 1w1 of the storage cavity 1c. The two charging plates 11 are electrically connected to the power supply system of the base station CS. In the state where the autonomous mobile device AM is parked in the storage cavity 1c of the base station CS, the two charging plates 11 can charge the autonomous mobile device AM. The liquid injection passage 13p in the liquid injection nozzle 12 is communicated with the liquid supply system of the base station CS. In the state where the autonomous mobile device AM is a self-mobile cleaning device and is parked in the storage cavity 1c of the base station CS, the liquid injection nozzle 12 can supply a cleaning liquid such as water to the accommodation space in the autonomous mobile device AM. Further, the main body 1 further provides a suction port 1o2 which is separated from the charging plates 11 and the liquid injection nozzle 12 on the rear wall 1w1 of the storage cavity 1c. The suction port 1o2 can be connected to a suction device through a suction channel. Thus, in the state where the autonomous mobile device AM is a self-mobile cleaning device and is parked in the storage cavity 1c of the base station CS, foreign matters in the dust box of the autonomous mobile device AM can be sucked through the suction port 1o2 to empty the dust box.

[0076] The base station according to the second embodiment of the present disclosure will be described below with reference to the accompanying drawings of the specification.

[0077] As Figure 2 shown, the structure of the base station CS according to the second embodiment of the present disclosure is basically the same as the structure of the base station CS according to the first embodiment of the present disclosure. The following mainly describes the differences between the two.

[0078] In this embodiment, as Figure 2As shown, the base station CS is not provided with the first support ribs 8 and the brush 9. Instead, the base station CS includes a plurality of second support ribs 10. The plurality of second support ribs 10 are fixedly installed at the bottom of the storage cavity 1c in an array manner. The plurality of second support ribs 10 are arranged at intervals from each other and can extend along different directions. In a state where the autonomous mobile device AM is docked in the storage cavity 1c of the base station CS, the second support ribs 10 are used to support the autonomous mobile device AM. In addition, in order to enable the autonomous mobile device AM to dock more smoothly in the storage cavity 1c, the base station CS forms an inclined guiding surface 1s at the bottom of the storage cavity 1c. The inclined guiding surface 1s cooperates with the following guiding wheel 142 of the autonomous mobile device AM and is used to guide the autonomous mobile device AM to move into place.

[0079] The following describes the autonomous mobile device according to an embodiment of the present disclosure with reference to the accompanying drawings of the specification. This autonomous mobile device is used in cooperation with the above-mentioned base station.

[0080] In this embodiment, the autonomous mobile device is a self-mobile cleaning device. As Figure 3A and Figure 3B shown, the self-mobile cleaning device has a main body 13, a wet cleaning assembly 14, and a docking charging piece 15 assembled together.

[0081] As Figure 3A shown, the main body 13 has an overall circular shape in a top view. In other variant examples, the main body 13 can have various shapes such as a D shape, an oval shape, etc. as a whole. In this way, the side surface 13s of the main body forms a curved surface, which is used to contact the roller 2 of the base station CS when the autonomous mobile device AM is significantly skewed relative to the base station CS. When the autonomous mobile device AM is in a normal operation state, the bottom surface of the main body 13 faces the surface to be cleaned, and the bottom surface of the main body 13 is usually parallel to the surface to be cleaned. Here, "parallel" not only includes the geometric parallel relationship between the bottom surface of the main body 13 and the surface to be cleaned, but also includes the case where the two are substantially parallel. The above "substantially" means that within a reasonable error range recognized by those skilled in the art, the parallel relationship between the two can be determined to be established. In addition, in order to support and protect other components, other components of the autonomous mobile device AM are usually installed inside the main body 13 or have a connection relationship with the main body 13.

[0082] In addition, as Figure 3A and Figure 3BAs shown, two second guiding and positioning holes 13h and a liquid injection passage 13p are formed at the rear of the main body 13. The second guiding and positioning holes 13h are for the insertion of the second guiding and positioning parts 4 of the base station CS, and the liquid injection passage 13p is for the insertion of the liquid injection nozzle 12 of the base station CS. The positions where the two second guiding and positioning holes 13h are arranged correspond to the positions of the two second guiding and positioning parts 4 of the base station CS. Each second guiding and positioning hole 13h has an opening facing outward formed on the side surface 13s of the main body 13 of the main body 13, and each second guiding and positioning hole 13h includes a gradually expanding part 13h1 and a straight hole part 13h2 that communicate with each other. The inner diameter of the gradually expanding part 13h1 gradually expands from the straight hole part 13h2 toward the opening of the second guiding and positioning hole 13h. The second guiding and positioning part 4 is in clearance fit with the straight hole part 13h2, whereby the main body 13 is positioned relative to the accommodation cavity 1c of the base station CS, so that the autonomous mobile device AM is configured to be positioned in the accommodation cavity 1c of the base station CS in a predetermined posture.

[0083] In this embodiment, as Figures 3B to 3E shown, the wet cleaning assembly 14 is assembled to the main body 13 in a detachable manner. The wet cleaning assembly 14 includes a bracket 141, a guiding wheel 142, and a wet cleaning member 143 assembled together. The bracket 141 is installed at the bottom of the main body 13 and is used to support the wet cleaning member 143 and the guiding wheel 142. A first guiding and positioning hole 14h (formed in the form of a groove in this embodiment) is formed at the bottom of the bracket 141. The first guiding and positioning hole 14h is for the insertion of the first guiding and positioning part 3 of the base station CS, so that the autonomous mobile device AM is configured to be positioned in the accommodation cavity 1c of the base station CS in a predetermined posture. The guiding wheel 142 is fixed to the bracket 141 and is located below the bracket 141. During the process of guiding the autonomous mobile device AM into the accommodation cavity 1c, the guiding wheel 142 can roll on the inclined guiding surface 1s formed at the bottom of the accommodation cavity 1c (see Figure 4K ). The guiding wheel 142 can be used to assist in guiding the autonomous mobile device AM. The wet cleaning member 143, such as a rag or a mop, is installed on the bracket 141 and is located below the bracket 141. The wet cleaning member 143 is used to perform wet cleaning on, for example, a surface to be cleaned.

[0084] In this embodiment, as Figure 3A shown, two docking charging pieces 15 are arranged on the side surface 13s of the main body 13 of the autonomous mobile device AM and correspond to the positions of the charging pieces 11 of the base station CS, so that stable electrical connection can be achieved between the docking charging pieces 15 and the charging pieces 11 after the autonomous mobile device AM docks in the accommodation cavity 1c of the base station CS.

[0085] The process of the autonomous mobile device AM docking to the base station CS and the state of the autonomous mobile device AM docking to the base station CS according to the embodiments of the present disclosure will be described below with reference to the accompanying drawings of the specification.

[0086] After the autonomous mobile device AM is initially aligned with the opening 1o1 of the storage cavity 1c of the base station CS according to the first embodiment of the present disclosure by means of guiding such as scanning a QR code, etc., the autonomous mobile device AM finds its way to the opening 1o1 accordingly. As Figure 4A and Figure 4B shown, once the posture of the autonomous mobile device AM is greatly skewed when it finds its way and moves to the opening 1o1 of the storage cavity 1c of the base station CS, the side portion of the autonomous mobile device AM contacts the roller 2 provided at the front edge of the opening 1o1, and by using the rolling friction generated between the roller 2 and the autonomous mobile device AM, the posture of the autonomous mobile device AM can be initially corrected during the process of the autonomous mobile device AM continuing to enter the storage cavity 1c.

[0087] In the case where there is still a large degree of skew in the posture of the autonomous mobile device AM after correction by using the roller 2, as Figure 4C shown, the autonomous mobile device AM will contact the guiding protrusion 5, and by using the static or sliding friction generated between the guiding protrusion 5 and the autonomous mobile device AM, the posture of the autonomous mobile device AM can be further corrected during the process of the autonomous mobile device AM continuing to enter the storage cavity 1c.

[0088] When the autonomous mobile device AM enters the storage cavity 1c and approaches the rear wall 1w1 of the storage cavity 1c, as Figure 4D shown, the bracket 141 of the wet cleaning assembly 14 of the autonomous mobile device AM abuts against the two elastic ejector pins 7. On the one hand, the elastic ejector pins 7 can apply a pressure to the autonomous mobile device AM towards the front side, and the two elastic ejector pins 7 also play a role in assisting the guidance of the autonomous mobile device AM.

[0089] When the autonomous mobile device AM further approaches the rear wall 1w1 of the storage cavity 1c, as Figure 4E shown, the first guiding and positioning portion 3 is inserted into the first guiding and positioning hole 14h, and by using the cooperation between the first guiding and positioning portion 3 and the first guiding and positioning hole 14h, the autonomous mobile device AM can be corrected and positioned more accurately.

[0090] When the autonomous mobile device AM further approaches the rear wall 1w1 of the storage cavity 1c, as Figure 4F shown, the second guiding and positioning portion 4 is inserted into the second guiding and positioning hole 13h, and by using the cylindrical second guiding and positioning portion 4 and the second guiding and positioning hole 13h, the autonomous mobile device AM can be corrected and positioned more precisely.

[0091] After the autonomous mobile device AM abuts against the limiting portion 6 of the base station CS, as Figure 4GAs shown, the final positioning of the autonomous mobile device AM is performed. The autonomous mobile device AM is docked in the receiving cavity 1c of the base station CS in a predetermined posture. In addition, as Figures 4H to 4J shown, the autonomous mobile device AM can also be stably supported by the first support rib 8 and the brush 9.

[0092] In this way, the autonomous mobile device AM can be guided and positioned by the rollers 2, the first guiding and positioning portion 3, and the second guiding and positioning portion 4 of the base station CS, so as to enter the receiving cavity 1c of the base station CS in a more precisely corrected posture and be more precisely positioned. After being corrected by the rollers 2 and the first guiding and positioning portion 3, the tapered portion 13h1 of the second guiding hole 13h can further guide and correct the autonomous mobile device AM, and the straight hole portion 13h2 of the second guiding hole 13h is used in cooperation with the second guiding and positioning portion 4 for very precise positioning. Furthermore, the autonomous mobile device AM enters the receiving cavity 1c of the base station CS in a more precisely corrected posture and is more precisely positioned. In this case, the autonomous mobile device AM can use the base station CS for charging, replenishing cleaning liquid, and sucking and emptying the dust box of the autonomous mobile device AM.

[0093] It should be understood that the above embodiments are merely exemplary and do not limit the present disclosure. Those skilled in the art can make various modifications and changes to the above embodiments under the teaching of the present disclosure without departing from the scope of the present disclosure. The following supplementary description is made for the technical solutions of the present disclosure.

[0094] i. The present disclosure also discloses an autonomous cleaning system, which includes the base station CS and the autonomous mobile device AM described above, and the autonomous mobile device AM is a self-mobile cleaning device.

[0095] ii. In the above specific embodiments, it is described that the base station CS has a guiding structure formed by a variety of guiding and positioning structures, but the present disclosure is not limited thereto. Based on the technical concept of the present disclosure, in an alternative solution, the base station CS may only have the roller 2 and the first guiding and positioning portion 3, and the autonomous mobile device AM is formed with a first guiding and positioning hole 14h for inserting the first guiding and positioning portion 3 of the base station CS. In this way, once the autonomous mobile device AM has a large degree of skew in its posture when it moves along the path to the opening 1o1 of the storage cavity 1c of the base station CS, the autonomous mobile device AM contacts the roller 2 provided at the front edge of the opening 1o1, and the rolling friction generated between the roller 2 and the autonomous mobile device AM can initially correct the posture of the autonomous mobile device AM during the process of the autonomous mobile device AM continuing to enter the storage cavity 1c. When the autonomous mobile device AM enters the storage cavity 1c and approaches the rear wall 1w1 of the storage cavity 1c of the base station CS, the first guiding and positioning portion 3 that tapers towards the front side can further correct the autonomous mobile device AM and then achieve positioning. Thus, according to the base station CS and the autonomous mobile device AM of the present disclosure, a guiding structure can be realized with a relatively simple structure, enabling the autonomous mobile device AM to dock to the base station CS in a predetermined posture, thereby simplifying the internal structures of the base station CS and the autonomous mobile device AM and reducing costs.

[0096] iii. It can be understood that in the present disclosure, the autonomous mobile device AM can move autonomously according to a control scheme preset in its processing unit. The traveling surface on which the autonomous mobile device AM moves autonomously can be a plane or a curved surface with a relatively large radius of curvature. Typically, for example, it is the ground in each room of a building. The processing unit in the present disclosure is a general term, and there are no restrictions on the type, quantity, and form of the processing unit. Specifically, the processing unit can be one or several of MCU, DSP, FPGA, GPU, or other various hardware chips, processors, or software algorithms with data processing and computing capabilities. Further, the processing unit can be the unified and unique processor of the autonomous mobile device AM, or a collection of multiple processing units. The connection method, functions, and computing power distribution of the multiple processing units can be adjusted as needed. For example, in an alternative solution, it can include a first processing unit and a second processing unit. In this case, the first processing unit and the second processing unit together implement various functions of the above-mentioned processing unit. In addition, the processing unit of the autonomous mobile device AM according to the present disclosure can receive parameters from the sensing component and can control the autonomous mobile device AM through a preset program stored in the storage unit. In the present disclosure, the data, information, and programs required by the processing unit during the processing can be stored in the storage unit and retrieved from the storage unit as needed. The processing unit can store the processed data, information, etc. in the storage unit again. The storage unit can be RAM, ROM, etc., or devices and / or equipment with storage functions such as cloud / servers / mobile terminals connected through wired / wireless networks.

[0097] In addition, in order to achieve autonomous movement of the autonomous mobile device AM, the autonomous mobile device AM according to the present disclosure may further include a wheel assembly. The wheel assembly may be mounted on the main body 13 and protrude from the bottom surface of the main body 135, and is configured to drive the entire autonomous mobile device AM to travel on the surface to be cleaned under the control of the processing unit. By rotating the wheels (drive wheels) of the two wheel assemblies at the same speed in the same direction (e.g., rotating clockwise simultaneously or rotating counterclockwise simultaneously), the autonomous mobile device AM can be driven to move linearly along the forward movement direction; by rotating the drive wheels of the two wheel assemblies at different speeds and / or in different directions (e.g., one drive wheel rotates clockwise while the other drive wheel rotates counterclockwise), the autonomous mobile device AM can be driven to perform a steering movement along a direction different from the forward movement direction. The autonomous mobile device AM may further include a caster wheel disposed on the main body 13, so that the caster wheel can support the entire autonomous mobile device AM regardless of how the drive wheels roll on the surface to be cleaned. When the autonomous mobile device AM according to the present disclosure is a self-mobile cleaning device, the self-mobile cleaning device may further include a dry cleaning component in addition to the wet cleaning component 14. The dry cleaning component is disposed on the main body 13 and may include a main brush, a side brush (edge brush), a suction device, etc. Thus, when the self-mobile cleaning device travels on the surface to be cleaned, the surface to be cleaned can be cleaned by the dry cleaning component and / or the wet cleaning component 14. In different working modes, the cleaning operations achieved by the self-mobile cleaning device include, but are not limited to, one or more of operations such as sweeping, mopping, and vacuuming.

[0098] iv. It can be understood that in the present disclosure, the base station CS may be fixedly disposed at any appropriate position on the traveling surface (surface to be cleaned). By using the signal generator of the base station CS and the receiver provided on the self-mobile cleaning device, the self-mobile cleaning device can dock with the base station CS according to a preset program to replenish the cleaning liquid and charge. Typically, the base station CS may adopt a charging stand or a charging pile with a liquid supply system.

Claims

1. A base station for docking and charging autonomous mobile devices, characterized in that: The base station comprises: a main body, which is formed with a storage cavity, the storage cavity having an opening open toward the front side of the base station, the opening being used for the autonomous mobile device to enter the storage cavity; A roller rotatably connected to the main body so that the roller can rotate around a rotation axis extending in the up-down direction of the base station, and at least one roller is disposed at each front end edge of the opening; and A first guide positioning portion is fixed to the rear wall of the storage cavity and is located in the storage cavity, the first guide positioning portion protrudes toward the front side relative to the rear wall, and a portion of the first guide positioning portion is formed as a tapered portion that tapers toward the front side, and the portion includes a front end portion of the first guide positioning portion.

2. The base station according to claim 1, characterized in that It also includes a second guide positioning portion, which is fixed to the rear wall of the main body, protrudes toward the front side relative to the rear wall and is spaced apart from the first guide positioning portion, and is formed into a cylindrical shape extending linearly.

3. The base station according to claim 2, characterized in that It also includes a guide protrusion, and at least one guide protrusion is fixedly disposed on the side walls on the left and right sides of the storage cavity, The guide protrusion protrudes toward the inside of the receiving cavity, and the side surface of the guide protrusion is formed as a guide curved surface. The guide protrusion is located at a rear side of the roller and at a front side of the first guide positioning portion and the second guide positioning portion.

4. The base station according to claim 2, characterized in that The invention also includes a limiting portion, which is fixed to the main body and is located at a rear side of both the tapered portion of the first guide positioning portion and the front end portion of the second guide positioning portion.

5. The base station according to claim 2, characterized in that It also includes two elastic ejectors, which are installed on the main body and located on the rear wall of the storage cavity. The elastic ejector includes an ejector and a spring. The ejector is formed to extend linearly toward the front side and protrude toward the front side relative to the rear wall. The spring always applies a spring force toward the front side to the ejector.

6. The base station according to claim 5, characterized in that The base station further comprises a plurality of first supporting ribs and a brush, wherein the plurality of first supporting ribs are fixedly mounted on the side wall of the storage cavity, the brush is disposed at the bottom of the storage cavity and can reciprocate relative to the main body, and the first supporting ribs and the brush are used to support the autonomous mobile device; or The base station further includes a plurality of second supporting ribs, which are fixedly mounted on the bottom of the storage cavity, and the second supporting ribs are used to support the autonomous mobile device.

7. An autonomous mobile device, characterized in that: The autonomous mobile device cooperates with the base station according to claim 1, The autonomous mobile device comprises a host, a host side of the host is formed as a curved surface, the host side is used to contact with the roller of the base station, and The autonomous mobile device is formed with a first guide positioning hole, wherein the first guide positioning hole is used for inserting the first guide positioning part of the base station. The autonomous mobile device is configured to be positionable in the storage cavity of the base station in a predetermined posture.

8. An autonomous mobile device, characterized in that: The autonomous mobile device cooperates with the base station described in claim 2, The autonomous mobile device comprises a host, a host side of the host is formed as a curved surface, the host side is used to contact with the roller of the base station, and The autonomous mobile device is formed with a first guide positioning hole and a second guide positioning hole, wherein the first guide positioning hole is used for inserting the first guide positioning part of the base station, and the second guide positioning hole is used for inserting the second guide positioning part of the base station. The autonomous mobile device is configured to be positionable in the storage cavity of the base station in a predetermined posture.

9. The autonomous mobile device according to claim 8, characterized in that: The second guide positioning hole includes a gradually expanding portion and a straight hole portion, The gradually expanding portion gradually expands from the straight hole portion toward the opening of the second guide positioning hole, The straight hole portion is matched with the second guide positioning portion in shape.

10. An autonomous mobile device, characterized in that: The autonomous mobile device cooperates with the base station according to claim 6, The autonomous mobile device comprises a host and a wet cleaning component, wherein a host side of the host is formed into a curved surface, and the host side is used to contact the roller of the base station, and the wet cleaning component is assembled to the host in a detachable manner, and the wet cleaning component is formed with a first guide positioning hole, and the host is formed with a second guide positioning hole, wherein the first guide positioning hole is used for inserting a first guide positioning part of the base station, and the second guide positioning hole is used for inserting a second guide positioning part of the base station, The autonomous mobile device is configured to be positionable in the storage cavity of the base station in a predetermined posture.

11. The autonomous mobile device according to claim 10, characterized in that: The wet cleaning assembly comprises a bracket, a guide wheel and a wet cleaning member assembled together, The first guide positioning hole is formed in the bracket, the guide wheel and the wet cleaning member are located below the bracket, and when the autonomous mobile device is guided into the storage cavity, the guide wheel can roll on the inclined guide surface formed at the bottom of the storage cavity.

12. An autonomous cleaning system, characterized in that: The device comprises the base station according to any one of claims 1 to 6 and the autonomous mobile device according to any one of claims 7 to 11, wherein the autonomous mobile device is a self-moving cleaning device.

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