Self-moving cleaning equipment and cleaning system

Abstract

The utility model provides self-moving cleaning equipment and a cleaning system, and relates to the technical field of cleaning equipment. The self-moving cleaning equipment comprises an equipment body and a mechanical arm. The equipment main body is provided with at least one first connecting part; the mechanical arm is provided with a second connecting part and a third connecting part; wherein at least one of the second connecting part and the third connecting part is configured to be detachably connected with the first connecting part, and at least one of the second connecting part and the third connecting part is configured to be detachably connected with an object provided with the fourth connecting part. The influence of the size of the mechanical arm on the size of the equipment body is small, so that the size of the mechanical arm can be increased, the functions of the mechanical arm are enriched, for example, a camera module can be configured to improve the recognition capacity, improve the grabbing capacity of the mechanical arm, increase the grabbing range of the mechanical arm and the like, and meanwhile the thickness of the cleaning equipment cannot be increased; therefore, the working capability of the cleaning equipment is improved, and the application scene of the cleaning equipment is expanded.

Description

Technical Field

[0001] This disclosure relates to the field of cleaning equipment technology, specifically to a self-moving cleaning device and cleaning system. Background Technology

[0002] With the advancement of technology and the improvement of living standards, self-moving cleaning equipment, such as robot vacuums and robot mops, is being used more and more widely, and the functional requirements for self-moving cleaning equipment are also getting higher and higher.

[0003] To expand the application scenarios of self-propelled cleaning equipment, some self-propelled cleaning devices have been equipped with robotic arms, which can clean areas that the self-propelled cleaning equipment cannot reach, or move obstacles. However, due to the size limitations of self-propelled cleaning equipment, the existing robotic arms are relatively small. Increasing the size of the robotic arms would lead to an increase in the size and height of the self-propelled cleaning equipment, which would be detrimental to its operation. Utility Model Content

[0004] In view of the problems existing in the prior art, this disclosure provides a self-moving cleaning device and cleaning system to improve the problem of small size and limited functions of robotic arms due to the size limitation of cleaning devices.

[0005] To achieve the above and other related objectives, a first aspect of this disclosure provides a self-moving cleaning device, comprising a device body and a robotic arm. The device body is provided with at least one first connecting portion; the robotic arm is provided with a second connecting portion and a third connecting portion; wherein at least one of the second and third connecting portions is configured to be detachably connected to the first connecting portion, and at least one of the second and third connecting portions is configured to be detachably connected to an object provided with a fourth connecting portion.

[0006] The main body of the equipment and the robotic arm are detachably connected. When the cleaning scenario requires the robotic arm, it is mounted on the main body, and the main body moves the robotic arm to the working position, allowing it to perform tasks such as picking up trash, organizing items, and moving obstacles. When the robotic arm is not needed, it is detached from the main body, and the main body performs cleaning work independently. The size of the robotic arm has minimal impact on the size of the main body, allowing for an increase in the size of the robotic arm and its functionality. For example, a camera module can be added to improve recognition capabilities, increase the robotic arm's gripping ability, and expand its gripping range, without increasing the thickness of the cleaning equipment. This enhances the cleaning equipment's working capacity and expands its application scenarios.

[0007] The main body of the equipment can also be replaced with different robotic arms as needed, such as robotic arms that carry rags, robotic arms that grab garbage, robotic arms that pick up clothes, robotic arms that have climbing ability, etc., thereby enriching the functions of the cleaning equipment and increasing its application range.

[0008] The robotic arm can be detachably connected to an object equipped with a fourth connection part. The object can provide temporary storage space or functional components for the robotic arm, and can also provide an installation position for the robotic arm, so that the robotic arm can perform different functions in different positions, thus expanding the functionality of the robotic arm and expanding the application scenarios of cleaning equipment.

[0009] In an exemplary embodiment of this disclosure, the second connecting portion and / or the third connecting portion are provided with a receiving cavity having an opening, and a camera module is disposed in the receiving cavity; the camera module has at least a retracted position and a working position, wherein the camera module is housed in the receiving cavity in the retracted position, and the camera module is at least partially exposed outside the receiving cavity in the working position.

[0010] The receiving cavity can be set on the second connecting part, the third connecting part, or both the second and third connecting parts, so as to improve the convenience of connecting the robotic arm and the accuracy of the robotic arm's work recognition by increasing the number of camera modules.

[0011] When the camera module is in the retracted position, it is housed within the receiving cavity, facilitating storage and handling by the robotic arm and reducing the risk of damage during storage. When in the working position, the camera module is partially exposed outside the receiving cavity, ensuring its operation and facilitating the assembly and disassembly of the robotic arm from the equipment or object, as well as enabling the robotic arm to perform its tasks.

[0012] In an exemplary embodiment of this disclosure, an elastic member is provided inside the receiving cavity, which drives the camera module to move to the working position when the camera module is disengaged from the opening.

[0013] The elastic element stores mechanical energy through elastic deformation. When the camera module is removed from the obstruction at the opening, it drives the camera module to move to the working state. During the movement, no external power supply or continuous external power input is required, and no connection circuit is needed, making it relatively convenient to set up.

[0014] When the camera module is removed from the opening, the elastic element immediately performs work on the camera module under the action of the elastic force, driving the camera module to move. This ensures that the camera module can respond quickly and move stably to the working position. The switching between the retracted position and the working position is fast and stable, thereby improving the stability of the cleaning equipment.

[0015] In an exemplary embodiment of this disclosure, the device body includes a first driving unit, which drives a first connecting part and a second connecting part to rotate and engage in a first rotation direction; and the first driving unit drives a third connecting part and a fourth connecting part to rotate and engage in a second rotation direction. One of the first rotation direction and the second rotation direction is clockwise, and the other is counterclockwise.

[0016] When the first drive unit, which connects the first connecting part to the second connecting part and the third connecting part to the fourth connecting part, is located on the main body of the device, and the first rotation direction is opposite to the second rotation direction, thus preventing the third connecting part from accidentally disengaging from the fourth connecting part by disengaging the first connecting part from the second connecting part in the opposite direction of the first rotation direction, the accidental disengagement of the third connecting part from the fourth connecting part can be prevented. Similarly, when the third connecting part disengages from the fourth connecting part, the accidental disengagement of the first connecting part from the second connecting part can be prevented, thereby allowing the robotic arm to disengage from the main body of the device or the object as expected.

[0017] In an exemplary embodiment of this disclosure, the robotic arm includes a second drive unit that drives a second connecting part and / or a third connecting part to rotate, such that the second connecting part is connected to a first connecting part, and / or the third connecting part is connected to a fourth connecting part.

[0018] The robotic arm is equipped with a second drive unit, which can drive the second connecting part to connect with the first connecting part, thereby reducing the number of drive units on the main body of the equipment, thus reducing the size of the main body of the equipment and facilitating its operation.

[0019] The second drive unit can also drive the third and fourth connecting units to connect, so that the drive unit does not need to be set on the object, thus facilitating the setting and installation of the object.

[0020] There may be one second drive unit, which can drive the second connecting part and / or the third connecting part to rotate. Alternatively, there may be two second drive units, which can drive the second connecting part and the third connecting part to rotate respectively.

[0021] In an exemplary embodiment of this disclosure, the second driving unit drives the first connecting part to rotate and engage with the second connecting part along a first rotation direction; the second driving unit drives the third connecting part to rotate and engage with the fourth connecting part along a second rotation direction. Both the first and second rotation directions are clockwise or counterclockwise.

[0022] The robotic arm is equipped with a second drive unit. When the second drive unit causes the second connecting part to disengage from the first connecting part, the first and second connecting parts disengage in opposite directions along the first rotation direction. This causes the third and fourth connecting parts to rotate in the same direction as the first rotation direction, preventing them from disengaging. Similarly, when the third and fourth connecting parts disengage, the first and second connecting parts remain connected. This facilitates control over the disengagement of the robotic arm from the equipment body and from the object, ensuring stable disengagement and preventing accidental disengagement.

[0023] In an exemplary embodiment of this disclosure, the self-moving cleaning device includes a first locking mechanism and a second locking mechanism. The first locking mechanism is configured to lock a first connecting portion and a second connecting portion to restrict relative rotation between the first connecting portion and the second connecting portion. The second locking mechanism is configured to lock a third connecting portion and a fourth connecting portion to restrict the third connecting portion and the fourth connecting portion.

[0024] The first locking mechanism restricts the relative rotation between the first connecting part and the second connecting part, so that the main body of the equipment and the robotic arm remain connected, ensuring that the main body of the equipment and the robotic arm can perform their functions.

[0025] By locking the third and fourth connecting parts with the second locking mechanism, the connection between the robotic arm and the object can be stabilized. For example, if the object is an execution tool, it can ensure that the robotic arm carries the execution tool to perform its function and complete the work; if the object is another connecting part carrier, it can ensure that the robotic arm is stably connected to the connecting part carrier. The connection of the robotic arm is reliable and stable, which is conducive to the robotic arm performing its function and completing the work.

[0026] In an exemplary embodiment of this disclosure, the self-moving cleaning device includes a first limiting portion and a second limiting portion. The first limiting portion is configured to restrict over-rotation of the first connecting portion and the second connecting portion along a first rotational direction. The second limiting portion is configured to restrict over-rotation of the third connecting portion and the fourth connecting portion along a second rotational direction.

[0027] The first limiting part can ensure that the first connecting part and the second connecting part are properly engaged when they are engaged, and prevent the first connecting part and the second connecting part from rotating excessively.

[0028] The second limiting part ensures that the third connecting part and the fourth connecting part are properly engaged, preventing over-rotation between the third connecting part and the fourth connecting part.

[0029] In an exemplary embodiment of this disclosure, one of the first connecting portion and the second connecting portion is provided with a first locking block, and the other is provided with a first locking groove, the first locking block and the first locking groove being matched; a first limiting block is provided on the rear side of the first locking block along the first rotation direction and / or on the front side of the first locking groove along the first rotation direction to limit the first locking block and the first locking groove from over-rotating along the first rotation direction. The third connecting portion is provided with one of a second locking block and a second locking groove, the second locking block and the second locking groove being configured to match the other of the second locking block and the second locking groove provided on the fourth connecting portion; a second limiting block is provided on the rear side of the second locking block along the second rotation direction and / or on the front side of the second locking groove along the second rotation direction to limit the second locking block and the second locking groove from over-rotating along the second rotation direction.

[0030] The first locking block matches the first locking slot. When the first locking block is screwed into the first locking slot, the first connecting part and the second connecting part are engaged. The first connecting part and the second connecting part are easy to assemble and disassemble, which is beneficial to the disassembly, assembly and use of the robotic arm. The first limiting block restricts the rotation of the first locking block and the first locking slot, ensuring that the first connecting part and the second connecting part are engaged in place.

[0031] Similarly, by matching the second locking block with the second locking slot, the second locking block screws into the second locking slot to engage the third and fourth connecting parts. This facilitates the assembly and disassembly of the third and fourth connecting parts, which is beneficial for the disassembly, assembly, and use of the robotic arm. The second limiting block restricts excessive rotation of the second locking block and the second locking slot, ensuring that the third and fourth connecting parts are properly engaged.

[0032] In an exemplary embodiment of this disclosure, both the first connecting portion and the second connecting portion are provided with electrical connecting portions, so that the first connecting portion and the second connecting portion are electrically connected when connected. The third connecting portion is provided with an electrical connecting portion, which is configured to match an electrical connecting portion on the fourth connecting portion, so that the third connecting portion and the fourth connecting portion are electrically connected.

[0033] The first connecting part is electrically connected to the second connecting part, allowing the main body of the device to supply power to the robotic arm. The third connecting part is electrically connected to the fourth connecting part, allowing an object to supply power to the robotic arm. For example, the fourth connecting part can be installed on a wall, household appliance, furniture, etc., and connected to a power source.

[0034] In an exemplary embodiment of this disclosure, an execution tool is provided on the robotic arm.

[0035] The robotic arm comes equipped with its own tools, which facilitate the completion of tasks. For example, if the tool is a gripper, the robotic arm can perform functions such as picking up trash, retrieving clothing, removing obstacles, and organizing items. If the tool is a rag, it can clean areas that cleaning equipment cannot reach, such as the floor under low sofas or coffee tables, wiping glass, cleaning doors, and wiping tabletops.

[0036] A second aspect of this disclosure provides a cleaning system, which includes a self-moving cleaning device according to any of the above claims and an object provided with a fourth connecting portion.

[0037] The main body of the cleaning system disclosed herein is detachably connected to the robotic arm. When the cleaning system requires the robotic arm, the robotic arm is installed on the main body of the system, and the main body of the system moves the robotic arm to the working position so that the robotic arm can perform tasks, such as picking up garbage, organizing items, and moving obstacles. When the robotic arm is not needed, it is detached from the main body of the system, and the main body of the system can perform cleaning work independently.

[0038] The main body of the equipment can also be replaced with different robotic arms as needed, such as robotic arms that carry rags, robotic arms that grab garbage, robotic arms that pick up clothes, robotic arms that have climbing ability, etc., thereby enriching the functions of the cleaning equipment and increasing its application range.

[0039] In an exemplary embodiment of this disclosure, the object includes an execution tool and / or a connection carrier. The connection carrier includes one or more of household appliances, furniture, floors, and walls.

[0040] The object can be an execution tool. The robotic arm can complete different tasks by carrying different execution tools, including but not limited to rags, grippers, and suction cups.

[0041] The object can also be a connecting carrier, which includes one or more of home appliances, furniture, floors, and walls. For example, if the connecting carrier is a washing machine, a robotic arm can be attached to the washing machine to add clothes and detergent; if the connecting carrier is a table, a robotic arm can be attached to the table to help the cleaning equipment climb onto the table for cleaning, or the robotic arm can carry a cloth to clean the table; if the connecting carrier is a floor or wall, a robotic arm can be attached to the connecting carrier to perform floor cleaning, wall cleaning, etc., thereby enriching the functions of the cleaning equipment and expanding its application scenarios.

[0042] In an exemplary embodiment of this disclosure, the cleaning system includes a base station having a storage area for accommodating objects.

[0043] The object can be an execution tool. The base station can accommodate different execution tools so that the robotic arm and different execution tools can complete different tasks according to different needs, thus enriching the functions of the cleaning equipment.

[0044] In combination with existing technologies, the beneficial effects of this disclosure are as follows:

[0045] Existing robotic arms are limited by the size constraints of cleaning equipment, typically resulting in small dimensions and severely limited functionality and precision. This disclosed device features a detachable connection between the main body and the robotic arm. When the cleaning environment requires the robotic arm, it is mounted on the main body, which then moves it to the working position, enabling it to perform tasks such as picking up trash, organizing items, and moving obstacles. When the robotic arm is not needed, it is detached from the main body, allowing the main body to perform cleaning independently. The size of the robotic arm has minimal impact on the size of the main body, allowing for a larger arm and more advanced functionality. For example, a camera module can be added to improve recognition capabilities, increase gripping power, and expand the gripping range, all without increasing the thickness of the cleaning equipment. This enhances the cleaning equipment's capabilities and expands its application scenarios.

[0046] The main body of the equipment can also be replaced with different robotic arms as needed, such as robotic arms that carry rags, robotic arms that grab garbage, robotic arms that pick up clothes, robotic arms that have climbing ability, etc., thereby enriching the functions of the cleaning equipment and increasing its application range.

[0047] The robotic arm can be detachably connected to an object equipped with a fourth connection part. The object can provide temporary storage space or functional components for the robotic arm, and can also provide an installation position for the robotic arm, so that the robotic arm can perform different functions in different positions, thus expanding the functionality of the robotic arm and expanding the application scenarios of cleaning equipment. Attached Figure Description

[0048] To more clearly illustrate the technical solutions in the embodiments of this disclosure or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this disclosure. For those skilled in the art, other embodiments can be obtained based on these drawings without creative effort.

[0049] Figure 1 This is a schematic diagram of an exemplary robotic arm disclosed herein;

[0050] Figure 2 This is an exemplary schematic diagram of the connection between the first connecting part and the second connecting part of this disclosure;

[0051] Figure 3This is an exploded view of an exemplary first connecting portion and a second connecting portion of this disclosure;

[0052] Figure 4 This is a cross-sectional schematic diagram of an exemplary first connecting portion and a second connecting portion of this disclosure;

[0053] Figure 5 This is a schematic diagram of an exemplary working position camera module disclosed herein;

[0054] Figure 6 This disclosure presents an exemplary working position camera module from another angle.

[0055] Component designation explanation:

[0056] 100. Robotic arm;

[0057] 200, Second connecting part; 210, Receiving cavity; 211, Elastic element; 220, Second driving part; 230, First locking mechanism; 240, First locking block; 241, First limiting block; 250, First slot; 260, Electrical connection part;

[0058] 300. Third connecting part;

[0059] 400. Camera module;

[0060] 500. First connecting part. Detailed Implementation

[0061] The following specific examples illustrate the implementation of this disclosure. Those skilled in the art can easily understand other advantages and effects of this disclosure from the content disclosed in this specification. This disclosure can also be implemented or applied through other different specific embodiments, and various details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of this disclosure. It should be noted that, unless otherwise specified, the following embodiments and features can be combined with each other. It should also be understood that the terminology used in the embodiments of this disclosure is for describing specific implementation schemes and not for limiting the scope of protection of this disclosure. Test methods in the following embodiments that do not specify specific conditions are generally performed under conventional conditions or according to the conditions recommended by the respective manufacturers.

[0062] When numerical ranges are given in the embodiments, it should be understood that, unless otherwise stated in this disclosure, both endpoints of each numerical range and any value between the two endpoints may be selected. Unless otherwise defined, all technical and scientific terms used in this disclosure, as well as the prior art known to those skilled in the art and the descriptions in this disclosure, may be implemented using any prior art methods, apparatus, and materials similar to or equivalent to the methods, apparatus, and materials in the embodiments of this disclosure.

[0063] It should be noted that the terms such as "upper," "lower," "left," "right," "middle," and "one" used in this specification are merely for clarity of description and are not intended to limit the scope of this disclosure. Any changes or adjustments to their relative relationships, without substantially altering the technical content, shall also be considered within the scope of this disclosure.

[0064] Please see Figures 1 to 6 This disclosure provides a self-moving cleaning device and a cleaning system. The self-moving cleaning device can be a sweeping robot, a floor scrubbing robot, a vacuum and mop robot, a glass cleaning robot, or other self-moving cleaning equipment. The cleaning system includes the self-moving cleaning device and an object equipped with a fourth connecting part.

[0065] The self-propelled cleaning device includes a device body and a robotic arm 100. The device body is provided with at least one first connecting portion 500; the robotic arm 100 is provided with a second connecting portion 200 and a third connecting portion 300; wherein at least one of the second connecting portion 200 and the third connecting portion 300 is configured to be detachably connected to the first connecting portion 500, and at least one of the second connecting portion 200 and the third connecting portion 300 is configured to be detachably connected to an object provided with a fourth connecting portion.

[0066] The main body of the equipment and the robotic arm 100 are detachably connected. When the cleaning equipment requires the robotic arm 100, it is mounted on the main body, and the main body moves the robotic arm 100 to the working position, allowing it to perform tasks such as picking up trash, organizing items, and moving obstacles. When the robotic arm 100 is not needed, it is detached from the main body, and the main body performs cleaning work independently. The size of the robotic arm 100 has minimal impact on the size of the main body, allowing for an increase in its size and functionality. For example, a camera module 400 can be configured to improve recognition capabilities, increase the robotic arm 100's gripping ability, and expand its gripping range, without increasing the thickness of the cleaning equipment. This enhances the cleaning equipment's capabilities and expands its application scenarios.

[0067] The main body of the equipment can also be replaced with different robotic arms 100 as needed, such as robotic arms 100 that carry rags, robotic arms 100 that grab garbage, robotic arms 100 that pick up clothes, robotic arms 100 that have climbing ability, etc., thereby enriching the functions of the cleaning equipment and increasing the application range of the cleaning equipment.

[0068] The main body of the device has at least one first connecting part 500, which enables connection with the robotic arm 100. The main body of the device may also have multiple first connecting parts 500 to connect multiple robotic arms 100 simultaneously, thereby achieving different functions and completing different tasks. For example, if the main body of the device is connected to both a robotic arm 100 with a vacuuming function and a robotic arm 100 with a mopping function, it can perform vacuuming followed by mopping of the floor.

[0069] The robotic arm 100 may have a second connecting part 200 and a third connecting part 300. One of the second connecting part 200 and the third connecting part 300 is detachably connected to the first connecting part 500, and the other is detachably connected to the fourth connecting part. The robotic arm 100 may also have multiple second connecting parts 200 and multiple third connecting parts 300. One of the multiple second connecting parts 200 and multiple third connecting parts 300 is detachably connected to the first connecting part 500, and the other is detachably connected to the fourth connecting part. For example, if the object of the fourth connecting part is an execution tool, the robotic arm 100 can connect to multiple execution tools at the same time, complete multiple functions, and perform multiple tasks, thus enriching the functions of the cleaning equipment.

[0070] The second connecting part 200 and the third connecting part 300 can be located at different positions on the robotic arm 100.

[0071] In one embodiment, the second connecting part 200 and the third connecting part 300 are respectively connected to the first connecting part 500 and the fourth connecting part. The second connecting part 200 and the third connecting part 300 can be disposed at both ends of the robotic arm 100 to facilitate the use of the robotic arm 100.

[0072] In one embodiment, one of the second connecting portion 200 and the third connecting portion 300 may be provided in the middle of the robotic arm 100 so that an execution tool or the like can be provided at the end of the robotic arm 100.

[0073] The robotic arm 100 is detachably connected to an object provided with a fourth connecting part. The object can provide temporary storage space or functional components for the robotic arm 100, and can also provide an installation position for the robotic arm 100, so that the robotic arm 100 can perform different functions in different positions, thus expanding the functions of the robotic arm 100 and expanding the application scenarios of cleaning equipment.

[0074] The object can be a connecting carrier, which includes one or more of the following: home appliances, furniture, floors, and walls.

[0075] In one embodiment, the connecting carrier is a washing machine, and the robotic arm 100 can add clothes and detergent to the washing machine. After the user changes clothes upon returning home, the main body of the device confirms the need for washing clothes based on user instructions or scene settings. The main body connects to the robotic arm 100 with relevant functions via the first connecting part 500 and the second connecting part 200. The robotic arm 100 picks up the clothes and puts them into the washing machine. If detergent needs to be added, the robotic arm 100 connects to the washing machine equipped with a fourth connecting part via the third connecting part 300. Then, the robotic arm 100 detaches from the main body and adds detergent, disinfectant, etc., to the washing machine as needed. The washing program of the washing machine can also be triggered as needed. After completing the relevant work, the main body connects to the robotic arm 100, the robotic arm 100 detaches from the connecting carrier, and the main body moves the robotic arm 100 to a temporary storage area.

[0076] In one embodiment, the connecting carrier can be a table. The device body triggers a table cleaning command based on user instructions or scene settings. The device body is connected to a robotic arm 100 with desktop cleaning function via a first connecting part 500 and a second connecting part 200. The robotic arm 100 is connected to the table with a fourth connecting part via a third connecting part 300. The robotic arm 100 cleans the desktop by either moving the device body to the desktop or detaching from the device body and using its own cloth. After cleaning, the robotic arm 100 detaches from the table, and the device actively moves the robotic arm 100 to a temporary storage area.

[0077] Of course, as some alternatives, the connecting carrier can also be the ground, wall, window, etc., and the robotic arm 100 can be connected to the connecting carrier to clean the wall or glass.

[0078] In one embodiment, multiple fourth connecting parts are provided at the vertical height of the connecting carrier. The robotic arm 100 connects to each of the multiple fourth connecting parts in sequence, enabling the robotic arm 100 to move the self-moving cleaning device vertically, thereby achieving the climbing of the self-moving cleaning device. For example, if the connecting carrier is a staircase in a duplex building, the self-moving cleaning device can climb the stairs and clean different floors by providing multiple fourth connecting parts; if the connecting carrier is a wall or cabinet surface, the self-moving cleaning device can climb to clean high places on walls, windows, or cabinet surfaces.

[0079] The object can also be different execution tools. The robotic arm 100 has strong versatility and can complete different tasks by matching different execution tools.

[0080] In one embodiment, the execution tool can be a gripper, and the robotic arm 100 drives the gripper to perform tasks such as garbage grabbing, item handling, and clothing pickup.

[0081] In one embodiment, the execution tool can be a rag, and the robotic arm 100 can drive the rag to clean areas that the main body of the equipment cannot reach, such as the floor under low sofas or coffee tables, glass, doors, and tabletops.

[0082] Of course, as some alternatives, the tool can also be a vacuum nozzle, etc., to vacuum the surface to be cleaned.

[0083] In one embodiment, the self-moving cleaning device includes a controller.

[0084] The controller controls the connection between the self-moving cleaning device and the robotic arm 100. The controller can automatically select the robotic arm 100 according to scene settings, environmental detection, etc., and connect the main body of the device to the selected robotic arm 100. The controller can also automatically match and connect the robotic arm 100 according to the instructions issued by the user.

[0085] The controller controls the robotic arm 100 to connect with the object. The controller can automatically select and connect to the object based on scene settings, environmental detection, etc., or it can automatically match and connect to the object based on instructions issued by the user.

[0086] Please see Figure 5 and Figure 6 In one embodiment, the second connecting portion 200 and / or the third connecting portion 300 are provided with a receiving cavity 210 having an opening, and a camera module 400 is disposed within the receiving cavity 210. The receiving cavity 210 may be disposed on the second connecting portion 200, or on the third connecting portion 300, or simultaneously on both the second connecting portion 200 and the third connecting portion 300.

[0087] The camera module 400 is set in the receiving cavity 210 of the robotic arm 100. When the robotic arm 100 is connected to different objects, the camera module 400 can be used, thereby avoiding the need to install the camera module 400 on each object, effectively reducing the number of camera modules 400 used and reducing production costs.

[0088] Please see Figure 1 In one embodiment, the second connecting portion 200 and the third connecting portion 300 are respectively disposed at both ends of the robotic arm 100. The second connecting portion 200 matches the first connecting portion 500, and the third connecting portion 300 matches the fourth connecting portion. Both the second connecting portion 200 and the third connecting portion 300 are provided with receiving cavities 210, so that camera modules 400 are disposed at both the third connecting portion 300 and the fourth connecting portion. On the one hand, this facilitates the connection of the robotic arm 100 with the equipment body and the object respectively, ensuring connection accuracy and improving the convenience of connecting the robotic arm 100. On the other hand, when the third connecting portion 300 is connected to an execution tool provided with the fourth connecting portion, the camera module 400 can identify the working environment, thereby ensuring that the execution tool can accurately complete the work task.

[0089] The two camera modules 400 can also be configured such that one provides the field of view while the other enables the robotic arm 100 to perform precision operations, such as folding and storing clothes.

[0090] In one embodiment, the second connecting part 200 and the third connecting part 300 have the same structure to facilitate the connection between the robotic arm 100 and the equipment body or object, thereby improving the adaptability of the robotic arm 100.

[0091] Of course, as some alternatives, the structures of the second connecting part 200 and the third connecting part 300 can also be different. For example, the first connecting part 500 and the third connecting part 300 can be the same, and the second connecting part 200 and the fourth connecting part can be the same.

[0092] In one embodiment, the camera module 400 has at least a retracted position and a working position. In the retracted position, the camera module 400 is housed in the receiving cavity 210, and in the working position, the camera module 400 is at least partially exposed outside the receiving cavity 210.

[0093] When the camera module 400 is in the retracted position, it is stored in the receiving cavity 210, thus preventing the camera module 400 from protruding and occupying the storage space of the robotic arm 100. This facilitates the storage and handling of the robotic arm 100 and reduces the risk of damage to the camera module 400 during storage and handling. When the camera module 400 is in the working position, it is partially exposed outside the receiving cavity 210, ensuring the operation of the camera module 400 and facilitating the assembly and disassembly of the robotic arm 100 from the equipment body or the object, as well as facilitating the operation of the robotic arm 100.

[0094] Please see Figure 5 In one embodiment, an elastic element 211 is provided in the receiving cavity 210. When the camera module 400 is removed from the opening, the elastic element 211 drives the camera module 400 to move to the working position.

[0095] The elastic element 211 stores mechanical energy through elastic deformation. When the camera module 400 is removed from the obstruction at the opening, it drives the camera module 400 to move to the working state. During the movement, no external power supply or continuous external power input is required, and no connection circuit is required, making it relatively convenient to set up.

[0096] When the camera module 400 is removed from the opening, the elastic element 211 immediately performs work on the camera module 400 under the action of the elastic force, driving the camera module 400 to move, ensuring that the camera module 400 can respond quickly and move stably to the working position. The switching between the retracted position and the working position is fast and stable, thereby improving the stability of the cleaning equipment.

[0097] The obstruction at the opening can be a blockage at the storage location of the robotic arm 100, such as the main body of a cleaning device; the main body of the robotic arm 100 can be foldable, and when the robotic arm 100 is folded and stored, part of the main body covers the opening to block it; the obstruction at the opening can also be other limiting structures that block the movement of the camera module 400 to the working position, so as to block the camera module 400 when it is in the retracted position, so that the camera module 400 remains in the retracted position.

[0098] The camera module 400 can move from the retracted position to the working position by either linear movement or rotation.

[0099] Of course, as some alternatives, the movement of the camera module 400 between the retracted position and the working position can also provide other ways to switch between the retracted position and the working position.

[0100] The elastic element 211 can be a spring, torsion spring, or other component that generates elastic force through elastic deformation.

[0101] In one embodiment, the device body includes a first driving unit, which drives a first connecting part 500 and a second connecting part 200 to rotate and engage in a first rotation direction. The first driving unit also drives a third connecting part 300 and a fourth connecting part to rotate and engage in a second rotation direction. One of the first and second rotation directions is clockwise, and the other is counterclockwise.

[0102] The first drive unit, where the first connecting part 500 is connected to the second connecting part 200 and the third connecting part 300 is connected to the fourth connecting part, is located on the main body of the equipment. The third connecting part 300 and the fourth connecting part are located at both ends of the robotic arm 100. By having the first rotation direction opposite to the second rotation direction, when the first connecting part 500 and the second connecting part 200 disengage in the opposite direction of the first rotation direction, accidental disengagement of the third connecting part 300 and the fourth connecting part can be avoided. Similarly, when the third connecting part 300 and the fourth connecting part disengage, accidental disengagement of the first connecting part 500 and the second connecting part 200 can be avoided, thereby allowing the robotic arm 100 to disengage from the main body of the equipment or the object as expected.

[0103] It should be noted that the reference datum for the first rotation direction and the second rotation direction is the same. For example, with the second connecting part 200 remaining stationary, the rotation direction of the first connecting part 500 relative to the second connecting part 200 is the first rotation direction; with the fourth connecting part remaining stationary, the rotation direction of the third connecting part 300 relative to the fourth connecting part is the second rotation direction. Alternatively, with the third connecting part 300 remaining stationary, the rotation direction of the fourth connecting part relative to the third connecting part 300 is the second rotation direction, and with the first connecting part 500 remaining stationary, the rotation direction of the second connecting part 200 relative to the first connecting part 500 is the first rotation direction.

[0104] The first drive unit can be a motor, a combination of a motor and a gearbox, or other components that can drive the first connecting part 500 and the second connecting part 200 to rotate and engage, and the third connecting part 300 and the fourth connecting part to rotate and engage.

[0105] Please see Figure 1 In one embodiment, the robotic arm 100 includes a second drive unit 220, which drives a second connecting part 200 and / or a third connecting part 300 to rotate, such that the second connecting part 200 is connected to a first connecting part 500, and / or the third connecting part 300 is connected to a fourth connecting part.

[0106] The second drive unit 220 can be set to one or more, such as two, three, four, etc.

[0107] The robotic arm 100 is provided with a second drive unit 220, which can drive the second connecting part 200 to connect with the first connecting part 500, thereby reducing the number of drive units on the main body of the equipment, thus reducing the size of the main body of the equipment and facilitating the operation of the main body of the equipment.

[0108] The second drive unit 220 can also drive the third connecting unit 300 to connect with the fourth connecting unit, so that the drive unit does not need to be installed on the object, thus facilitating the object's setup and installation. For example, if the object is an execution tool, the second drive unit 220 can not only connect the third connecting unit 300 to the execution tool, but also drive the execution tool to move, so that the execution tool can complete its task. When the object is a connecting unit carrier, the second drive unit 220 can connect the third connecting unit 300 to the connecting unit carrier, and can also drive the robotic arm 100 to move after connecting with the connecting unit carrier, so that the robotic arm 100 can perform some work.

[0109] The second drive unit 220 can also drive the second connecting part 200 and the third connecting part 300 to rotate, so as to facilitate the connection between the second connecting part 200 and the first connecting part 500, and the connection between the third connecting part 300 and the fourth connecting part. The second drive unit 220 can also drive the robotic arm 100 or the object to move, so as to complete the work of the robotic arm 100.

[0110] There may be one second drive unit 220, which can drive the second connecting part 200 and / or the third connecting part 300 to rotate. Alternatively, there may be two second drive units 220, which can drive the second connecting part 200 and the third connecting part 300 to rotate respectively.

[0111] In one embodiment, the second driving unit 220 drives the first connecting part 500 to rotate and engage with the second connecting part 200 along a first rotation direction; the second driving unit 220 drives the third connecting part 300 to rotate and engage with the fourth connecting part along a second rotation direction. Both the first and second rotation directions are clockwise or counterclockwise.

[0112] The robotic arm 100 is equipped with a second drive unit 220. When the second drive unit 220 drives the second connecting part 200 to disengage from the first connecting part 500, the first connecting part 500 and the second connecting part 200 disengage in the opposite direction of the first rotation direction. This causes the third connecting part 300 and the fourth connecting part to rotate in the first rotation direction. Since the second rotation direction is the same as the first rotation direction, the third connecting part 300 will not disengage from the fourth connecting part. Similarly, when the third connecting part 300 disengages from the fourth connecting part, the first connecting part 500 and the second connecting part 200 will not disengage. This facilitates control over the disengagement of the robotic arm 100 from the equipment body and from the object in the expected manner, ensuring stable disengagement and preventing accidental disengagement between the robotic arm 100 and the equipment body or the object.

[0113] Please see Figure 4 In one embodiment, the self-moving cleaning device includes a first locking mechanism 230 and a second locking mechanism. The first locking mechanism 230 is configured to lock the first connecting portion 500 and the second connecting portion 200 to restrict relative rotation between the first connecting portion 500 and the second connecting portion 200. The second locking mechanism is configured to lock the third connecting portion 300 and the fourth connecting portion to restrict their relative rotation.

[0114] The first locking mechanism 230 restricts the relative rotation between the first connecting part 500 and the second connecting part 200, so that the main body of the equipment and the robotic arm 100 are kept connected, ensuring that the main body of the equipment carrying the robotic arm 100 can perform its functions.

[0115] By locking the third connecting part 300 and the fourth connecting part by the second locking mechanism, the connection between the robotic arm 100 and the object can be made stable. For example, if the object is an execution tool, it can ensure that the robotic arm 100 carries the execution tool to perform its function and complete the work; if the object is other connecting part carriers, it can ensure that the robotic arm 100 is stably connected to the connecting part carrier. The connection of the robotic arm 100 is reliable and stable, which is conducive to the robotic arm 100 performing its function and completing the work.

[0116] The first locking mechanism 230 and the second locking mechanism may have the same or different structures.

[0117] In one embodiment, the first locking mechanism 230 and the second locking mechanism have the same structure, both including a spring plunger and a limiting hole. When the spring plunger extends into the limiting hole, it locks. When the spring plunger and the limiting hole are subjected to a force exceeding a threshold, the spring plunger disengages from the limiting hole, thereby unlocking and completing the disengagement of the first connecting part 500 from the second connecting part 200 or the third connecting part 300 from the fourth connecting part.

[0118] Of course, the first locking mechanism 230 and the second locking mechanism can also be other structures that lock the first connecting part 500, the second connecting part 200, the third connecting part 300 and the fourth connecting part.

[0119] In one embodiment, the self-moving cleaning device includes a first limiting part and a second limiting part. The first limiting part is configured to restrict the first connecting part 500 and the second connecting part 200 from over-rotating in a first rotational direction. The second limiting part is configured to restrict the third connecting part 300 and the fourth connecting part from over-rotating in a second rotational direction.

[0120] The first limiting part can ensure that the first connecting part 500 and the second connecting part 200 are properly engaged when they are engaged, and prevent the first connecting part 500 and the second connecting part 200 from rotating excessively.

[0121] The second limiting part can ensure that the third connecting part 300 and the fourth connecting part are properly engaged, preventing the third connecting part 300 and the fourth connecting part from rotating excessively.

[0122] The structures of the first limiting part and the second limiting part can be the same or different. The first connecting part 500 and the second connecting part 200, and the third connecting part 300 and the fourth connecting part can be rotated to restrict the structure from excessive rotation.

[0123] Please see Figure 3In one embodiment, one of the first connecting part 500 and the second connecting part 200 is provided with a first locking block 240 and the other is provided with a first locking groove 250. The first locking block 240 and the first locking groove 250 are matched. When the first locking block 240 is screwed into the first locking groove 250, the first connecting part 500 and the second connecting part 200 are engaged. The first connecting part 500 and the second connecting part 200 are easy to assemble and disassemble, which is beneficial to the assembly, disassembly and use of the robotic arm 100.

[0124] A first limiting block 241 is provided on the rear side of the first locking block 240 along the first rotation direction and / or on the front side of the first locking slot 250 along the first rotation direction to restrict the first locking block 240 and the first locking slot 250 from over-rotating along the first rotation direction. The first limiting block 241 can be provided on the first locking block 240, the first locking slot 250, or both. By limiting the first locking block 240 and the first locking slot 250 from over-rotating, the first connecting part 500 and the second connecting part 200 are ensured to be properly engaged.

[0125] In one embodiment, the third connecting portion 300 is provided with one of a second locking block and a second locking slot, which is used to match the other of the second locking block and the second locking slot provided on the fourth connecting portion.

[0126] A second locking block may be provided on the third connecting part 300, and the second locking block matches the second locking slot on the fourth connecting part; a second locking slot may also be provided on the third connecting part 300, and the second locking slot matches the second locking block on the fourth connecting part. By matching the second locking block with the second locking slot, the third connecting part 300 and the fourth connecting part are engaged when the second locking block is screwed into the second locking slot. The assembly and disassembly of the third connecting part 300 and the fourth connecting part are convenient, which is beneficial to the assembly, disassembly and use of the robotic arm 100.

[0127] A second limiting block is provided on the rear side of the second card block along the second rotation direction and / or on the front side of the second card slot along the second rotation direction to limit the second card block and the second card slot from over-rotating along the second rotation direction.

[0128] The second limiting block can be set on the second locking block, or it can be set on the second locking slot, or it can be set on both the second locking block and the second locking slot. The second limiting block restricts the rotation of the second locking block and the second locking slot, ensuring that the third connecting part 300 and the fourth connecting part are properly engaged.

[0129] In one embodiment, both the first connecting portion 500 and the second connecting portion 200 are provided with electrical connecting portions 260, so that the first connecting portion 500 and the second connecting portion 200 are electrically connected. This enables the device body and the robotic arm 100 to exchange power or transmit signals.

[0130] In one embodiment, the electrical connection portion 260 includes a male power supply connector and a female power supply connector. When the first connection portion 500 and the second connection portion 200 are connected in place, the male power supply connector and the female power supply connector cooperate to complete power supply and / or information interaction.

[0131] In one embodiment, an electrical connection 260 is provided on the third connecting portion 300, and the electrical connection 260 is configured to mate with an electrical connection 260 on the fourth connecting portion to provide electrical connection when the third connecting portion 300 and the fourth connecting portion are connected. The electrical connection between the third connecting portion 300 and the fourth connecting portion allows an object to supply power and / or interact with the robotic arm 100. For example, the fourth connecting portion can be mounted on a wall, appliance, furniture, etc., and connected to a power source.

[0132] In one embodiment, the robotic arm 100 is equipped with an execution tool. The robotic arm 100 has its own execution tool, which facilitates the completion of work tasks. For example, if the execution tool is a gripper, the robotic arm 100 carrying the execution tool can perform functions such as garbage picking, clothing pickup, obstacle removal, and item organization. Alternatively, if the execution tool is a rag, it can clean areas that cleaning equipment cannot reach, such as the floor under low sofas or coffee tables, wiping glass, cleaning doors, and wiping tabletops.

[0133] In one embodiment, the robotic arm 100 is a multi-joint robotic arm 100, which makes the robotic arm 100 foldable or retractable to achieve more functions.

[0134] In one embodiment, the robotic arm 100 comprises four segments, with the first and fourth segments being shorter and the second and third segments being longer. There is one degree of freedom between the second and third segments, three degrees of freedom between the first and second segments, and three degrees of freedom between the third and fourth segments. This design not only meets the requirements for docking and using objects but also saves on degrees of freedom, reduces the number of drive mechanisms, and lowers costs.

[0135] The cleaning system disclosed herein includes any of the above-mentioned self-moving cleaning devices and an object provided with a fourth connection.

[0136] The main body of the cleaning system disclosed herein is detachably connected to the robotic arm 100. When the cleaning system requires the robotic arm 100, the robotic arm 100 is installed on the main body of the system, and the main body of the system moves the robotic arm 100 to the working position, so that the robotic arm 100 can perform tasks, such as picking up garbage, organizing items, and moving obstacles. When the robotic arm 100 is not needed, it is detached from the main body of the system, and the main body of the system can perform cleaning work independently.

[0137] The main body of the equipment can also be replaced with different robotic arms 100 as needed, such as robotic arms 100 that carry rags, robotic arms 100 that grab garbage, robotic arms 100 that pick up clothes, robotic arms 100 that have climbing ability, etc., thereby enriching the functions of the cleaning equipment and increasing the application range of the cleaning equipment.

[0138] The main body of the equipment can automatically replace the robotic arm 100 based on the environmental detection results. For example, when the garbage is large, the robotic arm 100 with the garbage-grabbing function will be replaced, and when there are many debris, the robotic arm 100 with the dust-collecting function will be replaced.

[0139] The main body of the equipment can also replace the robotic arm 100 according to the user's operation instructions. For example, if the user issues a storage instruction, the main body of the equipment will replace the robotic arm 100 with a storage function; if the user issues a cleaning instruction for other floors, the main body of the equipment will replace the robotic arm 100 with a climbing ability and control the robotic arm 100 to connect to different fourth connecting parts in sequence to reach other floors; when the user issues a cleaning instruction, the main body of the equipment will connect the robotic arm 100 with a cleaning function, etc.

[0140] The main body of the equipment can control the connection of different robotic arms 100 according to the tasks given by the user, or it can connect to robotic arms 100 specified by the user.

[0141] In one embodiment, the cleaning system includes a controller, which may be located on the self-moving cleaning device or on the base station of the self-moving cleaning device.

[0142] Of course, as an alternative, the controller can also be placed outside the self-propelled cleaning equipment and base station, for example, mounted on a wall, to extend the coverage of the cleaning system.

[0143] The controller controls the connection between the self-moving cleaning device and the robotic arm 100. The controller can automatically select the robotic arm 100 according to scene settings, environmental detection, etc., and connect the main body of the device to the selected robotic arm 100. The controller can also automatically match and connect the robotic arm 100 according to the instructions issued by the user.

[0144] The controller controls the robotic arm 100 to connect with the object. The controller can automatically select and connect to the object based on scene settings, environmental detection, etc., or it can automatically match and connect to the object based on instructions issued by the user.

[0145] In one embodiment, the object includes an execution tool and / or a connection carrier. The connection carrier includes one or more of household appliances, furniture, floors, and walls.

[0146] The object can be an execution tool. The robotic arm 100 can complete different tasks by carrying different execution tools, including but not limited to rags, grippers, and suction cups.

[0147] The object can also be a connecting carrier, which includes one or more of home appliances, furniture, floors, and walls. For example, if the connecting carrier is a washing machine, the robotic arm 100 is connected to the washing machine, and clothes and detergent can be added to the washing machine through the robotic arm 100; if the connecting carrier is a table, the robotic arm 100 is connected to the table, and can drive the cleaning equipment to climb onto the table for cleaning, or the robotic arm 100 can carry a rag to clean the table; if the connecting carrier is a floor or wall, the robotic arm 100 is connected to the connecting carrier to perform floor cleaning, wall cleaning, etc., thereby enriching the functions of the cleaning equipment and expanding its application scenarios.

[0148] In one embodiment, the cleaning system includes a base station with a storage area for accommodating objects. The objects can be tools, and the base station can accommodate different tools to allow the robotic arm 100 to perform different tasks with different tools, thus enriching the functionality of the cleaning equipment.

[0149] Of course, as an alternative, the storage area can also accommodate an object to reduce the size of the base station.

[0150] The self-moving cleaning device of this application, with a robotic arm 100 detachably connected to the main body of the device, not only enriches the functions of the cleaning device and expands its application scenarios, but also does not increase the thickness of the main body of the device or occupy its internal space. When the object is the connecting carrier, the main body of the device can serve as a moving carrier for the robotic arm 100, allowing the robotic arm 100 to be moved to different positions to perform different functions, thus enriching the functionality of the cleaning device. Therefore, this disclosure effectively overcomes some practical problems in the prior art and has high utilization value and practical significance.

[0151] The above embodiments are merely illustrative of the principles and effects of this disclosure and are not intended to limit this disclosure. Any person skilled in the art can modify or alter the above embodiments without departing from the spirit and scope of this disclosure. Therefore, all equivalent modifications or alterations made by those skilled in the art without departing from the spirit and technical concept disclosed in this disclosure should still be covered by the claims of this disclosure.

Claims

1. A self-propelled cleaning device, characterized in that, include: The main body of the equipment is provided with at least one first connecting part; The robotic arm is equipped with a second connecting part and a third connecting part; In this configuration, at least one of the second connecting portion and the third connecting portion is configured to be detachably connected to the first connecting portion, and at least one of the second connecting portion and the third connecting portion is configured to be detachably connected to an object provided with a fourth connecting portion.

2. The self-moving cleaning device according to claim 1, characterized in that, The second connecting portion and / or the third connecting portion are provided with an opening receiving cavity, and a camera module is disposed inside the receiving cavity; The camera module has at least a retracted position and a working position. In the retracted position, the camera module is housed in the receiving cavity, and in the working position, the camera module is at least partially exposed outside the receiving cavity.

3. The self-moving cleaning device according to claim 2, characterized in that, An elastic element is provided inside the receiving cavity. When the camera module is disengaged from the opening, the elastic element drives the camera module to move to the working position.

4. The self-moving cleaning device according to claim 1, characterized in that, The main body of the device includes: A first driving unit drives the first connecting part and the second connecting part to rotate and engage in a first rotation direction; and the first driving unit drives the third connecting part and the fourth connecting part to rotate and engage in a second rotation direction. One of the first rotation direction and the second rotation direction is clockwise, and the other is counterclockwise.

5. The self-moving cleaning device according to claim 1, characterized in that, The robotic arm includes: The second driving unit drives the second connecting part and / or the third connecting part to rotate, so that the second connecting part is connected to the first connecting part, and / or the third connecting part is connected to the fourth connecting part.

6. The self-moving cleaning device according to claim 5, characterized in that, The second driving part drives the first connecting part to rotate and engage with the second connecting part along the first rotation direction; The second driving unit drives the third connecting part and the fourth connecting part to rotate and engage in the second rotation direction; Both the first rotation direction and the second rotation direction are clockwise or counterclockwise.

7. The self-moving cleaning device according to claim 4 or 6, characterized in that, include: A first locking mechanism is configured to lock the first connecting portion and the second connecting portion to restrict relative rotation between the first connecting portion and the second connecting portion; A second locking mechanism is configured to lock the third connecting portion and the fourth connecting portion to restrict the third connecting portion and the fourth connecting portion.

8. The self-moving cleaning device according to claim 4 or 6, characterized in that, include: A first limiting part is configured to restrict the first connecting part and the second connecting part from rotating over along the first rotation direction; The second limiting part is configured to restrict the third connecting part and the fourth connecting part from over-rotating along the second rotation direction.

9. The self-moving cleaning device according to claim 4 or 6, characterized in that, One of the first connecting part and the second connecting part is provided with a first locking block, and the other is provided with a first locking slot, wherein the first locking block and the first locking slot are matched; A first limiting block is provided on the rear side of the first card block along the first rotation direction and / or on the front side of the first card slot along the first rotation direction to restrict the first card block and the first card slot from rotating too much along the first rotation direction; The third connecting part is provided with one of a second locking block and a second locking slot, and one of the second locking block and the second locking slot is configured to match the other of the second locking block and the second locking slot provided on the fourth connecting part; A second limiting block is provided on the rear side of the second card block along the second rotation direction and / or on the front side of the second card slot along the second rotation direction to restrict the second card block and the second card slot from over-rotating along the second rotation direction.

10. The self-moving cleaning device according to claim 1, characterized in that, Both the first connecting part and the second connecting part are provided with electrical connecting parts so that they are electrically connected when the first connecting part and the second connecting part are connected. The third connecting part is provided with an electrical connecting part, which is configured to match the electrical connecting part on the fourth connecting part so as to make an electrical connection when the third connecting part and the fourth connecting part are connected.

11. The self-moving cleaning device according to claim 1, characterized in that, The robotic arm is equipped with execution tools.

12. A cleaning system, characterized in that, include: The self-moving cleaning device according to any one of claims 1 to 11; And objects that have a fourth connection part.

13. The cleaning system according to claim 12, characterized in that, The object includes an execution tool and / or a connecting carrier; The connecting carrier includes one or more of the following: home appliances, furniture, floors, and walls.

14. The cleaning system according to claim 12, characterized in that, include: The base station is equipped with a storage area to accommodate the objects.

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