Base station and cleaning robot system

Abstract

This application provides a base station and a cleaning robot system. The base station comprises a base station housing, a mounting bracket, a pile detection signal transmitter, a fresh water tank, and a water supply connector. The mounting bracket is detachably connected to the base station housing, and both the pile detection signal transmitter and the water supply connector are connected to the mounting bracket. The pile detection signal transmitter is used to transmit pile detection signals to be received by the self-propelled cleaning machine. The fresh water tank is mounted on the base station housing, the inlet of the water supply connector is connected to the fresh water tank, and the outlet of the water supply connector is connected to the water inlet of the self-propelled cleaning machine. This reduces mounting tolerances between the pile detection signal transmitter and the water supply connector, facilitating alignment and water supply operations between the self-propelled cleaning machine and the base station.

Description

Technical Field

[0001] [Cross-reference to Related Applications] This application claims priority to a Chinese patent application filed with the China National Intellectual Property Administration on March 21, 2023, with an application number of 202320565400.1 and a title of "Base Station and Cleaning Robot System", and all of its contents are incorporated herein by reference.

[0002] This application relates to the technical field of smart homes, and particularly to a base station and a cleaning robot system.

Background Art

[0003] With the development of technology, various self-propelled devices such as self-propelled cleaning devices have emerged. When a self-propelled cleaning device receives a cleaning command, it automatically executes the cleaning command, completes the cleaning operation, and can save labor costs while liberating the labor force.

[0004] In addition, when the self-propelled cleaning device completes a cleaning task or meets other conditions, for example, when the self-propelled cleaning device has cleaned a specified area or the water volume in the water tank of the self-propelled cleaning device is below the set threshold, the self-propelled cleaning device returns to the base station to perform corresponding maintenance operations, such as charging, water replenishment operations, etc.

Summary of the Invention

Means for Solving the Problems

[0005] In the summary part of this application, a series of simplified concepts are introduced, which will be further described in more detail in the specific embodiment part. This part of this application is not intended to limit the important features or essential technical features of the technical solution to be protected, nor is it intended to limit the protection scope of the technical solution to be protected.

[0006] An embodiment of the first aspect of this application provides a base station comprising a base station housing, a mounting bracket, a pile detection signal transmitter, a fresh water tank, and a water supply connector, wherein the mounting bracket is detachably connected to the base station housing, the pile detection signal transmitter and the water supply connector are both connected to the mounting bracket, the pile detection signal transmitter is used to transmit a pile detection signal to be received by a self-propelled cleaning machine, the fresh water tank is mounted on the base station housing, the inlet of the water supply connector is connected to the fresh water tank, and the outlet of the water supply connector is connected to the water inlet of the self-propelled cleaning machine.

[0007] Furthermore, the base station housing is provided with a storage chamber and an operating port, the operating port connecting the storage chamber to the interior of the base station housing, and the pile detection signal transmitter and water supply connector cooperate with the self-propelled cleaning equipment via the operating port.

[0008] Furthermore, the pile detection signal transmitter comprises a connected transmitting unit and a support frame, and the mounting bracket is provided with a first position limiting unit that is detachably connected to the support frame, with the transmitting unit facing the operation port.

[0009] Furthermore, the mounting bracket is provided with position-restricting through-holes, and some water supply connectors are restricted to being located within these position-restricting through-holes.

[0010] Furthermore, a second position limiting portion is provided on the mounting bracket, and a first positioning portion is provided on the base station housing. The second position limiting portion and the first positioning portion cooperate to restrict the movement of the mounting bracket relative to the base station housing.

[0011] Furthermore, the mounting bracket is provided with additional wiring grooves, which are located on the outer edge of the mounting bracket.

[0012] Furthermore, the base station further comprises a charging docking assembly connected to a mounting bracket, at least a portion of which is exposed within the housing chamber and used to connect to the charging electrode piece of the self-propelled cleaning equipment.

[0013] Furthermore, the mounting bracket is provided with a third position limiting portion, and the charging docking assembly comprises a charging contact electrode piece and a reset member located within the base station housing, with one end of the charging contact electrode piece rotatably connected to the mounting bracket via the third position limiting portion, the other end of the charging contact electrode piece extending into the housing chamber via an operation port, and the reset member connected to the charging contact electrode piece and the mounting bracket, and used to reset the charging contact electrode piece to its initial position.

[0014] Furthermore, the base station is connected to a mounting bracket and includes a drying fan located within the base station housing, the air outlet of which communicates with the containment chamber.

[0015] An embodiment of a second aspect of this application provides a cleaning robot system comprising a self-propelled cleaning device and a base station as described in any of the first aspects.

[0016] The above description is a general overview of the technical solution of this application, and in order to clarify the technical means of this application, it can be implemented according to the specifications, and in order to make the above and other objectives, features and advantages of this application clearer and easier to understand, specific embodiments of this application will be described below. [Brief explanation of the drawing]

[0017] The following accompanying drawings of this application constitute part of the embodiments of this application and are used to understand this application. The accompanying drawings illustrate embodiments and descriptions of this application and are used to interpret the principles of this application.

[0018] [Figure 1] This is a schematic diagram of the structure of a self-propelled cleaning device according to an optional embodiment of this application. [Figure 2] It is a schematic structural view seen from the bottom side of the self-propelled cleaning device shown in FIG. 1. [Figure 3] It is a schematic structural view of a selectable embodiment of the present application. [Figure 4] It is a schematic view of a partial structure of the base station shown in FIG. 3. [Figure 5] It is a schematic structural view of the cleaning tray of a selectable embodiment of the present application. [Figure 6] It is a schematic structural view of the drain connector of a selectable embodiment of the present application. [Figure 7] It is a schematic view of the structure of another part of the base station of a selectable embodiment of the present application. [Figure 8] It is a schematic view of the structure of yet another part of the base station of a selectable embodiment of the present application. [Figure 9] It is a schematic view of the structure of still another part of the base station of a selectable embodiment of the present application. [Figure 10] It is a schematic structural view of the mounting bracket and the drying fan of a selectable embodiment of the present application. [Figure 11] It is a schematic structural view of the mounting bracket of a selectable embodiment of the present application. [Figure 12] It is a schematic structural view of the mounting bracket shown in FIG. 11 seen from the back side.

Mode for Carrying Out the Invention

[0019] In the following description, more specific details are shown in order to more thoroughly understand the technical solution provided by the present application. However, it is obvious to those skilled in the art that the technical solution provided by the present application can be implemented even if one or more of these details are omitted.

[0020] Note that the terms used here are for the purpose of describing specific embodiments and are not intended to limit the exemplary embodiments of the present application. It should be noted that when used here, unless otherwise explicitly stated in the context, the singular form shall include the plural form. Further, when the terms "comprising" and / or "including" are used in this specification, they refer to the presence of the said features, wholes, steps, operations, elements and / or assemblies, but do not exclude the presence or addition of one or more other features, wholes, steps, operations, elements, assemblies and / or combinations thereof.

[0021] Now, exemplary embodiments of the present application will be described in more detail with reference to the accompanying drawings. However, these exemplary embodiments can be implemented in various different forms and are not limited to the embodiments described herein. These embodiments are used to make the application of the present application more thorough and complete and to fully convey the concept of these exemplary embodiments to those skilled in the art.

[0022] As shown in FIGS. 1 to 12, embodiments of the present application provide a base station 200 and a cleaning robot system, where the cleaning robot system includes a self-propelled cleaning device 100 and a base station 200, that is, the base station 200 is used in combination with the self-propelled cleaning device 100.

[0023] Furthermore, as shown in Figures 1 and 2, the self-propelled cleaning machine 100 comprises a machine body 110, a sensing system 120, a control module, a drive system 140, a cleaning system 150, an energy system, and a man-machine interactive system 170. Note that the self-propelled cleaning machine 100 may be an automatic cleaning device or another self-propelled cleaning machine 100 that meets the requirements. The self-propelled cleaning machine 100 is a device that automatically performs cleaning operations in an area to be cleaned without user intervention. Here, when the self-propelled cleaning machine 100 starts work, it departs from the base station 200 and performs the cleaning task. When the self-propelled cleaning machine 100 completes the cleaning task or stops the cleaning task as necessary, it returns to the base station 200 for operations such as charging and / or water replenishment and / or washing and / or dust collection.

[0024] As shown in Figure 1, the main body of the device 110 comprises a front portion 111 and a rear portion 112, and has an approximate circular shape (circular at both ends). It may also have other shapes, such as an approximate D-shape with a rectangular front and a circular rear, or a rectangular or square shape with rectangular front and rear.

[0025] As shown in Figure 1, the sensing system 120 includes a position determination device 121 located on the main body 110, a collision sensor and a short-range sensor provided on the buffer 122 of the front portion 111 of the main body 110, a cliff sensor provided on the bottom of the main body 110, and sensing devices such as a magnetometer, accelerometer, gyroscope, and odometer provided inside the main body 110, and is used to provide various position information and motion state information of the equipment to the control module. The position determination device 121 includes a camera and a laser distance measuring device (LDS, Laser Distance Sensor).

[0026] As shown in Figure 1, a shock absorber 122 is mounted on the front portion 111 of the main body 110. During the cleaning process, when the drive wheel module 141 moves the self-propelled cleaning machine 100 along the ground, the shock absorber 122 detects one or more events along the path of the self-propelled cleaning machine 100 through a sensor system mounted on it, such as an infrared sensor. The self-propelled cleaning machine 100 then controls the drive wheel module 141 in response to the event detected by the shock absorber 122, such as an obstacle or a wall, causing the self-propelled cleaning machine 100 to move away from the obstacle or otherwise respond to the event.

[0027] The control module is mounted on a circuit board within the main unit 110 and includes a computing processor, such as a central processing unit and an application processor, which communicate with non-temporary storage devices, such as hard disks, flash memory, and random access memory. The application processor uses a positioning algorithm, such as Simultaneous Localization and Mapping (SLAM), based on obstacle information fed back from the laser rangefinder, to create an immediate map of the environment in which the self-propelled cleaning device 100 is located. Furthermore, by combining distance information and speed information fed back from sensing devices such as sensors, cliff sensors, magnetometers, accelerometers, gyroscopes, and odometers installed on the buffer 122, the system comprehensively determines the working state of the self-propelled cleaning machine 100, its location, and its current position and orientation, such as crossing thresholds, climbing onto carpets, being on cliffs, getting caught above or below, having a full dustbin, or being lifted. Based on these determinations, the system presents specific next action strategies according to different situations, thereby improving the cleaning performance and user experience of the self-propelled cleaning machine 100.

[0028] As shown in Figure 2, the drive system 140 operates the machine body 110 to travel on the ground based on drive commands that include distance and angle information, such as x, y, and θ components. The drive system 140 includes a drive wheel module 141, which can control the left and right wheels simultaneously. Preferably, to control the motion of the machine with precision, the drive wheel module 141 includes a left drive wheel module and a right drive wheel module. The left and right drive wheel modules are arranged along the lateral axis defined by the machine body 110. To enable the self-propelled cleaning machine 100 to move more stably on the ground and to exhibit higher mobility, the self-propelled cleaning machine 100 includes one or more driven wheels 142, which include, but are not limited to, omnidirectional wheels. The drive wheel module 141 includes running wheels, a drive motor, and a control circuit for controlling the drive motor. The drive wheel module 141 may further include a circuit for measuring the drive current and an odometer. The drive wheels have an offset drop suspension system, which is movable and fixed, for example, rotatably connected to the equipment body 110, and offset downward away from the equipment body 110 by an offset spring. The offset spring allows the drive wheels to maintain contact and traction with the ground with a constant grounding force, and at the same time, the cleaning element 183 of the self-propelled cleaning equipment 100 can also contact the ground with a constant pressure.

[0029] The energy system includes rechargeable batteries, such as nickel-metal hydride batteries or lithium batteries. The rechargeable batteries are connected to a charging control circuit, a battery pack charging temperature detection circuit, and a battery voltage under-monitoring circuit. These circuits are connected to a microcontroller control circuit. The main unit is connected to the base station 200 for charging via charging electrodes located on its side or bottom.

[0030] The man-machine interactive system 170 is equipped with buttons on the main unit panel, which the user uses to select functions, and also has a display and / or indicator lights and / or a speaker, which are used to show the user the current status of the equipment or function options, and further includes a smartphone application program. In the case of the route navigation type self-propelled cleaning equipment 100, the smartphone app can display to the user a map of the environment in which the equipment is located and the location of the equipment, providing the user with a richer and more user-friendly set of functions.

[0031] The cleaning system 150 includes a wet cleaning system, i.e., the self-propelled cleaning device 100 is a mopping vacuum cleaner, or the cleaning system 150 includes a wet cleaning system and a dry cleaning system 151, i.e., the self-propelled cleaning device 100 is a sweeping and mopping vacuum cleaner.

[0032] As shown in Figure 2, the dry cleaning system 151 provided by the embodiment of this application comprises a roller brush, a dust box, a fan, and an air outlet. The roller brush, having a certain interference with the ground, sweeps up debris from the ground and draws it into the dust collection port in front of the roller brush and the dust box, where it is then sucked into the dust box by a gas with suction force generated by the fan and passing through the dust box. The dry cleaning system 151 also comprises a side brush 152 having a rotating shaft, which is at a certain angle to the ground and is used to move debris to the roller brush area of ​​the cleaning system 150.

[0033] Here, the wet cleaning system comprises a cleaning assembly, a water supply mechanism, a liquid storage tank, etc. Here, the cleaning assembly is located below the liquid storage tank, and the cleaning liquid inside the liquid storage tank is transported to the cleaning assembly via the water supply mechanism, thereby allowing the cleaning assembly to wet clean the surface to be cleaned. In other embodiments of this application, the cleaning liquid inside the liquid storage tank is sprayed directly onto the surface to be cleaned, and the cleaning assembly uniformly applies the cleaning liquid to achieve cleaning of the surface. Furthermore, the self-propelled cleaning device 100 is provided with a water inlet that communicates with the liquid storage tank, and the water inlet can be used to replenish the liquid storage tank with liquid from outside the self-propelled cleaning device 100, thereby enabling water replenishment of the liquid storage tank.

[0034] Here, the cleaning assembly provided in the embodiment of this application comprises a motion mechanism and a cleaning element 183 mounted on a machine body 110, i.e., the entire cleaning assembly 180 is mounted on the machine body 110 via the motion mechanism, and the cleaning assembly moves with the movement of the machine body 110 to realize a mopping function. Here, the motion mechanism is used to drive the movement of the cleaning element 183, for example, the motion mechanism can drive the lifting and lowering of the cleaning element 183, or the motion mechanism can drive the rotation of the cleaning element 183, and thus, depending on whether the cleaning element 183 needs to come into contact with the surface to be cleaned, the lifting and lowering and rotational operations of the cleaning element 183 can be realized through the motion mechanism, and different functional requirements of the cleaning element 183 can be met, i.e., the sorting strategy of the cleaning element 183 can be handled, improving the cleaning performance of the automatic cleaning device and improving cleaning efficiency and user experience.

[0035] Here, as shown in Figure 2, in the forward direction of the self-propelled cleaning machine 100, the cleaning element 183 is located at the rear of the dry cleaning system 151, and the cleaning element 183 is usually a flexible material with water absorption, such as cloth or sponge. In this solution, the cleaning element 183 is at least one turntable, which guides water from the liquid storage tank of the self-propelled robot to the cleaning element 183, and the wet cleaning element 183 removes dirt from the ground by rotational motion.

[0036] Furthermore, during the movement of the self-propelled cleaning machine 100, in several situations where mopping is required, such as when wet-treating the ground, the control module can control the motion mechanism to drive the cleaning element 183 downwards, so that the lowest part of the cleaning element 183 interferes with and contacts the surface to be cleaned. At the same time, the control module can control the motion mechanism to drive the cleaning element 183 to rotate, so that during the process in which the drive wheels drive the self-propelled cleaning machine 100 to move, the cleaning element 183 comes into contact with and interferes with the surface to be cleaned, thereby achieving a mopping operation of the surface to be cleaned.

[0037] Furthermore, during the movement of the self-propelled cleaning machine 100, in scenes where mopping is not required, such as when returning to the base station 200 or when cleaning carpets, the control module can control the motion mechanism to drive the cleaning element 183 upwards. When the cleaning element 183 is raised, the lowest point of the cleaning element 183 is higher than the lowest point of the drive wheels. In this situation, while the drive wheels are moving the self-propelled cleaning machine 100, the cleaning element 183 does not come into contact with the surface to be cleaned. Therefore, in scenes where mopping is not required, the cleaning element 183 does not come into contact with the surface to be cleaned, preventing secondary contamination of the surface, thereby improving the cleaning performance of the self-propelled cleaning machine 100 and enhancing cleaning efficiency and user experience.

[0038] Furthermore, the self-propelled cleaning machine 100 is equipped with a pile detection signal receiver, and as shown in Figures 7 and 8, the base station 200 is equipped with a pile detection signal transmitter 251. During the process of the self-propelled cleaning machine 100 docking at the base station 200, for example, if the self-propelled cleaning machine 100 needs to dock at the base station 200 to perform operations related to water replenishment and / or charging and / or cleaning and / or dust collection, the self-propelled cleaning machine 100 performs alignment operations with the base station 200 through the cooperation of the pile detection signal receiver provided on itself and the corresponding pile detection signal transmitter 251 provided on the base station 200, and then gradually moves towards the base station 200 until it reaches the designated position.

[0039] In this application, as shown in Figure 7, the pile detection signal transmitter 251 provided on the base station 200 may be an infrared signal transmitter and is used to transmit a pile detection signal, and the pile detection signal receiver provided on the self-propelled cleaning machine 100 may be an infrared signal receiver and is used to receive the pile return signal transmitted from the pile detection signal transmitter 251 of the base station 200. Typically, multiple pile detection signal transmitters 251 and pile detection signal receivers are provided on both the base station 200 and the self-propelled cleaning machine 100, and when a pile detection signal transmitted from a specific pile detection signal transmitter 251 is received by a specific pile detection signal receiver, the self-propelled cleaning machine 100 and the base station 200 can be aligned. Therefore, the accuracy of the mounting position of the pile detection signal transmitter 251 is extremely important for smoothly aligning the self-propelled cleaning machine 100 and the base station 200.

[0040] Furthermore, as shown in Figure 4, the base station 200 is provided with a storage room 211, and when the self-propelled cleaning equipment is parked at the base station 200, at least a portion of the self-propelled cleaning equipment 100 is located inside the storage room 211. Specifically, the base station 200 is equipped with a base station housing 210, and the storage room 211 is opened in the base station housing 210. Specifically, the storage room 211 is located at the front of the base station housing 210, as indicated by the arrow in Figure 3.

[0041] As shown in Figure 4, in some feasible embodiments provided by this application, the base station 200 comprises a fresh water tank 214 and a water supply connector 2114, the water supply connector 2114 being located in the base station housing 210, the inlet of the water supply connector 2114 communicating with the fresh water tank 213, and the outlet of the water supply connector 2114 being exposed in the housing chamber 211 and considered as the water supply port of the base station 200, the water supply port being connected to the water inlet of the self-propelled cleaning machine 100 and used to supply water to the liquid storage tank of the self-propelled cleaning machine 100. The water supply connector 2114 is also connected to the fresh water tank 213 via a pipeline, a water pump is connected to the pipeline, and the water pump is used to supply water from the base station 200 to the water tank of the self-propelled cleaning machine 100. For example, if the self-propelled cleaning machine 100 is located inside the containment chamber 211, the water supply connector 2114 on the base station housing 210 is docked with the water inlet of the self-propelled cleaning machine 100, the water pump operates, and water is supplied to the water tank.

[0042] In other words, the base station 200 provided in the embodiment of this application can replenish the water tank of the self-propelled cleaning machine 100. It should be noted that in order to replenish the water of the self-propelled cleaning machine 100, the water replenishment connector 2114 on the base station 200 needs to be aligned and connected to the water inlet on the self-propelled cleaning machine 100. Therefore, the accuracy of the mounting position of the water replenishment connector 2114 on the base station 200 is equally important. In order to achieve docking between the water supply connector 2114 on the base station 200 and the water inlet on the self-propelled cleaning machine 100, it is first necessary to align the base station 200 and the automatic cleaning machine. That is, the relative mounting position of the water supply connector 2114 and the pile detection signal transmitter 251 on the base station 200 must be set with high precision. As a result, after the self-propelled cleaning machine 100 and the base station 200 are aligned and the self-propelled cleaning machine is accurately docked with the base station 200, the water supply inlet of the self-propelled cleaning machine 100 is docked with the water supply connector 2114 on the base station 200. Therefore, during the assembly process of the base station 200, there is a high requirement for assembly precision of the water supply connector 2114 and the pile detection signal transmitter 251.

[0043] Therefore, as shown in Figures 7 and 10, in some feasible embodiments provided in this application, the base station 200 further comprises a mounting bracket 250, which is detachably connected to the base station housing 210, and both the pile detection signal transmitter 251 and the water supply connector 2114 are connected to the mounting bracket 250. By simultaneously mounting the pile detection signal transmitter 251 and the water supply connector 2114 to the mounting bracket 250, and then mounting the entire mounting bracket 250 to the base station housing 210, mounting tolerances between the pile detection signal transmitter 251 and the water supply connector 2114 are reduced, facilitating alignment and water supply operations between the self-propelled cleaning equipment 100 and the base station 200, making it suitable for widespread use and application. At the same time, such an installation method realizes a modular design and modular mounting of the pile detection signal transmitter 251 and the water supply connector 2114, making maintenance easier and contributing to reduced maintenance component replacement costs.

[0044] Here, the mounting bracket 250 and the base station housing 210 are detachably connected by at least one of a locking structure, a mortise and tenon joint structure, or a screw structure.

[0045] As shown in Figure 7, in the above embodiment, an operating port 2116 is provided in the base station housing 210, and the operating port 2166 connects the inside of the base station housing 210 to the housing chamber 211. Here, the mounting bracket 250, pile detection signal transmitter 251, fresh water tank, and water supply connector 2114 are all located inside the base station housing 210. As a result, the base station housing 210 provides some degree of protection to the mounting bracket 250, pile detection signal transmitter 251, fresh water tank 213, and water supply connector 2114, further improving the reliability of the mounting bracket 250, pile detection signal transmitter 251, fresh water tank 213, and water supply connector 2114. At the same time, the base station housing 210 provides some degree of shielding, which is advantageous in improving the cleanliness and aesthetics of the base station 200.

[0046] Here, the pile detection signal transmitter 251 cooperates with the self-propelled cleaning machine 100 via the operation port 2116, and the pile detection signal transmitted from the pile detection signal transmitter 251 can be reliably received by the self-propelled cleaning machine 100. At the same time, the water supply connector 2114 cooperates with the self-propelled cleaning machine 100 via the operation port 2116. For example, the outlet of the water supply connector 2114 extends into the housing chamber 211 via the operation port 2116, and the water supply connector 2114 extending into the housing chamber 211 is reliably docked with the water inlet of the self-propelled cleaning machine 100 which is securely moored on the housing chamber 211 of the base station 200, ensuring the reliability of the water supply operation.

[0047] The pile detection signal transmitter 251 and the water supply connector 2114 may cooperate with the self-propelled cleaning machine 100 via the same operation port 2116, or the pile detection signal transmitter 251 and the water supply connector 2114 may cooperate with the self-propelled cleaning machine 100 via different operation ports 2116. Specifically, as shown in Figure 7, the inside of the base station housing 210 and the housing chamber 211 are connected via at least two operation ports 2116, the pile detection signal transmitter 251 cooperates with the self-propelled cleaning machine 100 via one or some of the operation ports 2116, and the water supply connector 2114 extends into the housing chamber 211 via another or other part of the operation port 2116 to cooperate with the self-propelled cleaning machine 100.

[0048] As shown in Figures 8 and 10, in the above embodiment, the pile detection signal transmitter 251 comprises a connected transmitting unit 2511 and a support frame 2512. That is, the transmitting unit 2511 is fixed to the support frame 2512, for example, by adhesive, fitting, etc. Here, the transmitting unit 2511 faces the operation port 2116, ensuring that the pile detection signal transmitted from the transmitting unit 2511 is received by the self-propelled cleaning equipment 100. Here, as shown in Figures 10 and 12, the mounting bracket 250 is provided with a first position limiting section 252 that is detachably connected to the support frame 2512. By limiting the support frame 2512 with the first position limiting section 252, the connection accuracy and convenience between the support frame 2512 and the mounting bracket 250 are improved. Furthermore, assembly accuracy is ensured when the pile detection signal transmitter 251 is connected to the mounting bracket 250, reducing the difficulty of assembly and making assembly easier.

[0049] Specifically, the first position limiting section 252 may be a limiting projection or limiting groove, or other limiting structure that satisfies the requirements. As shown in Figure 12, the first position limiting section 252 consists of two limiting columns, and two corresponding limiting grooves are provided on the support frame 2512. By arranging the limiting columns correspondingly within the limiting grooves, assembly of the support frame 2512 and the mounting bracket 250 can be achieved, the operation is simple, and the two position limiting columns and the two position limiting grooves cooperate to form two sets of position limits, ensuring assembly accuracy between the support frame 2512 and the mounting bracket 250. Note that there may be other numbers of position limiting columns.

[0050] As shown in Figure 11, in some feasible embodiments provided in this application, the mounting bracket 250 is provided with a position-restricting through-hole 253, and some of the water supply connectors 2114 are restricted to the position-restricting through-hole 253. The installation of the position-restricting through-hole 253 effectively restricts the position of the water supply connectors 2114, ensuring that the water supply connectors 2114 and the mounting bracket 250 have sufficient assembly precision, while simultaneously reducing the difficulty of assembling the water supply connectors 2114 and making assembly easier.

[0051] Specifically, the shape of the position-restricting through-hole 253 matches the outer shape of some of the water supply connectors 2114, thereby ensuring that the position-restricting through-hole 253 provides a good position-restricting effect relative to the water supply connectors 2114.

[0052] As shown in Figures 9, 10, and 12, a second position limiting section 254 is further provided on the mounting bracket 250, and a first positioning section 2118 is provided on the base station housing 210. The second position limiting section 254 and the first positioning section 2118 cooperate to restrict the movement of the mounting bracket 250 relative to the base station housing 210. This cooperation between the second position limiting section 254 and the first positioning section 2118 ensures that the mounting bracket 250 is reliably and accurately limited to or connected to the base station housing 210, improving the mounting accuracy between the mounting bracket 250 and the base station housing 210, reducing the difficulty of assembly between the mounting bracket 250 and the base station housing 210, making assembly easier, and at the same time ensuring sufficient mounting accuracy between the pile detection signal transmitter 251 and the water supply connector 2114, allowing the self-propelled cleaning equipment 100 and the base station 200 to be easily aligned for water supply operations.

[0053] Specifically, the second position limiting portion 254 may be a position limiting projection or a position limiting groove, and the first positioning portion 2118 may correspondingly be a grooved structure or a projection structure. Specifically, as shown in Figures 9 and 10, the second position limiting portion 254 on the mounting bracket 250 is a limiting groove, and a positioning column is provided on the base station housing 210. The cooperation between the limiting groove and the positioning column reliably restricts the mounting bracket 250 to the base station housing 210. Specifically, the number of second position limiting portions 254 may be one, two, three, or more. In addition, to ensure the reliability of the connection between the mounting bracket 250 and the base station housing 210, after restricting the movement of the mounting bracket 250 relative to the base station housing 210 using the second position limiting portion 254 and the first positioning portion 2118, the mounting bracket 250 and the base station housing 210 can be further reliably connected by connecting members such as bolts.

[0054] As shown in Figures 8, 9, 11, and 12, in some feasible embodiments provided in this application, a wiring groove 255 is further provided in the mounting bracket 250, and the wiring groove 255 is located on the outer edge of the mounting bracket 250. The installation of the wiring groove 255 has the effect of restricting the position of connection wires and / or connecting conduits, etc., within the base station housing 210 to some extent, and is advantageous in standardizing the connection wires and / or connecting conduits, etc., and improving the cleanliness and rationality of the layout of connection wires and / or connecting conduits within the base station housing 210.

[0055] Furthermore, there may be multiple wiring grooves 255, and multiple wiring grooves 255 can classify and house different connection wires and / or connection conduits. For example, multiple wiring grooves 255 can be classified into two types, corresponding to wiring grooves 255, water pipe grooves, etc., respectively. This allows for targeted inspection of connection wires and / or connection conduits in different types of wiring grooves 255 in the event of a base station 200 failure, which is advantageous for improving maintenance efficiency.

[0056] In some feasible embodiments provided in this application, the base station 200 further comprises a charging docking assembly connected to a mounting bracket 250, at least a portion of which is exposed within a housing chamber 211 and used to connect to a charging electrode piece of a self-propelled cleaning machine 100.

[0057] In other words, the base station 200 provided in this application can enable the charging operation of the self-propelled cleaning machine 100. However, since the charging docking assembly on the base station 200 is docked with the charging electrode piece on the self-propelled cleaning machine 100, the base station 200 and the automatic cleaning machine must first be aligned. That is, the relative mounting positions of the charging docking assembly on the base station 200 and the pile detection signal transmitter 251 must be set high. This ensures that the self-propelled cleaning machine 100 and the base station 200 are aligned and the machine is accurately docked at the base station 200. After this, the charging electrode piece of the self-propelled cleaning machine 100 is docked with the charging docking assembly on the base station 200. Therefore, during the assembly process of the base station 200, high assembly precision is required for the charging docking assembly and the pile detection signal transmitter 251.

[0058] Therefore, by connecting the charging docking assembly to the mounting bracket 250, the mounting tolerance between the pile detection signal transmitter 251 and the charging docking assembly can be reduced, facilitating alignment and charging operations between the self-propelled cleaning equipment 100 and the base station 200. Specifically, the base station 200 of this application has the pile detection signal transmitter 251, the charging docking assembly, and the water supply connector 2114 mounted to the bracket simultaneously, further reducing the mounting tolerance between the three, facilitating alignment between the self-propelled cleaning equipment 100 and the base station 200, and ensuring reliable execution of water supply and charging operations.

[0059] As shown in Figures 10, 11, and 12, in the above embodiment, a third position limiting portion 256 is provided on the mounting bracket 250, and the charging docking assembly comprises a charging contact electrode piece 2113 and a reset member located within the base station housing 210. One end of the charging contact electrode piece 2113 is rotatably connected to the mounting bracket 250 via the third position limiting portion 256, and the other end of the charging contact electrode piece 2113 extends into the housing chamber 211 via an operation port 2116. The reset member is connected to the charging contact electrode piece 2113 and the mounting bracket 250 and is used to reset the charging contact electrode piece 2113 to its initial position.

[0060] Here, the initial position of the charging contact electrode piece 2113 is set such that the other end of the charging contact electrode piece 2113 extends into the housing chamber 211. When the charging contact electrode piece 2113 is in its initial position, it docks with the charging electrode piece of the self-propelled cleaning machine 100 parked in the housing chamber 211 of the base station 200, thereby enabling the charging operation of the self-propelled cleaning machine 100.

[0061] Here, the charging contact electrode piece 2113 is rotatably connected to the mounting bracket 250. For example, the third position limiting portion 256 on the mounting bracket 250 is a position limiting hole, and a rotating shaft is provided within the position limiting hole. One end of the charging contact electrode piece 2113 is connected to the rotating shaft, and the charging contact electrode piece 2113 is rotatable relative to the mounting bracket 250. Normally, after the charging electrode piece of the self-propelled cleaning device 100 comes into contact with the charging contact electrode piece 2113, it moves a small distance further, ensuring reliable contact between the charging electrode piece and the charging contact electrode piece 2113 and preventing poor contact. The charging contact electrode piece 2113 is rotatably connected to the mounting bracket 250, and a reset member is connected to the charging contact electrode piece 2113 and the mounting bracket 250. The reset member resets the charging electrode piece to its initial position, so that the charging contact electrode piece 2113 is not damaged even if it rotates away from the self-propelled cleaning machine 100 when it is subjected to force while the self-propelled cleaning machine 100 moves a short distance further. At the same time, under the action of the reset member, the charging contact electrode piece 2113 and the charging electrode piece make sufficient contact and securely dock, ensuring the reliability of the charging operation.

[0062] When the self-propelled cleaning device 100 moves away from the base station 200, the charging contact electrode piece 2113 returns to its initial position under the action of the reset member, and the other end of the charging contact electrode piece 2113 is set to extend into the housing chamber 211.

[0063] Furthermore, there are two charging docking assemblies, which are distributed on both sides of the water supply connector 2114, meaning the water supply connector 2114 is located midway between the two charging docking assemblies. Here, the pile detection signal transmitter 251 is also located midway between the two charging docking assemblies, thereby achieving a compact structure and miniaturization of the base station housing 210 and reducing the requirements for mounting space.

[0064] As shown in Figures 8 and 10, in some feasible embodiments provided in this application, the base station 200 further comprises a drying fan 257 connected to a mounting bracket 250 and located within the base station housing 210, the air outlet of the drying fan 257 communicating with the containment chamber 211. The installation of the drying fan 257 allows for the drying operation of the cleaning element 183 that is resting in the containment chamber 211 of the base station 200, thereby avoiding the possibility of bacterial growth and odor generation due to the cleaning element 183 remaining wet for extended periods, and further improving the cleanability of the cleaning element 183.

[0065] By connecting the drying fan 257 to the mounting bracket 250, the pile detection signal transmitter 251 and the water supply connector 2114 are all integrated into the mounting bracket 250, or the signal transmitter, water supply connector 2114, and charging docking assembly are all integrated into the mounting bracket 250, thereby making the structure of the base station 200 compact and reducing the requirements for mounting space, while at the same time simplifying the procedure for providing a fixing structure for the drying fan 257 in the base station housing 210, which is advantageous in saving manufacturing costs.

[0066] As shown in Figure 3, in some feasible embodiments provided in this application, the base station 200 further comprises a washing tray 220, which is provided on the bottom wall of the housing chamber 211 and is used to interfere with the cleaning element 183 of the self-propelled cleaning machine 100 to remove dirt from the cleaning element 183. The installation of the washing tray 220 enables the base station 200 to perform cleaning operations of the self-propelled cleaning machine 100. For example, after the cleaning element 183 of the self-propelled cleaning machine 100 has completed a mopping operation, it can dock at the base station 200 and use the washing tray 220 to wash the cleaning element 183, thereby improving the cleaning performance of the cleaning element 183 and further improving the cleaning efficiency of the self-propelled cleaning machine 100.

[0067] Furthermore, after the self-propelled cleaning equipment 100 has docked at the base station 200, it can first perform a cleaning operation on the cleaning element 183 using the cleaning tray 220, and then perform a drying operation on the cleaning element 183 using the drying fan 257.

[0068] As shown in Figure 5, the cleaning tray 220 comprises a cleaning chamber 2211 and a cleaning section 222 within the cleaning chamber 2211. The cleaning section 222 can interfere with the cleaning element 183 to remove dirt from the cleaning element 183. Furthermore, the cleaning tray 220 is detachably connected to the base station 200, allowing the entire cleaning tray 220 to be removed from the base station 200, the entire cleaning tray 220 to be cleaned, and the cleaning section 222 and cleaning chamber 2211 to be kept clean. This improves the thoroughness of cleaning the cleaning tray 220 and prevents situations where dirt accumulates for a long period or remains in the cleaning chamber, causing unpleasant odors.

[0069] As shown in Figures 4 and 6, in the above embodiment, the base station 200 is further provided with a drain connector 242, which is attached to the base station housing 210. Specifically, the base station housing 210 has a water outlet 2112 in a storage chamber 211, the drain connector 242 passes through the water outlet 2112, the water inlet end 2423 of the drain connector 242 is connected to a clean water tank 213, and the water outlet end 2424 of the drain connector 242 is exposed in the storage chamber 211. The washing tray 220 has a water guide section 224 in a washing chamber 2211, with a water guide tank 2241 at the top of the water guide section 224, and the water guide tank 2241 is located below the water outlet 2112. As a result, water in the clean water tank 213 flows into the water tank 2241 via the water outlet end 2424 of the drain connector 242. When the cleaning element 183 of the self-propelled cleaning device 100 comes into contact with the water tank 2241 of the water guide section 224, the water in the water tank 2241 is drawn onto the cleaning element 183. Subsequently, as the cleaning element 183 rotates, the water in the water tank 2241 moistens different positions of the cleaning element 183, moistening each part of the cleaning element 183 with water and ensuring that the cleaning element 183 is completely and uniformly moistened. The moistened cleaning element 183 then comes into contact with the cleaning section 222, improving the cleaning effect of the cleaning element 183.

[0070] As shown in Figure 5, in some feasible embodiments provided in this application, a liquid leak port 2242 communicating with a water tank 2241 is provided on the water guide section 224. After the cleaning liquid flows into the water tank 2241 of the water guide section 224, the cleaning element 183 of the self-propelled cleaning device 100 may not be able to thoroughly suck up the cleaning liquid in the water tank 2241, and cleaning liquid may remain in the water tank 2241. By providing a liquid leak port 2242 communicating with the water tank 2241 on the water guide section 224, the cleaning liquid remaining in the water tank 2241 can be discharged from the liquid leak port 2242, preventing a situation where liquid remains in the water tank 2241 for a long period of time and generates an unpleasant odor, and is also advantageous in improving the cleanability of the water tank 2241. In addition, the water guide section 224 and the cleaning section 222 can also be cleaned during the process of removing the cleaning tray 220 from the base station 200 for cleaning.

[0071] Here, the leak port 2242 communicates with the bottom of the groove in the water tank 2241, allowing residual liquid in the water tank 2241 to be discharged relatively thoroughly through the leak port 2242, which is advantageous in further improving the thoroughness of liquid discharge from the water tank 2241.

[0072] Although this application has been described through the above embodiments, these embodiments are for illustrative and explanatory purposes only and do not limit this application to the scope of the embodiments described. Furthermore, those skilled in the art should understand that this application is not limited to the above embodiments and that many more variations and modifications are possible based on the teachings of this application, all of which fall within the scope of protection of this application. The scope of protection of this application shall be defined by the appended claims and their equivalent scope. [Explanation of symbols]

[0073] 100 Self-propelled cleaning equipment 110 Main unit of the device 111 Front part 112 Rear part 120 sensing system 121 Determination device 122 Buffer 140 Drive System 141 Drive Wheel Module 142 Driven Wheel 150 Cleaning Systems 151 Dry Cleaning System 152 Side Brush 170 Human-Machine Interactive Systems 183 Cleaning Elements 200 base stations 210 Base Station Housing 211 Confinement Chamber 2112 Water outlet 2113 Charging contact electrode piece 2114 Water supply connector 2116 Control Port 2118 First positioning unit 213 Clean water tank 220 Washing Tray 2211 Washing Room 222 Cleaning section 224 Water intake section 2241 Water intake tank 2242 Leakage port 242 Drain Connector 2423 Water inlet end 2424 Water outlet end 250 Mounting Bracket 251 Pile detection signal transmitter 2511 Transmitter 2512 Support Frame 252 First position limiting section 253 Position-restricting through-hole 254 Second position restriction section 255 Wiring grooves 256 Third Position Restriction Section 257 Drying Fan

Claims

1. A base station comprising a base station housing, a mounting bracket, a pile detection signal transmitter, a fresh water tank, and a water supply connector, wherein the mounting bracket is detachably connected to the base station housing, the pile detection signal transmitter and the water supply connector are both connected to the mounting bracket, the pile detection signal transmitter is used to transmit a pile detection signal to be received by a self-propelled cleaning machine, the fresh water tank is mounted on the base station housing, the inlet of the water supply connector is connected to the fresh water tank, and the outlet of the water supply connector is connected to the water inlet of the self-propelled cleaning machine.

2. The base station according to claim 1, wherein the base station housing is provided with a housing chamber and an operation port, the operation port connects the housing chamber and the interior of the base station housing, and the pile detection signal transmitter and the water supply connector cooperate with the self-propelled cleaning equipment via the operation port.

3. The base station according to claim 2, wherein the pile detection signal transmitter comprises a connected transmitting unit and a support frame, the mounting bracket is provided with a first position limiting unit detachably connected to the support frame, and the transmitting unit faces the operation port.

4. The base station according to claim 1, wherein the mounting bracket is provided with a position-restricting through-hole, and some of the water supply connectors are restricted to the position-restricting through-hole.

5. The base station according to claim 1, wherein the mounting bracket is further provided with a second position limiting portion, the base station housing is provided with a first positioning portion, and the second position limiting portion and the first positioning portion cooperate to limit the movement of the mounting bracket relative to the base station housing.

6. The base station according to claim 1, wherein the mounting bracket is provided with a wiring groove, and the wiring groove is located on the outer edge of the mounting bracket.

7. The base station according to claim 2, further comprising a charging docking assembly connected to the mounting bracket, wherein at least a portion of the charging docking assembly is exposed in the housing chamber and used to connect to a charging electrode piece of the self-propelled cleaning machine.

8. The base station according to claim 7, wherein the mounting bracket is provided with a third position limiting portion, the charging docking assembly comprises a charging contact electrode piece and a reset member located within the base station housing, one end of the charging contact electrode piece is rotatably connected to the mounting bracket via the third position limiting portion, the other end of the charging contact electrode piece extends into the housing chamber via the operation port, and the reset member is connected to the charging contact electrode piece and the mounting bracket and used to reset the charging contact electrode piece to its initial position.

9. The base station according to claim 2, further comprising a drying fan connected to the mounting bracket and located within the base station housing, wherein the air outlet of the drying fan communicates with the housing chamber.

10. A cleaning robot system comprising the self-propelled cleaning device and a base station according to any one of claims 1 to 9.

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