Base station and cleaning robot system

Abstract

The disclosure provides a base station and a cleaning robot system, where the base station is used for cleaning a cleaning system of the cleaning robot, the base station includes a base station body and a cleaning assembly movably provided on the base station body, the cleaning assembly includes a first cleaning member that is vertically floatable with respect to the base station body and that removes foreign objects on the cleaning system by interfering with the cleaning system.

Description

Technical Field

[0001] (Related Application) This application claims the priority of Chinese Patent Application No. 202121975661.8, filed on August 20, 2021, and all the disclosure content of the above Chinese patent application is incorporated herein as part of this application.

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

Background Art

[0003] Current cleaning robots, such as integrated sweeping and mopping cleaning robots, usually include a sweeping roller brush and a flat mop cloth. After the flat mop cloth is used, it is necessary to clean it manually or directly replace it with a new flat mop cloth, which is extremely inconvenient in use.

Summary of the Invention

[0004] A series of simplified concepts are introduced in this part, which will be described in more detail in the form for implementing the invention. This part of the disclosure is not intended to limit the main features and essential technical features of the technical solution to be protected, nor does it mean to determine the protection scope of the technical solution to be protected.

[0005] Embodiments of this disclosure provide a base station used for cleaning a cleaning system of a cleaning robot. The base station includes a base station body and a cleaning assembly movably provided on the base station body, the cleaning assembly includes a first cleaning member that can float up and down relative to the base station body, and the first cleaning member cleans the cleaning system of the cleaning robot by interfering with the cleaning system of the cleaning robot.

[0006] In some embodiments, the cleaning assembly includes a bracket and a drive unit, the drive unit drives the bracket to move along a first direction relative to the base station body, and the first cleaning member includes a cleaning body and a support, the cleaning body is applied so as to interfere with the cleaning system, and the support connects the cleaning body and the bracket, where the support is an elastic member.

[0007] In some embodiments, the support includes a first connecting section, a transition section, and a second connecting section connected in sequence, the second connecting section being located at the bottom of the washing body, and the transition section being located diagonally downward from the second connecting section toward the first connecting section, with a slot on the bracket that aligns with the first connecting section.

[0008] In some embodiments, support seats are further provided on the bracket, located on both sides of the support portion, along the direction of movement of the bracket relative to the base station body, and the end of the washing body away from the support portion is higher than the support seats.

[0009] In some embodiments, the number of support members is one or at least two, and at least two support members are spaced apart along the length of the cleaning body, and / or a gap is provided between the cleaning body and the bracket along the length of the cleaning body.

[0010] In some embodiments, the cleaning assembly further includes a second cleaning member mounted on a bracket and parallel to a first cleaning member, wherein the second cleaning member includes a cleaning roller applied to interfere with the cleaning system, and the cleaning roller is rotatably mounted relative to the bracket.

[0011] In some embodiments, the cleaning assembly further includes a water discharge device provided on a bracket and positioned parallel to the first and second cleaning members.

[0012] In some embodiments, the base station body includes a cleaning tank located below the cleaning assembly, with a dirt discharge port provided on at least one side of the cleaning tank, and the cleaning assembly further includes a cleaning member provided toward the bottom of the cleaning tank, the cleaning member configured to bring foreign matter in the cleaning tank toward the dirt discharge port.

[0013] In some embodiments, the cleaning member includes a connecting portion and a contact portion, the connecting portion being connected to a bracket, and the contact portion being a flexible member applied to contact the bottom of the cleaning tank.

[0014] In some embodiments, at least two projection structures are provided at intervals on one side of the contact portion away from the dirt discharge port.

[0015] In some embodiments, the length of the contact portion is equal to the internal width of the bottom of the cleaning tank.

[0016] In some embodiments, the cleaning member is located at the bottom of one side of the bracket, away from the dirt discharge port.

[0017] In some embodiments, the cleaning member is detachably connected to the bracket.

[0018] In some embodiments, a position limiting portion is provided on one of the connecting portion and the bracket, and a positioning portion is provided on the other to align with the position limiting portion, where the position limiting portion includes a locking hook, the positioning portion includes a locking groove, and / or the position limiting portion includes a magnetic member, and the positioning portion includes a magnetic attraction member.

[0019] In some embodiments, the number of cleaning assemblies is one or at least two, and at least two cleaning assemblies are spaced apart and configured to interfere with different cleaning systems.

[0020] Embodiments of the present disclosure include a cleaning robot including a cleaning system and any one of the above base stations, and a first cleaning member removes foreign matter on the cleaning system by interfering with the cleaning system, providing a cleaning robot system.

[0021] The following attached drawings of the present disclosure are used as part of the embodiments of the present disclosure to understand the present disclosure. The embodiments of the present disclosure and their descriptions are shown in the attached drawings and are used to interpret the principle of the present disclosure.

Brief Description of the Drawings

[0022] [Figure 1] Schematic structural diagram of a cleaning robot system according to some embodiments of the present disclosure [Figure 2] Schematic structural diagram of a cleaning robot according to some embodiments of the present disclosure [Figure 3] Schematic structural diagram of a certain perspective of the embodiment shown in FIG. 2 [Figure 4] Partial exploded schematic diagram of the embodiment shown in FIG. 3 [Figure 5] Schematic structural diagram of a base station according to some embodiments of the present disclosure [Figure 6] Schematic structural diagram of a certain perspective of the embodiment shown in FIG. 5 [Figure 7] Partial structural schematic diagram of another perspective of the embodiment shown in FIG. 6 [Figure 8] ]>Schematic structural diagram of a cleaning assembly according to some embodiments of the present disclosure [Figure 9] Schematic structural diagram of a first cleaning member according to some embodiments of the present disclosure [Figure 10] Schematic structural diagram of a certain perspective of the embodiment shown in FIG. 8 [Figure 11] Schematic structural diagram of another perspective of the embodiment shown in FIG. 8 [Figure 12] Schematic structural diagram of a cleaning member according to some embodiments of the present disclosure [Figure 13] Schematic structural diagram of a certain perspective of the embodiment shown in FIG. 12 [Figure 14] Schematic structural diagram of a base station according to some embodiments of the present disclosure [Figure 15] Schematic diagram of the structure from yet another viewpoint of the embodiment shown in Figure 8. [Figure 16] Schematic diagram of a certain viewing angle structure in the embodiment shown in Figure 15. [Figure 17] A locally enlarged schematic diagram of embodiment A shown in Figure 16. [Figure 18] A locally enlarged schematic diagram of embodiment B shown in Figure 16. [Explanation of Symbols]

[0023] 10 Cleaning robots 110 Main unit of the device 111 Front part 112 Rear part 120 sensing system 121 Determination device 122 buffers 130 Control Modules 140 Drive System 141 Drive Wheel Module 142 Driven Wheel 150 Cleaning Systems 151 Dry Cleaning System 152 Side Brush 160 Energy Systems 170 Man-machine interaction systems 153 Wet Cleaning System 1531 Cleaning head 1532 Drive Unit 1533 Drive Platform 1534 Support Platforms 20 Base station unit 21 Cleaning tank 211 Dirt discharge port 30 Cleaning Assembly 31 First cleaning member 311 Washing Unit 312 Support part 313 First Connection Section 314 Second Connection Section 315 Transition Section 32 brackets 321 Support seat 322 Gap 33 Second cleaning member 34 Drive unit 341 Gear 342 racks 36 Cleaning components 361 Connection part 362 Contact part 363 Protrusion structure 37 Cleaning Assembly a 38 Cleaning Assembly b 40 Liquid supply section [Modes for carrying out the invention]

[0024] The following description provides numerous specific details to allow for a more thorough understanding of the technical solutions provided in this disclosure. However, it will be apparent to those skilled in the art that the technical solutions provided in this disclosure can be implemented without one or more of these details.

[0025] It should be noted that the terms used herein are used solely to describe specific embodiments and are not intended to limit the exemplary embodiments of this disclosure. Where used herein, the singular form is intended to include the plural form unless explicitly stated in the context. Furthermore, it should be understood that the terms “equipment” and / or “contain” as used herein identify the presence of 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.

[0026] Next, exemplary embodiments of this disclosure will be described in more detail with reference to the accompanying drawings. However, these exemplary embodiments may be carried out in various different forms and should not be construed as being limited only to the embodiments described herein. These embodiments should be understood as being provided to ensure that this disclosure is thorough and complete and to fully convey the concepts of these exemplary embodiments to those skilled in the art.

[0027] As shown in Figures 1 to 18, embodiments of the present disclosure provide a base station and a cleaning robot system, where, as shown in Figure 1, the cleaning robot system includes a cleaning robot 10 and a base station, i.e., the base station is used in cooperation with the cleaning robot 10.

[0028] Furthermore, as shown in Figures 2 and 3, the cleaning robot 10 includes a main unit 110, a sensing system 120, a control module 130, a drive system 140, a cleaning system 150, an energy system 160, and a human-machine interaction system 170. The cleaning robot 10 may be a self-mobilizing cleaning robot 10 or another cleaning robot 10 that meets the needs. The self-mobilizing cleaning robot 10 is a device that automatically performs cleaning operations in a designated area without user intervention. When the self-mobilizing cleaning robot 10 begins work, the automatic cleaning device departs from the base station and performs the cleaning task. When the self-mobilizing cleaning robot 10 completes the cleaning task, or when it needs to stop the cleaning task, the self-mobilizing cleaning robot 10 can return to the base station for charging or other operations.

[0029] As shown in Figure 2, the main body of the device 110 includes a front portion 111 and a rear portion 112, and is substantially circular in shape (both front and rear are circular), but may have other shapes, including, but is not limited to, a substantially D-shape having a rectangular front portion and a circular rear portion, or a rectangular or square shape having a rectangular front portion and a rectangular rear portion.

[0030] As shown in Figure 2, the sensing system 120 includes a position determination device 121 located on the main body 110, a collision sensor and proximity 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 the control module 130 with various position information and movement status information of the equipment. The position determination device 121 includes, but is not limited to, a camera and a laser distance sensor (LDS).

[0031] As shown in Figure 2, the front portion 111 of the main body 110 is equipped with a buffer 122. During the cleaning process, when the drive wheel module 141 propels the cleaning robot 10 across the ground, the buffer 122 detects one or more events in the path of the cleaning robot 10 via a sensor system such as an infrared sensor mounted on it. Based on the events such as obstacles or walls detected by the buffer 122, the cleaning robot 10 controls the drive wheel module 141 so that the cleaning robot 10 responds to the event (for example, by moving away from the obstacle).

[0032] The control module 130 is located on the main circuit board within the main unit 110 and includes a computing processor, such as a central processing unit or application processor, which communicates with non-temporary memory such as a hard disk, flash memory, or random access memory. The application processor uses positioning algorithms, such as Simultaneous Localization and Mapping (SLAM), based on obstacle information fed back by the laser distance sensor, to draw a real-time map of the environment in which the cleaning robot 10 is located. Furthermore, in conjunction with distance information and speed information fed back by sensing devices such as sensors, cliff sensors, magnetometers, accelerometers, gyroscopes, and odometers installed in the buffer 122, the current working state, current position, and current posture of the cleaning robot 10 (for example, crossing a threshold, stepping on a carpet, being near a cliff, getting stuck above or below, the dustbin being full, or being lifted) are comprehensively determined, and specific subsequent operation strategies are provided to improve the cleaning performance and user experience of the cleaning robot 10 in different situations.

[0033] As shown in Figure 3, the drive system 140 operates the machine body 110 to travel across the ground based on a drive command having distance and angle information (e.g., 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 movement of the machine more precisely, the drive wheel module 141 includes a left drive wheel module 141 and a right drive wheel module 141, respectively. The left and right drive wheel modules 141 are arranged along the lateral axis defined by the machine body 110. To allow the cleaning robot 10 to move more stably on the ground or to have higher mobility, the cleaning robot 10 may include one or more driven wheels 142, which include, but are not limited to, universal wheels. The drive wheel module 141 includes a driving wheel, a drive motor, and a control circuit to control the drive motor. The drive wheel module 141 may further include a circuit for measuring the drive current and an odometer. The drive wheels may include an offset drop suspension system that is movably fixed and rotatably assembled to, for example, the machine body 110, and receives a spring offset that is offset downward from the machine body 110. The spring offset allows the drive wheels to maintain contact and traction with the ground with a constant grounding force, and the cleaning elements of the cleaning robot 10 also make contact with the ground with a constant pressure.

[0034] The energy system 160 may include 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, and the charging control circuit, battery pack charging temperature detection circuit, and battery voltage under-monitoring circuit are connected to a single-chip microcomputer control circuit. For charging, the host connects charging electrodes provided on the side or bottom of the device to a charging pile.

[0035] The man-machine interaction system 170 may include buttons on a host panel for the user to select functions, a display screen and / or indicator lights and / or a speaker, the display screen, indicator lights and speaker being used to show the user the current device status or function options, and may further include a mobile phone client program. In the case of a route-navigation type automatic cleaning device, the mobile phone client can show the user a map of the environment in which the device is located and the location of the device, and can provide the user with a richer and more user-friendly set of functions.

[0036] The cleaning system 150 may be a dry cleaning system 151 and / or a wet cleaning system 153.

[0037] As shown in Figure 3, the dry cleaning system 151 provided by an embodiment of the present disclosure may include a roller brush, a dust box, a fan, and an air outlet. The roller brush, which makes constant contact with the ground, sweeps up foreign matter from the ground and rolls it up in front of the dust collection port between the roller brush and the dust box, and the foreign matter is then sucked into the dust box by a gas with suction force that has passed through the dust box generated by the fan. The dry cleaning system 151 further includes a side brush 152 having a rotating shaft, which is at a constant angle with respect to the floor surface, and moves the debris into the roller brush area of ​​the cleaning system 150.

[0038] As shown in Figures 3 and 4, the wet cleaning system 153 provided by embodiments of the present disclosure may include a cleaning head 1531, a drive unit 1532, a water supply mechanism, a liquid storage tank, etc. Here, the cleaning head 1531 may be located below the liquid storage tank, and the cleaning liquid inside the liquid storage tank is delivered to the cleaning head 1531 via the water supply mechanism, and the cleaning head 1531 wet-cleans the surface to be cleaned. In other embodiments of the present disclosure, the cleaning liquid inside the liquid storage tank may also be sprayed directly onto the surface to be cleaned, and the cleaning head 1531 uniformly applies the cleaning liquid to clean the surface.

[0039] Here, the cleaning head 1531 is used to clean the surface to be cleaned, and the drive unit 1532 drives the cleaning head 1531 to move substantially back and forth along a target surface, which is part of the surface to be cleaned. The cleaning head 1531 moves back and forth along the surface to be cleaned, and a cleaning cloth or cleaning plate is provided on the surface of the cleaning head 1531 that is in contact with the surface to be cleaned, and the reciprocating movement generates high-frequency friction with the surface to be cleaned, removing dirt from the surface to be cleaned.

[0040] In embodiments of the present disclosure, as shown in Figure 4, the drive unit 1532 may further include a drive platform 1533 and a support platform 1534, the drive platform 1533 being connected to the bottom of the equipment body 110 to provide driving force, and the support platform 1534 being detachably connected to the drive platform 1533 and used to support the cleaning head 1531, which can be raised and lowered when driven by the drive platform 1533.

[0041] In some embodiments of the present disclosure, the wet cleaning system 153 may be connected to the equipment body 110 via an active lifting module. When the wet cleaning system 153 is temporarily not involved in the work, for example, when the cleaning robot 10 stops at the base station to wash the cleaning head 1531 of the wet cleaning system 153 and fill the liquid storage tank with water, or when the wet cleaning system 153 encounters a surface to be cleaned that cannot be cleaned by the wet cleaning system 153, the active lifting module lifts the wet cleaning system 153.

[0042] In the wet cleaning system 153 provided by the embodiments of this disclosure, the cleaning head 1531, drive platform 1533, support platform 1534, water supply mechanism, and liquid storage tank, etc., may be powered by one or more motors. The energy system 160 provides power and energy to the motors and is controlled as a whole by the control module 130.

[0043] Here, the water supply mechanism in the embodiments of the present disclosure may include a water discharge device, which may be directly or indirectly connected to the liquid outlet of a liquid storage tank, where the cleaning liquid flows from the cleaning liquid outlet of the liquid storage tank toward the water discharge device and is uniformly applied to the surface to be cleaned by the water discharge device. A connecting member may be provided on the water discharge device, and the water discharge device is connected to the cleaning liquid outlet of the liquid storage tank via the connecting member. A distribution port is provided on the water discharge device, which may be a continuous opening, a combination of multiple small openings, or a plurality of nozzles may be provided on the distribution port. The cleaning liquid flows from the cleaning liquid outlet of the liquid storage tank toward the distribution port via the connecting member of the water discharge device and is uniformly applied to the surface to be cleaned via the distribution port.

[0044] In embodiments of the present disclosure, the liquid storage tank may further include a water refill port, the water refill port may be located on the side wall of the water tank, and when the cleaning robot 10 stops at the base station, the base station may inject water into the liquid storage tank of the cleaning robot 10 through the water refill port.

[0045] In embodiments of the present disclosure, as shown in Figures 5, 8, and 9, the base station includes a base station body 20 and a cleaning assembly 30, the cleaning assembly 30 being movably mounted on the base station body 20. In some embodiments, the cleaning assembly 30 is movable relative to the base station body 20 along a first direction, for example, the left-right direction of the base station, and the cleaning assembly 30 is reciprocally movable along the left-right direction of the base station, the left-right direction of the base station is indicated by the solid arrow in Figure 5. Here, the cleaning assembly 30 includes a first cleaning member 31 that is vertically floating relative to the base station body 20, the first cleaning member 31 removing foreign matter from the cleaning system 150 by interfering with the cleaning system 150.

[0046] In other words, when the cleaning robot 10 moves to the base station body 20, the cleaning assembly 30 is positioned opposite the cleaning system 150, and as the cleaning assembly 30 moves relative to the base station body 20 by interfering with the first cleaning member 31 and the cleaning system 150, it removes foreign matter from the cleaning system 150. Thus, the cleaning robot 10 achieves automatic cleaning on the cleaning assembly 30 of the base station, eliminating the need for manual cleaning of the cleaning system 150 or replacement of a new cleaning system 150, simplifying manual operation, improving the manual cleaning experience, contributing to reduced cleaning costs, and making it suitable for widespread application.

[0047] Furthermore, as shown in Figures 8 and 9, the first cleaning member 31 is capable of floating vertically relative to the base station body 20. This allows it to effectively respond to the position and characteristics of the cleaning system 150 of the cleaning robot 10, ensuring that the first cleaning member 31 reliably and effectively interacts with the cleaning system 150. The frictional force between the first cleaning member 31 and the cleaning system 150 remains within a certain range, enabling cleaning and ensuring a good cleaning effect.

[0048] For example, if the contact amount between the cleaning system 150 and the first cleaning member 31 is too large, the frictional force between the first cleaning member 31 and the cleaning system 150 will increase, affecting the movement sensitivity of the first cleaning member 31 relative to the base station body 20, and consequently affecting the cleaning efficiency. If the contact amount between the cleaning system 150 and the first cleaning member 31 is too small, the frictional force between the first cleaning member 31 and the cleaning system 150 will decrease, resulting in incomplete cleaning and affecting the cleaning effect of the first cleaning member 31. If the cleaning system 150 is thick or highly elastic, there is a problem that the amount of interference from the first cleaning member 31 to the cleaning system 150 will be insufficient, making it impossible to clean parts of the cleaning system 150 that are far from the first cleaning member 31. If the cleaning system 150 is thin or not highly elastic, there is a problem that the amount of interference from the first cleaning member 31 to the cleaning system 150 will be too large (the contact amount between the two will be too large), causing damage to the cleaning system 150. Therefore, this disclosure allows the first cleaning member 31 to float vertically relative to the base station body 20, enabling automatic adjustment of the amount of contact between the first cleaning member 31 and the cleaning system 150, ensuring that the amount of contact between them is within an appropriate range, the frictional force between the first cleaning member 31 and the cleaning system 150 is within an appropriate range, ensuring a good cleaning effect of the first cleaning member 31, ensuring high cleaning efficiency, reducing wear on the cleaning system 150, extending the service life of the cleaning system 150, and improving user satisfaction.

[0049] Furthermore, by rationally setting the amount of floating of the first cleaning member 31 relative to the base station body 20, the cleaning needs of cleaning systems 150 with different positions and different characteristics can be met, thereby expanding the range of product use.

[0050] In the above embodiment, as shown in Figure 9, the cleaning assembly 30 includes a bracket 32 ​​and a drive unit 34 connected to the base station body 20, the drive unit 34 driving the bracket 32 ​​to move relative to the base station body 20 along a first direction. Along the horizontal direction, the drive unit 34 drives the bracket 32 ​​to move relative to the base station body 20, that is, the bracket 32 ​​moves in a substantially horizontal plane relative to the base station body 20, for example, reciprocating along the left-right direction of the base station body 20. The first cleaning member 31 is provided on the bracket 32, where the first cleaning member 31 includes a cleaning body 311 and a support unit 312, the cleaning body 311 is applied so as to interfere with the cleaning system 150, and the support unit 312 connects the cleaning body 311 and the bracket 32. In other words, the bracket 32 ​​moves relative to the base station body 20, and the cleaning body 311 moves relative to the base station body 20 via the support part 312. When the cleaning body 311 interferes with the cleaning system 150, foreign matter on the cleaning system 150 is removed, and automatic cleaning of the cleaning system 150 is achieved.

[0051] Furthermore, as shown in Figures 5, 7, and 8, the drive unit 34 moves relative to the base station body 20 in synchronization with the bracket 32. For example, the drive unit 34 includes a motor and a gear 341, the motor drives the gear 341 to rotate, a rack 342 is provided on the base station body 20, and the gear 341 moves along the extending direction of the rack 342. The drive unit 34 and the bracket 32 ​​of the cleaning assembly 30 move synchronously on the base station body 20, thereby achieving the movement of the first cleaning member 31 relative to the base station body. In some embodiments, racks 342 are provided on both ends of the bracket 32, and correspondingly there are at least two gears 341, each of which meshes with two racks 342.

[0052] Here, the support portion 312 is an elastic member, and the elastic support portion 312 allows the cleaning body 311 to float vertically under the action of an external force, for example, under the force of the cleaning system 150, and the amount of interference between the cleaning body 311 and the cleaning system 150 can be automatically adjusted so that the amount of interference between the two is within an appropriate range, the frictional force between the cleaning body 311 and the cleaning system 150 is within an appropriate range, a good cleaning effect can be ensured, and high cleaning efficiency can be ensured. In some embodiments, the cleaning body 311 may be a cleaning scraper or other cleaning structure that meets the needs.

[0053] Furthermore, the number of support parts 312 may be one or at least two, for example, one, two, three, or any other number that meets the needs, and different numbers of support parts 312 can meet the needs of different structures and different installation positions of the support parts 312. At least two support parts 312 are spaced apart along the length of the cleaning body 311, ensuring a secure connection between the cleaning body 311 and the bracket 32, and a reasonable range of floating for the cleaning body 311, while reducing the number of support parts 312 used and lowering manufacturing costs.

[0054] In embodiments of the present disclosure, as shown in Figure 9, the support section 312 includes a sequentially connected first connection section 313, a transition section 315, and a second connection section 314, where the second connection section 314 is located at the bottom of the cleaning body 311, i.e., the support section 312 is located on one side of the cleaning body 311 away from the cleaning system 150 of the cleaning robot 10, and a slot is provided on the bracket 32, into which the first connection section 313 aligns. In other words, the first cleaning member 31 provided in embodiments of the present disclosure is detachably connected to the bracket 32 ​​by aligning the first connection section 313 with the slot on the bracket 32, making it easy to remove the first cleaning member 31 from the bracket 32 ​​for cleaning and maintenance, contributing to an improved cleaning experience and reduced replacement costs for the first cleaning member 31.

[0055] Here, the transition section 315 is provided diagonally downward from the second connection section 314 toward the first connection section 313, and the support portion 312 is an elastic member. That is, because the transition section 315 is an elastic member, the vertical distance between the first connection section 313 and the second connection section 314 is adjustable, and the cleaning body 311 can float up and down along the vertical direction, and the first cleaning member 31 floats up and down relative to the base station body 20, contributing to an improved cleaning effect. Furthermore, the support portion 312 has an integral structure, which contributes to an improved support strength of the support portion 312. Note that the support portion 312 may have a segmented structure, and is not particularly limited in this disclosure.

[0056] In some embodiments, the cleaning body 311 and the support part 312 are integrally molded, which facilitates processing and production. Alternatively, the cleaning body 311 and the support part 312 are separate structures, which can lead to problems such as a high failure rate and wear rate due to interference between the cleaning body 311 and the cleaning system 150. In the case of the cleaning body 311 and support part 312 being set as separate structures, the cleaning body 311 can be replaced or maintained separately, further reducing maintenance costs or operating costs.

[0057] In embodiments of this disclosure, as shown in Figures 15, 16, 17, and 18, support seats 321 are further provided on the bracket 32 ​​along the direction of movement of the bracket 32 ​​relative to the base station body 20, with support seats 321 located on both sides of the support portion 312. The end of the cleaning body 311 away from the support portion 312 is higher than the support seats 321, and the portion of the cleaning body 311 higher than the support seats 321 is used to interfere with the cleaning system 150 of the cleaning robot 10 to perform the cleaning operation. The installation of the support seats 321 supports the support portion 312, or the support portion 312 and part of the cleaning body 311, and avoids the problem that the first cleaning member 31 is displaced significantly along the direction of movement of the bracket 32, affecting the amount of contact between the first cleaning member 31 and the cleaning system 150, as the first cleaning member 31 interferes with the cleaning system 150 of the cleaning robot 10 during the process of the bracket 32 ​​moving relative to the base station body 20. In other words, by installing the support seat 321, the amount of displacement of the bracket 32 ​​along the direction of movement during the cleaning process of the first cleaning member 31 is reduced, ensuring that the first cleaning member 31 is in firm contact with the cleaning system 150, and thereby ensuring a good cleaning effect.

[0058] Furthermore, as shown in Figures 17 and 18, there are multiple support seats 321 on either side of the support portion 312, and the support seats 321 on both sides of the support portion 312 are arranged in a staggered pattern. This allows for a smaller displacement of the first cleaning member 31 along the direction of movement of the bracket with fewer support seats 321, resulting in high contact reliability between the first cleaning member 31 and the cleaning system 150, and meeting the design needs for a compact structure and a small volume base station.

[0059] In the embodiments of this disclosure, as shown in Figures 15, 16, 17, and 18, a gap 322 is provided between the cleaning body 311 and the bracket 32 ​​along the longitudinal direction of the cleaning body 311. The provision of the gap 322 ensures that the cleaning body 311 can reliably and flexibly float up and down relative to the bracket 32 ​​under the action of the support portion 312, thereby further improving the cleaning efficiency and cleaning effect of the first cleaning member 31. The support portion 312 is connected to the bottom of the cleaning body 311 and to the bracket 32 ​​located at the bottom of the cleaning body 311. However, the cleaning body 311 is spaced apart from the bracket 32 ​​in the width direction, for example, there is a gap between the support seat and the cleaning body 311. This creates a movable gap between the circumferential side of the cleaning body 311 and the bracket 32, allowing the cleaning body 311 to float up and down.

[0060] In some embodiments, the longitudinal direction of the cleaning body 311 is perpendicular to the direction of movement of the bracket 32 ​​relative to the base station body 20, that is, as the bracket 32 ​​moves left or right relative to the base station body 20, the longitudinal direction of the cleaning body 311 coincides with the forward direction of the base station body 20, and a gap 322 is provided between either end of the cleaning body 311 in the longitudinal direction and the bracket 32, as shown in Figures 16 and 17. As the bracket 32 ​​moves relative to the base station body 20, the first cleaning member 31 interferes with the cleaning system 150, and foreign matter removed from the cleaning system 150 flows between the longitudinal end of the cleaning body 311 and the bracket 32 ​​under the guidance of the cleaning body 311. If the width of the gap 322 between the longitudinal end of the cleaning body 311 and the bracket 32 ​​is too small, foreign matter will accumulate and the cleaning body 311 will become immobile. Therefore, by rationally setting the gap 322 between the longitudinal end of the cleaning body 311 and the bracket, the possibility of foreign matter (such as mud) accumulating between the cleaning body 311 and the bracket 32 ​​and the cleaning body 311 getting caught on the bracket 32 ​​and becoming unable to float up and down can be reduced, and the flexibility of the first cleaning member's float can be further ensured.

[0061] In embodiments of the present disclosure, as shown in Figures 8 and 11, the cleaning assembly 30 further includes a second cleaning member 33 provided on a bracket 32, i.e., the bracket 32 ​​functions as a movable member, and the first cleaning member 31 and the second cleaning member 33 can move together with the bracket 32 ​​so that the first cleaning member 31 and the second cleaning member 33 interfere with different positions on the cleaning system 150 to ensure a cleaning effect. Here, the second cleaning member 33 and the first cleaning member 31 are provided parallel to each other on the bracket 32. The second cleaning member 33 is positioned on either side of the first cleaning member 31, and if there are multiple second cleaning members 33, for example, the second cleaning members 33 may be positioned parallel to either side or both sides of the first cleaning member 31.

[0062] In the above embodiment, the second cleaning member 33 includes a cleaning roller, which is rotatably mounted relative to the bracket 32, and the cleaning roller can remove foreign matter from the cleaning system 150 by interfering with the cleaning system 150. Furthermore, brushes and / or blades are provided on the outer surface of the cleaning roller, and the brushes and / or blades can extend into the cleaning system 150, drawing out hidden dirt and further improving the cleaning effect.

[0063] In embodiments of the present disclosure, as shown in Figures 5, 8, and 10, the base station body 20 includes a cleaning tank 21 located below the cleaning assembly 30, which is used to contain foreign matter removed from the cleaning system 150 by the cleaning assembly 30, thereby facilitating subsequent processing of the foreign matter and contributing to an improvement in the cleanliness of the environment near the base station.

[0064] Furthermore, as shown in Figure 6, a dirt discharge port 211 is provided on at least one side of the cleaning tank 21, allowing foreign matter in the cleaning tank 21 to be removed to the outside of the cleaning tank 21 via the dirt discharge port 211. In embodiments of this disclosure, the bottom of the cleaning tank 21 may be angled toward the dirt discharge port 211 in order to easily move foreign matter in the cleaning tank 21 to the dirt discharge port 211. The foreign matter removed from the cleaning system 150 may include, but is not particularly limited in this disclosure, wastewater, hair, clippings, particulate matter, or other foreign matter that meets the needs.

[0065] The cleaning assembly 30 further includes a cleaning member 36, which faces the bottom of the cleaning tank 21. The cleaning member 36 brings foreign matter in the cleaning tank 21 closer to the dirt discharge port 211. For example, through contact between the cleaning member 36 and the bottom of the cleaning tank 21, as the cleaning assembly 30 moves relative to the base station body 20, the cleaning member 36 brings foreign matter in the cleaning tank 21 closer to the dirt discharge port 211, concentrates the foreign matter, and discharges it quickly and smoothly through the dirt discharge port 211, thereby contributing to improved dirt discharge efficiency and effectiveness of the base station and improved user satisfaction. The base station may further include a dirt discharge mechanism, which communicates with the dirt discharge port 211. The dirt discharge mechanism transports foreign matter in the cleaning tank 21 to the outside of the cleaning tank 21 through the dirt discharge port 211 by suction operation, pump operation, etc., thereby contributing to further improvement of the dirt discharge effect of the base station. In some embodiments, the fouling mechanism may include a fan assembly or a pump assembly, or a fouling assembly that meets the needs, and is not particularly limited in this disclosure.

[0066] Furthermore, the base station further includes a collection box, which communicates with the cleaning tank 21 via a dirt discharge port 211. This box transports foreign matter from the cleaning tank 21 to the collection box via a dirt discharge mechanism, preventing foreign matter from overflowing from the cleaning tank 21 and affecting the cleaning effect of the cleaning components, thus preventing contamination of the work environment. The installation of the collection box ensures a good cleaning effect and contributes to the centralized processing of collected foreign matter.

[0067] In embodiments of the present disclosure, as shown in Figures 10, 12, and 13, the cleaning member 36 includes a connecting portion 361 and a contact portion 362, the connecting portion 361 being connected to a bracket 32, and the contact portion 362 being a flexible member, which contacts the bottom of the cleaning tank 21, i.e., the bracket 32 ​​functions as a moving member, moving the first cleaning member 31 and the cleaning member 36 relative to the base station body 20, removing foreign matter from the cleaning system 150, and bringing foreign matter in the cleaning tank 21 closer to the dirt discharge port 211, thus meeting the design needs of a base station having a simple and compact structure. In other embodiments of the present disclosure, a plurality of brackets 32 may be provided on the base station, the first cleaning member 31 and the cleaning member 36 may be provided on different brackets 32, and the movement of each of the plurality of brackets 32 may be controlled by a controller of the base station.

[0068] The contact portion 362 of the cleaning member 36 contacts the bottom of the cleaning tank 21, bringing foreign matter in the cleaning tank 21 closer to the dirt discharge port 211 as the cleaning assembly 30 moves relative to the base station body 20. The structure is simple, easy to implement, and suitable for widespread application. Because the contact portion 362 is a flexible member, it ensures close and reliable contact between the cleaning member 36 and the bottom of the cleaning tank 21, suppresses wear of the contact portion 362, further extends the service life of the cleaning member 36, and the installation is less likely to cause damage such as scratches to the cleaning tank 21.

[0069] In the above embodiment, at least two projection structures 363 are provided spaced apart on one side of the contact portion 362 of the cleaning member 36 that is away from the dirt discharge port 211. As a result, during the process of the bracket 32 ​​moving the cleaning member 36 away from the dirt discharge port 211, the surface of the contact portion 362 on which the projection structures 363 are provided comes into contact with the bottom of the cleaning tank 21. This causes foreign matter located on the side of the contact portion 362 in the cleaning tank 21 that is away from the dirt discharge port 211 to pass through the gap between the at least two projection structures 363 and move towards the dirt discharge port 211. Furthermore, during the process in which the bracket 32 ​​moves the cleaning member 36 toward the dirt discharge port 211, one side of the contact portion 362 that does not have the protruding structure 363 comes into contact with the bottom of the cleaning tank 21. For example, the side of the contact portion 362 that does not have the protruding structure 363 has a smooth structure, that is, the smooth structure comes into contact with the bottom of the cleaning tank 21, and foreign matter located on the side of the contact portion 362 that is closer to the dirt discharge port 211 moves toward the dirt discharge port 211 and approaches the vicinity of the dirt discharge port 211. By providing a smooth structure on one side of the contact portion 362, the cleaning member 36 comes into close contact with the bottom of the cleaning tank 21 during the process in which it moves toward the dirt discharge port 211, contributing to improved thorough collection of foreign matter.

[0070] In other words, the installation of the projection structure 363 allows foreign matter in the cleaning tank 21 to be scraped to one side when the cleaning assembly 30 moves left and right relative to the base station body 20. In some embodiments, a foreign matter collection member provided on the cleaning assembly 30 can scrape the foreign matter in the cleaning tank 21 to the side where the dirt discharge port 211 is located, in order to smoothly discharge the foreign matter in the cleaning tank 21 through the dirt discharge port 211. Specifically, a dirt discharge port 211 is provided on the right side of the cleaning tank 21, the projection structure 363 is provided on the left side of the contact portion 362, and the right side of the contact portion 362 is a straight edge structure, for example, a smooth surface. In this situation, when the cleaning assembly 30 moves to the right, the smooth surface of the contact portion 362 comes into contact with the bottom of the cleaning tank 21, scraping out foreign matter from inside the cleaning tank 21 to the vicinity of the wastewater discharge port. When the cleaning assembly 30 moves to the left, the projection structure 363 of the contact portion 362 comes into contact with the bottom of the cleaning tank 21, creating a gap between the projection structures 363 and the bottom of the cleaning tank 21. Foreign matter from inside the cleaning tank 21 passes through the gap and is not scraped out to the side not far from the wastewater discharge port, contributing to improved dirt discharge efficiency and thoroughness.

[0071] In the above embodiment, the number of projection structures 363 is at least two, for example, two, three, four, or any other number that meets the needs, and different numbers of projection structures 363 can meet the needs by different structures and different sizes of projection structures 363. Here, at least two projection structures 363 are arranged along the longitudinal direction of the contact portion 362, where the longitudinal direction of the contact portion 362 is perpendicular to the direction of movement of the bracket 32 ​​relative to the base station body 20. In some embodiments, the projection structures 363 may be protrusions, bumps, or other projection structures 363 that meet the needs.

[0072] Here, the length of the contact portion 362 may be equal to the internal width of the bottom of the cleaning tank 21. This ensures that the longitudinal end of the contact portion 362 aligns with the side wall of the cleaning tank 21, avoiding the problem of a large gap between the contact portion 362 and the side wall of the cleaning tank 21, which could leave foreign matter in the gap and affect the collection effect. It also avoids the problem of excessive contact between the contact portion 362 and the tank wall of the cleaning tank 21 affecting the movement flexibility of the cleaning assembly 30 relative to the base body. In other words, by rationally setting the length of the contact portion 362, the length of the contact portion 362 is equal to the internal width of the bottom of the cleaning tank 21, contributing to the securing of a good collection effect and collection efficiency. Here, the longitudinal direction of the contact portion 362 coincides with the width direction of the cleaning tank 21, and the width direction of the cleaning tank 21 is perpendicular to the direction in which the bracket 32 ​​moves along the base station body 20. For example, when the cleaning assembly 30 moves left and right along the base station body 20, the width direction of the cleaning tank 21 is the front-to-back direction of the base station body 20, that is, the longitudinal direction of the contact portion 362 coincides with the front-to-back direction of the base station body 20, and the front-to-back direction of the base station body 20 is indicated by the dotted arrow in Figure 5.

[0073] Furthermore, the cleaning member 36 may be positioned on one side of the bracket 32 ​​away from the dirt discharge port 211, increasing the maximum distance between the cleaning member 36 and the dirt discharge port 211, further expanding the collection range of the cleaning member 36, and improving collection efficiency. At the same time, the cleaning member 36 can be positioned at the bottom of the bracket 32, reducing the volume of the cleaning member 36, further meeting the need for a compact structure of the cleaning assembly 30, and expanding the range of use of the product.

[0074] Furthermore, the cleaning member 36 is detachably connected to the bracket 32, allowing for cleaning and maintenance by removing the cleaning member 36 from the bracket 32. This further improves the cleaning experience of the cleaning member 36, increases maintenance efficiency, reduces replacement costs, and makes it suitable for widespread application. In some cases, the cleaning member 36 may be fixed to the bracket 32. For example, the bracket 32 ​​and the cleaning member 36 may be integrally molded, which is convenient for production and simplifies the assembly process. Alternatively, the cleaning member 36 may be bonded to the bracket 32 ​​via adhesive, contributing to improved connection reliability between the cleaning member 36 and the bracket 32. In some embodiments, the cleaning member 36 may be a scraper or other structure that meets the needs.

[0075] In the above embodiment, a position limiting portion is provided on one of the connecting portion 361 and the bracket 32, and a positioning portion is provided on the other. Through the cooperation of the position limiting portion and the positioning portion, a detachable connection between the cleaning member 36 and the bracket 32 ​​can be achieved, resulting in a simple structure and convenient use.

[0076] Furthermore, the position limiting portion includes a locking hook, and the positioning portion includes a locking groove. For example, the locking hook may be provided on the connecting portion 361 and the locking groove on the bracket 32, or the locking hook may be provided on the bracket 32 ​​and the locking groove on the connecting portion 361. The engagement of the locking hook and the locking groove enables a quick and convenient detachable connection between the cleaning member 36 and the bracket 32. The structure is simple, easy to manufacture, and low-cost. The locking hook and locking groove ensure the reliability of the connection between the cleaning member 36 and the bracket 32, and ensure the cleaning effect of the cleaning member 36.

[0077] On the other hand, the position limiting portion includes a magnetic member, and the positioning portion includes a magnetic attraction member. For example, the magnetic member may be provided on the connecting portion 361 and the magnetic attraction member on the bracket 32, or the magnetic member may be provided on the bracket 32 ​​and the magnetic attraction member on the connecting portion 361. The attraction and separation of the magnetic member and the magnetic attraction member enable a quick and convenient detachable connection between the cleaning member 36 and the bracket 32. By rationally setting the attraction force of the magnetic member and the magnetic attraction member, the reliability of the connection between the cleaning member 36 and the bracket 32 ​​can be ensured, and the cleaning effect of the cleaning member 36 can be ensured.

[0078] On the other hand, the position limiting portion includes a locking hook and a magnetic member, and the positioning portion includes a locking groove and a magnetic attraction member. For example, the locking hook and magnetic member may be provided on the connecting portion 361 and the locking groove and magnetic attraction member may be provided on the bracket 32, or the locking hook and magnetic member may be provided on the bracket 32 ​​and the locking groove and magnetic attraction member may be provided on the connecting portion 361. The engagement of the locking hook and the locking groove, and the attraction and separation of the magnetic member and magnetic attraction member, enable a detachable connection between the cleaning member 36 and the bracket 32 ​​in a double structure, contributing to further improvement in the reliability of the connection between the cleaning member 36 and the bracket 32, and further ensuring a good cleaning effect of the cleaning member 36. In some embodiments, the magnetic member may be a magnetic strip, magnetic steel, or other structure that meets the needs, and the magnetic attraction member may be a magnet or other structure that meets the needs, and is not particularly limited in this disclosure.

[0079] In embodiments of the present disclosure, as shown in Figure 14, the number of cleaning assemblies 30 is one or at least two, where at least two cleaning assemblies 30 are spaced apart and used to interfere with different cleaning systems 150. That is, one base station may include one cleaning assembly 30, and the cleaning members of one cleaning assembly 30 interfere with and clean the cleaning system 150 of one cleaning robot 10. One base station may include two, three, or any other number of cleaning assemblies 30 to meet the needs, and each different cleaning assembly 30 can clean different parts of the cleaning system of the cleaning robot 10, further improving the cleaning efficiency of the base station.

[0080] In some embodiments, as shown in Figure 14, the cleaning assembly 30 includes a first cleaning assembly 37 and a second cleaning assembly 38, which are simultaneously mounted on the base station body 20 and operate independently of each other. This allows for simultaneous automatic cleaning of the cleaning systems of two cleaning robots 10. For example, the first cleaning assembly 37 can interfere with the cleaning system 150 of one cleaning robot 10 to achieve automatic cleaning of the cleaning system 150, and the second cleaning assembly 38 can interfere with the cleaning system 150 of the other cleaning robot 10 to achieve automatic cleaning of the cleaning system 150. This expands the range of use of the product and makes it suitable for widespread application.

[0081] Although this disclosure has been described through the above-described embodiments, these embodiments are for illustrative and explanatory purposes only and are not intended to limit this disclosure to the scope of the embodiments described. Furthermore, those skilled in the art should understand that this disclosure is not limited to the above-described embodiments and that many more variations and modifications can be made based on the teachings of this disclosure, all of which fall within the scope of protection of this disclosure. The scope of protection of this disclosure is defined by the appended claims and their equivalent scope.

Claims

1. A base station used to clean the cleaning system of a cleaning robot, The base station unit and A cleaning assembly movably mounted on the base station body, comprising a first cleaning member that is vertically movable relative to the base station body, wherein the first cleaning member interferes with the cleaning system of the cleaning robot to clean the cleaning system of the cleaning robot, and the cleaning assembly includes: The base station body includes a cleaning tank located below the cleaning assembly, and a dirt discharge port is provided on at least one side of the cleaning tank. The cleaning assembly further includes a cleaning member provided toward the bottom of the cleaning tank, the cleaning member being configured to bring foreign matter in the cleaning tank closer to the dirt discharge port. The cleaning assembly is Including brackets and drive units, The drive unit is used to drive the bracket to move along a first direction relative to the base station body. The cleaning member includes a connecting portion and a contact portion, The aforementioned connection part is connected to the bracket, The aforementioned contact portion is a flexible member and is applied so as to contact the bottom of the cleaning tank. At least two projection structures are provided at intervals on one side of the contact portion that is spaced away from the dirt discharge port, and as the bracket moves the cleaning member away from the dirt discharge port, the surface of the contact portion on which the projection structures are provided comes into contact with the bottom of the cleaning tank, and foreign matter in the cleaning tank located on the side of the contact portion that is spaced away from the dirt discharge port passes through the gap between the at least two projection structures and moves towards the dirt discharge port. Base station.

2. The first cleaning member includes a cleaning body and an elastic support part. The cleaning body is applied so as to interfere with the cleaning system, The support portion connects the cleaning body and the bracket. The base station according to claim 1.

3. The elastic support portion includes a first connecting section, a transition section, and a second connecting section that are connected in sequence. The second connection section is provided at the bottom of the cleaning body, The transition section is provided in a diagonal downward direction from the second connection section toward the first connection section. The base station according to claim 2, wherein a slot for aligning with the first connection section is provided on the bracket.

4. Further support seats are provided on the bracket, located on both sides of the support portion, along the direction of movement of the bracket relative to the base station body. The end of the cleaning body that is away from the support portion is higher than the support seat. The base station according to claim 3.

5. The base station according to claim 2, wherein the number of support parts is one or at least two, and at least two of the support parts are spaced apart along the length of the washing body.

6. The base station according to claim 2, wherein a gap is provided between both ends of the cleaning body and the bracket.

7. The cleaning assembly is The system further includes a second cleaning member provided on the bracket and parallel to the first cleaning member, The second cleaning member includes a cleaning roller that is applied so as to interfere with the cleaning system, The base station according to claim 1, wherein the cleaning roller is rotatably mounted relative to the bracket.

8. The cleaning assembly is The base station according to claim 7, further comprising a water discharge device provided on the bracket and provided parallel to the first cleaning member and the second cleaning member.

9. The base station according to claim 1, wherein the length of the contact portion is equal to the internal width of the bottom of the cleaning tank.

10. The base station according to claim 1, wherein the cleaning member is positioned at the bottom of one side of the bracket away from the dirt discharge port.

11. A position limiting portion is provided on one of the connecting portion and the bracket, and a positioning portion that aligns with the position limiting portion is provided on the other. The position limiting portion includes a locking hook, the positioning portion includes a locking groove, and / or The base station according to claim 1, wherein the position limiting portion includes a magnetic member, and the positioning portion includes a magnetic attraction member.

12. The number of the aforementioned cleaning assemblies is multiple, The base station according to any one of claims 1 to 11, wherein the plurality of cleaning assemblies are arranged at intervals along the direction of movement of the cleaning assemblies.

13. A cleaning robot including a cleaning system, A cleaning robot system comprising a base station according to any one of claims 1 to 11.

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