Base station and cleaning robot system

Abstract

To provide a base station and a cleaning robot system.SOLUTION: A base station is configured to maintain a cleaning robot. The base station includes: a base station body (220); and a base station base plate (210) having a slope part inclined upward from rearward to forward. The base station base plate includes a base plate (214) and an extension plate (215). A front end of the base plate is connected to the base station body. A rear end of the base plate is connected to the extension plate.SELECTED DRAWING: Figure 6

Description

Technical Field

[0001] (Related Application) This application claims the priority of Chinese Patent Application No. 202110805968.1 filed on July 16, 2021 and Chinese Patent Application No. 202122051444.6 filed on August 27, 2021, and the entire contents of these applications are incorporated herein by reference.

[0002] The present disclosure relates to the technical field of smart homes, and in particular to a base station and a cleaning robot system.

Background Art

[0003] Currently, a cleaning robot generally needs to actively move to a proper position of a base station to obtain maintenance operations such as charging, water replenishing and cleaning from the base station. However, a slippery floor surface may affect the uphill operation of the cleaning robot.

Summary of the Invention

[0004] A series of concepts in a simplified form are introduced in the Summary section, which will be further described in detail in the Detailed Description of Embodiments section. This section of the present disclosure is not intended to limit the main features and essential technical features of the technical solutions recited in the claims, nor is it intended to determine the protection scope of the technical solutions recited in the claims.

[0005] According to an embodiment of a first aspect of the present disclosure, there is provided a base station for maintenance of a cleaning robot, the base station comprises a base station body, and a base station base plate having a slope portion inclined upward from rear to front, wherein the base station base plate comprises a base plate and an extension plate, a front end of the base plate is connected to the base station body, and a rear end of the base plate is connected to the extension plate.

[0006] In some embodiments, the extension plate is pivotally connected to the substrate, and the extension plate has both a folded and unfolded state relative to the substrate.

[0007] In some embodiments, a storage compartment is provided at the bottom of the substrate, and the extension plate is housed in the storage compartment when it is in a folded state.

[0008] In some embodiments, a first anti-slip section and a second anti-slip section are provided on the extension plate and the substrate, respectively, for the passage of the cleaning robot's travel device.

[0009] In some embodiments, the first anti-slip portion is provided symmetrically on the extension plate, and the second anti-slip portion is provided symmetrically on the substrate.

[0010] In some embodiments, retraction grooves are provided on the substrate, which are located between second anti-slip sections and are configured to accommodate some of the cleaning robots as they pass over the base station base plate.

[0011] In some embodiments, support wheels are provided on both sides of the retraction groove, and the support wheels are configured to support the cleaning robot when it passes over or stops at the base station base plate.

[0012] In some embodiments, a recessed structure is provided at the rear end of the extension plate for the cleaning robot's travel mechanism to pass through.

[0013] In some embodiments, the recessed structure is provided at an intermediate position at the rear end of the extension plate.

[0014] In some embodiments, a first guide surface is provided along the circumferential direction of the recessed structure, and the first guide surface is inclined from the inside outwards.

[0015] In some embodiments, a guide section is provided on the base station body, positioned above the circuit board, for contact with the cleaning robot.

[0016] In some embodiments, a guide surface is provided on the base station body facing the circuit board, and the guide portion is provided in the middle and / or on both sides of the middle of the guide surface.

[0017] In some embodiments, the guide portion is provided at the front end of the upper surface of the guide.

[0018] In some embodiments, the guide section includes a guide press block, the side of the guide press block facing the substrate is provided as a first inclined surface, and the first inclined surface is inclined downward from rear to front.

[0019] In some embodiments, the guide includes a guide wheel, which rotates about an axis perpendicular to the longitudinal direction of the base station.

[0020] In some embodiments, a mounting bracket is provided on the upper surface of the guide, and the guide wheel is attached to the mounting bracket via a rotating shaft.

[0021] An embodiment of the second aspect of this disclosure provides a cleaning robot system comprising a cleaning robot and a base station as described in any one of the first aspects, wherein the cleaning robot is adapted to stop at the base station.

[0022] The following accompanying drawings of this disclosure are incorporated herein as part of embodiments of this disclosure in order to understand this disclosure. The accompanying drawings illustrate embodiments of this disclosure and their descriptions in order to interpret the principles of this disclosure. [Brief explanation of the drawing]

[0023] [Figure 1] Schematic diagram of the cleaning robot system according to an embodiment of the present disclosure. [Figure 2] Schematic diagram of the structure of a cleaning robot according to an embodiment of the present disclosure. [Figure 3] Schematic diagram of a certain viewpoint of the embodiment shown in Figure 2. [Figure 4] Partial exploded schematic diagram of the embodiment shown in Figure 3. [Figure 5] Schematic structural diagram of a base station according to an embodiment of the present disclosure [Figure 6] Schematic structural diagram of an extended plate in an unfolded state relative to a base plate according to an embodiment of the present disclosure [Figure 7] Schematic structural diagram of an extended plate in a folded state relative to a base plate according to an embodiment of the present disclosure [Figure 8] Partial schematic structural diagram of the embodiment shown in FIG. 7 from one perspective [Figure 9] Partial schematic structural diagram of the embodiment shown in FIG. 7 from another perspective [Figure 10] Partial schematic structural diagram of the embodiment shown in FIG. 6 from one perspective [Figure 11] Partial schematic structural diagram of the embodiment shown in FIG. 1 [Figure 12] Schematic structural diagram of a cleaning robot according to another embodiment of the present disclosure [Figure 13] Schematic structural diagram of a base station according to an embodiment of the present disclosure [Figure 14] Enlarged partial schematic diagram of part A of the embodiment shown in FIG. 13 Description of Reference Numerals

[0024] 10 Cleaning robot 110 Device body 111 Front portion 112 Rear portion 120 Sensing system 121 Position determination device 122 Buffer 130 Control module 140 Drive system 141 Driving wheel module 142 Driven wheel 150 Cleaning system 151 Dry cleaning system 152 Side brush 153 Wet cleaning system 1531 Cleaning head 1532 Drive unit 1533 Drive platform 1534 Support platform 160 Energy Systems 170 Man-machine interaction systems 180-speed wheel 20 base stations 210 Base Station Base Plate 211 Slope 2111 Evacuation ditch 2112 Support wheel 212 Recessed structure 2121 First guide surface 214 circuit boards 2141 Storage Tank 2142 Second anti-slip section 2143 Support part 215 Extension plate 2151 First anti-slip section 216 Washing Tank 217 Flat area 218 Pivot axis 2191 1st orbit 2192 Second orbit 220 Base Station Unit 221 Information Department 222 Guide Press Block 2221 1st slope 223 Guide Wheel 224 Guide Top 225 Guide side 2251 Lateral surface 2252 Intermediate surface 226 Mounting Bracket 2261 First Bracket Body 2262 Second Bracket Body 227 Rotation axis 30 Cleaning Assembly [Modes for carrying out the invention]

[0025] The following description provides a great deal of specific details in order to give a more complete understanding of the technical solutions of this disclosure. However, it will be apparent to those skilled in the art that the technical solutions of this disclosure can be implemented without one or more of these details.

[0026] It should be noted that the terms used herein are intended solely to describe specific embodiments and not to limit the exemplary embodiments provided herein. As used herein, the singular form is also intended to include the plural form unless the context clearly indicates otherwise. Furthermore, it should be understood that the terms “includes” and / or “compose” as used herein may indicate the presence of features, integers, steps, operations, components, and / or assemblies, and do not preclude the presence or addition of one or more other features, integers, steps, operations, components, assemblies, and / or combinations thereof.

[0027] Exemplary embodiments of this disclosure are described in more detail herein with reference to the accompanying drawings. However, these exemplary embodiments can be carried out in a variety of different forms and should not be construed as being limited to the embodiments described herein. It should be understood that these embodiments are provided to make this disclosure thorough and complete and to fully convey the ideas of these exemplary embodiments to those skilled in the art.

[0028] As shown in Figures 1 to 14, embodiments of the present disclosure provide a base station 20 and a cleaning robot system, where, as shown in Figure 1, the cleaning robot system includes a cleaning robot 10 and a base station 20, i.e., the base station 20 is used in cooperation with the cleaning robot 10.

[0029] In some embodiments, as shown in Figures 2 and 3, the cleaning robot 10 may include 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-propelled cleaning robot or another cleaning robot that meets the requirements. A self-propelled cleaning robot is a device that automatically performs cleaning operations in a cleaning area without user intervention. Here, once the self-propelled cleaning robot starts work, the self-propelled cleaning device departs from the base station 20 and performs the cleaning task. When the self-propelled cleaning robot 10 has completed the cleaning task or needs to stop the cleaning task, the self-propelled cleaning robot 10 can return to the base station 20 for charging or other operations.

[0030] As shown in Figure 2, the main body of the device 110 includes a front portion 111 and a rear portion 112, and has a substantially circular shape (front and rear circular). It may also have other shapes such as a substantially D-shape with a square front portion and a circular rear portion, or a rectangular or square shape with a square front portion and a square rear portion, but is not limited to these.

[0031] 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).

[0032] As shown in Figure 2, the front portion 111 of the main body 110 carries a buffer 122. When the drive wheel module 141 propels the cleaning robot 10 across the floor during the cleaning process, 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, which is mounted on it. The cleaning robot 10 controls the drive wheel module 141 based on the events detected by the buffer 122, such as obstacles or walls, and can respond to the events, for example, by moving away from an obstacle.

[0033] 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 and an application processor, which communicate with non-temporary memory such as a hard disk, 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 by a laser distance sensor to draw a timely map of the environment in which the cleaning robot 10 is located. Furthermore, based on distance information and speed information fed back by sensing devices such as sensors, cliff sensors, magnetometers, accelerometers, gyroscopes, and odometers provided in the buffer 122, the current working state, current position, and current posture of the cleaning robot 10 are comprehensively determined, such as crossing a doorway, being on a carpet, being at a cliff and unable to move from above or below, the dustbin being full, or being picked up. Based on this, the cleaning robot 10 can provide specific next action strategies for different situations to ensure better cleaning performance and user experience.

[0034] As shown in Figure 3, the drive system 140 can move across the floor surface by operating the machine body 110 according to drive commands that include distance and angle information (e.g., x, y, and θ components). The drive system 140 includes a drive wheel module 141, which may control the left and right wheels simultaneously to control the machine's movement more precisely, and the drive wheel module 141 includes a left drive wheel module and a right drive wheel module, respectively. The left and right drive wheel modules are provided along a transverse axis defined by the machine body 110. To allow the cleaning robot 10 to move more stably on the floor surface or to have a stronger mobility, the cleaning robot 10 may include one or more driven wheels 142, which include, but are not limited to, driven wheels. The drive wheel module 141 includes driving wheels, a drive motor, and a control circuit that controls the drive motor, and the drive wheel module 141 may be connected to a circuit that measures the drive current and an odometer. The drive wheels may include an offset drop suspension system, which is movably fixed and, for example, rotatably assembled to 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 floor surface with a constant grounding force, and at the same time, the cleaning elements of the cleaning robot 10 also contact the floor surface with a constant pressure.

[0035] 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 has charging electrodes located on the side or bottom of the device that are connected to a charging pile.

[0036] 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, providing a richer and more user-friendly set of functions.

[0037] The cleaning system 150 may be a dry cleaning system 151 and / or a wet cleaning system 153.

[0038] 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, having a certain degree of interference with the floor surface, sweeps up debris from the floor surface, sweeps it up in front of the dust collection port between the roller brush and the dust box, and then sucks it into the dust box by an extracting gas generated by the fan that has passed through the dust box. The dry cleaning system 151 further includes a side brush 152 having a rotating axis, which is at a certain angle with respect to the floor surface, and moves debris into the roller brush area of ​​the cleaning system 150.

[0039] As shown in Figures 3 and 4, the wet cleaning system 153 provided in the embodiment 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 is located below the liquid storage tank, and the cleaning liquid inside the liquid storage tank is transported to the cleaning head 1531 via the water supply mechanism, and the cleaning head 1531 wet-cleans the flat surface to be cleaned. In other embodiments of the present disclosure, the cleaning liquid inside the liquid storage tank may be sprayed directly onto the flat surface to be cleaned, and the cleaning head 1531 achieves cleaning of the flat surface by uniformly applying the cleaning liquid.

[0040] Here, the cleaning head 1531 cleans the surface to be cleaned, and the drive unit 1532 is used to drive the cleaning head 1531 to move substantially back and forth along a target surface, which is a 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 contact surface of the cleaning head 1531 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.

[0041] 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 and used to provide driving force, and the support platform 1534 being detachably connected to the drive platform 1533 and configured to support the cleaning head 1531 and to enable it to move up and down under the drive of the drive platform 1533.

[0042] In an embodiment of the present disclosure, the wet cleaning system 153 is 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 20 to clean the cleaning head 1531 of the wet cleaning system 153 and to inject water into the liquid storage tank, 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.

[0043] 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.

[0044] 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 the liquid storage tank 13, 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.

[0045] In embodiments of the present disclosure, the liquid storage tank further includes a water refill port, which may be provided on the side wall of the water tank, and when the cleaning robot 10 stops at the base station 20, the base station 20 injects water into the liquid storage tank of the cleaning robot 10 through the water refill port.

[0046] In the embodiments provided in this disclosure, as shown in Figures 5 to 10, the base station 20 includes a base station body 220 and a base station base plate 210, the base station base plate 210 includes a substrate 214 and an extension plate 215, where the front end of the substrate 214 is connected to the base station body 220 and the rear end of the substrate 214 is connected to the extension plate 215, the base station base plate 210 includes an inclined portion 211 that slopes upward from rear to front, where the front-to-back direction of the base station is as shown by the arrow in Figure 5, and the inclined portion 211 guides the cleaning robot 10 to move to an appropriate position on the base station 20 for other operations such as charging. In other words, the travel equipment of the cleaning robot 10, such as the drive wheels and universal wheels, needs to move to the appropriate position on the base station 20 with the help of the inclined surface 211. In some embodiments, the cleaning robot 10 moves from the rear to the front of the base station 20 with the help of the inclined surface to stop at the appropriate position on the base station and perform the corresponding operation. For example, the cleaning robot stops and charges at the base station, meaning that the forward direction of the cleaning robot 10 is towards the front of the base station 20.

[0047] An extension plate 215 is connected to the rear end of the substrate 214. For example, if the extension plate 215 is detachably or movably provided at the rear end of the substrate 214, and there are special circumstances such as slippery floors, the extension plate 215 and the substrate 214 can be connected and positioned behind the substrate 214. As the cleaning robot 10 approaches the base station 20, it can pass the extension plate 215 and reach the sloped portion 211 on the upper surface of the substrate 214, assisting the cleaning robot 10 in climbing. This improves the efficiency and reliability when the cleaning robot 10 stops at the base station 20, making it suitable for widespread use and application.

[0048] In some embodiments, the extension plate 215 is detachably connected to the substrate 214, and when the extension plate 215 needs to be used, the extension plate 215 is connected to the rear end of the substrate 214 to facilitate the climbing of the cleaning robot 10, and when the extension plate 215 does not need to be used, the extension plate 215 can be removed from the substrate 214 and stored, making operation easy.

[0049] On the other hand, as shown in Figures 6 and 7, the extension plate 215 is movably connected to the substrate 214. For example, the extension plate 215 is movable relative to the substrate 214. When it is necessary to use the extension plate 215, it can be movably connected to the rear of the substrate 214 to facilitate the climbing of the cleaning robot 10. When it is not necessary to use the extension plate 215, it can be movably moved relative to the substrate 214 to another position that meets the requirements and stored, making operation easy.

[0050] In other words, the movable or detachable connection between the extension plate 215 and the substrate 214 allows the extension plate 215 to be required or not required in different situations during the process of the cleaning robot 10 stopping at the base station 20. Specifically, if there is a special requirement, for example, if the floor surface is slippery, the extension plate 215 and the substrate 214 form the base station base plate 210, enabling the cleaning robot 10 to stop at the base station 20. If there is no special requirement, for example, if the floor surface is dry, the cleaning robot 10 can stop at the base station 20 with only the substrate 214, in which case the unnecessary extension plate 215 is stored in an appropriate position, expanding the range of use of the product and making it suitable for widespread adoption and application.

[0051] Here, the front end of the substrate 214 is connected to the base station body 220, and in some embodiments, the front end of the substrate 214 may be connected to the base station body 220 by welding, integral molding, or other means that satisfy the requirements, but is not particularly limited in this disclosure.

[0052] In the above embodiment, as shown in Figures 6 and 7, the extension plate 215 is pivotally connected to the substrate 214, and the extension plate 215 has a folded state and an unfolded state relative to the substrate 214. The base station 20 further includes a pivot axis 218, and the extension plate 215 is connected to the substrate 214 via the pivot axis 218. When the extension plate 215 is not needed, it is rotated relative to the substrate 214 to the rear of the substrate 214, that is, to facilitate the climbing operation of the cleaning robot 10. When the extension plate 215 is not needed, it is pivoted so that it overlaps with the substrate 214, and the extension plate 215 is folded relative to the substrate 214, thereby facilitating the storage of the extension plate 215, without affecting the size of the substrate 214 in the front-rear direction, and satisfying the requirement that the extension plate 215 is not needed during the process of the cleaning robot 10 stopping at the base station 20. Note that the extension plate 215 and the substrate 214 may be connected by other structures that satisfy the requirements, but are not particularly limited in this disclosure.

[0053] In some embodiments, the extension plate 215 has a folding structure, meaning that the extension plate 215 itself can be folded, which helps to increase the length of the extension plate 215, facilitates storage of the extension plate 215, and is suitable for widespread use and application.

[0054] In the above embodiment, as shown in Figures 8 and 10, Figure 8 is a bottom view from a certain viewpoint in Figure 7, and Figure 10 is a bottom view from a certain viewpoint in Figure 6. Here, as shown in Figure 10, a storage tank 2141 is provided at the bottom of the substrate 214. The storage tank 2141 may be another structure having a storage space, and the storage tank 2141 communicates with the rear end of the substrate 214, i.e., the storage tank 2141 is an open groove. As shown in Figure 8, when the extension plate 215 is folded relative to the substrate 214, the extension plate 215 is housed in the storage tank 2141. The installation of the storage tank 2141 provides a space for storing the extension plate 215. Since the storage tank 2141 is located at the bottom of the substrate 214, it does not affect the aesthetic appearance of the substrate 214, and at the same time does not affect the structure of the top surface of the substrate 214 or the height of the substrate 214. Furthermore, the cleaning robot 10 can smoothly stop at the base station 20 along the top surface of the substrate 214.

[0055] In one example, as shown in Figures 8 and 10, a support portion 2143 is provided that protrudes downward from the front end of the bottom of the substrate 214, and a space for housing the extension plate 215 is formed between the support portion 2143 and the rear end of the substrate 214, i.e., a housing tank 2141 is formed. Here, the support portion 2143 may be a support plate, a support rib, or another structure that satisfies the requirements.

[0056] In the above embodiment, as shown in Figure 6, a first anti-slip portion 2151 and a second anti-slip portion 2142 are provided on the extension plate 215 and the base plate 214, respectively, for the travel device of the cleaning robot 10 to pass over. Here, the first anti-slip portion 2151 is provided on the extension plate 215, extending in the front-rear direction, and the second anti-slip portion 2142 is provided on the base plate 214. When the extension plate 215 is in the extended state, the extension direction of the first anti-slip portion 2151 coincides with the extension direction of the second anti-slip portion 2142. As the cleaning robot 10 approaches the base station 20, the travel device of the cleaning robot 10 passes over the first anti-slip portion 2151 and the second anti-slip portion 2142 in sequence and stops at the base station 20. Here, the first anti-slip portion 2151 and the second anti-slip portion 2142 come into contact with the drive wheels of the cleaning robot 10, and the installation of the first anti-slip portion 2151 and the second anti-slip portion 2142 generates a constant frictional force with the drive wheels of the cleaning robot 10, ensuring that the cleaning robot 10 moves along the extension plate 215 and the substrate 214 to the appropriate position on the base station 20, and that the cleaning robot 10 stops at the base station 20.

[0057] In some embodiments, the first anti-slip portion 2151 and / or the second anti-slip portion 2142 may be an anti-slip textured pattern or other anti-slip structure that satisfies the requirements, and are not particularly limited in this disclosure. Here, the anti-slip textured pattern may match the tire pattern of the running gear, for example, the anti-slip textured pattern is the same as the tire pattern of the running gear, ensuring that the first anti-slip portion 2151 and / or the second anti-slip portion 2142 generate sufficient friction with the tire, so that the cleaning robot 10 can stop quickly and smoothly at the correct position on the base station 20.

[0058] Here, a second anti-slip portion 2142 is provided on the inclined portion 211, which helps to ensure the smooth climbing of the cleaning robot 10. The second anti-slip portion 2142 is provided on the inclined portion 211, and may also be provided on the substrate 214 between the inclined portion 211 and the extension plate 215, in order to improve the operational reliability of the cleaning robot 10 on the substrate 214.

[0059] In some feasible embodiments provided by this disclosure, the travel apparatus of the cleaning robot 10 includes a second travel apparatus distributed symmetrically along the operating direction of the cleaning robot 10, which may be drive wheels, as shown in Figure 3. The first anti-slip portions 2151 are provided symmetrically on the extension plate 215, and the second anti-slip portions 2142 are provided symmetrically on the base plate 214, i.e., there are two second anti-slip portions 2142, provided symmetrically on both sides along the centerline in the front-rear direction of the base plate 214, and there are also two first anti-slip portions 2151, provided symmetrically on both sides along the centerline in the front-rear direction of the extension plate 215, with the two first anti-slip portions 2151 corresponding to the two second anti-slip portions 2142. Thus, when the cleaning robot 10 approaches the base station base plate 210, the two symmetrically distributed drive wheels sequentially pass through the symmetrically distributed first anti-slip sections and the symmetrically distributed second anti-slip sections, so that the two first anti-slip sections 2151 and the two second anti-slip sections 2142 come into contact with the two drive wheels, respectively, thereby improving the stability and reliability when the cleaning robot stops at the base station.

[0060] In some embodiments, as shown in Figure 6, the extension plate 215 is provided with a first track 2191 extending in the front-rear direction, and the first anti-slip portion 2151 is provided within the first track 2191. The base plate 214 is provided with a second track 2192 extending in the front-rear direction, and the second anti-slip portion 2142 is provided within the second track 2192. When the extension plate 215 is extended relative to the base plate 214, the extension direction of the first track 2191 coincides with the extension direction of the second track 2192, and as the cleaning robot 10 approaches the base station 20, it sequentially passes through the first track 2191 and the second track 2192 before stopping at the base station 20. Here, the first track 2191 and the second track 2192 provide a certain guiding effect to the tires of the second travel device of the cleaning robot 10, allowing the second travel device to stop smoothly, quickly, and accurately at the appropriate position on the base station 20 along the first track 2191 and the second track 2192, thereby improving the stopping efficiency and stopping accuracy of the cleaning robot 10 relative to the base station 20.

[0061] In some feasible embodiments provided in this disclosure, retraction grooves are provided on the substrate 214, for example, a retraction groove 2111 is provided on a sloped portion 211, and the retraction groove 2111 is located between two second anti-slip portions 2142 and is used to accommodate part of the cleaning robot 10 as it passes the base station base plate 210. Under normal circumstances, the driven wheels 142 and the drive wheels are located at the bottom of the cleaning robot 10, that is, the second travel device is located at the bottom of the cleaning robot 10. By providing the retraction groove 2111 on the slope 211, the retraction groove 2111 can accommodate the driven wheels 142 or part of the cleaning robot 10's main body 110 during the process of the cleaning robot 10 stopping at the base station 20. This prevents the cleaning robot 10's main body 110 from being lifted prematurely during the process of the cleaning robot 10 stopping at the base station 20, which would cause the tail of the main body 110 to come into contact with the base station base plate 210 and increase the difficulty of the cleaning robot 10 stopping at the base station 20.

[0062] As shown in Figures 5, 6, and 7, support wheels 2112 are provided on both sides of the retraction groove 2111. For example, the support wheels 2112 are provided on the inclined surface 211 and are located on both sides of the retraction groove 2111, for example, between the retraction groove 2111 and the second anti-slip section 2142. By supporting the bottom of the cleaning robot 10 with the support wheels 2112, the difficulty of the drive wheels climbing the slope can be reduced, and the smoothness of climbing can be improved. Here, the axis of the support wheels 2112 is provided perpendicular to the front-rear direction.

[0063] In some embodiments, the substrate 214 further includes a flat portion 217 connected to the inclined portion 211, the flat portion 217 being located between the inclined portion 211 and the extension plate 215, i.e., the flat portion 217 being located in front of the inclined portion 211, and the installation of the flat portion 217 increases the distance of the cleaning robot 10 from the floor surface to the inclined portion 211, providing a certain buffer distance for the climbing operation of the cleaning robot 10 and assisting the climbing of the cleaning robot 10.

[0064] In some feasible embodiments provided by this disclosure, as shown in Figure 6, the travel device of the cleaning robot 10 further includes a first travel device, for example, the first travel device is located at the front of the cleaning robot 10, and the second travel device is located at the rear of the cleaning robot 10. Here, if the direction of movement of the cleaning robot 10 is forward, the first travel device is located in front of the second travel device in the direction of movement of the cleaning robot 10. Taking the embodiment shown in Figure 3 as an example, during the process in which the cleaning robot 10 moves forward and stops at the base station 20, the driven wheel 142 is located in front of the drive wheel, that is, the first travel device is the driven wheel 142 and the second travel device is the drive wheel. In other embodiments, the first travel device may be the drive wheel and the second travel device may be the driven wheel 142. Hereinafter, embodiments provided by this disclosure will be described using the case where the first travel device is the driven wheel 142 and the second travel device is the drive wheel as an example.

[0065] Since the first travel device of the cleaning robot 10 is located in front of the second travel device, when the cleaning robot 10 needs to move forward and stop at the base station 20, the first travel device (e.g., the driven wheels 142) approaches the base station 20 earlier than the second travel device (e.g., the drive wheels). The rear end of the extension plate 215 is provided with a recessed structure 212 through which the first travel device of the cleaning robot's travel device passes. The recessed structure 212 opens upward and matches the shape of the driven wheels 142 of the cleaning robot 10. This allows the driven wheels 142 to first fit into the recessed structure 212 when the extension plate 215 is extended relative to the substrate 214, i.e., after the driven wheels 142 approach the base station base plate 210, move along the recessed structure 212 first, extending the lift time after the cleaning robot 10 makes contact with the base station base plate 210, and further improving the efficiency of the cleaning robot 10 stopping at the base station 20.

[0066] In some embodiments, the first traveling device is provided at an intermediate position on the front of the cleaning robot 10 body, where the body may be the equipment body 110 of the cleaning robot 10. For example, the driven wheels 142 are normally provided on the geometric centerline along the front-rear direction of the cleaning robot 10. By providing the recessed structure 212 at an intermediate position on the rear end of the extension plate 215, the recessed structure 212 is provided distal to the intermediate position on the rear end of the extension plate 215. This allows the cleaning robot 10 to stop at the base station 20 via the base station base plate 210, thus mitigating the problem of the extension plate 215 having a large size in the direction perpendicular to the front-rear direction. In other words, by providing the recessed structure 212 at an intermediate position on the rear end of the extension plate 215, the size of the extension plate 215 in the direction perpendicular to the front-rear direction can be reduced, the space occupied by the base station base plate 210 can be reduced, and the design requirement for the base station 20 to have a compact structure can be met. Here, since the recessed structure 212 extends in the direction of the substrate 214, the distance the cleaning robot 10 travels through the recessed structure 212 to the inclined surface 211 can be shortened, and the lifting time of the cleaning robot 10 during the uphill process can be extended.

[0067] In the above embodiment, as shown in Figure 5, the recessed structure 212 is at least one of a notch and a groove, that is, the recessed structure 212 may be a notch, or a groove, or a combination of a notch and a groove, for example, the notch is located in front of the groove and communicates with it, and the notch and groove are combined to form the recessed structure. Different types of recessed structures 212 can satisfy the requirements of different structures and different processing methods of the base station base plate 210, and can expand the range of use of the product.

[0068] In some embodiments, the recessed structure 212 is a notch, i.e., a notch is provided at the rear end of the extension plate 215, and the notch extends in the direction of the inclined surface 211, so that the driven wheel 142 can move to the upper surface of the base station base plate 210 after passing through the notch, and stop at the appropriate position on the base station 20 after passing through the inclined surface 211. Here, the notch is easy to manufacture and suitable for widespread use and application.

[0069] In some embodiments, the recessed structure 212 includes a rearward-opening groove provided at the rear end of the extension plate 215, i.e., a groove is provided at the rear end of the extension plate 215, the groove extends in the direction of the inclined surface 211, the groove is an open groove, i.e., the opening of the groove communicates with the rear end of the extension plate 215, and so, when the driven wheel 142 moves to the rear end of the extension plate 215, it passes sequentially through the groove, the upper surface of the extension plate 215, the upper surface of the base plate 214, and the inclined surface 211 before stopping at the appropriate position on the base station 20. Here, the distance from the bottom of the groove to the lower surface of the extension plate 215 is small, so it is either too small to lift the cleaning robot 10, or the lifting height is small and negligible. Thus, the effect of extending the lifting time after the cleaning robot 10 contacts the base station base plate 210 can also be achieved. At the same time, the groove design appropriately reduces the distance from the bottom of the groove to the upper surface of the extension plate 215, making it easier for the driven wheels 142 to move from the groove to the upper surface of the extension plate 215. Furthermore, it improves the smoothness and success rate of the driven wheels 142 moving from the groove to the upper surface of the base station base plate 210, thereby improving the efficiency of the cleaning robot 10 stopping at the base station 20.

[0070] In some feasible embodiments provided by this disclosure, as shown in Figure 6, a first guide surface 2121 is provided along the circumferential direction of the recess structure 212, the first guide surface 2121 is inclined from the inside out, and in some embodiments, the first guide surface 2121 is inclined from bottom to top away from the inside of the opening, and the installation of the first guide surface 2121 provides good guidance during the process in which the driven wheel 142 moves from the recess structure 212 to the upper surface of the extension plate 215, reduces the difficulty of the driven wheel 142 moving from the recess structure 212 to the upper surface of the extension plate 215, improves the smoothness and success rate of the driven wheel 142 moving from the recess structure 212 to the upper surface of the base station base plate 210, and further improves the efficiency of the cleaning robot 10 stopping at the base station 20.

[0071] Here, the side of the recessed structure 212 away from the rear end of the extension plate 215 is arc-shaped, and this arc shape matches the shape of a part of the driven wheel 142.

[0072] In some feasible embodiments provided by this disclosure, as shown in Figures 1, 11, and 13, a guide portion 221 is provided on the base station body 220, positioned above the substrate 214 and in contact with the cleaning robot 10. The contact between the guide portion 221 and the cleaning robot 10 can guide the cleaning robot 10 to move toward the base station body 220, restrict the cleaning robot 10 from moving along the vertical direction, and further improve the smoothness and precision of the cleaning robot 10 stopping at the base station body 220, thereby improving the efficiency of the robot stopping at the base station body 220.

[0073] In some embodiments, as shown in Figure 6, a cleaning assembly 30 for the cleaning robot 10 is further provided on the base station body 220, and in some embodiments, the cleaning assembly 30 is used to clean the cleaning system 150 of the cleaning robot 10, with the guide portion 221 positioned above the cleaning assembly 30 along the vertical direction, i.e., the cleaning assembly 30 is located on the side of the base station body 220 closer to the base station base plate 210, and cleans the cleaning system 150 located at the bottom of the cleaning robot 10. If a washing tank 216 is provided on the substrate 214 below the cleaning assembly 30, the washing tank 216 is configured to contain the dirt and wastewater generated during the cleaning process of the cleaning assembly 30 cleaning the cleaning system 150 of the cleaning robot 10, in which case the cleaning assembly 30 is positioned above the washing tank 216 along the vertical direction, and the guide portion 221 is positioned above the cleaning assembly 30. Note that the washing tank 216 is located on the side away from the groove structure 212 of the inclined surface 211.

[0074] In the above embodiment, as shown in Figures 13 and 14, a guide upper surface 224 facing the substrate 214 is provided on the base station body 220, and the guide portion 221 is provided on the guide upper surface 224 and contacts the top of the cleaning robot 10. That is, while the cleaning robot 10 is stopping at the base station body 220, the guide portion 221 contacts the top of the cleaning robot 10 from above to guide and restrict the movement of the cleaning robot 10, thereby reducing the size of the base station 20 in the horizontal direction, meeting the requirement for a small horizontal size of the installation space for the base station 20, and expanding the range of use of the product.

[0075] On the other hand, the guide portion 221 may be provided in the middle of the guide upper surface 224, and the movement of the cleaning robot 10 can be guided and restricted by only one guide portion 221, resulting in a simple structure and low cost.

[0076] On the other hand, the guide sections 221 may be provided on both sides of the middle part of the upper guide surface 224, and the movement of the cleaning robot 10 can be guided and restricted by the two guide sections 221, which helps to improve the accuracy and smoothness of the movement of the cleaning robot 10, improves the reliability and accuracy of position restriction, and is suitable for widespread use and application.

[0077] Furthermore, the guide section 221 may be provided in the middle and on both sides of the middle of the guide upper surface 224, and the three guide sections 221 can guide and restrict the movement of the cleaning robot 10, thereby significantly improving the accuracy and smoothness of the movement of the cleaning robot 10 and improving the reliability and accuracy of position restriction.

[0078] Furthermore, the number of guide sections 221 may be one, two, three, four, five, or any other number that meets the requirements. Different numbers of guide sections 221 can satisfy the requirements for different structures of the guide sections 221 while simultaneously meeting the requirements for different levels of precision in guidance and restriction, thereby expanding the range of applications for the product.

[0079] Here, the guide portion 221 may be at least one of the guide press block 222 and the guide wheel 223. For example, all of the guide portions 221 may be guide press blocks 222, or all of the guide portions 221 may be guide wheels 223, or the guide portion 221 may include both the guide press block 222 and the guide wheel 223, in which case the number of guide portions 221 is at least two.

[0080] In some embodiments, one guide portion 221 is provided on the guide surface 224 at an intermediate position, and the guide portion 221 may be a guide press block 222 or a guide wheel 223. Alternatively, two guide portions 221 are provided on the guide surface 224 on either side of the intermediate position, and the two guide portions 221 may simultaneously be a guide press block 222 or a guide wheel 223, or one may be a guide press block 222 and the other a guide wheel 223. Alternatively, three guide portions 221 are provided on the guide surface 224, including a guide press block 222 or guide wheel 223 at an intermediate position, and guide press blocks 222 or guide wheels 223 on either side of the intermediate position, for example, a guide press block 222 at the intermediate position and guide wheels 223 on either side of the intermediate position.

[0081] In the above embodiment, the guide section 221 is provided at the front end of the guide upper surface 224. Since the cleaning robot 10 moves along the front-rear direction of the base station 20 and stops at the base station body 220 in front, providing the guide section 221 closer to the front of the guide upper surface 224 allows the cleaning robot 10 to be guided to move along the front-rear direction of the base station 20 to the stopping point of the base station body 220. This reduces the problem of the cleaning robot 10 not being able to move properly to the stopping point of the base station body 220, and further improves the accuracy and reliability of the cleaning robot 10 stopping at the base station 20.

[0082] Here, as shown in Figures 13 and 14, the base station body 220 is further provided with a rearward-facing guide side 225, which is located between the substrate 214 and the guide upper surface 224, and in some embodiments, the guide side 225 is located above the cleaning assembly 30, and the guide side 225 includes two opposing lateral surfaces 2251 and an intermediate surface 2252 between the two lateral surfaces 2251, the intermediate surface 2252 being opposite to the forward direction in which the cleaning robot 10 moves in close proximity to the base station 20.

[0083] In some feasible embodiments provided by this disclosure, as shown in Figures 1 and 11, if the guide section 221 includes a guide press block 222, the side of the guide press block 222 facing the substrate 214 functions as a first inclined surface 2221, the first inclined surface 2221 inclined downward from rear to front, and as the cleaning robot 10 stops at the base station 20, the top of the cleaning robot 10 contacts the first inclined surface 2221 of the guide press block 222 and moves along the first inclined surface 2221 of the guide press block 222 in a direction toward the base station body 220 until it reaches a stopping point. At the same time, when the cleaning robot 10 reaches the stopping point of the base station 20, for example, when the cleaning robot 10 stops at the base station 20 and cleans its cleaning system 150, the cleaning assembly 30 of the base station 20 comes into contact with the cleaning system 150 of the cleaning robot 10, applying a straight upward pushing force to the cleaning robot 10. The installation of the guide press block 222 can partially or completely offset this straight upward pushing force, preventing the cleaning robot 10 from moving upward.

[0084] In some embodiments, as shown in Figures 11 and 12, a rotating wheel 180 that fits the guide press block 222 may be provided on the upper edge of the cleaning robot 10 to allow the cleaning robot 10 to stop more easily at the base station 20. As shown in Figure 12, the rotating wheel 180 can rotate along an axis perpendicular to the front-rear direction of the base station 20. Thus, when the cleaning robot 10 needs to move to a stopping point at the base station 20, the rotating wheel 180 can cooperate with the guide press block 222, allowing the cleaning robot 10 to move more smoothly to the stopping point at the base station 20. It should be understood that the rotating wheel 180 may be provided corresponding to the upper edge of the cleaning robot 10 depending on the number and position of the guide press block 222.

[0085] In some embodiments, the cleaning robot 10 may have different orientations when it stops at the base station 20 to perform different operations. For example, when the cleaning robot 10 stops at the base station 20 to charge, the first charging contact electrode is located on the front portion 111 of the cleaning robot 10, so the front portion 111 is close to the base station body 220, meaning the cleaning robot 10 needs to move forward to stop at the base station 20.

[0086] When the cleaning robot 10 stops at the base station 20 to clean the cleaning system 150, the cleaning system 150 may be located close to the front portion 111 of the cleaning robot 10, or it may be located away from the front portion 111. If the cleaning system 150 is located close to the front portion 111 of the cleaning robot 10, the cleaning robot 10 can move its front portion 111 close to the base station body 220 so that the base station 20 can clean the cleaning system. In this state, the posture of the cleaning robot 10 relative to the base station 20 is the same during charging and cleaning operations, meaning that the cleaning robot 10 needs to move forward to stop at the base station 20.

[0087] If the cleaning system 150 is located away from the front section 111, the rear section 112 of the cleaning robot 10 may be brought close to the base station body 220 for cleaning. In this state, during charging and cleaning operations, the orientation of the cleaning robot 10 relative to the base station 20 is reversed, meaning the cleaning robot 10 needs to move backward in the opposite direction and stop at the base station 20 to perform the cleaning operation. Therefore, by providing multiple rotating wheels 180 at different positions on the upper edge of the cleaning robot 10, the rotating wheels 180 can cooperate with the guide press block 222 to improve stopping efficiency when the cleaning robot 10 stops at the base station 20 in different orientations.

[0088] In some feasible embodiments provided by this disclosure, as shown in Figures 13 and 14, if the guide unit 221 includes a guide wheel 223, the guide wheel 223 rotates along an axis perpendicular to the longitudinal direction of the base station 20, i.e., the guide wheel 223 reciprocates along the longitudinal direction, and the guide wheel 223 can guide the cleaning robot 10 to move in a direction toward or away from the base station body 220, allowing the cleaning robot 10 to move more smoothly to a stopping point on the base station 20.

[0089] Here, the installation of the guide wheels 223 restricts the vertical movement of the cleaning robot 10 after it has stopped at the base station 20. For example, when the cleaning robot 10 stops at the base station 20 and performs cleaning, the cleaning assembly 30 of the base station 20 comes into contact with the cleaning system 150 of the cleaning robot 10, applying a straight upward pushing force to the cleaning robot 10. The installation of the guide wheels 223 can partially or completely offset this straight upward pushing force, preventing the cleaning robot 10 from moving upward.

[0090] In this embodiment, a mounting bracket 226 is provided on the upper guide surface 224, and the guide wheel 223 is attached to the mounting bracket 226 via a rotating shaft 227. With the installation of the mounting bracket 226 and the rotating shaft 227, the guide wheel 223 is securely and firmly fixed to the upper guide surface 224 and can rotate around the rotating shaft 227 in a direction perpendicular to the front-rear direction of the base station 20, where the rotating shaft 227 is positioned perpendicular to the front-rear direction of the base station 20.

[0091] In some embodiments, the mounting bracket 226 includes opposing first bracket bodies 2261 and second bracket bodies 2262, and the rotating shaft 227 is connected to the first bracket bodies 2261 and second bracket bodies 2262, i.e., the first bracket bodies 2261 and second bracket bodies 2262 are spaced apart along a direction perpendicular to the front-rear direction of the base station 20, and the guide wheel 223 is fitted onto the rotating shaft 227 and positioned between the first bracket body 2261 and second bracket body 2262, so that during the process of the cleaning robot 10 stopping at the base station 20, the guide wheel 223 can contact the top of the cleaning robot 10 and rotate along the rotating shaft 227 to guide the cleaning robot 10 in a direction approaching the base station body 220, so that the cleaning robot 10 can move more smoothly to the stopping point of the base station 20. Here, by installing the first bracket body 2261 and the second bracket body 2262, the reliability and stability of the connection between the guide wheel 223 and the guide upper surface 224 can be improved.

[0092] All embodiments of this disclosure can be performed alone or in combination with other embodiments, and all of these should be included within the scope of protection of this disclosure.

[0093] Although this disclosure has been illustrated by 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 will know that this disclosure is not limited to the above-described embodiments and that many more changes and modifications can be made in accordance with the teachings of this disclosure, all of which fall within the scope of protection of this disclosure. The scope of protection of this disclosure shall be defined by the appended claims and their equivalents.

Claims

1. A base station for maintaining a cleaning robot, wherein the base station is It includes a base station body and a base station base plate having a sloped portion that is inclined upward from the rear to the front. The base station base plate includes a circuit board and an extension plate, the front end of the circuit board is connected to the base station body, and the rear end of the circuit board is connected to the extension plate. The base station body is provided with a guide portion located above the circuit board for contacting the cleaning robot. The base station body is provided with a guide upper surface facing the circuit board, and the guide portion is provided in the middle and / or on both sides of the middle portion of the guide upper surface. A base station in which the guide portion contacts the top of the cleaning robot from above to guide and restrict the movement of the cleaning robot.

2. The base station according to claim 1, wherein the extension plate is pivotally connected to the substrate, and the extension plate has a folded state and an unfolded state relative to the substrate.

3. The base station according to claim 2, wherein a storage tank is provided at the bottom of the substrate, and the extension plate is housed in the storage tank when it is in a folded state.

4. The base station according to claim 1, wherein a first anti-slip portion and a second anti-slip portion are provided on the extension plate and the substrate, respectively, for the passage of the traveling device of the cleaning robot.

5. The base station according to claim 4, wherein the first anti-slip portion is provided symmetrically on the extension plate, and the second anti-slip portion is provided symmetrically on the substrate.

6. The base station according to claim 5, wherein a retraction groove is provided on the substrate, the retraction groove is provided between the second anti-slip portions, and is configured to accommodate a portion of the cleaning robot when the cleaning robot passes the base station base plate.

7. The base station according to claim 6, wherein support wheels are provided on both sides of the retraction groove, and the support wheels are configured to support the cleaning robot when the cleaning robot passes through or stops on the base station base plate.

8. The base station according to claim 1, wherein a recessed structure is provided at the rear end of the extension plate for the passage of the traveling device of the cleaning robot.

9. The base station according to claim 8, wherein the recessed structure is located at an intermediate position at the rear end of the extension plate.

10. The base station according to claim 8, wherein a first guide surface is provided along the circumferential direction of the recessed structure, and the first guide surface is provided inclined from the inside outwards.

11. The base station according to claim 1, wherein the guide portion is located above the cleaning assembly that cleans the cleaning system of the cleaning robot.

12. The base station body is further provided with a guide side facing rear, The base station according to claim 1, wherein the guide side is provided between the substrate and the guide upper surface.

13. The guide surface includes two opposing lateral surfaces and an intermediate surface between the two lateral surfaces. The base station according to claim 12, wherein the intermediate surface is opposite to the forward direction in which the cleaning robot moves in close proximity to the base station.

14. The base station according to claim 1, wherein the guide portion is provided at the front end of the upper surface of the guide.

15. The base station according to claim 1, wherein the guide portion includes a guide press block, the side of the guide press block facing the substrate is provided as a first inclined surface, and the first inclined surface is inclined downward from rear to front.

16. The base station according to claim 1, wherein the guide portion includes a guide wheel, and the guide wheel rotates about an axis perpendicular to the front-rear direction of the base station.

17. The base station according to claim 16, wherein a mounting bracket is provided on the upper surface of the guide, and the guide wheel is attached to the mounting bracket via a rotating shaft.

18. Cleaning robots and A cleaning robot system comprising a base station according to any one of claims 1 to 17, wherein the cleaning robot is configured to stop at the base station.

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