Automatic cleaning device, base station and system

Abstract

An automatic cleaning device, comprising: a device body; a first charging elastic piece, provided on the device body, the first charging elastic piece being used for abutting against a second charging elastic piece on a base station; and a first limiting part, provided on the first charging elastic piece, the first limiting part and a second limiting part on the second charging elastic piece of the base station forming an electromagnet structure. When the electromagnet structure is in an energized state, the first limiting part limits the position of the second limiting part, such that when the device body is charged, the first charging elastic piece and the second charging elastic piece remain attached to each other.

Description

An automatic cleaning device, base station and system

[0001] Cross-reference to related applications

[0002] This application claims priority to Chinese patent applications No. 202411586218X and 2024227168274, filed on November 7, 2024, the entire contents of which are incorporated herein by reference. Technical Field

[0003] This disclosure relates to the field of automatic cleaning equipment technology, and in particular to an automatic cleaning device, base station and system. Background Technology

[0004] With the development of science and technology, automatic cleaning equipment has become increasingly widely used. Automatic cleaning equipment, such as robotic vacuum cleaners or robots with sweeping and mopping functions, automatically returns to a base station to recharge after completing a cleaning task or when its battery is low during cleaning. Both the automatic cleaning device and the base station are equipped with charging contacts. When the charging contacts of the automatic cleaning device and the base station are in contact, the automatic cleaning device can charge. In related technologies, the charging process of the automatic cleaning device can cause the charging contacts to oxidize or develop dark streaks, resulting in a decrease in the charging rate of the automatic cleaning device. Summary of the Invention

[0005] In view of the above-mentioned technical problems in related technologies, this disclosure provides an automatic cleaning device, base station and system to protect the charging contacts of the automatic cleaning device and ensure the charging rate of the automatic cleaning device.

[0006] In a first aspect, this disclosure provides an automatic cleaning device that is charged via a base station. The device includes: a device body; a first charging spring disposed on the device body, the first charging spring being used to abut against a second charging spring on the base station; and a first limiting member disposed on the first charging spring, the first limiting member and a second limiting member on the second charging spring of the base station forming an electromagnet structure. When the electromagnet structure is energized, the first limiting member restricts the position of the second limiting member, so that the first charging spring and the second charging spring remain in contact when the device body is charging.

[0007] Secondly, this disclosure provides a base station for charging an automatic cleaning device. The base station includes: a base station body; a second charging spring disposed on the base station body, the second charging spring being used to abut against a first charging spring on the automatic cleaning device body; and a second limiting member disposed on the second charging spring, the second limiting member and the first limiting member on the automatic cleaning device forming an electromagnet structure. When the electromagnet structure is energized, the second limiting member restricts the position of the first limiting member, so that the first charging spring and the second charging spring remain in contact when the device body is charging.

[0008] Thirdly, this disclosure provides an automatic cleaning system, including: an automatic cleaning device and a base station; the automatic cleaning device includes a device body and a first charging spring disposed on the device body, the first charging spring being provided with a first limiting component; and the base station includes a base station body and a second charging spring disposed on the base station body, the second charging spring being provided with a second limiting component, the first limiting component and the second limiting component forming an electromagnet structure. When the electromagnet structure is energized, the first limiting component restricts the position of the second limiting component, so that when the device body is charging, the first charging spring and the second charging spring remain in contact.

[0009] The one or more technical solutions provided in this disclosure achieve at least the following technical effects or advantages:

[0010] The automatic cleaning device disclosed herein includes a device body and a first charging spring plate disposed on the device body. The first charging spring plate has a first limiting component. The first limiting component and a second limiting component disposed on a second charging spring plate of the base station form an electromagnet structure. When the automatic cleaning device needs charging, the electromagnet structure is energized. After the electromagnet structure is energized, the first and second limiting components are positioned, thereby ensuring full contact between the first and second charging spring plates. After the first and second charging spring plates are in contact, the device body is charged. In this solution, by limiting the first and second limiting components, it is ensured that the first and second charging spring plates can be properly engaged, effectively preventing incomplete contact or poor contact between the first and second charging spring plates, thus effectively preventing the charging spring plates from turning black and improving the charging efficiency of the automatic cleaning device. Attached Figure Description

[0011] Figure 1 is a schematic diagram of the structure of an automatic cleaning device according to some embodiments of the present disclosure;

[0012] Figure 2 is a schematic diagram of the structure of a base station according to some embodiments of the present disclosure;

[0013] Figure 3 is a schematic diagram of the structure of a first charging spring according to some embodiments of the present disclosure;

[0014] Figure 4 is a schematic diagram of the structure of a second charging spring according to some embodiments of the present disclosure;

[0015] Figure 5 is a schematic diagram of an automatic cleaning equipment system according to some embodiments of the present disclosure;

[0016] Figure 6 is a flowchart of a charging method for an automatic cleaning device according to some embodiments of the present disclosure;

[0017] Figure 7 is a flowchart illustrating the determination of an automatic cleaning device execution strategy according to some embodiments of the present disclosure. Embodiments of the present invention

[0018] To better understand the above technical solutions, the technical solutions based on some embodiments of this disclosure will be described in detail below with reference to the accompanying drawings and specific examples. It should be understood that the embodiments of this disclosure and the specific features in the embodiments are detailed descriptions of the technical solutions based on some embodiments of this disclosure, rather than limitations on the technical solutions of this specification. In the absence of conflict, the embodiments of this disclosure and the technical features in the embodiments can be combined with each other.

[0019] First, it should be noted that the term "and / or" in this article is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A alone, A and B simultaneously, or B alone. Additionally, the character " / " in this article generally indicates that the preceding and following related objects have an "or" relationship. The terms "multiple" and "at least two" include two or more cases. The terms "first," "second," and "third," etc., are used only as markers and do not restrict the number or order of the objects. The terms "before," "after," "above," "below," "left," and "right," etc., are only used to indicate relative positional relationships; when the absolute position of the described objects changes, the relative positional relationship may also change accordingly.

[0020] Figure 1 is a structural schematic diagram of an automatic cleaning device provided according to some embodiments of the present disclosure. As shown in Figure 1, the automatic cleaning device 100 includes: a device body 110 and a first charging spring 120 disposed on the device body 110; a first limiting member 121 is disposed on the first charging spring 120.

[0021] As shown in Figure 2, according to some embodiments of this disclosure, a base station 200 for use with an automatic cleaning device 100 is also provided. The base station 200 includes a base station body 210 and a second charging spring 220 disposed on the base station body 210; a second limiting member 221 is disposed on the second charging spring 220.

[0022] In some embodiments, the first charging spring 120 and the second charging spring 220 abut against each other, and the first limiting member 121 and the second limiting member 221 disposed on the second charging spring 220 of the base station 200 form an electromagnet structure. When the electromagnet structure is energized, the first limiting member 121 and the second limiting member 221 limit each other, thereby bringing the first charging spring 120 and the second charging spring 220 into contact to charge the device body 110.

[0023] In some embodiments, the automatic cleaning device 100 can be a robot vacuum cleaner, a robot vacuum cleaner, etc. For ease of explanation, a robot vacuum cleaner is used as an example here. The device body 110 may be provided with cleaning brushes (including main cleaning brushes, side brushes, etc.), air ducts, dust boxes, air outlets, etc. for performing cleaning tasks.

[0024] The device body 110 is also provided with a first charging spring 120. The position of the first charging spring 120 can be set as needed. For example, the first charging spring 120 can be located on the side wall of the automatic cleaning device 100 or at the bottom of the automatic cleaning device 100. The number of first charging springs 120 can also be set according to actual needs. For example, the number of first charging springs 120 can be 1, 2, 3, etc. For ease of understanding, the two settings of the first charging spring 120 are explained below.

[0025] The first setting position of the first charging spring 120

[0026] As shown in Figure 1, the automatic cleaning device 100 also includes a first cleaning brush 131 and a second cleaning brush 132, which are located at the bottom of the device body 110. The device body 110 includes two first charging contacts 120, which are both disposed on the side wall of the device body 110 and located above the first cleaning brush 131 and the second cleaning brush 132, respectively.

[0027] It should be noted that the shape and size of the first charging spring 120 can be set according to actual needs. In some embodiments, considering that some automatic cleaning devices 100 have water supply and drainage functions, the base station 200 of the automatic cleaning device 100 is located in a relatively humid area, or in some cases, there is liquid at the bottom of the automatic cleaning device 100 and / or the base station 200. To avoid the risk of water ingress into the first charging spring 120 and / or the second charging spring 220, the first charging spring 120 can be set on the side wall of the device body 110.

[0028] It should be understood that the number of second charging contacts 220 on the base station body 210 is the same as the number of first charging contacts 120. The shape and size of the second charging contacts 220 can be the same as the first charging contacts 120, and the position of the second charging contacts 220 corresponds to the position of the first charging contacts 120. For example, when the first charging contacts 120 are located on the side wall of the device body 110, the second charging contacts 220 can be located on the side wall of the base station body 210, and the height of the second charging contacts 220 is the same as the height of the first charging contacts 120. When the automatic cleaning device 100 returns to the base station for charging, each first charging contact 120 can be fully engaged with the corresponding second charging contact 220.

[0029] The second setting position of the first charging spring 120

[0030] The device body 110 includes two first charging contacts 120, both of which are located at the bottom of the device body 110. For example, for an automatic cleaning device 100 that does not have water supply and drainage functions, the first charging contacts 120 can be located at the bottom of the device body 110. The location of the first charging contacts 120 at the bottom of the device body 110 can be set according to actual needs and is not limited here.

[0031] When the first charging spring 120 is disposed at the bottom of the device body 110, the second charging spring 220 is also disposed on the upper surface of the bottom of the base station body 210, and the position of the second charging spring 220 matches the position of the first charging spring 120. The number, shape, and size of the second charging spring 220 can also be the same as those of the first charging spring 120. When the automatic cleaning device 100 returns to the base station 200 for charging, each first charging spring 120 can be fully engaged with the corresponding second charging spring 220.

[0032] To prevent oxidation or dark streaks on the charging contacts due to poor contact, in some embodiments, a first limiting member 121 is provided on the first charging contact 120. A second limiting member 221 is provided on the second charging contact 220 of the base station 200, and the first limiting member 121 and the second limiting member 221 form an electromagnet structure. When the electromagnet structure is energized, the first limiting member 121 and the second limiting member 221 limit the contact to ensure that the first charging contact 120 and the second charging contact 220 are fully engaged and to prevent displacement of the first charging contact 120 and the second charging contact 220, thereby effectively avoiding poor contact between the first charging contact 120 and the second charging contact 220.

[0033] In some embodiments, the electromagnet structure may include a magnetic rod and a magnetic hole for receiving the magnetic rod. In this case, one of the first limiting member 121 and the second limiting member 221 may be the magnetic rod, and the other may be the magnetic hole for receiving the magnetic rod. In some embodiments, a coil is wound around the inner wall of the magnetic rod or the magnetic hole. Several structures of the first limiting member 121 and the second limiting member 221 will be described below.

[0034] The first structure of the first limiting component 121 and the second limiting component 221

[0035] As shown in Figure 3, the first limiting component 121 is a magnetic hole disposed on the first charging spring 120. As shown in Figure 4, the second limiting component 221 is a magnetic rod disposed on the second charging spring 220. In some embodiments, the magnetic rod can be fixedly disposed on the second charging spring 220, or it can be retractably disposed on the second charging spring 220. When the magnetic rod is retractably disposed on the second charging spring 220, it is in a contracted state when subjected to external force, and returns to an extended state when the external force is released.

[0036] The coil can be wound around the inner wall of the magnetic hole. When the electromagnet structure is energized, the coil wound around the inner wall of the magnetic hole can be energized. When the magnetic rod is inserted into the magnetic hole, the magnetic rod is magnetized and attracted and limited by the magnetic hole, so that the first charging spring 120 and the second charging spring 220 are fully attached and avoid displacement.

[0037] The second structure of the first limiting component 121 and the second limiting component 221

[0038] The first limiting component 121 is a magnetic hole disposed on the first charging spring 120, and the second limiting component 221 is a magnetic rod disposed on the second charging spring 220. In some embodiments, the magnetic rod can be fixedly disposed on the second charging spring 220, or it can be retractably disposed on the second charging spring 220. When the magnetic rod is retractably disposed on the second charging spring 220, it is in a contracted state when subjected to external force, and returns to an extended state when the external force is released.

[0039] The coil can be wound around a magnetic rod. When the electromagnet structure is energized, the coil wound around the magnetic rod can be energized; after the coil is energized, the magnetic rod is magnetized and attracts and limits the magnetic hole, so that the first charging spring 120 and the second charging spring 220 are fully attached to avoid displacement.

[0040] The third structure of the first limiting component 121 and the second limiting component 221

[0041] The first limiting component 121 is a magnetic rod disposed on the first charging spring 120, and the second limiting component 221 is a magnetic hole disposed on the second charging spring 220. In some embodiments, the magnetic rod can be fixedly disposed on the first charging spring 120, or it can be retractably disposed on the first charging spring 120. When the magnetic rod is retractably disposed on the first charging spring 120, it is in a contracted state when subjected to external force, and returns to an extended state when the external force is released.

[0042] The coil can be wound around the inner wall of the magnetic hole. When the electromagnet structure is energized, the coil wound around the inner wall of the magnetic hole can be energized; when the magnetic rod is inserted into the magnetic hole, the magnetic rod is magnetized and attracts and limits the magnetic hole, so that the first charging spring 120 and the second charging spring 220 are fully attached to each other and avoid displacement.

[0043] The fourth structure of the first limiting component 121 and the second limiting component 221

[0044] The first limiting component 121 is a magnetic rod disposed on the first charging spring 120, and the second limiting component 221 is a magnetic hole disposed on the second charging spring 220. In some embodiments, the magnetic rod can be fixedly disposed on the first charging spring 120, or it can be retractably disposed on the first charging spring 120. When the magnetic rod is retractably disposed on the first charging spring 120, it is in a contracted state when subjected to external force, and returns to an extended state when the external force is released.

[0045] The coil can be wound around a magnetic rod. When the electromagnet structure is energized, the coil wound around the magnetic rod can be energized; after the coil is energized, the magnetic rod is magnetized and attracts and limits the magnetic hole, thereby making the first charging spring 120 and the second charging spring 220 fully fit together and preventing displacement.

[0046] It should be noted that for the magnetic hole and magnetic rod in the electromagnet structure, the length of the magnetic rod can be slightly less than the depth of the magnetic hole, and the diameter of the magnetic rod can also be slightly less than the diameter of the magnetic hole, to avoid the first charging spring 120 and the second charging spring 220 not being able to fully fit together due to the magnetic rod being too long or too thick. The difference between the depth of the magnetic hole and the length of the magnetic rod, and the difference between the diameter of the magnetic hole and the diameter of the magnetic rod, can be set according to actual needs. In some embodiments, the difference between the depth of the magnetic hole and the length of the magnetic rod can be less than 1 mm, and the difference between the diameter of the magnetic hole and the diameter of the magnetic rod can be less than 1 mm.

[0047] In some embodiments, the automatic cleaning device 100 further includes a controller disposed on the device body 110 for controlling the power supply to and from the electromagnet structure.

[0048] In some embodiments, if a coil is provided on the first limiting member 121, the automatic cleaning device 100 may also be provided with a switching device for energizing the coil. The switching device is connected to both the coil and the controller. The controller can send control signals to the switching device. When the automatic cleaning device 100 requires charging, the controller controls the switching device to close to energize the coil; when the automatic cleaning device 100 finishes charging, the controller controls the switching device to open to stop energizing the coil.

[0049] In other embodiments, if a coil is provided on the second limiting member 221, a power-on command can be sent to the base station when the automatic cleaning device 100 has a charging requirement, causing the base station 200 to charge the coil so that the automatic cleaning device 100 can return to the base station. The first limiting member 121 and the second limiting member 221 provide limiting, ensuring that the first charging spring 120 and the second charging spring 220 are fully engaged. In some embodiments, when a coil is provided on the second limiting member, a switching device for controlling the on / off state of the coil can also be provided on the base station body 210.

[0050] As shown in Figure 3, the automatic cleaning device 100 is also equipped with a distance sensor 130 for detecting the target distance between the device body 110 and the base station 200. The controller energizes the electromagnet structure when the target distance is less than a preset distance. The distance sensor 130 can be located on the first charging spring 120. In some embodiments, the distance sensor 130 can also be located at other positions on the device body 110, which is not limited here.

[0051] It should be understood that after the electromagnet structure is energized, the first charging spring may attract other ferrous impurities, affecting the charging effect. Therefore, in some embodiments, the target distance between the device body 110 and the base station 200 is detected by the distance sensor 130; the electromagnet structure is energized only after the device body 110 moves to the vicinity of the base station 200. In some embodiments, when the target distance between the sweeping robot and the base station is less than 0.5m, the electromagnet structure is energized so that the energized electromagnet structure completely contacts the first charging spring 120 and the second charging cabinet spring 220.

[0052] It should be understood that the base station 200 may also include a controller, housed within the base station body 210, for controlling the power supply to and from the electromagnet structure. The base station body 210 may also be equipped with a distance sensor for detecting the target distance between the automatic cleaning device 100 and the base station 200. The base station 200 can receive the target distance sent by the automatic cleaning device or acquire the target distance through its own distance sensor. After the base station 200 acquires the target distance in either way, its controller compares the target distance with a preset distance. If the target distance is less than the preset distance, the controller of the base station 200 energizes the electromagnet structure. Alternatively, when the base station 200 receives an energizing command from the automatic cleaning device 100, its controller energizes the electromagnet structure.

[0053] In some embodiments, the automatic cleaning device 100 is charged after the first charging spring 120 and the second charging spring 220 are fully engaged, which can prevent oxidation of the charging spring or the formation of dark stripes caused by poor contact of the charging spring.

[0054] In some embodiments, when the first limiting member 121 is a magnetic hole and the second limiting member 221 is a magnetic rod, in order to determine whether the first limiting member 121 and the second limiting member 221 are in a limiting state and to make the first charging spring 120 and the second charging spring 220 fit together, the automatic cleaning device 100 may further include a target sensor. The target sensor is used to detect the length of the magnetic rod inserted into the magnetic hole.

[0055] The type of target sensor can be selected according to actual needs; for example, the target sensor can be an image acquisition sensor, an infrared sensor, a pressure sensor, etc. The length of the magnetic rod inserted into the magnetic hole is determined by the target data collected by the target sensor. When the length of the magnetic rod inserted into the magnetic hole meets a preset condition, it indicates that the first limiting component 121 and the second limiting component 221 have been successfully limited, and the first charging spring 120 and the second charging spring 220 have fully engaged; at this time, the automatic cleaning device 100 can be charged. In some embodiments, the preset condition can be set according to actual needs; for example, the preset condition can be that the length of the magnetic rod inserted into the magnetic hole is greater than 85% or 90% of the depth of the magnetic hole.

[0056] Taking an image acquisition sensor as an example, the sensor can capture images of the magnetic rod inside the magnetic hole. By processing the acquired images, the length of the magnetic rod inserted into the hole can be determined, and it can be further judged whether the insertion length meets a preset condition. If the target acquisition sensor is an infrared sensor, it can be positioned at a specified depth within the magnetic hole; when the infrared sensor detects the magnetic rod, the insertion length is considered to meet the preset condition. If the target acquisition sensor is a pressure sensor, if the pressure value detected by the pressure sensor is greater than a preset pressure value, it can be determined that the insertion length of the magnetic rod meets the preset condition.

[0057] In some embodiments, the materials of the magnetic hole and the magnetic rod can be selected according to actual needs. In some embodiments, the material of the magnetic hole is copper plated with nickel, and the material of the magnetic rod is soft iron.

[0058] As shown in Figure 5, according to some embodiments of this disclosure, an automatic cleaning device system is also provided, including: an automatic cleaning device 100 and a base station 200; the automatic cleaning device 100 includes a device body and a first charging spring disposed on the device body, the first charging spring being provided with a first limiting component; the base station 200 includes a base station body and a second charging spring disposed on the base station body, the second charging spring being provided with a second limiting component, the first limiting component and the second limiting component forming an electromagnet structure; wherein, when the electromagnet structure is energized, the first limiting component restricts the position of the second limiting component, so that when the device body is charging, the first charging spring and the second charging spring remain in contact.

[0059] Regarding the aforementioned automatic cleaning system, the specific functions of each component can be found in the description of the automatic cleaning equipment and base station above, which will not be elaborated upon here.

[0060] As shown in Figure 6, according to some embodiments of this disclosure, a charging method for an automatic cleaning device is also provided. The automatic cleaning device includes a device body and a first charging spring disposed on the device body. The first charging spring is provided with a first limiting component. The first limiting component and a second limiting component disposed on a second charging spring of a base station form an electromagnet structure. The method includes the following steps:

[0061] Step S601: Control the electromagnet structure to be energized, and limit the first limiting component and the second limiting component to make the first charging spring and the second charging spring fit together;

[0062] Step S602: After the first charging spring and the second charging spring are attached, the device body is charged.

[0063] The methods provided in some embodiments of this disclosure can be applied to automatic cleaning equipment, that is, the above steps are performed by the controller of the automatic cleaning equipment. The methods provided in some embodiments of this disclosure can also be applied to a base station corresponding to the automatic cleaning equipment, that is, the above steps are performed by the controller of the base station. The methods provided in some embodiments of this disclosure can also be applied to a system consisting of an automatic cleaning equipment and a base station, where the above steps can be performed by the controller of the automatic cleaning equipment, or by the controller of the base station, or by interaction and cooperation between the controller of the automatic cleaning equipment and the controller of the base station; no limitation is made here.

[0064] The structure of the automatic cleaning equipment can be referred to the description above, and will not be repeated here. In step S601, the electromagnet structure includes a coil, which can be set on the first limiting component or the second limiting component; controlling the electromagnet structure to be energized can be done by energizing the coil. It should be noted that controlling the electromagnet structure to be energized can be achieved in a variety of ways.

[0065] In some embodiments, if a charging requirement is detected for the automatic cleaning device, the electromagnet structure is energized. For example, when the battery level of the automatic cleaning device is lower than a preset value, or when the automatic cleaning device has completed its cleaning task and needs to return to the base station for charging, the electromagnet structure is energized.

[0066] In other embodiments, the energization of the electromagnet structure can be controlled based on the distance between the automatic cleaning device and the base station. The automatic cleaning device may be equipped with a distance sensor, the location of which can be selected according to actual needs; for example, the distance sensor may be located on the first charging spring. Energizing the electromagnet structure can be achieved by: acquiring the target distance between the device body and the base station as collected by the distance sensor; and controlling the electromagnet structure to be energized when the target distance is less than a preset distance.

[0067] Considering that the electromagnet structure may attract other ferrous debris after being energized, thus affecting the charging effect, the electromagnet structure is only energized when the automatic cleaning device is close to the base station. This reduces the amount of debris attracted to the electromagnet structure and saves energy. In some embodiments, the preset distance can be selected according to actual needs, for example, the preset distance can be 0.5m, 0.4m, etc.

[0068] It should be noted that if the first limiting component is equipped with an electromagnet coil, then when the distance between the automatic cleaning device and the base station is detected to be less than a preset distance, the coil can be energized by the controller of the automatic cleaning device. In some embodiments, the automatic cleaning device may also be equipped with a switching device. The switching device is connected to both the coil and the controller. The controller can control the energization of the coil by controlling the closing and opening of the switch.

[0069] If the second limiting component is equipped with a coil of electromagnet structure, the automatic cleaning device can send the acquired target distance to the base station; the base station determines whether to energize the coil by comparing the target distance with a preset distance. In some embodiments, the automatic cleaning device can also send an energizing command to the base station when the target distance is less than the preset distance, and the base station charges the coil after receiving the energizing command.

[0070] In some embodiments, to save energy, in addition to determining whether to energize the electromagnet structure based on the target distance, the energizing of the electromagnet structure can also be determined by considering the charging needs of the automatic cleaning equipment. That is, when the automatic cleaning equipment has a charging need and the target distance is less than a preset distance, the electromagnet structure is energized.

[0071] It should be noted that whether an automatic cleaning device needs charging can be determined in various ways. In some embodiments, this can be determined by detecting the remaining battery power of the automatic cleaning device. Therefore, the charging method according to some embodiments of this disclosure may further include the following steps: determining the remaining battery power of the automatic cleaning device; if the remaining battery power is less than a first preset battery power, controlling the automatic cleaning device to return to the base station for charging, and obtaining the target distance during the process of the automatic cleaning device returning to the base station.

[0072] The first preset battery level can be set according to actual needs, for example, 10%, 15%, etc. If the remaining battery level of the automatic cleaning device is less than the first preset battery level, it indicates that the automatic cleaning device is short of power and cannot continue to perform the cleaning task; at this time, it needs to return to the base station for charging immediately. During the process of the automatic cleaning device returning to the base station, the target distance between the automatic cleaning device and the base station is collected in real time by the distance sensor, and when the detected target distance is less than the first preset distance, the electromagnet structure is energized; when the automatic cleaning device returns to the base station, the first limit structure and the second limit structure limit it, so that the first charging spring and the second charging spring are fully engaged to prevent the first charging spring and the second charging spring from shifting; and after the first charging spring and the second charging spring are engaged, the automatic cleaning device is charged.

[0073] When the automatic cleaning equipment has sufficient remaining power, its operating status can be obtained to determine if it needs charging. The operating status can include a first state where the cleaning task is not yet completed, and a second state where the cleaning task is completed. It should be understood that the strategies executed by the automatic cleaning equipment may differ depending on the operating status and / or the remaining power. For clarity, the following describes several strategies executed by the automatic cleaning equipment under different operating states and with varying remaining power levels when it has sufficient remaining power.

[0074] First strategy

[0075] If the remaining power is greater than or equal to the first preset power and less than the second preset power, and the working state is the first state where the cleaning task is not completed, the automatic cleaning device is controlled to perform a cleaning task in the target area; in some embodiments, the first preset power is less than the second preset power, and the distance between any location in the target area and the base station is less than or equal to a target threshold.

[0076] In some embodiments, the second preset power level can be set according to actual needs, for example, the second preset power level can be 20%, 25%, etc. When the remaining power level of the automatic cleaning device is greater than or equal to the first preset power level and less than the second preset power level, and the automatic cleaning device is in a state where the cleaning task is not completed, it indicates that although the automatic cleaning device still has enough power to support the automatic cleaning device to continue performing the cleaning task; however, if the automatic cleaning device is cleaning at a location far from the base station, it may not be able to return to the base station to recharge due to insufficient power. Therefore, in this case, to ensure that the automatic cleaning device can return to the base station to recharge, the automatic cleaning device can be controlled to perform the cleaning task in a target area near the base station. In some embodiments, the distance between any location in the target area and the base station is less than or equal to a target threshold, which can be set according to actual needs, for example, the target threshold is 1m, 1.5m, etc.

[0077] In some embodiments, the target area may have already been cleaned by the automatic cleaning equipment in this cleaning task. If the target area has been cleaned, the automatic cleaning equipment can be controlled to return directly to the base station for charging.

[0078] The second strategy

[0079] If the remaining power is greater than or equal to the second preset power and the working state is the first state, the automatic cleaning device is controlled to perform the cleaning task according to the preset cleaning route.

[0080] In some embodiments, if the remaining power is greater than or equal to a second preset power, it indicates that the automatic cleaning device has sufficient remaining power. When the automatic cleaning device is in a state where the cleaning task is not completed, the automatic cleaning device can perform cleaning at any location, that is, perform the cleaning task according to the preset cleaning route. In some embodiments, the preset cleaning route can be a cleaning route pre-planned by the user or a route automatically planned by the automatic cleaning device, and there is no limitation here.

[0081] The third strategy

[0082] If the remaining battery power is greater than the first preset battery power, and the working state is the second state where the cleaning task has been completed, control the automatic cleaning device to return to the base station for charging; and during the process of the automatic cleaning device returning to the base station, obtain the target distance.

[0083] In some embodiments, when the remaining power is greater than a first preset power, it indicates that the automatic cleaning device still has enough power to continue performing the cleaning task. If the automatic cleaning device is in the second state where the cleaning task is completed, it can directly return to the base station for charging. During the return process of the automatic cleaning device to the base station, the target distance between the automatic cleaning device and the base station is collected in real time by a distance sensor. When the detected target distance is less than a first preset distance, the electromagnet structure is energized. After the automatic cleaning device returns to the base station, the first and second limiting structures are used to limit the movement, ensuring that the first and second charging springs are fully engaged to prevent displacement. After the first and second charging springs are engaged, the automatic cleaning device is charged.

[0084] To better understand the strategies implemented by the automatic cleaning equipment under different remaining battery levels and operating conditions during the implementation of this manual, please refer to Figure 7. In Figure 7, the first preset battery level is 15%, and the second preset battery level is 20%. The strategies implemented by the automatic cleaning equipment are determined through the following steps:

[0085] Step S701: Determine the remaining power (SOC) of the automatic cleaning equipment;

[0086] If SOC < 15%, proceed to step S702; if 15% ≤ SOC < 20%, proceed to step S706; if SOC ≥ 20%, proceed to step S708.

[0087] Step S702: Return to the base station and obtain the target distance between the automatic cleaning device and the base station;

[0088] Step S703: Determine whether the target distance is less than the first preset distance;

[0089] If the target distance is less than the first preset distance, proceed to step S704; if the target distance is not less than the first preset distance, return to step S702.

[0090] Step S704: Control the electromagnet structure to be energized, so that the electromagnet structure is attracted;

[0091] Step S705: After the first charging spring and the second charging spring are attached, the automatic cleaning device is charged;

[0092] Step S706: Determine whether the cleaning task is complete;

[0093] If the cleaning task is completed, proceed to step S702; if the cleaning task is not completed, proceed to step S707.

[0094] Step S707: Perform a cleaning task in the target area near the base station;

[0095] Step S708: Determine whether the cleaning task is complete;

[0096] If the cleaning task is completed, proceed to step S702; if the cleaning task is not completed, proceed to step S709.

[0097] Step S709: Perform the cleaning task according to the preset cleaning route.

[0098] In some embodiments, the electromagnet structure may include a magnetic rod and a magnetic hole for accommodating the magnetic rod; one of the first limiting component and the second limiting component is a magnetic rod, and the other is a magnetic hole for accommodating the magnetic rod; in order to determine whether the first limiting component and the second limiting component are in a fully limited state, a target sensor may also be provided on the inner wall of the magnetic hole; the target sensor may be an image acquisition sensor, an infrared sensor, a pressure sensor, etc.

[0099] The target sensor can acquire target data collected by the target sensor, and the target data is used to characterize the length of the magnetic rod inserted into the magnetic hole; if the target data indicates that the length of the magnetic rod inserted into the magnetic hole meets the preset condition, it is determined that the first charging spring and the second charging spring are in contact.

[0100] The preset conditions can be set according to actual needs. For example, the preset conditions can be that the length of the magnetic rod inserted into the magnetic hole is greater than 85% or 90% of the depth of the magnetic hole. For instance, if the target sensor is an image acquisition sensor, it can capture an image of the magnetic rod inside the magnetic hole. By processing the acquired image, the length of the magnetic rod inserted into the magnetic hole can be determined, and it can be further determined whether the length of the magnetic rod inserted meets the preset conditions. If the target acquisition sensor is an infrared sensor, it can be set at a specified depth inside the magnetic hole; when the infrared sensor senses the magnetic rod, it can be considered that the length of the magnetic rod inserted into the magnetic hole meets the preset conditions. If the target acquisition sensor is a pressure sensor, if the pressure value collected by the pressure sensor is greater than a preset pressure value, it can be determined that the length of the magnetic rod inserted into the magnetic hole meets the preset conditions.

[0101] In some embodiments, if the target data indicates that the length of the magnetic rod inserted into the magnetic hole does not meet the preset condition, the position of the automatic cleaning device is adjusted until the data collected by the target sensor indicates that the length of the magnetic rod inserted into the magnetic hole meets the preset condition.

[0102] It should be understood that if the length of the magnetic rod inserted into the magnetic hole does not meet the preset condition, it indicates that the limiting between the first and second limiting components is unstable, which may lead to the failure of the first and second charging springs to limit the connection, resulting in poor contact. Therefore, to avoid poor contact between the first and second charging springs, the automatic cleaning device needs to adjust its current position, such as by moving or rotating, to adjust the positional relationship between the magnetic rod and the magnetic hole until the length of the magnetic rod inserted into the magnetic hole meets the preset condition; at this point, the automatic cleaning device can be charged.

[0103] In some embodiments, after the automatic cleaning device is fully charged, the electromagnet structure can be de-energized; if the cleaning task has been completed before charging, the robot vacuum can wait at the base station for the user to issue the next cleaning command.

[0104] In some embodiments, if the automatic cleaning device is in a first state where the cleaning task is not completed before returning to the base station for charging, the electromagnet structure is de-energized when the remaining power of the automatic cleaning device is greater than or equal to a third preset power level, and the cleaning task continues to be performed. In some embodiments, the third preset power level can be set according to actual needs, for example, the third preset power level is 90%, 95%, etc. That is, when the automatic cleaning device has not completed the cleaning task before charging, the electromagnet structure can be de-energized and the automatic cleaning device can leave the base station when the power level reaches the third preset power level, so as to continue to perform the unfinished cleaning task.

[0105] In some embodiments, during the charging process of the automatic cleaning device, if a user issues a command to start the cleaning task to the automatic cleaning device via voice control, button operation, terminal control program, etc., the automatic cleaning device can first determine the current remaining power. If the remaining power is greater than or equal to a fourth preset power level, the electromagnet structure can be de-energized, and the automatic cleaning device can leave the base station to perform the cleaning task. In some embodiments, the fourth preset power level can be set according to actual needs, for example, the fourth preset power level is 90%, 93%, etc. If the remaining power is less than the fourth preset power level, it indicates that the power is insufficient and charging needs to continue. At this time, the automatic cleaning device can generate a reminder message to inform the user that charging is still necessary through voice broadcast, push message to the user terminal, etc.

[0106] Once the automatic cleaning device is fully charged, if there are still cleaning tasks that were not completed before charging, it can continue to perform the previously unfinished cleaning tasks without waiting for user instructions.

[0107] In summary, in some embodiments, by adding an electromagnet structure, the first and second charging contacts are better fitted based on the physical structure limit of the magnetic rod and magnetic hole, avoiding electrical sparks caused by poor contact, as well as oxidation of the charging contacts and the generation of dark stripes.

[0108] The functions described herein may be implemented in hardware, software executed by a processor, firmware, or any combination thereof. If implemented in software executed by a processor, the functions may be stored as one or more instructions or codes on or transmitted via a computer-readable medium. Other examples and embodiments are within the scope and spirit of this disclosure and the appended claims. For example, due to the nature of software, the functions described above may be implemented using software executed by a processor, hardware, firmware, hardwired, or any combination thereof. Furthermore, the functional units may be integrated into a single processing unit, or each unit may exist physically separately, or two or more units may be integrated into a single unit.

[0109] In the several embodiments provided in this application, it should be understood that the disclosed technical content can be implemented in other ways. The device embodiments described above are merely illustrative; for example, the division of units can be a logical functional division, and in actual implementation, there may be other division methods. For instance, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the displayed or discussed mutual coupling, direct coupling, or communication connection may be through some interfaces; the indirect coupling or communication connection between units or modules may be electrical or other forms.

[0110] The units described as separate components may or may not be physically separate. Similarly, the components of the control device may or may not be physical units; they may be located in one place or distributed across multiple units. Some or all of the units can be selected to achieve the purpose of this embodiment, depending on actual needs.

[0111] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this disclosure, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this disclosure. The aforementioned storage medium includes various media capable of storing program code, such as a USB flash drive, read-only memory (ROM), random access memory (RAM), portable hard drive, magnetic disk, or optical disk.

[0112] It should be noted that the above embodiments are illustrative of this disclosure and not restrictive, and that alternative embodiments can be devised by those skilled in the art without departing from the scope of the appended claims. In the claims, any reference signs placed between parentheses should not be construed as limiting the claims. The word "comprising" does not exclude the presence of elements or steps not listed in the claims. The word "a" or "an" preceding an element does not exclude the presence of a plurality of such elements. This disclosure can be implemented by means of hardware comprising several different elements and by means of a suitably programmed computer.

[0113] Other embodiments of this disclosure will readily occur to those skilled in the art upon consideration of the specification and practice of the disclosure herein. This application is intended to cover any variations, uses, or adaptations of this disclosure that follow the general principles of this disclosure and include common knowledge or customary techniques in the art not disclosed herein. The specification and examples are to be considered exemplary only, and the true scope and spirit of this disclosure are indicated by the following claims.

[0114] The above description is only a preferred embodiment of this disclosure and is not intended to limit this disclosure. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this disclosure should be included within the protection scope of this disclosure.

Claims

1. An automatic cleaning device, charged via a base station, comprising: Equipment body; A first charging spring is disposed on the device body, and the first charging spring is used to abut against a second charging spring on the base station; as well as The first limiting component is disposed on the first charging spring, and the first limiting component and the second limiting component on the second charging spring of the base station form an electromagnet structure; When the electromagnet structure is energized, the first limiting component restricts the position of the second limiting component so that the first charging spring and the second charging spring remain in contact when the device body is charging.

2. The device as claimed in claim 1, wherein, One of the first limiting component and the second limiting component is a magnetic rod, and the other is a magnetic hole for accommodating the magnetic rod, wherein a coil is wound on the inner wall of the magnetic rod or the magnetic hole.

3. The device as described in claim 2 further includes a controller disposed on the device body for controlling the on / off power supply of the electromagnet structure.

4. The device as described in claim 3, wherein, The first limiting component or the second limiting component is provided with a coil of the electromagnet structure, and the controller is used to turn the coil on and off so as to turn the electromagnet structure on and off.

5. The device as described in claim 3 further includes a distance sensor for detecting the target distance between the device body and the base station; the controller is used to control the electromagnet structure to be energized when the target distance is less than a preset distance.

6. The device as claimed in claim 5, wherein, The distance sensor is mounted on the first charging spring.

7. The device as claimed in claim 1, wherein, The device body includes two first charging contacts, both of which are disposed on the side wall of the device body or both of which are disposed on the bottom of the device body.

8. The device as claimed in claim 7 further includes a first cleaning brush and a second cleaning brush, respectively located at the bottom of the device body; The two first charging contacts on the device body are both disposed on the side wall of the device body, and are respectively located above the first cleaning brush and above the second cleaning brush.

9. The device as claimed in claim 2, wherein, The magnetic hole is made of copper plated with nickel.

10. The device as claimed in claim 2, wherein, The magnetic rod is made of soft iron.

11. The device as claimed in claim 3, wherein when the first limiting component is the magnetic hole and the second limiting component is the magnetic rod, the automatic cleaning device further includes a target sensor, the target sensor being used to detect the length of the magnetic rod inserted into the magnetic hole.

12. The device as claimed in claim 11, wherein, If the target sensor detects that the length of the magnetic rod inserted into the magnetic hole does not meet the preset condition, the controller is further configured to adjust the position of the automatic cleaning device until the length of the magnetic rod inserted into the magnetic hole meets the preset condition.

13. The device as claimed in claim 5, wherein, The controller is also configured to control the automatic cleaning device to return to the base station for charging when the remaining power of the automatic cleaning device is less than a first preset power, and to obtain the target distance during the process of the automatic cleaning device returning to the base station.

14. The device as claimed in claim 13, wherein, The controller is also used to control the automatic cleaning device to perform a cleaning task in the target area when the remaining power is greater than or equal to the first preset power and less than the second preset power, and when the working state of the automatic cleaning device is a first state where the cleaning task is not completed. Wherein, the first preset power level is less than the second preset power level, and the distance between any location in the target area and the base station is less than or equal to the target threshold.

15. The device as claimed in claim 14, wherein, The controller is also used to control the automatic cleaning device to perform the cleaning task according to a preset cleaning route when the remaining power is greater than or equal to the second preset power and the working state is the first state.

16. The device as claimed in claim 13, wherein, The controller is also configured to control the automatic cleaning device to return to the base station for charging when the remaining power is greater than the first preset power and the working state is the second state where the cleaning task has been completed, and to obtain the target distance during the process of the automatic cleaning device returning to the base station.

17. The device as claimed in any one of claims 13-16, wherein, During the charging process of the automatic cleaning device at the base station, the controller is further configured to control the electromagnet structure to de-energize and continue to perform the cleaning task when the remaining power of the automatic cleaning device is greater than or equal to a third preset power, and the working state of the automatic cleaning device before returning to the base station for charging is the first state where the cleaning task is not completed.

18. A base station for charging an automatic cleaning device, comprising: Base station body; A second charging spring is disposed on the base station body, and the second charging spring is used to abut against the first charging spring on the automatic cleaning device body; as well as The second limiting component is disposed on the second charging spring, and the second limiting component and the first limiting component on the automatic cleaning device form an electromagnet structure. When the electromagnet structure is energized, the second limiting component restricts the position of the first limiting component so that the first charging spring and the second charging spring remain in contact when the device body is charging.

19. The base station as claimed in claim 18 further includes a controller disposed on the base station body for controlling the power supply to and from the electromagnet structure.

20. The base station as claimed in claim 19, wherein, The first limiting component or the second limiting component is provided with a coil of the electromagnet structure, and the controller is used to turn the coil on and off so as to turn the electromagnet structure on and off.

21. An automatic cleaning system, comprising: Automatic cleaning equipment and base stations; The automatic cleaning device includes a device body and a first charging spring plate disposed on the device body, wherein a first limiting component is disposed on the first charging spring plate; The base station includes a base station body and a second charging spring plate disposed on the base station body. The second charging spring plate is provided with a second limiting component. The first limiting component and the second limiting component form an electromagnet structure. When the electromagnet structure is energized, the first limiting component restricts the position of the second limiting component so that the first charging spring and the second charging spring remain in contact when the device body is charging.

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