TWM662572U - Cleaning robot system - Google Patents

Abstract

This new model provides a cleaning robot system, which includes a self-moving cleaning device. The self-moving cleaning device comprises a machine body, cleaning components, and a motion mechanism. The motion mechanism connects the machine body and the cleaning components to drive the cleaning components to move relative to the machine body for lifting and lowering. The cleaning components are detachably connected to the motion mechanism through a first magnetic suction component, and a first magnetic piece is also provided on the cleaning components. Additionally, a base station is included, with an electromagnet installed on it. In this system, when the electromagnet is powered on, the magnetic attraction between the powered electromagnet and the first magnetic piece is greater than the magnetic attraction between the first magnetic suction component and the gravity of the cleaning components. Therefore, automatic disassembly and separation of the cleaning components from the motion mechanism can be achieved without the need for manual operation by the user, thereby enhancing the operational experience of disassembling the cleaning components.

Description

Cleaning Robotic System

The invention relates to the field of smart home technology, and in particular to a cleaning robot system.

With the iterative update and development of technology, self-moving cleaning equipment has entered the lives of ordinary families and has gradually become popular. Among the current self-moving cleaning equipment, mopping machines and sweeping and mopping machines are widely loved by people because they have the function of mopping the floor.

In order to enable the tray to be lifted when not mopping the floor, a motion mechanism is usually provided to lift the tray. However, usually, the connection structure between the tray and the motion mechanism is complicated and inconvenient to disassemble.

A series of simplified concepts are introduced in the content section of the present invention, which will be further described in detail in the specific implementation section. This part of the present invention does not mean to attempt to limit the key features and essential technical features of the technical solution claimed for protection, nor does it mean to attempt to determine the scope of protection of the technical solution claimed for protection.

An embodiment of the first aspect of the present invention provides a cleaning robot system, comprising: a self-moving cleaning device, the self-moving cleaning device comprising a machine body, a cleaning element, and a moving mechanism, the moving mechanism connecting the machine body and the cleaning element to drive the cleaning element to rise and fall relative to the machine body, the cleaning element and the moving mechanism being detachably connected via a first magnetic attraction component, and a first magnetic component being further provided on the cleaning element; a base station, the base station being provided with an electromagnet; wherein the magnetic attraction force between the energized electromagnet and the first magnetic component is greater than the difference between the magnetic attraction force of the first magnetic attraction component and the gravity of the cleaning element.

Furthermore, the base station is provided with a receiving chamber for receiving the self-moving cleaning device, and the electromagnet is arranged on the bottom wall of the receiving chamber; the first magnetic member is located below the first magnetic attraction assembly.

Furthermore, the first magnetic attraction component includes a first matching piece and a second matching piece, the first matching piece is arranged on the moving mechanism, the second matching piece is arranged on the cleaning element, one of the first matching piece and the second matching piece is a magnetic attraction piece, and the other is a magnetic attraction piece or a magnetic piece.

Furthermore, the output end of the motion mechanism includes a sleeve, the first matching piece is arranged inside the sleeve, and the opening of the sleeve faces downward; the cleaning element includes a connecting portion suitable for extending into the sleeve, and the second matching piece is arranged at the top end of the connecting portion; wherein the attracted first matching piece and the second matching piece are both located in the sleeve.

Furthermore, the output end of the motion mechanism also includes a rotating portion extending into the sleeve, and the first matching piece is installed on the lower end surface of the rotating portion.

Furthermore, a guide portion is arranged in the sleeve, and the guide portion is used to guide the second matching piece to fit with the first matching piece.

Furthermore, the guiding portion is a boss, the first matching piece is located on a side of the boss away from the sleeve opening, and a side of the boss away from the first matching piece is set as a guiding inclined surface.

Furthermore, the base station also includes: a cleaning plate, which is arranged on the bottom wall of the accommodating chamber, and is used to interfere with the cleaning element of the self-moving cleaning device to remove dirt on the cleaning element; wherein the cleaning plate cover is arranged above the electromagnet; the cleaning plate is detachably connected to the bottom wall of the accommodating chamber.

Furthermore, the cleaning plate includes: a cleaning cavity and a cleaning part arranged in the cleaning cavity, the cleaning part is used to interfere with the cleaning element of the self-moving cleaning device, and the cleaning cavity is used to contain dirt; a mounting groove is opened on the bottom wall of the containing cavity, and the outer edge shape of the cleaning plate matches the shape of the mounting groove. The cleaning plate can be restricted in the mounting groove to limit the horizontal movement of the cleaning plate relative to the base station.

Furthermore, a sewage tank is arranged in the cleaning chamber, and a section of the sewage pipe arranged on the base station extends to the sewage tank.

The above description is only an overview of the technical solution of the present invention. In order to more clearly understand the technical means of the present invention, it can be implemented according to the contents of the specification. In order to make the above and other purposes, features and advantages of the present invention more obvious and easy to understand, the specific implementation method of the present invention is specifically listed below.

The following drawings of the present invention are used as a part of the embodiments of the present invention to understand the present invention. The embodiments of the present invention and their description are shown in the drawings to explain the principle of the present invention.

Cross-references to related applications

This application claims priority to a Chinese patent application filed with the China Patent Office on March 21, 2023, application number 202320566267.1, entitled “Cleaning Robot System,” the entire contents of which are incorporated by reference into this application.

In the following description, a large number of specific details are given in order to provide a more thorough understanding of the technical solution provided by the novel invention. However, it is obvious to those skilled in the art that the technical solution provided by the novel invention can be implemented without one or more of these details.

It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present invention. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should also be understood that when the terms "comprise" and/or "include" are used in this specification, it indicates the presence of the features, wholes, steps, operations, elements and/or components, but does not exclude the presence or addition of one or more other features, wholes, steps, operations, elements, components and/or combinations thereof.

Now, exemplary embodiments according to the present invention will be described in more detail with reference to the drawings. However, these exemplary embodiments can be implemented in many different forms and should not be interpreted as being limited to the embodiments described herein. It should be understood that these embodiments are provided to make the disclosure of the present invention thorough and complete, and to fully convey the concepts of these exemplary embodiments to those having ordinary knowledge in the art.

As shown in FIG. 1 to FIG. 8 , the embodiment of the present invention provides a cleaning robot system, wherein the cleaning robot system includes a self-moving cleaning device 100 and a base station 200 , that is, the base station 200 is used in conjunction with the self-moving cleaning device 100 .

Further, as shown in FIG. 1 and FIG. 2 , the self-moving cleaning device 100 may include a machine body 110, a sensing system 120, a control module, a drive system 140, a cleaning system 150, an energy system, and a human-computer interaction system 170. It is understandable that the self-moving cleaning device 100 may be an automatic cleaning device or other self-moving cleaning devices 100 that meet the requirements. The self-moving cleaning device 100 is a device that automatically performs cleaning operations in a certain area to be cleaned without user operation. Among them, when the self-moving cleaning device 100 starts working, the self-moving cleaning device 100 starts from the base station 200 to perform the cleaning task. When the self-moving cleaning device 100 completes the cleaning task or other situations require the termination of the cleaning task, the self-moving cleaning device 100 can return to the base station 200 to perform operations such as charging, and/or water replenishment, and/or cleaning, and/or dust collection.

As shown in FIG. 1 , the machine body 110 includes a forward portion 111 and a rearward portion 112, and has an approximately circular shape. It may also have other shapes, including but not limited to an approximately D-shaped shape with a front and rear circle and a rectangular or square shape with a front and rear circle.

As shown in FIG. 1 , the sensing system 120 includes a position determination device 121 located on the machine body 110, a collision sensor and a proximity sensor disposed on a buffer 122 of the forward portion 111 of the machine body 110, a cliff sensor disposed at the lower portion of the machine body 110, and sensing devices such as a magnetometer, an accelerometer, a gyroscope, and an odometer disposed inside the machine body 110, for providing the control module with various position information and motion status information of the machine. The position determination device 121 includes but is not limited to a camera and a laser distance sensor (LDS, full name Laser Distance Sensor).

As shown in FIG. 1 , the forward portion 111 of the machine body 110 can carry the buffer 122. During the cleaning process, when the driving wheel module 141 propels the self-propelled cleaning device 100 to walk on the ground, the buffer 122 detects one or more events in the driving path of the self-propelled cleaning device 100 via a sensor system, such as an infrared sensor, disposed thereon. The self-propelled cleaning device 100 can control the driving wheel module 141 through the events detected by the buffer 122, such as obstacles and walls, so that the self-propelled cleaning device 100 responds to the events, such as staying away from the obstacles.

The control module is disposed on a circuit board in the machine body 110, and includes a computing processor, such as a central processing unit and an application processor, that communicates with a non-temporary memory, such as a hard disk, a flash memory, or a random access memory. The application processor utilizes a positioning algorithm, such as a real-time positioning and mapping (SLAM) algorithm, based on obstacle information fed back by a laser ranging device to draw a real-time map of the environment in which the self-moving cleaning device 100 is located. In addition, the distance information and speed information fed back by the sensors, cliff sensors, magnetometers, accelerometers, gyroscopes, odometers and other sensing devices installed on the buffer 122 are combined to comprehensively judge the current working state and position of the self-moving cleaning device 100, as well as the current posture of the self-moving cleaning device 100, such as passing a threshold, being on a carpet, being on a cliff, being stuck above or below, the dust box being full, being picked up, etc., and specific next-step action strategies are given for different situations, so that the self-moving cleaning device 100 has better cleaning performance and user experience.

As shown in FIG2 , the drive system 140 can control the machine body 110 to travel across the ground based on a drive command having distance and angle information, such as x, y and θ components. The drive system 140 includes a drive wheel module 141, which can control the left wheel and the right wheel at the same time. In order to more accurately control the movement of the machine, it is preferred that the drive wheel module 141 includes a left drive wheel module and a right drive wheel module. The left and right drive wheel modules are arranged along the transverse axis defined by the machine body 110. In order to enable the self-propelled cleaning device 100 to move more stably or have stronger mobility on the ground, the self-propelled cleaning device 100 may include one or more driven wheels 142, and the driven wheels 142 include but are not limited to universal wheels. The driving wheel module 141 includes a travel wheel and a driving motor and a control circuit for controlling the driving motor. The driving wheel module 141 can also be connected to a circuit and an odometer for measuring the driving current. The driving wheel can have a biased drop-down suspension system, which is fastened in a movable manner, for example, attached to the machine body 110 in a rotatable manner, and receives a spring bias that is biased downward and away from the machine body 110. The spring bias allows the drive wheel to maintain contact and traction with the ground with a certain ground force, while the cleaning element 183 of the self-propelled cleaning device 100 also contacts the ground with a certain pressure.

The energy system includes a rechargeable battery, such as a nickel-metal hydride battery and a lithium battery. The rechargeable battery can be connected to a charging control circuit, a battery pack charging temperature detection circuit, and a battery undervoltage monitoring circuit, and the charging control circuit, the battery pack charging temperature detection circuit, and the battery undervoltage monitoring circuit are further connected to the single-chip microcomputer control circuit. The host is charged by connecting to the base station 200 through a charging electrode arranged on the side or bottom of the fuselage.

The human-machine interaction system 170 includes buttons on the host panel, which are used by the user to select functions; it may also include a display screen and/or an indicator light and/or a speaker, which display the current state of the machine or function options to the user; it may also include a mobile client program. For the path navigation type self-moving cleaning device 100, a map of the environment where the device is located and the location of the machine can be displayed to the user on the mobile client, which can provide the user with more abundant and humanized functions.

The cleaning system 150 includes a wet cleaning system, that is, the self-propelled cleaning device 100 can be a mopping machine, or the cleaning system 150 includes a wet cleaning system and a dry cleaning system 151, that is, the self-propelled cleaning device 100 can be a sweeping and mopping machine.

As shown in FIG2 , the dry cleaning system 151 provided by the novel embodiment may include a roller brush, a dust box, a fan, and an air outlet. The roller brush that has a certain interference with the ground sweeps up the garbage on the ground and rolls it to the front of the dust suction port between the roller brush and the dust box, and then the suction gas generated by the fan and passing through the dust box is sucked into the dust box. The dry cleaning system 151 may also include a side brush 152 with a rotating shaft, and the rotating shaft is at a certain angle relative to the ground to move the debris into the roller brush area of the cleaning system 150.

The wet cleaning system may include: a cleaning element 180, a water supply mechanism, a liquid storage tank, etc. The cleaning element 180 may be disposed below the liquid storage tank, and the cleaning liquid inside the liquid storage tank is transmitted to the cleaning element 180 through the water supply mechanism, so that the cleaning element 180 performs wet cleaning on the surface to be cleaned. In other embodiments of the present invention, the cleaning liquid inside the liquid storage tank may also be directly sprayed onto the surface to be cleaned, and the cleaning element 180 cleans the surface by evenly applying the cleaning liquid. It can be understood that the self-moving cleaning device 100 is provided with a water injection port connected to the liquid storage tank, and the liquid outside the self-moving cleaning device 100 can be replenished into the liquid storage tank by using the water injection port to realize the water replenishment operation of the liquid storage tank.

As shown in Figures 7 and 8, the cleaning element 180 provided in the present novel embodiment includes a moving mechanism 181 and a cleaning element 183 disposed on the machine body 110, that is, the entire cleaning element 180 can be installed on the machine body 110 through the moving mechanism 181, and the cleaning element 180 moves with the movement of the machine body 110 to achieve the mopping function. Among them, the motion mechanism 181 is used to drive the cleaning element 183 to move, such as the motion mechanism 181 can drive the cleaning element 183 to rise and fall, and the motion mechanism 181 can also drive the cleaning element 183 to rotate. Therefore, according to the requirement of whether the cleaning element 183 is in contact with the surface to be cleaned, the lifting and rotating operations of the cleaning element 183 can be realized through the motion mechanism 181 to meet the different functional requirements of the cleaning element 183, that is, the processing of the differentiation strategy of the cleaning element 183 can be realized, thereby improving the cleaning performance of the self-cleaning equipment, and improving the cleaning efficiency and usage experience.

In the forward direction of the self-propelled cleaning device 100, the cleaning element 183 is located at the rear of the dry cleaning system 151. The cleaning element 183 can generally be a flexible material with water absorption such as fabric or sponge. In this solution, the cleaning element 183 can be at least one rotating turntable. The water in the liquid storage tank of the self-propelled robot is guided to the cleaning element 183. The wet cleaning element 183 removes the dirt on the ground through the rotating motion.

Furthermore, when the self-propelled cleaning device 100 is moving, in some scenarios where mopping is not required, such as traveling to and from the base station 200 or cleaning a carpet, the control module can be used to control the motion mechanism 181 to drive the cleaning element 183 to rise. It can be understood that the cleaning element 183 can be raised when the lowest lower surface of the cleaning element 183 is higher than the lowest lower surface of the driving wheel. So that in this case, during the process of the driving wheel driving the self-moving cleaning device 100 to move, the cleaning element 183 will not contact the surface to be cleaned, thereby avoiding the situation where the cleaning element 183 contacts the surface to be cleaned and causes secondary contamination of the surface to be cleaned in a scene where mopping is not required, which is beneficial to improving the cleaning performance of the self-moving cleaning device 100, improving the cleaning efficiency and the usage experience.

When the self-moving cleaning device 100 is moving, in some scenarios where mopping is required, such as wet treatment of the floor, the control module can be used to control the motion mechanism 181 to drive the cleaning element 183 to descend, so that the lowest lower surface of the cleaning element 183 interferes with the surface to be cleaned. At the same time, the control module is used to control the motion mechanism 181 to drive the cleaning element 183 to rotate, thereby making the driving wheel drive the self-moving cleaning device 100 to move, and the cleaning element 183 will contact and interfere with the surface to be cleaned, so as to realize the mopping operation of the surface to be cleaned.

As shown in Figures 7 and 8, in some possible embodiments provided by the present invention, the cleaning element 183 and the moving mechanism 181 of the self-moving cleaning device 100 are detachably connected via a first magnetic attraction assembly, thereby enabling the cleaning element 183 to be quickly and conveniently separated from the moving mechanism 181 so as to perform maintenance or cleaning on the cleaning element 183 and the moving mechanism 181 separately, which is easy to operate. It should be noted that, due to the downward gravity of the cleaning element 183 itself, at least part of the magnetic attraction force between the first magnetic components can overcome the self-gravity of the cleaning element 183, the resistance and vibration of the cleaning element 183 during the mopping operation, that is, part of the magnetic attraction force between the first magnetic components can offset the self-gravity of the cleaning element 183, the resistance and vibration of the cleaning element 183 during the mopping operation, so that the cleaning element 183 connected to the motion mechanism 181 through the first magnetic component can perform mopping, lifting, rotation and other operations normally. That is to say, in order to ensure that the cleaning element 183 can be reliably installed on the moving mechanism and work normally, the magnetic force of the first magnetic component is greater than the weight of the cleaning element 183 itself. The first magnetic component uses the partial magnetic force that is greater than the weight of the cleaning element 183 itself to reliably adsorb the cleaning element 183 on the moving mechanism 181.

As shown in FIG. 8 , in the above embodiment, a first magnetic member 1831 is further disposed on the cleaning element 183, and an electromagnetic iron 230 is disposed on the base station 200. It can be understood that the electromagnetic iron 230 is a device that generates electromagnetic when powered. The magnetic attraction between the powered electromagnetic iron 230 and the first magnetic component 1831 is greater than the difference between the magnetic attraction between the first magnetic attraction component and the gravity of the cleaning element 183. Therefore, when the self-moving cleaning device 100 is docked on the base station 200, the electromagnetic iron 230 on the base station 200 is powered. Since the magnetic attraction between the powered electromagnetic iron 230 and the first magnetic component 1831 on the cleaning element 183 is greater than the difference between the magnetic attraction between the first magnetic attraction component and the gravity of the cleaning element 183, the cleaning element 183 originally adsorbed on the moving mechanism 181 can be moved. The cleaning element 183 can be reliably adsorbed by the electromagnet 230 on the base station 200, that is, the adsorption connection with the moving mechanism 181 is changed to the adsorption connection with the energized electromagnet 230 on the base station 200, and then the moving mechanism 181 is moved, so that the moving mechanism 181 and the cleaning element 183 can overcome the magnetic attraction of the first magnetic attraction component and separate, thereby realizing the automatic disassembly and separation of the cleaning element 183 and the moving mechanism 181. The entire process does not require manual operation by the user, freeing the user's hands and improving the operational experience of disassembling the cleaning element 183.

It can be understood that when the cleaning element 183 located on the base station 200 needs to be connected to the moving mechanism 181, the electromagnet 230 is de-energized. Since the de-energized electromagnet 230 does not generate electromagnetic force, that is, there is no adsorption force between the de-energized electromagnet 230 and the first magnetic member 1831, the cleaning element 183 is equivalent to being placed on the base station 200 without restriction. Therefore, the moving mechanism 181 can be moved to a suitable position of the cleaning element 183. Under the action of the first magnetic attraction component, the cleaning element 183 can be smoothly and reliably adsorbed and connected to the moving mechanism 181. This process also does not require manual operation by the user, freeing the user's hands and improving the operating experience of connecting the cleaning element 183 with the moving mechanism 181.

In the present embodiment, the first magnetic member 1831 can be a magnetic iron sheet or other magnetic member that meets the requirements. For example, when the first magnetic member 1831 is a magnetic iron sheet, since the iron sheet itself does not have a specific magnetic attraction property, when the self-moving cleaning device performs a cleaning task, the first magnetic member 1831 will not attract iron filings and other debris on the ground to the cleaning element 183.

As shown in Figures 3 and 4, the base station 200 provided in the present novel embodiment is provided with a receiving chamber 211 for receiving the self-moving cleaning device 100, that is, when the self-moving cleaning device 100 needs to be charged, and/or filled with water, and/or the cleaning element 183 needs to be cleaned, and/or dust is collected, the self-moving cleaning device 100 can be docked in the receiving chamber 211 of the base station 200.

Among them, the electromagnet 230 is arranged on the bottom wall of the accommodating chamber 211, and the first magnetic member 1831 is located below the first magnetic attraction assembly. Therefore, when the self-moving cleaning device 100 is docked on the base station 200, and cooperates with the moving mechanism 181 to drive the cleaning element 183 to rise and fall relative to the machine body 110, the active disassembly and installation of the cleaning element 183 can be realized, and the operation is simple and easy to use.

Specifically, in the process of the self-moving cleaning device 100 moving close to the base station 200 and docking at the base station 200, the motion mechanism 181 can drive the cleaning element 183 to be lifted away from the surface to be cleaned to avoid interference between the cleaning element 183 and the base station 200, so that the self-moving cleaning device 100 can accurately dock at a suitable position of the base station 200. Then, the motion mechanism 181 can drive the cleaning element 183 to descend. Since the electromagnet 230 is located on the bottom wall of the receiving chamber 211 and the first magnetic member 1831 is located below the first magnetic attraction assembly, the descending cleaning element 183 can make the first magnetic member 1831 as close as possible to the electromagnet 230 on the bottom wall of the receiving chamber 211 of the base station 200. After the electromagnet 230 is energized, the magnetic attraction force between the electromagnet 230 and the first magnetic member 1831 is greater than the magnetic force of the first magnetic attraction assembly. The cleaning element 183 is reliably adsorbed by the energized electromagnet 230 at this time, and the moving mechanism 181 moves in the opposite direction, such as executing the operation of driving the cleaning element 183 to lift. Since the cleaning element 183 is reliably adsorbed by the electromagnet 230, the cleaning element 183 cannot be lifted together with the moving mechanism 181, and the cleaning element 183 is retained on the base station 200 by the larger magnetic attraction force, thereby completing the disassembly operation of the cleaning element 183.

By the same token, the installation process of the cleaning element 183 and the motion mechanism 181 is opposite to that described above. When the self-moving cleaning device 100 is docked at a suitable position in the accommodating cavity 211 of the base station 200, the motion mechanism 181 drives the cleaning element 183 to descend, so that the end of the motion mechanism 181 is as close as possible to the cleaning element 183 or contacts the top of the cleaning element 183. The electromagnet 230 is de-energized, and under the action of the first magnetic attraction component, the cleaning element 183 can be smoothly and reliably adsorbed and connected to the motion mechanism 181, thereby completing the connection between the cleaning element 183 and the motion mechanism 181. Finally, the motion mechanism 181 can drive the cleaning element 183 to lift up, so that the cleaning element 183 is as close to the bottom of the machine body 110 as possible, thereby facilitating the self-moving cleaning device 100 to leave the base station 200 smoothly.

As shown in FIG8 , in some possible embodiments provided by the present invention, the first magnetic attraction assembly includes a first matching piece 1812 and a second matching piece 1832. The first matching piece 1812 is disposed on the motion mechanism 181, and the second matching piece 1832 is disposed on the cleaning element 183. One of the first matching piece 1812 and the second matching piece 1832 is a magnetic attraction piece, and the other is a magnetic attraction piece or a magnetic piece. Thus, the first matching piece 1812 and the second matching piece 1832 can realize the disassembly and installation of the cleaning element 183 and the motion mechanism 181 by using the magnetic attraction effect.

Furthermore, the magnetic attraction member can be a permanent magnet, and the magnetic member can be a magnetic iron sheet. The permanent magnet can be arranged on the cleaning element 183, and the magnetic iron sheet is arranged on the moving mechanism 181, or the permanent magnet can be arranged on the moving mechanism 181, and the magnetic iron sheet is arranged on the cleaning element 183.

Specifically, as shown in FIG8 , the permanent magnet is disposed on the cleaning element 183, and the magnetic iron sheet is disposed on the moving mechanism 181. It is understandable that the distance between the permanent magnet on the cleaning element 183 and the first magnetic member 1831 can be reasonably set so that there is no magnetic effect between the permanent magnet and the first magnetic member 1831, or the magnetic effect is weak.

Further, as shown in FIG8 , the output end of the motion mechanism 181 includes a sleeve 1811. It can be understood that the motion mechanism 181 also includes a driving part 1814 and a transmission part 1815. The driving part 1814 drives the sleeve 1811 to move through the transmission part 1815. For example, the driving part 1814 can drive the sleeve 1811 to move up and down through the transmission part 1815, that is, the sleeve 1811 can be understood as an output end of the motion mechanism 181. Among them, the first matching piece 1812 is arranged inside the sleeve 1811, and the opening of the sleeve 1811 faces downward. The cleaning element 183 includes a connecting part suitable for extending into the sleeve 1811, and the second matching piece 1832 is arranged at the top end of the connecting part. Therefore, when the first matching piece 1812 and the second matching piece 1832 are adsorbed together, the cleaning element 183 can move synchronously with the sleeve 1811, thereby realizing the lifting operation of the cleaning element 183.

Furthermore, since the first fitting part 1812 is located inside the sleeve 1811 and the second fitting part 1832 is arranged at the top end of the connecting part, after the first fitting part 1812 and the second fitting part 1832 are adsorbed together, the attracted first fitting part 1812 and the second fitting part 1832 are both located inside the sleeve 1811. Therefore, the sleeve 1811 can play a good protective role for the first fitting part 1812 and the second fitting part 1832, avoiding the first fitting part 1812 and the second fitting part 1832 from colliding with foreign objects and being misplaced or separated, which is beneficial to improving the reliability and accuracy of the connection between the first fitting part 1812 and the second fitting part 1832, and further improving the reliability and accuracy of the connection between the cleaning element 183 and the sleeve 1811.

In the above-mentioned embodiment, the output end of the motion mechanism 181 further includes a rotating portion 1816 extending into the sleeve 1811. It can be understood that the rotating portion 1816 is connected to the transmission portion 1815, and the driving portion 1814 can drive the rotating portion 1816 to rotate through the transmission portion 1815. Therefore, when the first matching member 1812 and the second matching member 1832 are adsorbed, they can drive the cleaning element 183 to rotate to realize the mopping operation.

The first matching piece 1812 is installed on the lower end surface of the rotating portion 1816, thereby facilitating reliable fitting of the first matching piece 1812 and the second matching piece 1832, ensuring good adsorption and improving the reliability of the connection between the cleaning element 183 and the motion mechanism 181.

It can be understood that, in a specific example, the motion mechanism 181 may include a driving part 1814, which drives the sleeve 1811 to rise and fall and the rotating part 1816 to rotate through the transmission part 1815 at the same time. That is, the lifting and rotating operations of the cleaning element 183 are driven by the same driving part 1814. In this way, the structure of the motion mechanism 181 can be simplified, the cost can be reduced, and the design requirements of the motion mechanism 181 with a compact structure and a small size can be met.

In another specific example (not shown in the figure), the moving mechanism may include two driving parts, one driving part drives the sleeve to rise and fall through the transmission part, and the other driving part drives the rotating part to rotate through another transmission part, so as to respectively realize the lifting operation of the sleeve and the rotation operation of the rotating part, that is, the lifting operation and the rotation operation of the cleaning element are driven by the two driving parts respectively.

In the above embodiment, the sleeve 1811 is provided with a guide portion 1813 inside, and the guide portion 1813 is used to guide the second matching piece 1832 to fit with the first matching piece 1812. In other words, under the guidance of the guide portion 1813, the second matching piece 1832 can fit with the first matching piece 1812 reliably and accurately, thereby improving the reliability and accuracy of the connection between the first matching piece 1812 and the second matching piece 1832, and improving the reliability and accuracy of the connection between the cleaning element 183 and the sleeve 1811.

The guiding portion 1813 is a boss, the first matching piece 1812 is located on the side of the boss away from the opening of the sleeve 1811, and the side of the boss away from the first matching piece 1812 is set as a guiding slope. The boss is easy to process, and the guiding slope is also easy to process, which is beneficial to reducing manufacturing costs.

By arranging the first fitting part 1812 on the side of the boss away from the opening of the sleeve 1811, when the moving mechanism 181 approaches the cleaning element 183 separated from it, the cleaning element 183 will pass through the opening and the boss of the sleeve 1811 in sequence, and then be adsorbed and connected with the first fitting part 1812. As a result, the second fitting part 1832 of the cleaning element 183 can be smoothly and reliably fitted with the first fitting part 1812 under the action of the guiding slope of the boss, thereby ensuring the reliability and accuracy of the connection between the cleaning element 183 and the sleeve 1811.

As shown in FIG. 5 and FIG. 6 , in some possible implementations provided by the present invention, the base station 200 further includes a cleaning plate 220, which is disposed on the bottom wall of the receiving chamber 211. The cleaning plate 220 is used to interfere with the cleaning element 183 of the self-moving cleaning device 100 to remove dirt from the cleaning element 183. Therefore, when the self-moving cleaning device 100 is docked in the receiving chamber 211 of the base station 200, the cleaning plate 220 can be used to clean the cleaning element 183, so that the dirty cleaning element 183 becomes a clean cleaning element 183 for the next mopping.

Furthermore, the cleaning plate 220 is disposed above the electromagnetic iron 230. It should be noted that the electromagnetic has good penetrating power. The electromagnetic generated by the energized electromagnetic iron 230 can penetrate the cleaning plate 220 and react with the first magnetic member 1831 at a suitable position, that is, the cleaning plate 220 does not hinder the penetration of the electromagnetic. By covering the cleaning plate 220 above the electromagnetic iron 230, the cleaning plate 220 is used to provide good protection for the electromagnetic iron 230, avoiding the problem that the electromagnetic iron 230 is directly exposed to the external environment and is easily contaminated or damaged, which is conducive to improving the service life of the electromagnetic iron 230.

As shown in FIG. 5 and FIG. 6 , in some possible embodiments provided by the present invention, the cleaning plate 220 is detachably connected to the base station 200, so that the cleaning plate 220 can be removed from the base station 200 as a whole to clean the cleaning plate 220, which is conducive to improving the thoroughness of cleaning the cleaning plate 220, avoiding the possibility of the cleaning plate 220 not being thoroughly cleaned or inconveniently cleaned, and causing dirt to remain on the cleaning plate 220 for a long time and produce odor, which is conducive to improving the cleaning experience of the cleaning plate 220 and improving the user's satisfaction. At the same time, the cleaning plate 220 is detachably connected to the base station 200, which is conducive to improving maintenance efficiency.

As shown in FIG. 5 and FIG. 6 , the cleaning tray 220 includes a cleaning cavity 2211 and a cleaning portion 222 disposed inside the cleaning cavity 2211. The cleaning portion 222 is used to interfere with the cleaning element 183 of the self-moving cleaning device 100 to remove dirt from the cleaning element 183, thereby achieving a cleaning operation on the cleaning element 183. For example, when the cleaning element 183 is a tray, the cleaning operation on the tray is achieved by the interference between the tray and the cleaning portion 222 in the cleaning cavity 2211. Since the cleaning cavity 2211 is used to accommodate dirt, the cleaning portion 222 can collect dirt on the cleaning element 183 after removing it and then gather it in the cleaning cavity 2211.

The cleaning plate 220 is configured to be detachably connected to the base station 200, so that the cleaning plate 220 as a whole can be detachably connected to the base station 200, so that the user can install the cleaning plate 220 on the base station 200 or remove it from the base station 200 as needed. For example, the user can remove the entire cleaning plate 220 from the base station 200, which is convenient for cleaning the cleaning plate 220, improves the convenience of cleaning the cleaning plate 220, and can improve the thoroughness of cleaning the cleaning plate 220, can prevent dirt from accumulating or remaining in the cleaning cavity 2211 for a long time to generate odor, and is conducive to improving user satisfaction.

It is understandable that when it is necessary to clean the cleaning element 183 of the self-moving cleaning device 100 , the cleaning plate 220 can be installed on the base station 200 .

Furthermore, the cleaning plate 220 and the base station 200 can be detachably connected by means of a snap-fit structure, a limit structure, a threaded structure, a mortise and tenon structure, a magnetic structure, etc. The cleaning portion 222 can be connected to the cleaning cavity 2211 of the cleaning plate 220 by bonding, welding, or other structures, or the cleaning portion 222 can be integrally formed with the cavity wall of the cleaning cavity 2211, such as the cleaning portion 222 can be integrally formed with the cleaning plate 220. The dirt on the cleaning element 183 removed by the cleaning portion 222 can include dirty liquid, hair, solid residue, etc.

In some possible embodiments provided by the present invention, when the cleaning element 183 of the self-moving cleaning device 100 is dirty and needs to be cleaned, the self-moving cleaning device 100 can be docked in the receiving cavity 211 of the base station 200 to facilitate the cleaning disk 220 to clean the cleaning element 183.

The cleaning plate 220 is installed on the bottom wall of the receiving chamber 211, so that when the self-moving cleaning device 100 is received in the receiving chamber 211 of the base station 200, the cleaning plate 220 at the bottom of the receiving chamber 211 can clean the cleaning element 183 at the bottom of the machine body 110.

As shown in FIG. 5 , a mounting groove 2111 is provided on the bottom wall of the accommodating chamber 211, and the outer edge shape of the cleaning plate 220 matches the shape of the mounting groove 2111. The cleaning plate 220 can be confined in the mounting groove 2111 to limit the horizontal movement of the cleaning plate 220 relative to the base station 200. Therefore, by reasonably setting the shape of the mounting groove 2111 and the shape of the outer edge of the cleaning plate 220, the cleaning plate 220 can be placed in the mounting groove 2111. When the cleaning plate 220 is inserted into the mounting groove 2111 from the top of the mounting groove 2111, the installation of the entire cleaning plate 220 and the base station 200 can be achieved. When the cleaning plate 220 is taken out from the top of the mounting groove 2111, the disassembly of the entire cleaning plate 220 and the base station 200 can be achieved. The operation is simple and easy to use. The setting of the structures connecting the cleaning plate 220 and the base station 200, such as the snap-on structure, the limit structure, the threaded structure, the mortise and tenon structure, and the magnetic attraction structure, is simplified, which is conducive to reducing costs.

As shown in FIG. 5 and FIG. 6 , in some possible embodiments provided by the present invention, a sewage tank 2212 located inside the cleaning chamber 2211 is provided on the bottom wall of the cleaning chamber 2211, and the bottom of the sewage tank 2212 may be lower than the upper surface of the bottom wall of the cleaning chamber 2211, so that after the cleaning part 222 removes the dirt on the cleaning element 183, the dirt will be gathered in the sewage tank 2212 under the action of gravity. Among them, the base station 200 further includes a sewage pipe 223, one end of which extends into the sewage tank 2212. Specifically, the first end of the sewage pipe 223 is connected to the sewage tank 2212, and the second end of the sewage pipe 223 extends to the outside of the cleaning chamber 2211. Thus, the sewage pipe 223 can be used to discharge the dirt in the sewage tank 2212, and then the dirt in the cleaning chamber 2211 can be discharged in time, so that the cleaning chamber 2211 can continue to contain the dirt, so as to achieve the continuous cleaning of the cleaning element 183, which is beneficial to improve the cleaning effect. At the same time, it can avoid the dirt in the cleaning chamber 2211 not being discharged in time and overflowing to cause secondary pollution, which is beneficial to improve the user's satisfaction. In this new embodiment, the sewage pipe 223 can be made of elastic material to facilitate the disassembly of the cleaning plate 220.

As shown in FIG. 7 , in the above embodiment, a notch 2213 is provided on the side wall of the cleaning chamber 2211, that is, the notch 2213 is provided on the cleaning plate 220, and the sewage pipe 223 is fixed on the cleaning plate 220 through the notch 2213 and extends into the sewage tank 2212. The base station 200 includes a sewage tank 214, and the second end of the sewage pipe 223 is connected to the sewage tank 214, so that the sewage can be collected in the sewage tank 214. It is understandable that a water pump can be provided on the pipeline connecting the sewage pipe 223 and the sewage tank 214 to collect the sewage.

As shown in FIG. 3 , the sewage tank 214 of the base station 200 can be located above the receiving chamber 211. The sewage pipe 223 can be conveniently connected to the sewage tank 214 by using the second end of the sewage pipe 223, and then the sewage tank 2212 can be connected to the sewage tank 214 located above the receiving chamber 211 through the sewage pipe 223, so that the sewage in the cleaning chamber 2211 of the washing plate 220 can be collected in the sewage tank 214 in time. It can be understood that in other possible embodiments, the second end of the sewage pipe 223 can also extend to the outside of the base station 200 and be directly connected to the sewage pipe. Specifically, the sewage pipe 223 is set as a bent structure, and the part connected to the second end of the sewage pipe 223 is bent upward so that the sewage pipe 223 can be reliably connected to the sewage tank 214.

The sewage pipe 223 may be bonded to the notch of the washing plate 220 by an adhesive, or the sewage pipe 223 may be welded to the notch of the washing plate 220 by welding, or the sewage pipe 223 may be formed integrally with the washing plate 220.

As shown in FIG. 5 and FIG. 6 , in some possible embodiments provided by the present invention, the cleaning portion 222 is disposed on the bottom wall of the cleaning chamber 2211 and protrudes from the surface of the cleaning chamber 2211. The cleaning portion 222 includes a connecting end and a free end. The connecting end is connected to the side wall of the cleaning chamber, and the free end extends to the periphery of the sewage tank 2212, that is, the cleaning portion 222 can be understood as a cleaning rib. A first cleaning protrusion 2223 is disposed on the top of the cleaning portion 222. Thus, the first cleaning protrusion 2223 on the top of the cleaning portion 222 interferes with the cleaning element 183 of the self-moving cleaning device 100, so that dirt on the cleaning element 183 can be removed.

Since the connection end of the cleaning portion 222 is connected to the side wall of the cleaning cavity 2211, and the free end of the cleaning portion 222 extends to the periphery of the sewage tank 2212, the cleaning portion 222 also plays a good guiding role. The cleaning portion 222 can guide the dirt into the sewage tank 2212, thereby improving the drainage efficiency of the cleaning plate 220 and improving the cleaning efficiency of the cleaning plate 220. Among them, the cleaning portion 222 protrudes from the surface of the cleaning cavity 2211, so that the first cleaning protrusion 2223 on the cleaning portion 222 can reliably interfere with the cleaning element 183 to ensure a good cleaning effect.

Among them, the number of cleaning parts 222 is at least two, such as the number of cleaning parts 222 is two, three, four or more. By reasonably setting the number of cleaning parts 222, it can be ensured that the first cleaning protrusion 2223 of the cleaning part 222 has a sufficient contact area with the cleaning element 183 to ensure a good cleaning effect. At the same time, it can be ensured that there is sufficient space in the cleaning cavity 2211 for dirt to flow smoothly to the sewage tank 2212 to ensure good cleaning efficiency.

It can be understood that during the cleaning process of the cleaning element 183, the cleaning element 183 interferes with the first cleaning protrusion 2223. At the same time, the moving mechanism of the self-moving cleaning device 100 drives the cleaning element 183 to rotate, so that the entire cleaning element 183 rotates to cyclically interfere with the first cleaning protrusion 2223, thereby realizing the cleaning operation of the cleaning element 183.

As shown in Figures 5 and 6, in some possible embodiments provided by the present invention, the cleaning plate 220 further includes: a water guide portion 224, which is arranged on the inner bottom wall of the cleaning cavity 2211 and protrudes from the surface of the cleaning cavity 2211, that is, the water guide portion 224 can be understood as a water guide rib, and a water guide groove 2241 is opened on the top of the water guide portion 224, and the water guide groove 2241 is connected to the water outlet 2112 on the base station 200. The water guide groove 2241 is used to contain cleaning liquid and can interfere with the cleaning element 183. Thus, the cleaning liquid flows from the water outlet 2112 of the base station 200 into the water guide groove 2241. When the cleaning element 183 interferes with the water guide groove 2241, it can be wetted by the cleaning liquid in the water guide groove 2241. Then, the cleaning element 183 interferes with the cleaning portion 222 to clean the cleaning element 183. Such a configuration is beneficial to improving the cleaning effect of the cleaning element 183. Among them, the water guide portion 224 protrudes from the surface of the cleaning cavity 2211, so that the water guide groove 2241 on the water guide portion 224 can reliably interfere with the cleaning element 183 to ensure that the water in the water guide groove 2241 can be smoothly dipped by the cleaning element 183.

The number of the water guide parts 224 is at least two, such as two, three, four or more water guide parts 224. By properly setting the number of the water guide parts 224, it can be ensured that the cleaning liquid in the water guide groove 2241 of the water guide part 224 can more evenly and comprehensively wet the cleaning element 183. The water guide part 224 and the cleaning part 222 are spaced apart and distributed in the cleaning chamber 2211.

It can be understood that during the cleaning process of the cleaning element 183, the cleaning element 183 interferes with the water guide groove 2241 of the water guide portion 224. At the same time, the motion mechanism of the self-moving cleaning device 100 drives the cleaning element 183 to rotate, so that the entire cleaning element 183 rotates to circulate and interfere with the water guide groove 2241, so that the cleaning element 183 can be evenly wetted. The wetted cleaning element 183 interferes with the cleaning portion 222 to improve the cleaning effect.

As shown in FIG3 and FIG4, the base station 200 includes a clean water tank 213, which is located above the receiving chamber 211 and is used to receive cleaning liquid. The cavity wall of the receiving chamber 211 is provided with a water outlet 2112, which is connected to the clean water tank 213. The cleaning liquid in the clean water tank 213 can be input into the water guide groove 2241 through the water outlet 2112. The water outlet 2112 can be located at the top of the receiving chamber 211, and the water outlet 2112 is directly opposite to the water guide groove 2241 of the water guide part 224. In this way, the opening and closing of the water outlet 2112 can be controlled by a valve or other components, so that the cleaning liquid in the clean water tank 213 can be input into the water guide groove 2241 under the action of gravity. It is understandable that the water outlet 2112 may also be located on the side wall of the accommodating chamber 211 , and the water outlet 2112 and the water guide groove 2241 are connected by a pipeline to allow the cleaning liquid in the cleaning box to flow into the water guide groove 2241 .

As shown in FIG. 8 , in some possible embodiments provided by the present invention, a liquid leakage port 2242 is provided on the water guide portion 224 and communicates with the water guide groove 2241. After the cleaning liquid enters the water guide groove 2241 of the water guide portion 224, the cleaning element 183 of the self-moving cleaning device 100 cannot completely soak up the cleaning liquid in the water guide groove 2241. In the case where cleaning liquid is retained in the water guide groove 2241, a liquid leakage port 2242 connected to the water guide groove 2241 is provided on the water guide portion 224, so that the cleaning liquid remaining in the water guide groove 2241 can be discharged from the liquid leakage port 2242, which can avoid the situation where the liquid is retained in the water guide groove 2241 for a long time and produces odor, thereby helping to improve the cleanliness of the water guide groove 2241. It can be understood that when the cleaning plate 220 is removed from the base station 200 for cleaning, the water guide portion 224 and the cleaning portion 222 can also be cleaned.

The liquid leakage port 2242 is connected to the bottom of the water channel 2241 , so that the residual liquid in the water channel 2241 can be discharged more thoroughly through the liquid leakage port 2242 , thereby improving the thoroughness of the liquid drainage of the water channel 2241 .

The present invention has been described through the above embodiments, but it should be understood that the above embodiments are only for the purpose of example and description, and are not intended to limit the present invention to the described embodiments. In addition, it can be understood by those skilled in the art that the present invention is not limited to the above embodiments, and more variations and modifications can be made according to the teachings of the present invention, and these variations and modifications are within the scope of protection claimed by the present invention. The protection scope of the present invention is defined by the attached application scope and its equivalent scope.

100: Self-moving cleaning equipment

110: Machine body

111: Forward part

112: Backward part

120: Perception System

121: Confirm device

122: Buffer

140:Drive system

141:Drive wheel module

142: driven wheel

150:Cleaning system

151:Dry cleaning system

152:Side brush

170:Human-computer interaction system

180: Cleaning components

181:Sports Organization

1811: Sleeve

1812: First matching piece

1813: Guidance Department

1814: Drive Department

1815: Transmission

1816: Rotating part

183: Cleaning components

1831: The first magnetic element

1832: Second matching piece

200: Base Station

211: Accommodation chamber

2111:Mounting slot

2112: Water outlet

213: Clean water tank

214: Sewage tank

220: Washing plate

2211: Clean cavity

2212: Sewage Tank

222: Cleaning Department

2223: First cleaning protrusion

223: Sewage pipe

224: Water supply department

2241: Water channel

2242: Leakage port

230: Magnet

Figure 1 is a structural schematic diagram of a self-moving cleaning device according to an optional embodiment of the present invention; Figure 2 is a structural schematic diagram of a viewing angle of the embodiment shown in Figure 1; Figure 3 is a structural schematic diagram of a base station according to an optional embodiment of the present invention; Figure 4 is a partial structural schematic diagram of a viewing angle of the embodiment shown in Figure 3; Figure 5 is a structural schematic diagram of a part of a base station and a cleaning plate according to an optional embodiment of the present invention; Figure 6 is a structural schematic diagram of a cleaning plate according to an optional embodiment of the present invention; Figure 7 is a structural schematic diagram of a cleaning element and a part of a base station of a self-moving cleaning device according to an optional embodiment of the present invention; Figure 8 is a cross-sectional view of a viewing angle of the embodiment shown in Figure 7.

181:Sports organizations

1811: Sleeve

1812: First matching piece

1813: Guidance Department

1814: Drive Department

1815: Transmission Department

1816: Rotating part

183: Cleaning components

1831: The first magnetic part

1832: Second matching piece

200: Base station

220: Cleaning plate

230: Magnet

Claims (10)

A cleaning robot system includes: a self-moving cleaning device, the self-moving cleaning device includes a machine body, a cleaning element, and a motion mechanism, the motion mechanism connects the machine body and the cleaning element to drive the cleaning element to rise and fall relative to the machine body, the cleaning element and the motion mechanism are detachably connected through a first magnetic attraction component, and the cleaning element is also provided with a first magnetic component; a base station, the base station is provided with an electromagnet, and the base station is used in conjunction with the self-moving cleaning device; wherein the magnetic attraction between the energized electromagnet and the first magnetic component is greater than the difference between the magnetic attraction of the first magnetic attraction component and the gravity of the cleaning element. The cleaning robot system as described in claim 1, wherein the base station is provided with a receiving chamber for receiving the self-moving cleaning device, the electromagnet is provided on the bottom wall of the receiving chamber; and the first magnetic member is located below the first magnetic attraction assembly. The cleaning robot system as described in claim 2, wherein the first magnetic attraction component includes a first matching component and a second matching component, the first matching component is arranged on the motion mechanism, the second matching component is arranged on the cleaning element, one of the first matching component and the second matching component is a magnetic attraction component, and the other is a magnetic attraction component or a magnetic component. A cleaning robot system as described in claim 3, wherein the output end of the motion mechanism includes a sleeve, the first matching piece is arranged inside the sleeve, and the opening of the sleeve faces downward; the cleaning element includes a connecting portion suitable for extending into the sleeve, and the second matching piece is arranged at the top end of the connecting portion; Wherein, the first matching piece and the second matching piece that are attracted are both located in the sleeve. As described in claim 4, the output end of the motion mechanism further includes a rotating portion extending into the sleeve, and the first matching member is mounted on the lower end surface of the rotating portion. A cleaning robot system as described in claim 4, wherein a guide portion is provided in the sleeve, and the guide portion is used to guide the second mating piece to fit with the first mating piece. A cleaning robot system as described in claim 6, wherein the guide portion is a boss, the first mating piece is located on a side of the boss away from the sleeve opening, and a side of the boss away from the first mating piece is provided as a guide slope. The cleaning robot system as described in claim 2, wherein the base station further comprises: a cleaning plate, the cleaning plate is arranged on the bottom wall of the receiving chamber, the cleaning plate is used to interfere with the cleaning element of the self-moving cleaning device to remove dirt on the cleaning element; wherein the cleaning plate cover is arranged above the electromagnet; the cleaning plate is detachably connected to the bottom wall of the receiving chamber. The cleaning robot system as described in claim 8, wherein the cleaning plate comprises: a cleaning cavity, and a cleaning part disposed in the cleaning cavity, the cleaning part is used to interfere with the cleaning element of the self-moving cleaning device, and the cleaning cavity is used to contain dirt; the bottom wall of the containing cavity is provided with a mounting groove, the outer edge shape of the cleaning plate matches the shape of the mounting groove, and the cleaning plate can be restricted in the mounting groove to limit the movement of the cleaning plate in the horizontal direction relative to the base station. A cleaning robot system as described in claim 9, wherein a sewage tank is provided in the cleaning chamber, and a section of the sewage pipe provided on the base station extends to the sewage tank.