CN113545717A

CN113545717A - Robot base station, base module of base station and robot system

Info

Publication number: CN113545717A
Application number: CN202110897242.5A
Authority: CN
Inventors: 吴洲; 张迎寅; 黄华; 陈超; 郑辉华
Original assignee: Ecovacs Robotics Suzhou Co Ltd
Current assignee: Ecovacs Robotics Suzhou Co Ltd
Priority date: 2021-08-05
Filing date: 2021-08-05
Publication date: 2021-10-26
Also published as: DE112022003820T5; US20240164606A1; WO2023011171A1

Abstract

The embodiment of the application provides a robot base station, a base module of the base station and a robot system. Wherein, a robot basic station includes: a base for docking the robot; a cleaning device for cleaning the robot; a water supply device for supplying water to the robot and/or the cleaning device; a dust collecting device for collecting dust of the robot; the power supply device is used for charging the robot; wherein, be equipped with on the base and be used for each device and the butt joint of robot above-mentioned: docking device, charging docking device, dust collecting docking device, water supply docking device and sewage recovery docking device. According to the scheme provided by the embodiment of the application, the robot base station integrates multiple functions, so that different services are provided for the robot, the user intervention degree is reduced, the automation degree of the robot is improved, and the cleaning efficiency of the robot is improved.

Description

Robot base station, base module of base station and robot system

Technical Field

The application relates to the technical field of electrical equipment, in particular to a robot base station, a base module of the base station and a robot system.

Background

At present, the intelligent degree of the sweeping robot is higher and higher, and the requirement for reducing user intervention and maintenance is stronger and stronger.

However, the base station matched with the sweeping robot has a single function, so that the requirements of the sweeping robot for different functions cannot be met, less intervention of a user cannot be met, and the intelligent requirement of the base station is improved.

Disclosure of Invention

In order to solve or improve the above problem, embodiments of the present application provide a robot base station, a base module of the base station, and a robot system.

In one embodiment of the present application, there is provided a robot base station including:

a base for docking the robot;

a cleaning device for cleaning the robot;

a water supply device for supplying water to the robot and/or the cleaning device;

a dust collecting device for collecting dust of the robot;

a power supply device for charging the robot;

wherein, be equipped with on the base and be used for with above-mentioned each device with the butt joint of robot: docking device, charging docking device, dust collecting docking device, water supply docking device and sewage recovery docking device.

Correspondingly, the embodiment of the present application further provides another robot base station, including:

a base for docking the robot;

a plurality of functional pieces provided on the base;

wherein, at least one functional module is arranged on one functional piece; the base is provided with a butt joint device which is in butt joint with at least part of the functional pieces; different functional modules provide different services for the robot through corresponding docking devices.

Correspondingly, an embodiment of the present application further provides another base module of a base station, including:

a module case having a docking chamber for docking the robot;

the assembling structure is arranged on the module shell and used for assembling at least one functional piece to obtain base stations with different functional quantities and different functional combinations;

the docking device is arranged on the module shell and used for docking the robot docked on the base station;

and the reserved butting devices are used for butting different functional parts respectively.

Correspondingly, this application embodiment still provides a robot, includes:

the host machine body comprises a top surface, a bottom surface and a side surface, wherein the top surface and the bottom surface are arranged in a back-to-back manner, and the side surface is positioned between the top surface and the bottom surface;

the bottom surface is provided with a cleaning component;

the side surface is provided with a docking interface, a charging interface, a dust collecting interface and a water supply interface.

Correspondingly, the embodiment of the present application further provides another robot system, including:

the robot is provided with a plurality of butt-joint interfaces;

a base station, the base station comprising:

a base for docking the robot;

a cleaning device for cleaning the robot;

a dust collecting device for collecting dust of the robot;

a power supply device for charging the robot;

wherein, be equipped with respectively with above-mentioned each device butt joint on the base: docking device, charging docking device, dust collecting docking device, water supply docking device and sewage recovery docking device.

the robot is provided with a plurality of butt-joint interfaces;

a base station, the base station comprising:

a base for docking the robot;

a plurality of functional pieces provided on the base;

In the technical scheme that this application embodiment provided, the robot basic station collects multiple functions as an organic whole, for the robot provides different services, satisfies the automatic demands such as berthhing, self-cleaning, automatic charging, automatic water feeding and automatic collection dirt of robot, reduces user intervention degree, improves the degree of automation of robot, improves the cleaning efficiency of robot.

Drawings

In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative efforts.

Fig. 1 is a schematic plan structure diagram of a robot base station according to an embodiment of the present disclosure;

FIG. 2 is a schematic partial cross-sectional view of a base according to an embodiment of the present application;

fig. 3 is a schematic plan view of a robot provided in an embodiment of the present application;

fig. 4 and fig. 5 are schematic diagrams illustrating a docking process of a robot and a robot base station according to an embodiment of the present disclosure;

FIG. 6 is a schematic diagram illustrating a state of a docking apparatus and a robot docking successfully, according to an embodiment of the present disclosure;

FIG. 7 is a schematic partial cross-sectional view of a base according to an embodiment of the present application, illustrating the operation of the water docking device;

FIG. 8 is a schematic structural view of a water supply docking assembly according to an embodiment of the present application, in a non-operating state;

fig. 9 is a schematic structural diagram of a water supply docking device according to an embodiment of the present application, illustrating an operating state;

fig. 10 is a schematic perspective view of a robot base station according to an embodiment of the present disclosure;

FIG. 11 is a schematic structural view of an anti-fouling patch according to an embodiment of the present disclosure;

FIG. 12 is a schematic structural view of another antifouling patch according to an embodiment of the present application;

FIG. 13 is a schematic view illustrating a usage state of the antifouling patch according to an embodiment of the present disclosure;

FIG. 14 is a schematic view of a cleaning tank cleaning element according to an embodiment of the present application, the cleaning tank cleaning element being mounted on a robot;

FIG. 15 is a schematic view of a cleaning tank cleaning member according to an embodiment of the present application;

fig. 16 is a partial structure of a cleaning tank cleaning member according to an embodiment of the present application.

Detailed Description

In the prior art, the base stations of the robot have relatively single functions, and for example, some base stations only have a single charging function and can only meet the charging requirement of the sweeping robot; some base stations only have the cleaning cloth cleaning function and can only meet the cleaning cloth cleaning requirement of the sweeping robot; still some basic stations only have automatic dust collection function, only can satisfy the dust collection demand of robot of sweeping the floor. The base stations cannot completely meet the requirements of less user intervention and base station intellectualization improvement.

To this end, the present application provides the following embodiments to solve or improve at least part of the above-described problems. In order to make the technical solutions better understood by those skilled in the art, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application.

In the description of the present application, the claims and some of the features in the drawings referred to above, the description of "first", "second", etc. are used to distinguish different components, parts, modules, devices, etc. and do not represent a sequential order nor limit the "first" and "second" to different types. In addition, the embodiments described below are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

Fig. 1 is a schematic plan structure view of a robot base station according to an embodiment of the present disclosure, and fig. 2 is a schematic partial cross-sectional view of a base according to an embodiment of the present disclosure, as shown in fig. 1 and fig. 2.

An embodiment of the present application provides a robot base station 100, including: base 110, cleaning device, water supply device, dust collecting device and power supply device. The cleaning device, the water supply device, the dust collecting device and the power supply device are not shown in the figure. The base 110 is used to dock the robot 200. The cleaning device is used to clean the robot 200. The water supply device is used to supply water to the robot 200 and/or to supply water to the cleaning device. The dust collecting device is used to collect dust of the robot 200. The power supply device is used to charge the robot 200.

The base 110 is provided with: docking device 111, charging docking device 112, dust collection docking device 113, water supply docking device 114, and sewage recovery docking device 115.

In the technical scheme that this application embodiment provided, robot base station 100 collects multiple functions as an organic whole, for robot 200 provides different services, satisfies demands such as robot 200's automatic berth, self-cleaning, automatic charging, automatic water feeding and automatic collection dirt, reduces user's intervention degree, improves robot 200's degree of automation, improves robot 200's cleaning efficiency.

In the embodiment of the present application, referring to fig. 3, the robot base station 100 may be simply referred to as the base station 100, and the robot 200 includes, but is not limited to, a floor-sweeping robot 200, and in order to realize the docking with each docking device on the base station 100, the robot 200 is provided with a docking interface 201 that is matched with each docking device, such as a docking interface 201b that is matched with the charging docking device 112, a docking interface 201c that is matched with the dust-collecting docking device 113, and a docking interface 201d that is matched with the water-supplying docking device 114. Referring to fig. 4 and 5, after completing the cleaning operation in one stage, the robot 200 may automatically return to the robot base station 100, so as to complete the docking with each docking device on the robot base station 100 through each docking port 201.

After the robot 200 and the base station 100 are docked, the docking device 111 can meet the positioning docking requirement of the robot 200. The robot 200 and the power supply device are connected by the charging docking device 112, and the power supply device in the base station 100 satisfies the charging demand of the robot 200. The connection between the robot 200 and the dust collecting device is realized by the dust collecting docking device 113, and the dust inside the robot 200 is extracted by the dust collecting device mounted on the base station 100. The robot 200 is connected to the water supply device by the water supply docking device 114, and the water in the water supply device in the base station 100 is used to satisfy the demand for adding water to the robot 200. Meanwhile, the cleaning device can be used for cleaning the floor cleaning cloth of the robot 200, and the cleaned sewage can be discharged based on the sewage recycling and butting device 115, so that the self-cleaning requirement of the robot 200 is met.

In the embodiment of the present application, referring to fig. 6, one way to realize the docking device 111 is that the docking device 111 includes a guide block 1111, and accordingly, the robot 200 is provided with a docking port 201a for cooperating with the guide block 1111, and the docking port 201a has a groove-like structure, so that the docking port 201a can be referred to as a guide groove. After returning to the base station 100, the robot 200 is docked with the guide block 1111 of the base station 100 through the guide slot, and thus the docking is completed. By the guide blocks 1111 matching with the guide grooves, the docking device on the base station 100 can be ensured to be correctly docked with each pair of interfaces 201 on the robot 200.

One way to realize the charging docking device 112 is that the charging docking device 112 includes a docking signal transmitting device and a charging contact spring, the docking signal transmitting device can transmit a docking signal to the robot 200, the robot 200 returns to the base station 100 according to the received docking signal to complete docking with the base station 100, and then the charging contact spring is connected to the docking port 201b of the robot 200, so that the base station 100 charges the robot 200.

In the embodiment of the present application, the water supply device includes, but is not limited to, a water tank disposed in the base station 100, and referring to fig. 7 to 9, the water supply docking device 114 at least includes a water supply extension tube 1141, and the water supply extension tube 1141 is communicated with the water tank. After the robot 200 stops in place, the position of the water supply telescopic pipe 1141 corresponds to the docking port 201d on the robot 200, the docking port 201d may be referred to as a water inlet of the robot 200, and the water inlet is communicated with a floor mopping water tank of the robot 200. After the water supply telescopic tube 1141 corresponds to the water inlet, the water supply telescopic tube 1141 moves to extend into the water inlet, and the water supply docking device 114 is opened, so that the water in the water tank flows into the water inlet of the robot 200 through the water supply telescopic tube 1141, and the water tank for mopping the floor of the robot 200 is automatically added with water.

In the embodiment of the present application, the dust collecting device includes a dust collecting barrel and a suction device, the dust collecting device is directly communicated with the dust collecting docking device 113 through a fluid passage, the dust collecting docking device 113 includes a dust collecting port, after the robot 200 stops in place, the dust collecting port is communicated with the docking port 201c on the robot 200, and the docking port 201c can be referred to as a dust exhaust port of the robot 200. After the dust collecting port is connected to the dust outlet, the suction device in the base station 100 operates to generate negative pressure so as to draw the garbage in the robot 200 out of the dust outlet to clean the garbage in the robot 200.

Further, in order to ensure the air tightness between the dust collecting port and the dust outlet, the butt joint sealing piece is arranged at the position of the dust collecting port, so that after the robot 200 stops in place, the dust collecting port is in butt joint with the dust discharging port of the robot 200 and can be sealed through the butt joint sealing piece, the air tightness is ensured, and the garbage extraction efficiency of the dust collecting device is ensured.

In the embodiment of the present application, the sewage recovery docking device 115 includes but is not limited to a sewage draining groove and a sewage draining hole on the base 110, and sewage behind the cleaning robot 200 can flow out of the base station 100 through the sewage draining groove and the sewage draining hole, such as flowing out to a sewer, or the base 110 is provided with a sewage tank below, and sewage flows into the sewage tank through the sewage draining groove and the sewage draining hole, and then, or the base station 100 is provided with a recycling bin, and the recycling bin is communicated with a suction pump, and sewage is collected into the recycling bin through the suction pump, so as to complete the collection of sewage.

Based on the cleaning device, the water supply device, the dust collecting device and the power supply device on the robot base station 100, the corresponding docking device 111, the charging docking device 112, the dust collecting docking device 113, the water supply docking device 114 and the sewage recovery docking device 115 are matched, so that the base station 100 has the functions of charging the robot 200, cleaning rags, automatically adding water and automatically collecting dust. For example, after the water in the floor mopping water tank of the robot 200 is used up, the user does not need to add water to the floor mopping water tank by himself, and after the robot 200 returns to the base station 100, the water is automatically added to the floor mopping water tank through the water supply device and the water supply docking device 114. For another example, after the dust box of the robot 200 is full of dust, the user does not need to clean the dust box by himself, and after the robot 200 returns to the base station 100, the dust collection device and the dust collection docking device 113 automatically complete the garbage collection of the dust box. The robot base station 100 integrates multiple functions to provide different services for the robot 200, reduce the user intervention degree, improve the automation degree of the robot 200, and improve the cleaning efficiency of the robot 200.

Further, the docking unit 111, the charging docking unit 112, the dust collection docking unit 113, and the water supply docking unit 114 may be docked with the robot 200 at the same time. When the robot 200 stops at the base station 100, each pair of interfaces 201 on the robot 200 can simultaneously complete docking with the corresponding docking device, that is, the robot 200 can once dock with each docking device on the base station 100, so as to simultaneously realize the processes of automatic charging, automatic water adding, automatic dust collection and automatic cleaning, avoid the need of multiple actions or multiple stops, and improve the use efficiency of the robot 200.

With continued reference to fig. 1 and 10, in an embodiment of the present application, the base 110 includes a base 1101 and an upper cover 1102, and the upper cover 1102 is connected to the base 1101 to form a docking cavity with an open end. After returning to the base station 100, the robot 200 may return to the docking cavity, thereby completing docking with each docking device. The docking device 111, the charging docking device 112, the dust collecting docking device 113, and the water supply docking device 114 are all disposed on the sidewall of the upper cover 1102. The charging dock 112 is located above the docking dock 111. The dust collection docking device 113 and the water supply docking device 114 are respectively located at both sides of the docking device 111. Sewage recovery docking device 115 is located on base 1101. Accordingly, referring to fig. 3, each pair of interfaces 201 on the robot 200 is disposed on the side of the robot 200 and corresponds to each pair of connection locations, thereby enabling the robot 200 to better interface with the base station 100.

Further, in some realizable embodiments of the present application, the dust collection docking device 113 and the water supply docking device 114 are symmetrically disposed at both sides of the docking device 111. The dust collecting docking device 113 and the water supply docking device 114 are symmetrically arranged, so that the space between the docking cavity and the side wall of the upper end cover 1102 can be reasonably utilized, and meanwhile, the dust collecting docking device 113 and the water supply docking device 114 are relatively arranged at a certain distance, so that the mutual interference between the water supply operation and the dust collecting operation is avoided, and the mutual pollution is avoided.

Further, the height of the dust collection docking device 113 and the height of the water supply docking device 114 are both greater than the height of the docking device 111 with respect to the base 1101. The docking device 111 is lower in height, so that docking with the docking port 201a located at the lower edge of the tail of the robot 200 can be achieved conveniently, the water supply docking device 114 is higher in height, docking with the docking port 201d on the robot 200 is facilitated, the docking port 201d is higher in height, and water leakage of the water tank of the robot 200 can be prevented. The height of the dust collection docking device 113 is relatively located at the middle position, so that the docking device can be conveniently docked with the docking port 201c on the robot 200, and the periphery of the dust collection docking device 113 is provided with a space, so that a sealing structure between the dust collection docking device 113 and the docking port 201c can be conveniently accommodated, and dust leakage is avoided.

Further, referring to fig. 5, in some realizable embodiments of the present application, the main body of the robot 200 is substantially circular in structure, and an axial extension of an inlet of the dust collection docking device 113 and an axial extension of an outlet of the water supply docking device 114 both pass through a center of the robot 200. In fig. 5, point o is the center of the robot 200, L1 is an axial extension of the inlet of the dust collection docking device 113, and L2 is an axial extension of the outlet of the water supply docking device 114. Under this kind of mode of setting, the extension line of collection dirt interfacing apparatus 113's import can be perpendicular to the tangent line to interface 201c for collection dirt interfacing apparatus 113's import and interfacing apparatus 201c just set up, reduce the clearance that appears, make the collection dirt route shorter simultaneously, improve collection dirt efficiency. Accordingly, the outlet of the water supply docking device 114 is arranged opposite to the docking port 201d, so that the occurrence of gaps is reduced, the water supply path is shortened, and the water supply efficiency is improved.

Further, with continued reference to fig. 5, there is a first line between the outlet of the dust collection docking device 113 and the center of the robot 200. A second line is arranged between the inlet of the water supply docking device 114 and the circle center of the robot 200. There is a third line between the docking station 111 and the center of the robot 200. The range of the angle value of the included angle between the first connecting line and the third connecting line and the range of the angle value of the included angle between the second connecting line and the third connecting line are both between 20 degrees and 50 degrees by taking the circle center of the robot 200 as a common endpoint. Wherein, L1 is a first connection line, L2 is a second connection line, and L3 is a third connection line, where an angle between the first connection line and the third connection line is defined as an angle a, and an angle between the second connection line and the third connection line is defined as an angle B.

If the angle a is too large, the dust collection docking device 113 is more biased to the right side of the robot 200, and the acting force distributed to the dust collection docking device 113 by the robot 200 is smaller, so that the dust collection docking device 113 is not easily in tight docking with the docking port 201c on the robot 200, and dust leakage is easily caused. Therefore, the angle values of the angles a and B are within the range of 20-50 degrees, so that the dust collection docking device 113, the water supply docking device 114 and the docking device 111 can be separated from each other, and at the same time, a sufficient docking force can be ensured, so that the robot 200 can be in close docking with the dust collection docking device. In some realizable embodiments of the present application, the angles of angle a and angle B may be set at 35 degrees.

Further, another way to ensure enough docking force to enable each pair of interfaces 201 on the docking device and the robot 200 to be docked tightly is that, along the width direction of the sidewall, the distance range between the dust collection docking device 113 and the docking device 111 and the distance range between the water supply docking device 114 and the docking device 111 are both 50-150 mm. Taking the orientation in fig. 5 as an example, the range of the lateral distance between the dust collection docking device 113 and the docking device 111 and the range of the lateral distance between the water supply docking device 114 and the docking device 111 are both 50-150 mm. With such a distance, the docking device 111 and the water supply docking device 114 are both close to the docking device 111, and when the robot 200 is docked with the docking device 111, the docking force is distributed to the dust collection docking device 113 and the water supply docking device 114, respectively, so that the force distributed to the dust collection docking device 113 and the water supply docking device 114 is greater, and thus the dust collection docking device 113 can be docked with the docking port 201c of the robot 200, and the water supply docking device 114 can be docked with the docking port 201d of the robot 200. In some realizable embodiments of the present application, the lateral distance between the dust collection docking device 113 and the docking device 111 and the lateral distance between the water docking device 114 and the docking device 111 are both 100 mm.

Further, referring to fig. 2, a side-by-side roller structure 116 is provided on the base 1101 for assisting in positioning the robot 200 so that the robot 200 is angled into the docking cavity. When the robot 200 is parked at the conventional base station 100, most of the robot 200 needs to move right towards the parked area, and the moving direction of the robot 200 is 180 degrees from the parked area so that the robot 200 can be parked in the base station 100. In the embodiment of the present application, the parking chamber has a horizontal parking angle, and when the moving direction of the robot 200 and the entrance of the parking chamber are 180 degrees, the robot 200 can be smoothly parked. Simultaneously, the chamber is berthhed to the relative both sides, the symmetry is provided with the limit and leans on roller structure 116, lean on roller structure 116 through the limit of both sides about, can make robot 200 be the angle ground and get into the chamber of berthhing, for example, the angle range that robot 200 can enter is 150 degrees, the moving direction of robot 200 is 150 degrees with the entry of berthhing the chamber promptly, thereby the robot 200 of being more convenient for gets into the chamber of berthhing, lean on roller structure 116 to make robot 200 more accurate entering through the limit, promote and aim at the precision. The side-by-side roller structure 116 enables the robot 200 to enter the docking cavity of the base station 100 more smoothly and accurately, positions the robot 200, and improves the docking efficiency of the robot 200. In some realizable embodiments of the present application, the portion of the robot 200 entering the base station 100 may be at 150 degrees.

Further, with reference to fig. 10, a cleaning tank 1103 is disposed on a base 1101 of the base station 100, and after the robot 200 returns to the base station 100, the floor-mopping cloth on the robot 200 can correspond to the cleaning tank 1103, so as to cooperate with the cleaning device and the water supply device to clean the floor-mopping cloth, and the cleaned sewage is discharged from the cleaning tank 1103 through the sewage recycling and docking device 115.

After the robot 200 performs a cleaning operation, dirt such as dust, lint, and hair may adhere to the floor-cleaning rag, and after the floor-cleaning rag is cleaned in the cleaning tank 1103, the dirt may be deposited and attached in the cleaning tank 1103, which may affect the next cleaning. In order to ensure the cleanliness of the cleaning tank 1103, in some practical embodiments of the present application, referring to fig. 11 in combination with fig. 10, at least one anti-fouling pad 1104 is disposed in the cleaning tank 1103. At least one deck antifouling pad pasting 1104 pastes in the washing tank 1103, and dirty can be attached to on antifouling pad pasting 1104, uses a period of time after, only needs to tear off antifouling pad pasting 1104 behind the dirty deposit, and dirty can be cleared up along with antifouling pad pasting 1104 together to abandon, thereby ensure the cleanliness of washing tank 1103.

In the embodiment of the present application, referring to fig. 11, the anti-fouling pasting film 1104 can be an integrally formed structure, and the shape of the anti-fouling pasting film can be matched with the shape of the washing tank 1103. Referring to fig. 12, antifouling pad pasting 1104 can also be for dividing the body structure, according to the demand of difference, and is attached in corresponding position department, and it is more convenient nimble to use, when clearing up, tear dirty antifouling pad pasting 1104 as required can, need not to tear the monoblock, save use cost.

Referring to fig. 13, one implementation of the anti-fouling patch 1104 is that the anti-fouling patch 1104 includes at least three layers, an upper surface layer of the anti-fouling patch 1104 is made of a material that is easy to absorb dirt and can also be referred to as an absorption layer 11041, an intermediate layer of the anti-fouling patch 1104 is a waterproof layer and is used for water isolation and can also be referred to as a water isolation layer 11042, and a lower surface layer of the anti-fouling patch 1104 is used for being bonded in the cleaning tank 1103 and can be referred to as a back glue layer 11043. The shape of the antifouling adhesive film 1104 may be set according to the shape of the cleaning tank 1103, that is, the antifouling adhesive film 1104 has a contour structure and is attached to the cleaning tank 1103 in conformity with the shape thereof.

With reference to fig. 13, when the cleaning tool is used, the plurality of anti-fouling films 1104 can be stacked together, that is, the plurality of anti-fouling films 1104 form a multilayer overlapping structure, after the plurality of anti-fouling films 1104 are attached once, when the cleaning tool is used for cleaning, the cleaning tool can complete cleaning only by tearing off the uppermost anti-fouling film 1104 until all the plurality of anti-fouling films 1104 are used up, and the user can attach the plurality of anti-fouling films 1104 again for use. The coverage of the stain-proofing adhesive film 1104 may be the entire cleaning tank 1103, or may be divided into several pieces of the stain-proofing adhesive films 1104 to be attached according to the shape of the cleaning tank 1103. When the amount of dust adsorbed or adhered to the surface of the anti-fouling patch 1104 reaches a certain level, the user can tear off the anti-fouling patch 1104 and discard the dirt together with the anti-fouling patch 1104.

Through set up antifouling pad pasting 1104 in washing tank 1103 for the user need not wipe washing tank 1103 with burnisher such as brush hard, saves the amount of labour, and user experience is good. Meanwhile, when the cleaning tank 1103 is cleaned, the cleaning tank 1103 does not need to be cleaned by water, so that the water consumption is saved, and the cleaning cost is reduced. In addition, after the antifouling pad pasting 1104 adsorbs the dirty hair, the dirt is collected in a centralized manner, the cleaning effect is cleaner, the use mode is flexible, the plurality of layers of antifouling pad pasting 1104 are overlapped, and only one layer needs to be torn off at a time.

Referring to FIG. 2, to more efficiently clean the floor wipe on the robot 200. In the embodiment of the present application, a protrusion 11031 is disposed in the cleaning tank 1103. The protrusions 11031 rotate relative to the mopping cloth on the robot 200, for example, the protrusions 11031 are fixed, the mopping cloth rotates relative to the protrusions 11031, or the protrusions 11031 rotate and the mopping cloth is relatively static, or the protrusions 11031 and the mopping cloth rotate but the rotation directions of the protrusions 11031 and the mopping cloth are opposite, so that the mopping cloth can be cleaned through the relative rotation between the protrusions 11031 and the mopping cloth.

Furthermore, in order to improve the cleaning efficiency of the mopping rag, the protrusion 11031 is provided with a cleaning liquid outlet 1142 for outputting the cleaning liquid to the cleaned piece. The cleaned piece includes but is not limited to the mopping rag of the robot 200, one way is that the cleaning liquid outlet 1142 is communicated with the water supply device, the water supply device can provide clean water and also can provide cleaning liquid, when the protrusion 11031 rotates relative to the mopping rag on the robot 200, the protrusion 11031 outputs the cleaning liquid, and based on the decontamination and sterilization effects of the cleaning liquid, the mopping rag can be cleaned more cleanly.

In order to avoid the anti-fouling film 1104 from obstructing the protrusions 11031, referring to fig. 11 and 12, at least one layer of the anti-fouling film 1104 is provided with through holes 11044 corresponding to the protrusions 11031, and the protrusions 11031 are exposed through the through holes 11044 to contact with the cleaned parts of the robot 200. The anti-fouling adhesive film 1104 avoids the protrusions 11031 through the through holes 11044, the contact between the protrusions 11031 and the cleaned parts cannot be influenced, and meanwhile, the function that the anti-fouling adhesive film 1104 adsorbs deposited fouling can be ensured.

Referring to fig. 14, in some embodiments of the present disclosure, another way to clean the cleaning tank 1103 is provided, and the robot base station 100 further includes a cleaning tank cleaning unit 120 installed on the robot 200 to clean the cleaning tank 1103 on the base 1101 of the base station 100 under the driving of the robot 200. The cleaning bath cleaning member 120 may be manually installed on the robot 200, or the cleaning bath cleaning member 120 may be automatically installed after the robot 200 automatically removes the mopping cloth by placing the cleaning bath cleaning member 120 at a predetermined position.

Referring to fig. 15, the cleaning tank cleaning piece 120 replaces a floor-mopping cloth tray installed on the robot 200, and after the robot 200 returns to the base station 100, the cleaning device and the water supply device on the base station 100 are matched to clean dirt in the cleaning tank 1103 through the cleaning tank cleaning piece 120, so that the cleanliness of the cleaning tank 1103 is ensured, and the problems that the cleaning tank 1103 is not easy to clean after dirt is generated, and manual cleaning is labor-consuming and time-consuming and low in efficiency are solved.

Further, in the embodiment of the present application, referring to fig. 16 in combination with fig. 14 and 15, one implementation manner of the cleaning device 120 is that the cleaning device 120 includes a cleaning disc 1201 and cleaning bristles 1203 arranged on the cleaning disc 1201, the cleaning bristles 1203 arranged on the cleaning disc 1201 may be one or more, the cleaning disc 1201 may be installed on a position of the floor-mopping cloth of the robot 200, and the floor-mopping cloth is connected to the robot 200 in the same connection manner as the floor-mopping cloth. The cleaning bristles 1203 have a height relative to the cleaning tray 1201 such that the cleaning bristles 1203 can reach the bottom of the cleaning basin 1103 for cleaning. Meanwhile, the cleaning bristles 1203 have a certain rigidity, so that the cleaning bristles 1203 can better brush off dirt in the cleaning tank 1103. Further, the density and the hardness of cleaning wool top 1203 can set up according to the demand of difference, avoid cleaning wool top 1203 too densely, form with arch 11031 and interfere to it leads to the cleaning performance not good to raise robot 200, also avoid simultaneously that cleaning wool top 1203 is too sparse or the rigidity is low excessively, can't effectively clean brush washing tank 1103.

Further, a fool-proof device used in cooperation with the robot 200 is disposed on the cleaning tank cleaning piece 120 to prevent the robot 200 from using the cleaning tank cleaning piece 120 to mop the floor, and a reminding function can be provided for the user. One way to realize the fool-proof device is that the cleaning tray 1201 is provided with a magnetic part 1202, the magnetic part 1202 can be a magnet, the robot 200 is internally provided with a hall sensor, when the hall sensor in the robot 200 detects that the cleaning tray 1201 is installed, and the user places the robot 200 on the ground, the robot 200 can send a prompt and stop working, and meanwhile, in this state, if the user places the sweeping robot 200 into the base station 100, the base station 100 can automatically start a self-cleaning program to clean the cleaning tank 1103. The self-cleaning procedure is that the robot 200 drives the cleaning disc 1201, can rotate forward or backward, is assisted by water flow in the base station 100, cleans the cleaning tank 1103, and discharges sewage through the sewage recovery docking device 115 on the base station 100, and the process can be repeated for multiple times until the cleaning tank 1103 is cleaned.

Further, another way to identify the type of the part mounted on the robot 200 is to provide a brush type detection sensor on the robot 200, by which it can be detected whether the part mounted on the robot 200 is the cleaning bowl cleaning member 120 or the floor cloth. When the brush type detection sensor detects that the part is the cleaning tank cleaning part 120, and the user places the robot 200 on the ground, the robot 200 can send a prompt and stop working, and meanwhile, in this state, if the user places the sweeping robot 200 into the base station 100, the base station 100 can automatically start a self-cleaning program to clean the cleaning tank 1103.

By installing the cleaning part of the cleaning groove 1103 on the robot 200, the user does not need to wipe and clean the cleaning groove 1103 with cleaning tools such as brushes or the like laboriously, labor is saved, and user experience is good. Meanwhile, the self-cleaning program of the base station 100 can be automatically triggered by matching with the functional module on the base station 100, so that the operation convenience is improved. In addition, through preventing slow-witted device or dish brush type detection sensor, can remind the user and avoid the bad consequence that leads to under the condition of mistake dress dish brush, and through preventing slow-witted device or dish brush type detection sensor, can open the automatically cleaning mode of basic station 100 washing tank 1103, accomplish the clearance of washing tank 1103.

Further, in order to realize the autonomous movement of the robot 200, the robot 200 is usually provided with a traveling wheel, and the base station 100 is correspondingly provided with a traveling wheel groove for accommodating the traveling wheel, because the traveling wheel on the robot 200 can roll over a dirty place in the daily cleaning process, if there is a water surface, the traveling wheel is provided with water stain, when the traveling wheel is located in the traveling wheel groove, the traveling wheel groove is provided with accumulated water to cause dirt, and in the process that the robot 200 goes out of the base station 100, the problem of secondary pollution to the base station 100 and the ground is easily caused.

In order to avoid the problem that the traveling wheel is easily contaminated after the robot 200 enters or exits the base station 100, with continued reference to fig. 2 and 7, in the embodiment of the present application, the sewage recovery docking device 115 includes at least one of the following: the robot 200 moves through a sewage recovery drainage groove 1151 and a drainage structure 1152 for accumulated water around the rolling brush end cover 1105. Wherein, the rolling brush end cover 1105 is disposed on the base 1101 of the base station 100, corresponding to the rolling brush position of the robot 200 parked in place, for resisting the liquid flowing or splashing to the rolling brush. Through the sewage recycling drainage groove 1151 of the traveling wheel of the robot 200, accumulated water in the traveling wheel groove can be drained out in time, the accumulated water in the traveling wheel groove of the base station 100 is reduced, the contact between the traveling wheel and sewage is reduced, and secondary pollution is reduced in the process that the robot 200 enters and exits the base station 100.

After the robot 200 gets into basic station 100, the sewage can sputter the round brush and pollute the round brush when the cleaning robot 200 drags the ground rag in basic station 100, for avoiding the round brush and the contact of sewage, be equipped with ponding drainage structure 1152 around the round brush end cover 1105 on the basic station 100, through this drainage structure 1152, can be with the ponding drainage flow going around the round brush end cover 1105, reduce the secondary pollution of round brush.

Based on the technical solution in the foregoing embodiment, referring to fig. 1, another embodiment of the present application provides a robot base station 100, which includes a base 110 and a plurality of functional components, where the base 110 is used for docking a robot 200. A plurality of functional elements are disposed on the base 110. Wherein, at least one functional module is arranged on one functional piece. The base 110 is provided with an abutting device for abutting at least some of the plurality of functional members. The different functional modules provide different services to the robot 200 through the corresponding docking devices.

In the technical scheme provided by the embodiment of the application, the robot base station 100 integrates multiple functions, the functional components are connected with the robot 200 through the docking device, different services are provided for the robot 200 through the functional components, different requirements of the robot 200 are met, the user intervention degree is reduced, the automation degree of the robot 200 is improved, and the cleaning efficiency of the robot 200 is improved.

Further, referring to fig. 2 in conjunction with fig. 1, the docking device provided on the base 110 includes at least two of the following: docking device 111, charging docking device 112, dust collection docking device 113, water supply docking device 114, and sewage recovery docking device 115. The plurality of features include, but are not limited to, at least two of the following: cleaning device, water supply device, dust collecting device and power supply unit.

Referring to fig. 3 to 5, the robot 200 includes, but is not limited to, a sweeping robot 200, in order to realize docking with each docking device on the base station 100, the robot 200 is provided with docking interfaces 201 matching with each docking device, and after the robot 200 completes a stage of cleaning operation, the robot 200 can automatically return to the robot base station 100, so as to complete docking with each docking device on the robot base station 100 through each docking interface 201.

For example, after the robot 200 and the base station 100 complete docking, the docking device 111 can meet the positioning docking requirement of the robot 200. The robot 200 and the power supply device are connected by the charging docking device 112, and the power supply device in the base station 100 satisfies the charging demand of the robot 200. The connection between the robot 200 and the dust collecting device is realized by the dust collecting docking device 113, and the dust inside the robot 200 is extracted by the dust collecting device mounted on the base station 100. The robot 200 is connected to the water supply device by the water supply docking device 114, and the water in the water supply device in the base station 100 is used to satisfy the demand for adding water to the robot 200. Meanwhile, the cleaning device can be used for cleaning the floor cleaning cloth of the robot 200, and the cleaned sewage can be discharged based on the sewage recycling and butting device 115, so that the self-cleaning requirement of the robot 200 is met.

With continued reference to fig. 1 and 10, in an embodiment of the present application, the base 110 includes a base 1101 and an upper cover 1102, and the upper cover 1102 is connected to the base 1101 to form a docking cavity with an open end. The docking device 111 includes a guide block 1111, and the guide block 1111 is disposed in the docking chamber to be docked with a guide groove of the robot 200 docked in the docking chamber. The robot 200 is provided with a docking port 201a used in cooperation with the guide block 1111, and the docking port 201a has a groove-like structure, so that the docking port 201a can be called a guide groove. After returning to the base station 100, the robot 200 is docked with the guide block 1111 of the base station 100 through the guide slot, and thus the docking is completed. By the guide blocks 1111 matching with the guide grooves, the docking device on the base station 100 can be ensured to be correctly docked with each pair of interfaces 201 on the robot 200.

Referring to fig. 1 to 3, one implementation of the dust collection docking device 113 is that the dust collection docking device 113 includes a dust collection port. In the embodiment of the present application, the dust collecting device includes a dust collecting barrel and a suction device, the dust collecting device is directly communicated with the dust collecting docking device 113 through a fluid channel, after the robot 200 is parked in place, the dust collecting port is communicated with the docking port 201c on the robot 200, and the docking port 201c may be referred to as a dust discharging port of the robot 200. After the dust collecting port is connected to the dust outlet, the suction device in the base station 100 operates to generate negative pressure so as to draw the garbage in the robot 200 out of the dust outlet to clean the garbage in the robot 200.

Referring to fig. 7 to 9 in conjunction with fig. 2, one way to implement the water supply docking device 114 is that the water supply docking device 114 at least includes a water supply telescopic pipe 1141. After the robot 200 stops in place, the position of the water supply telescopic pipe 1141 corresponds to the position of the water inlet on the robot 200, and the water supply telescopic pipe 1141 moves to extend into the water inlet. In the embodiment of the present application, the water supply device includes, but is not limited to, a water tank disposed in the base station 100, and the water supply expansion pipe 1141 is communicated with the water tank. After the robot 200 stops in place, the position of the water supply telescopic pipe 1141 corresponds to the docking port 201d on the robot 200, the docking port 201d may be referred to as a water inlet of the robot 200, and the water inlet is communicated with a floor mopping water tank of the robot 200. After the water supply telescopic tube 1141 corresponds to the water inlet, the water supply telescopic tube 1141 moves to extend into the water inlet, and the water supply docking device 114 is opened, so that the water in the water tank flows into the water inlet of the robot 200 through the water supply telescopic tube 1141, and the water tank for mopping the floor of the robot 200 is automatically added with water.

In another embodiment of the present application, the water supply docking device 114 at least includes a cleaning liquid outlet 1142. A cleaning liquid outlet 1142 is provided on the base 1101 of the base 110, and after the robot 200 is parked in place, the cleaning liquid outlet 1142 is located below the member to be cleaned at the bottom of the robot 200. The member to be cleaned includes, but is not limited to, the floor cleaning cloth of the robot 200, and when the floor cleaning cloth is cleaned, the water supply docking device 114 can supply the cleaning liquid to the floor cleaning cloth through the cleaning liquid outlet 1142, so that the floor cleaning cloth can be cleaned more cleanly based on the decontamination and sterilization effects of the cleaning liquid.

Referring to fig. 2 and 7, one way to implement the sewage recovery docking device 115 is that the sewage recovery docking device 115 includes at least one of the following: the robot 200 moves through a sewage recovery drainage groove 1151 and a drainage structure 1152 for accumulated water around the rolling brush end cover 1105. Wherein, the rolling brush end cover 1105 is disposed on the base 1101 of the base station 100, corresponding to the rolling brush position of the robot 200 parked in place, for resisting the liquid flowing or splashing to the rolling brush. Through the sewage recycling drainage groove 1151 of the traveling wheel of the robot 200, accumulated water in the traveling wheel groove can be drained out in time, the accumulated water in the traveling wheel groove of the base station 100 is reduced, the contact between the traveling wheel and sewage is reduced, and secondary pollution is reduced in the process that the robot 200 enters and exits the base station 100. Through the ponding drainage structure 1152 around the round brush end cover 1105, the ponding drainage around the round brush end cover 1105 can be discharged, and the secondary pollution of the round brush is reduced.

With reference to fig. 13, when the cleaning tool is used, the plurality of anti-fouling films 1104 can be stacked together, that is, the plurality of anti-fouling films 1104 form a multilayer overlapping structure, after the plurality of anti-fouling films 1104 are attached once, when the cleaning tool is used for cleaning, the cleaning tool can be cleaned by tearing off the uppermost anti-fouling film 1104 at each time until all the plurality of anti-fouling films 1104 are used up, and the user can attach the plurality of anti-fouling films 1104 again for use. The coverage of the stain-proofing adhesive film 1104 may be the entire cleaning tank 1103, or may be divided into several pieces of the stain-proofing adhesive films 1104 to be attached according to the shape of the cleaning tank 1103. When the amount of dust adsorbed or adhered to the surface of the anti-fouling patch 1104 reaches a certain level, the user can tear off the anti-fouling patch 1104 and discard the dirt together with the anti-fouling patch 1104.

In addition, in the case that the structures of the implementation of the robot base station 100 provided in the embodiment of the present application are not in conflict, reference may be made to the implementation of the robot base station 100 in the above embodiment.

Further, based on the technical solution in the foregoing embodiment, referring to fig. 1 and fig. 2, an embodiment of the present application further provides a base 110 module of a base station 100, including: module shell, package assembly, dock 111 and a plurality of reserve dock.

Wherein the module housing has a docking cavity for docking the robot 200. The assembly structure is disposed on the module housing for assembling at least one functional component, resulting in a base station 100 with different numbers of functions and different combinations of functions. Docking means 111 are provided on the module case for docking the robot 200 docked on the base station 100. The reserved butting devices are used for butting different functional pieces respectively.

In the embodiment of the present application, the functional component includes, but is not limited to, at least one of a cleaning device, a water supply device, a dust collecting device, and a power supply device, and the docking device includes, but is not limited to, a charging docking device 112, a dust collecting docking device 113, a water supply docking device 114, and a sewage recovery docking device 115. The base 110 docks the robot 200 by docking means 111. The cleaning device is used to clean the robot 200. The water supply device is used to supply water to the robot 200 and/or to supply water to the cleaning device. The dust collecting device is used to collect dust of the robot 200. The power supply device is used to charge the robot 200.

The user can install different functional components on the module case through the assembly structure according to different requirements, and the docking between the robot 200 and the functional components is realized through the corresponding docking device. For example, the robot 200 is docked on the base 110 by the docking device 111, completing the docking with the base station 100.

When the robot 200 has a charging requirement, the charging device can be installed on the module housing, the connection between the robot 200 and the power supply device is realized through the charging docking device 112, and the charging requirement of the robot 200 is satisfied by the power supply device in the base station 100.

When the robot 200 needs to collect dust, the dust collecting device can be mounted on the module case, the robot 200 and the dust collecting device can be connected through the dust collecting docking device 113, and the dust collecting device mounted on the base station 100 can be used to extract the garbage in the robot 200.

When the robot 200 needs to add water, the water supply device can be installed on the module shell, the connection between the robot 200 and the water supply device is realized through the water supply docking device 114, and the water in the water supply device in the base station 100 is utilized to meet the water adding requirement of the robot 200.

When the robot 200 has a cleaning requirement, the cleaning device and the water supply device can be installed on the module shell, the floor cleaning cloth of the robot 200 can be cleaned by the cleaning device, and the cleaned sewage can be discharged based on the sewage recycling butt-joint device 115, so that the self-cleaning requirement of the robot 200 is met.

In the technical scheme provided by the embodiment of the application, through set up package assembly and a plurality of butt joint device of reserving on base 110 module, the user can install different functional parts on the module shell according to the demand of difference to satisfy robot 200's different demands, thereby obtain the basic station 100 that has different functional quantity, different function combination. And then make basic station 100 collect multiple functions as an organic whole, for robot 200 provides different services, satisfy robot 200's automatic requirements such as stop, self-cleaning, automatic charging, automatic water feeding and automatic collection dirt, reduce user's intervention degree, improve robot 200's degree of automation, improve robot 200's cleaning efficiency.

Each functional part provided in the embodiment of the application can be used as a single accessory and can be selected by a user. For example, a user may select at least one of the washing device, the water supply device, the dust collecting device, and the power supply device according to different requirements, and the user may independently install different functional components in the module case, thereby implementing the base 110 having different functions to meet different requirements.

It should be noted that, in the implementation manner of the base 110 module of the base station 100 provided in this embodiment of the application, under the condition that the structures are not in conflict, reference may be made to the implementation manner of the base 110 of the base station 100 in the foregoing embodiment, and details are not repeated here.

Further, on the basis of the above embodiments, referring to fig. 3 to 6 and fig. 14, the embodiment of the present application further provides a robot 200, and the robot 200 may be used with the robot base station 100 in the above embodiments.

Robot 200 includes a main body including a top surface and a bottom surface that are opposite to each other, and a side surface located between the top surface and the bottom surface. The bottom surface is provided with a cleaning assembly including, but not limited to, a dishcloth. The side surface is provided with a docking port 201a, a charging port 201b, a dust collecting port 201c and a water supply port 201 d.

The docking interface 201a can be docked with the docking device 111 of the base station 100, the charging interface 201b can be docked with the charging interface 112 of the base station 100, the dust collecting interface 201c can be docked with the dust collecting interface 113, and the water supply interface 201d can be docked with the water supply interface 114. The cleaning device, the water supply device, the dust collecting device and the power supply device on the base station 100 are matched to meet the requirements of automatic parking, automatic cleaning, automatic charging, automatic water adding, automatic dust collecting and the like of the robot 200, so that the degree of user intervention is reduced, the automation degree of the robot 200 is improved, and the cleaning efficiency of the robot 200 is improved.

Further, one way of implementing the robot is that the main body has a head region and a tail region in the traveling direction of the robot 200. When the robot 200 travels, the head region faces forward, and the tail region faces backward, and taking the orientation in fig. 3 and 4 as an example, the downward region of the robot is the head region, and the upward region is the tail region. The cleaning assembly, docking port 201a, charging docking port 201b, dust collection docking port 201c, and water supply docking port 201d are all located in the aft region. The dishcloth tray of the robot 200 is arranged at the tail area, and travels backwards when the robot 200 enters the base station 100, so that the tail area enters the base station 100 and the head area faces away from the docking chamber of the base station 100 and faces outside the docking chamber. The tail area of the robot 200 is provided with a docking interface 201a, and one way of implementing the docking interface 201a is a guide groove.

Further, one arrangement for each pair of interfaces 201 is that docking interface 201a is disposed adjacent to the bottom surface and below charging docking interface 201b, relative to the plane of the bottom surface. The dust collection docking port 201c and the water supply docking port 201d are respectively located on both sides of the docking port 201a and are higher than the docking port. For the bottom surface, in the height, the lower edge of the side that docks interface 201a and is located the afterbody region, and water supply interface 201d is close to the last edge of side, and water supply interface 201d is higher relatively can prevent that the water tank of robot 200 from leaking, and the relative intermediate position that lies in the side of collection dirt interface 201c all has the space around collection dirt interface 201c to the seal structure between holding collection dirt interfacing apparatus 113 and the collection dirt interface 201c avoids leaking the dirt.

Further, the dust collection docking port 201c and the water supply docking port 201d are symmetrically disposed at both sides of the docking port 201 a. The dust collecting interface 201c and the water supplying interface 201d are symmetrically arranged, so that the space on the side surface of the robot 200 can be reasonably utilized, and meanwhile, the dust collecting interface 201c and the water supplying interface 201d have a certain distance relatively, so that the mutual interference between the water supplying operation and the dust collecting operation is avoided, and the mutual pollution is avoided.

Further, referring to fig. 5, in some realizable embodiments of the present application, both the axial extension of the dust collection docking port 201c and the axial extension of the water supply docking port 201d pass through the center of the robot 200. Point o in fig. 5 is the center of the robot 200, L1 is the axial extension of the dust collection docking port 201c, and L2 is the axial extension of the water supply docking port 201 d. Under this kind of mode of setting, but the extension line of collection dirt interface 201c is the tangent line of perpendicular to robot 200 for when collection dirt interface 201c docks with collection dirt interfacing apparatus 113's import, can be each other just to setting up, collection dirt interface 201c and collection dirt interfacing apparatus 113's import butt joint inseparabler, the clearance appears in the reduction, makes the collection dirt route shorter simultaneously, improves collection dirt efficiency. Accordingly, the outlet of the water supply butt joint device 114 is arranged opposite to the water supply butt joint port 201d, so that the occurrence of gaps is reduced, the water supply path is shortened, and the water supply efficiency is improved.

Further, with continued reference to fig. 5, there is a fourth line between the dust collection docking port 201c and the center of the robot 200. A fifth connection line is provided between the water supply interface 201d and the center of the robot 200. A sixth connection line is provided between docking interface 201a and the center of the robot 200. The center of the robot 200 is used as a common end point, and the angle value range of the included angle between the fourth connecting line and the sixth connecting line and the angle value range of the included angle between the fifth connecting line and the sixth connecting line are both between 20 and 50 degrees. Wherein L1 is the fourth connection line, L2 is the fifth connection line, and L3 is the sixth connection line, where the angle between the fourth connection line and the sixth connection line can be defined as angle a, and the angle between the fifth connection line and the sixth connection line can be defined as angle B.

The angle range of the angle a and the angle range of the angle B are not easily too large or too small, taking the dust collection docking port 201c as an example, along the circumferential direction of the robot 200, when the angle a is too large, that is, the linear distance between the dust collection docking port 201c and the docking port 201a is large, when the robot 200 docks with the docking device 111 through the docking port 201a, the docking force is in the upward direction along L3, if the angle a is too large, the dust collection docking port 201c is more biased to the right side of the robot 200, the force distributed to the dust collection docking port 201c by the robot 200 is smaller, so that the dust collection docking device 113 is not easily in tight docking with the dust collection docking port 201c on the robot 200, and dust leakage is easily caused. Therefore, the angle ranges of the angles a and B are both between 20 degrees and 50 degrees, so that the dust collection docking port 201c, the water supply docking port 201d, and the docking port 201a can be separated from each other, and sufficient docking force can be ensured, so that each pair of docking ports 201 on the robot 200 can be docked with corresponding docking devices tightly. In some realizable embodiments of the present application, the angles of angle a and angle B may be set at 35 degrees.

Further, another way to ensure enough docking force to enable the docking device to be in close docking with the docking port 201 on the robot 200 is that, along the width direction of the robot, the distance range between the dust collection docking port 201c and the docking port 201a and the distance range between the water supply docking port 201d and the docking port 201a are both 50-150 mm. Taking the orientation of FIG. 5 as an example, the range of the lateral distance between the dust collection docking port 201c and the docking port 201a and the range of the lateral distance between the water supply docking port 201d and the docking port 201a are both 50-150 mm. With such a distance, the docking port 201a and the water supply docking port 201d are both close to the docking port 201a, and when the robot 200 is docked with the docking device 111 through the docking port 201a, the docking force is distributed to the dust collection docking port 201c and the water supply docking port 201d, respectively, so that the force distributed to the dust collection docking port 201c and the force distributed to the water supply docking port 201d are both large, and thus the dust collection docking device 113 can be in close docking with the dust collection docking port 201c on the robot 200, and the water supply docking device 114 can be in close docking with the water supply docking port 201d on the robot 200. In some realizable embodiments of the present application, the lateral distance between the dust collection docking port 201c and the docking port 201a and the lateral distance between the water feeding docking port 201d and the docking port 201a are both 100 mm.

Further, each pair of interfaces 201 on the robot 200 can simultaneously interface with the docking unit 111, the charging docking unit 112, the dust collecting docking unit 113, and the water supply docking unit 114 on the base station 100. When the robot 200 stops at the base station 100, each pair of interfaces 201 on the robot 200 can simultaneously complete docking with the corresponding docking device, that is, the robot 200 can once dock with each docking device on the base station 100, so as to simultaneously realize the processes of automatic charging, automatic water adding, automatic dust collection and automatic cleaning, avoid the need of multiple actions or multiple stops, and improve the use efficiency of the robot 200.

Further, on the basis of the above embodiments, referring to fig. 1 to fig. 3, the embodiment of the present application further provides a robot 200 system, including: robot 200 and base station 100.

The robot 200 is provided with a plurality of docking ports 201.

The base station 100 includes: base 110, cleaning device, water supply device, dust collecting device and power supply device. The cleaning device, the water supply device, the dust collecting device and the power supply device are not shown in the figure. The base 110 is used to dock the robot 200. The cleaning device is used to clean the robot 200. The water supply device is used to supply water to the robot 200 and/or to supply water to the cleaning device. The dust collecting device is used to collect dust of the robot 200. The power supply device is used to charge the robot 200. The base 110 is provided with: docking device 111, charging docking device 112, dust collection docking device 113, water supply docking device 114, and sewage recovery docking device 115.

It should be noted that, in the implementation manners of the robot 200 and the base station 100 provided in the embodiment of the present application, reference may be made to the implementation manners of the robot 200 and the base station 100 in the above embodiments without any structural conflict, and details are not repeated here.

Wherein, the robot 200 is provided with a plurality of interfaces 201;

the base station 100 includes: a base 110 and a plurality of functional elements. The base 110 is used to dock the robot 200. A plurality of functional elements are disposed on the base 110. Wherein, at least one functional module is arranged on one functional piece; the base 110 is provided with a docking device for docking at least some of the plurality of functional components; the different functional modules provide different services to the robot 200 through the corresponding docking devices.

The docking means provided on the base 110 include at least two of the following: docking device 111, charging docking device 112, dust collection docking device 113, water supply docking device 114, and sewage recovery docking device 115. The plurality of features include, but are not limited to, at least two of the following: cleaning device, water supply device, dust collecting device and power supply unit.

In summary, one of the innovations of the technical solutions provided by the embodiments of the present application lies in: robot base station 100 collects multiple functions as an organic whole to provide different services for robot 200, satisfy robot 200's automatic requirements such as stop, self-cleaning, automatic charging, automatic water feeding and automatic collection dirt, reduce user's intervention degree, improve robot 200's degree of automation, improve robot 200's cleaning efficiency.

The second innovation of the technical scheme provided by the embodiments of the present application is: through set up antifouling pad pasting 1104 in washing tank 1103 for the user need not wipe washing tank 1103 with burnisher such as brush hard, saves the amount of labour, and user experience is good. Meanwhile, when the cleaning tank 1103 is cleaned, the cleaning tank 1103 does not need to be cleaned by water, so that the water consumption is saved, and the cleaning cost is reduced. In addition, after the antifouling pad pasting 1104 adsorbs the dirty hair, the dirt is collected in a centralized manner, the cleaning effect is cleaner, the use mode is flexible, the plurality of layers of antifouling pad pasting 1104 are overlapped, and only one layer needs to be torn off at a time.

The third innovation of the technical scheme provided by each embodiment of the application is as follows: by installing the cleaning part of the cleaning groove 1103 on the robot 200, the user does not need to wipe and clean the cleaning groove 1103 with cleaning tools such as brushes or the like laboriously, labor is saved, and user experience is good. Meanwhile, the self-cleaning program of the base station 100 can be automatically triggered by matching with the functional module on the base station 100, so that the operation convenience is improved. In addition, through preventing slow-witted device or dish brush type detection sensor, can remind the user and avoid the bad consequence that leads to under the condition of mistake dress dish brush, and through preventing slow-witted device or dish brush type detection sensor, can open the automatically cleaning mode of basic station 100 washing tank 1103, accomplish the clearance of washing tank 1103.

The fourth innovation of the technical scheme provided by the embodiments of the application is as follows: drainage structures 1152 are correspondingly arranged at the travelling wheel groove of the base station 100 and the rolling brush end cover 1105, accumulated water in the travelling wheel groove can be drained out in time through the drainage groove 1151 for recycling the sewage of the travelling wheel of the robot 200, the accumulated water around the rolling brush end cover 1105 can be drained out through the drainage structures 1152 for accumulated water around the rolling brush end cover 1105, contact between the travelling wheel and the rolling brush with the sewage is reduced, and secondary pollution is reduced in the process that the robot 200 enters and exits the base station 100.

Further, on the basis of the above embodiments, with reference to fig. 1 to 7, the embodiment of the present application further provides a control method for a robot base station, and the scheme is suitable for the robot 200 and the robot base station 100 in the above embodiments.

Specifically, a method for controlling a robot base station 100 includes:

step S101: obtaining the docking information of the robot 200;

based on the placement of the interface 201 at the aft position of the robot 200, the robot 200 may reverse into the docking area when entering the docking area. Docking information includes, but is not limited to, whether a plurality of docking devices on the base station 100 are docked with a docking interface on the robot 200.

Step S102: judging whether the robot is successfully docked or not according to the docking information;

when all the docking devices on the base station 100 are successfully docked with the docking ports on the robot 200, the robot 200 is successfully docked with the base station 100.

Step S103: and if the robot 200 is successfully docked, controlling at least part of the plurality of functional parts to provide services for the robot 200.

The base station 100 controls a plurality of functions to provide services for the robot 200 including, but not limited to, automatic docking, automatic cleaning, automatic charging, automatic water adding, automatic dust collecting, and the like. Robot base station 100 collects multiple functions as an organic whole to provide different services for robot 200, satisfy robot 200's automatic requirements such as stop, self-cleaning, automatic charging, automatic water feeding and automatic collection dirt, reduce user's intervention degree, improve robot 200's degree of automation, improve robot 200's cleaning efficiency.

Further, for step S101, acquiring the docking information of the robot 200 includes: docking information of a plurality of docking apparatuses and corresponding docking ports 201 on the robot 200 is acquired. For step S102, determining whether the robot 200 is successfully docked according to the docking information includes: if the docking devices are successfully docked with the corresponding docking ports 201 of the robot 200, the robot 200 is successfully docked.

In the embodiment of the present application, the functional components on the base station 100 include, but are not limited to, a base 110, a cleaning device, a water supply device, a dust collecting device, and a power supply device. The base 110 is used to dock the robot 200. The cleaning device is used to clean the robot 200. The water supply device is used to supply water to the robot 200 and/or to supply water to the cleaning device. The dust collecting device is used to collect dust of the robot 200. The power supply device is used to charge the robot 200. The base 110 is provided with: docking device 111, charging docking device 112, dust collection docking device 113, water supply docking device 114, and sewage recovery docking device 115. In order to realize docking with each docking device on the base station 100, the robot 200 is provided with a docking port 201 for each docking device, such as a docking port 201b for use with the charging docking device 112, a docking port 201c for use with the dust collection docking device 113, and a docking port 201d for use with the water supply docking device 114.

Referring to fig. 4 and 5, after completing a cleaning operation in one stage, the robot 200 may automatically return to the robot base station 100, and may dock with each docking device on the robot base station 100 through each docking interface 201, and when all docking devices dock with the corresponding docking interfaces 201 on the robot, it indicates that the robot 200 and the base station 100 dock successfully, and the base station 100 may provide services to the robot 200.

Further, for step S103, controlling at least some of the plurality of functions to provide services for the robot includes at least one of: controlling a cleaning device to clean the robot; controlling the water supply device to supply water for the robot and/or the cleaning device; controlling a dust collecting device to collect dust of the robot; and controlling the power supply device to charge the robot.

Among them, the docking unit 111, the charging docking unit 112, the dust collecting docking unit 113, and the water supply docking unit 114 are docked with the robot 200 at the same time. The base station 100 can serve the robot 200 through part of the functional parts, and also can serve the robot 200 through a plurality of functional parts, so that the processes of automatic charging, automatic water adding, automatic dust collection and automatic cleaning are realized, multiple actions or multiple stops are avoided, and the service efficiency of the robot 200 is improved.

Further, on the basis of the above embodiments, with reference to fig. 1 to 7, the embodiment of the present application further provides a control method of a robot, and the scheme is suitable for the robot 200 and the robot base station 100 in the above embodiments.

Specifically, a control method of a robot includes:

step S201: and controlling the driving mechanism to operate so that the robot can enter the parking area in a reverse mode. Based on the placement of the interface 201 at the aft position of the robot 200, the robot 200 may reverse into the docking area when entering the docking area.

Step S202: obtaining parking information; docking information includes, but is not limited to, whether a docking interface on the robot 200 is docked with a plurality of docking devices on the base station 100.

Step S203: judging whether the docking with the base station is successful or not according to the docking information; when the docking interfaces of the robot 200 are successfully docked with the docking apparatuses of the base station 100, the robot 200 is successfully docked with the base station 100.

Step S204: and if the docking is successful, controlling at least part of the docking interfaces to cooperate with the functional parts on the base station to provide services for the robot.

Further, for step S202, acquiring docking information includes: the docking information of the plurality of docking interfaces 201 and the corresponding docking devices on the base station 100 is obtained. Judging whether the docking with the base station 100 is successful according to the docking information includes: if the docking interfaces 201 are successfully docked with the corresponding docking devices on the base station 100, the docking is successful.

Further, for step S204, controlling at least a part of the plurality of docking interfaces 201 to coordinate with the function on the base station 100 to perform the service provided to the robot 200 includes at least one of the following: controlling the water supply interface 201d to be opened so that the base station 100 supplies water to the robot 200 through the water supply device; controlling the dust collection docking port 201c to be opened so that the base station 100 collects dust of the robot 200 through the dust collection device; the charging interface 201b is controlled to be turned on so that the base station 100 charges the robot 200 through the power supply device.

After the robot 200 and the base station 100 are docked, the docking device 111 can meet the positioning docking requirement of the robot 200. The robot 200 turns on the charging docking interface 201b, so that the base station 100 can connect the robot 200 to the power supply device through the charging docking device 112, and the power supply device in the base station 100 can meet the charging requirement of the robot 200. The robot 200 opens the dust collection docking port 201c, and the robot 200 and the dust collection device are connected by the dust collection docking device 113, and the dust in the robot 200 is extracted by the dust collection device mounted on the base station 100. The robot 200 opens the water supply docking port 201d, and the robot 200 is connected to the water supply apparatus through the water supply docking apparatus 114, so that the water in the water supply apparatus in the base station 100 is used to satisfy the demand for the water supply by the robot 200.

The technical solutions provided in the embodiments of the present application are described below with reference to specific application scenarios, taking the robot 200 as the sweeping robot 200 as an example.

Application scenario 1

After the cleaning robot 200 completes a cleaning operation in one stage, it automatically returns to the base station 100.

The guide groove on the sweeping robot 200 is butted with the guide block 1111 on the docking device 111, so that the sweeping robot 200 is accurately docked with the base station 100, and the positioning and docking requirements of the sweeping robot 200 are met.

The charging contact on the sweeping robot 200 is butted with the charging butting device 112, so that the sweeping robot 200 is connected with the power supply device, and the charging requirement of the sweeping robot 200 is met by the power supply device in the base station 100.

The dust outlet of the sweeping robot 200 is connected with the dust collecting docking device 113, so that the sweeping robot 200 is connected with the dust collecting device, and the dust collecting device carried by the base station 100 is used for extracting the garbage in the sweeping robot 200.

The water inlet of the sweeping robot 200 is connected with the water supply connection device 114 in a butt joint mode, so that the sweeping robot 200 is connected with the water supply device, and the water supply requirement of the sweeping robot 200 is met by using water in the water supply device in the base station 100.

Meanwhile, the base station 100 starts an automatic cleaning program, the cleaning device can be used for cleaning the floor-mopping rag of the floor-sweeping robot 200, and the cleaned sewage can be discharged based on the sewage recovery docking device 115, so that the self-cleaning requirement of the floor-sweeping robot 200 is met.

Application scenario 2

After the sweeping robot 200 completes a cleaning operation in one stage and automatically returns to the base station 100, the base station 100 can clean the floor-mopping rag of the sweeping robot 200 by using the cleaning device, and after the cleaning is completed, a lot of dirt is deposited in the cleaning tank 1103 of the base station 100.

The user can tear the antifouling pad pasting 1104 that is located the superiors and can accomplish the clearance of washing tank 1103, then abandons dirty thing along with antifouling pad pasting 1104 together, and the user need not wipe washing tank 1103 with cleaning means such as brushes hard, saves the amount of labour, does not need to wash washing tank 1103 with water simultaneously, saves the water consumption, reduces the clearance cost.

Application scenario 3

The robot 200 can replace the mopping rag with the cleaning tank cleaning piece 120, and after returning to the base station 100, the robot 200 cooperates with the cleaning device and the water supply device on the base station 100 to clean the dirt in the cleaning tank 1103 through the cleaning tank cleaning piece 120, thereby ensuring the cleanliness of the cleaning tank 1103.

Application scenario 4

The travelling wheel on the sweeping robot 200 is accommodated in the travelling wheel groove of the travelling wheel, the rolling brush of the robot 200 corresponds to the rolling brush end cover 1105, the travelling wheel drips into the travelling wheel groove, accumulated water in the travelling wheel groove is timely drained out through the travelling wheel sewage recovery drainage groove 1151 of the robot 200, the accumulated water in the travelling wheel groove is reduced, the contact between the travelling wheel and sewage is reduced, and secondary pollution is reduced in the process that the robot 200 enters and exits the base station 100.

Liquid flowing or splashing to the rolling brush can be resisted through the rolling brush end cover 1105, meanwhile, accumulated water around the rolling brush end cover 1105 can be drained out through the accumulated water drainage structure 1152 around the rolling brush end cover 1105, and secondary pollution of the rolling brush is reduced.

Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present application, and not to limit the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions in the embodiments of the present application.

Claims

1. A robotic base station, comprising:

a base for docking the robot;

a cleaning device for cleaning the robot;

a dust collecting device for collecting dust of the robot;

a power supply device for charging the robot;

2. The robotic base station of claim 1, wherein the base includes a base and an upper end cap coupled to the base to form a docking cavity open at one end;

the docking device, the charging docking device, the dust collection docking device and the water supply docking device are all arranged on the side wall of the upper end cover;

the charging docking device is positioned above the docking device;

the dust collection butt joint device and the water supply butt joint device are respectively positioned at two sides of the docking butt joint device;

the sewage recovery butt-joint device is positioned on the base.

3. The robotic base station of claim 2, wherein the dust collection docking assembly and the water supply docking assembly are symmetrically disposed on opposite sides of the docking assembly.

4. The robotic base station of claim 2, wherein a height of the dust collection docking assembly and a height of the water supply docking assembly are each greater than a height of the docking assembly relative to the base.

5. The robot base station of claim 2, wherein an axial extension of an inlet of the dust collection docking assembly and an axial extension of an outlet of the water supply docking assembly both pass through a center of the robot.

6. The robot base station of claim 2, wherein a first connection line is provided between the outlet of the dust collection docking device and the center of the robot;

a second connecting line is arranged between the inlet of the water supply butt joint device and the circle center of the robot;

a third connecting line is arranged between the docking device and the circle center of the robot;

and taking the circle center of the robot as a public end point, wherein the range of the angle value of the included angle between the first connecting line and the third connecting line and the range of the angle value of the included angle between the second connecting line and the third connecting line are both between 20 and 50 degrees.

7. The robot base station of claim 2, wherein the distance between the dust collection docking device and the distance between the water supply docking device and the docking device are both 50-150 mm in the width direction of the side wall.

8. The robot base station of claim 2, wherein the base further comprises a side-by-side roller structure for assisting the robot in positioning, so that the robot enters the docking cavity at an angle.

9. The robot base station according to any one of claims 1 to 8, wherein a cleaning tank is provided on a base of the base station, and at least one layer of anti-fouling pad pasting is provided in the cleaning tank.

10. The robot base station of claim 9, wherein a protrusion is provided in the cleaning tank;

the bulge is provided with a cleaning liquid outlet for outputting cleaning liquid to the cleaned piece;

the position, corresponding to the bulge, of the at least one layer of antifouling sticking film is provided with a through hole, and the bulge is exposed through the through hole so as to be in contact with a cleaned piece of the robot.

11. The robot base station of any of claims 1 to 8, further comprising:

and the cleaning part of the cleaning tank is arranged on the robot and used for cleaning the cleaning tank on the base station under the driving of the robot.

12. A robot base station according to any of claims 1 to 8, characterized in that the docking means, the charging docking means, the dust collecting docking means and the water supply docking means are simultaneously dockable with the robot.

13. A base module for a base station, comprising:

a module case having a docking chamber for docking the robot;

14. A robot, comprising:

the bottom surface is provided with a cleaning component;

15. The robot of claim 14, wherein said main body has a head region and a tail region along a direction of travel of said robot;

the cleaning assembly, the docking interface, the charging docking interface, the dust collection docking interface and the water supply docking interface are all located in the tail area.

16. A robot as recited in claim 15, wherein said docking interface is disposed proximate said bottom surface and below said charging docking interface, relative to a plane of said bottom surface;

the dust collection butt joint port and the water supply butt joint port are respectively positioned on two sides of the docking port and are higher than the docking port.

17. A robot as set forth in claim 15 wherein said dust collection docking port and said water supply docking port are symmetrically disposed on opposite sides of said docking port.

18. A robot as claimed in claim 15, wherein the axial extension of the dust collection docking port and the axial extension of the water supply docking port both pass through the centre of the robot.

19. A robot as claimed in claim 15, wherein there is a fourth line between the dust collection docking port and the centre of the robot;

a fifth connecting line is arranged between the water supply butt joint and the circle center of the robot;

a sixth connecting line is arranged between the docking interface and the circle center of the robot;

and taking the circle center of the robot as a public end point, wherein the angle value range of the included angle between the fourth connecting line and the sixth connecting line and the angle value range of the included angle between the fifth connecting line and the sixth connecting line are both between 20 and 50 degrees.

20. The robot of claim 15, wherein the distance between the dust collection docking port and the distance between the water supply docking port and the docking port are both 50-150 mm in the width direction of the robot.

21. A robotic system, comprising:

the robot is provided with a plurality of butt-joint interfaces;

a base station, the base station comprising:

a base for docking the robot;

a cleaning device for cleaning the robot;

a dust collecting device for collecting dust of the robot;

a power supply device for charging the robot;

22. A robotic system, comprising:

the robot is provided with a plurality of butt-joint interfaces;

a base station, the base station comprising:

a base for docking the robot;

a plurality of functional pieces provided on the base;

23. A control method of a robot base station, comprising:

acquiring parking information of the robot;

judging whether the robot is successfully docked or not according to the docking information;

and if the robot is successfully docked, controlling at least part of the functional parts to provide service for the robot.

24. The control method of claim 23, wherein obtaining the docking information of the robot comprises:

acquiring the docking information of a plurality of docking devices and corresponding docking ports on the robot;

judging whether the robot is successfully docked according to the docking information, comprising the following steps:

and if the butt joint of the plurality of butt joint devices and the corresponding butt joint ports on the robot is successful, the robot is successfully butted.

25. The control method of claim 23, wherein controlling at least some of the plurality of functions to service the robot comprises at least one of:

controlling a cleaning device to clean the robot;

controlling a water supply device to supply water to the robot and/or the cleaning device;

controlling a dust collecting device to collect dust of the robot;

and controlling a power supply device to charge the robot.

26. A method for controlling a robot, comprising:

controlling a driving mechanism to operate so that the robot enters a parking area in an inverted mode;

obtaining parking information;

judging whether the docking with the base station is successful or not according to the docking information;

and if the docking is successful, controlling at least part of the docking interfaces to cooperate with the functional parts on the base station to provide services for the robot.

27. The method of claim 26, wherein obtaining docking information comprises:

acquiring docking information of a plurality of docking interfaces and corresponding docking devices on the base station;

judging whether the docking with the base station is successful according to the docking information, comprising the following steps:

and if the docking interfaces are successfully docked with the corresponding docking devices on the base station, the docking is successful.

28. The method of claim 26, wherein controlling at least some of the plurality of docking ports to engage with functions on the base station to perform services provided to the robot comprises at least one of:

controlling the water supply interface to be opened so that the base station can supply water to the robot through the water supply device;

controlling a dust collection interface to be opened so that the base station collects dust of the robot through a dust collection device;

and controlling the conduction of the charging interface so that the base station can charge the robot through the power supply device.