CN115254692A

CN115254692A - Maintenance station, cleaning method and cleaning robot

Info

Publication number: CN115254692A
Application number: CN202110472401.7A
Authority: CN
Inventors: 欧阳凡; 凌姝潼; 梁嘉晋
Original assignee: Shenzhen Silver Star Intelligent Group Co Ltd
Current assignee: Shenzhen Silver Star Intelligent Group Co Ltd
Priority date: 2021-04-29
Filing date: 2021-04-29
Publication date: 2022-11-01
Also published as: WO2022227574A1

Abstract

The invention provides a maintenance station, which comprises a base, wherein the base comprises a bearing surface, and a mopping piece cleaning device is arranged on the base and can clean a mopping piece; the maintenance station is still including scraping the piece, scrapes the protruding loading face of locating of a slope, scrapes the piece and is used for: when the cleaning robot moves towards the direction close to the mop cleaning device or the direction far away from the mop cleaning device, dirt on the mop is scraped. The maintenance station can improve the efficiency of cleaning the mop.

Description

Maintenance station, cleaning method, and cleaning robot

Technical Field

The invention relates to the technical field of cleaning, in particular to a maintenance station, a cleaning method and a cleaning robot.

Background

Nowadays, with the continuous development of science and technology, the functions of the robot are more and more abundant. For example, some robots can clean the surface of an object (for convenience of description, a robot capable of cleaning the surface of an object is referred to as a cleaning robot). Generally, a cleaning robot is provided with a mop, and the cleaning robot can clean the surface of an object through the mop.

However, the mop carries dirt after cleaning the surface of the object, and cleaning of the mop is often required to facilitate subsequent cleaning of the object surface by the mop. Currently, the process of cleaning the mop is generally: the mop is firstly disassembled, and then the mop is manually washed, so that the cleaning efficiency in the process is low.

Disclosure of Invention

The invention mainly aims to provide a maintenance station, and aims to solve the problem that the efficiency of the conventional cleaning mop is low.

A first aspect of the invention proposes a maintenance station for cleaning a mop of a cleaning robot, the maintenance station comprising:

the base comprises a bearing surface, a mopping piece cleaning device is arranged on the base, and the mopping piece cleaning device can clean the mopping piece;

strike off the piece, the slope is protruding to be located the loading face, strike off the piece and be used for: scraping dirt from the mop when the cleaning robot moves toward the direction of approaching the mop cleaning device or away from the mop cleaning device.

In a first possible implementation manner of the first aspect, the bearing surface includes a plane section and a slope section, and the scraping element is protruded from the plane section or/and the slope section.

In a second possible implementation manner of the first aspect, the scraping element is fixedly or rotatably connected to the base.

In a third possible implementation manner of the first aspect, the scraping element is rotatably connected to the base, and a first driving mechanism is disposed on the base, and the first driving mechanism can drive the scraping element to rotate around an axis of the scraping element by a specified angle.

In a fourth possible implementation form of the first aspect, the base is recessed with a dirt collection chamber located below the scraper.

In a fifth possible implementation form, based on the fourth possible implementation form of the first aspect of the present application, the maintenance station comprises a first dirt discharge passage, which communicates with the dirt collection chamber;

be provided with the separation piece in the filth collection chamber, be provided with first through-hole on the separation piece, the separation piece is used for preventing the filth that the size is greater than the through-hole size from getting into first filth discharge passage.

In a sixth possible implementation form of the first aspect, the mop cleaning device is arranged at a distance from the scraper.

In a seventh possible implementation manner of the first aspect, the mop cleaning device includes a cleaning tank and a second driving mechanism, the second driving mechanism is connected with the cleaning tank, and the second driving mechanism can drive the cleaning tank to move.

Based on the seventh possible implementation manner of the first aspect of the present application, in an eighth possible implementation manner, the cleaning device for the mopping piece comprises an ultrasonic generator and an ultrasonic transducer, wherein the ultrasonic generator is electrically connected with the ultrasonic transducer, and the ultrasonic transducer is detachably disposed in the cleaning tank.

In a second aspect, the present invention provides a cleaning method applied to a cleaning robot, the cleaning method including:

acquiring cleaning information, wherein the cleaning information is used for indicating that a mopping piece of the cleaning robot needs to be cleaned;

controlling the cleaning robot to move on a carrying surface of a maintenance station towards a direction close to a mop cleaning device of the maintenance station or away from the mop cleaning device so that dirt on the mop is scraped off by a scraper of the maintenance station, wherein the maintenance station is the maintenance station as claimed in any one of claims 1 to 9;

after the scraping piece scrapes off dirt on the mopping piece, the cleaning robot is controlled to move to a specified position, so that the mopping piece can be located in the mopping piece cleaning device.

In a third aspect, the present invention provides a cleaning robot comprising:

a processor; and (c) a second step of,

a memory communicatively coupled to the processor; wherein the content of the first and second substances,

the memory stores instructions executable by the processor to enable the processor to perform the steps of the cleaning method as described above.

In the technical scheme of the invention, the maintenance station comprises a base, the base comprises a bearing surface, a mopping piece cleaning device is arranged on the base, the mopping piece cleaning device can clean the mopping piece, the maintenance station also comprises a scraping piece, the scraping piece is obliquely and convexly arranged on the bearing surface, and the scraping piece is used for: when the cleaning robot moves towards the direction close to the cleaning device of the mop or the direction far away from the cleaning device of the mop, dirt on the mop is scraped, namely, the maintenance station can clean the mop through the scraping piece and the cleaning device of the mop without manually cleaning the mop, so that the efficiency of cleaning the mop can be greatly improved. In addition, before the mopping piece enters the mopping piece cleaning device, the dirt with larger size on the mopping piece can be scraped by the scraping piece, so that the dirt with larger size can be prevented from entering the mopping piece cleaning device; after the mop cleaning device has cleaned the mop, the scraper can scrape off dirt from the cleaned mop, for example, the scraper can scrape off liquid from the cleaned mop, so that the cleaned mop can be dried.

Drawings

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

FIG. 1 is a schematic view of a maintenance station according to an embodiment of the present invention;

FIG. 2 is a schematic view of a base of an embodiment of the present invention;

fig. 3 is a schematic view of a maintenance station according to another embodiment of the invention.

FIG. 4 is a flow chart illustrating a cleaning method according to an embodiment of the invention.

Fig. 5 is a schematic view of a cleaning robot according to an embodiment of the present invention.

The objects, features and advantages of the present invention will be further explained with reference to the accompanying drawings.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, 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 invention.

It should be noted that all directional indicators (such as up, down, left, right, front, back \8230;) in the embodiments of the present invention are only used to explain the relative positional relationship between the components, the motion situation, etc. in a specific posture (as shown in the attached drawings), and if the specific posture is changed, the directional indicator is changed accordingly.

It will be understood that the terms "comprises" and/or "comprising," when used in this specification and the appended claims, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.

It is also to be understood that the terminology used in the description of the present application herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. As used in the specification of the present application and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It should be further understood that the term "or/and" as used in this specification and the appended claims refers to and includes any and all possible combinations of one or more of the associated listed items.

In addition, descriptions such as "first", "second", etc. in the present invention are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include that feature. In addition, technical solutions between the embodiments may be combined with each other, but must be based on the realization of the technical solutions by a person skilled in the art, and when the technical solutions are contradictory to each other or cannot be realized, such a combination should not be considered to exist, and is not within the protection scope of the present invention.

The first embodiment is as follows:

fig. 1 shows a schematic view of a first maintenance station provided by an embodiment of the present application, where the maintenance station 1 can be used for cleaning a mop of a cleaning robot. In some embodiments, the maintenance station 1 may also perform at least one of the following functions: the cleaning robot is powered, dirt in a dust box of the cleaning robot is emptied, and water is added to a water storage tank of the cleaning robot.

The maintenance station 1 includes base 10, and base 10 includes loading surface 100, is provided with on the base 10 and drags a belt cleaning device 101, drags a belt cleaning device 101 to wash and drags a piece, and maintenance station 1 still includes scraping a 11, scrapes 11 slope bulges and locates loading surface 100, scrapes 11 and is used for: when the cleaning robot moves in a direction toward the mop cleaning device 101 or in a direction away from the mop cleaning device 101, dirt on the mop of the cleaning robot is scraped off. The dirt on the scraping cleaning robot is as follows: scraping partial dirt or all dirt on a mopping piece of the cleaning robot.

The supporting surface 100 is a surface of the base 10 for the cleaning robot to walk, that is, the cleaning robot can walk on the supporting surface 100.

When the cleaning robot moves towards the direction close to the mop cleaning device 101 or the direction far away from the mop cleaning device 101, the scraping piece 11 and the mop arranged at the bottom of the cleaning robot are contacted with each other and move in a friction mode, so that the scraping piece 11 can strongly and efficiently scrape dirt on the mop to clean the mop. Because the maintenance station is also provided with the mopping piece cleaning device 101, the maintenance station can clean the mopping piece more cleanly.

In addition, before the mop enters the mop cleaning device 101, the large-sized dirt on the mop can be scraped by the scraping piece 11, so that the large-sized dirt can be prevented from entering the mop cleaning device 101; after the mop cleaning device 101 has cleaned the mop, the scraper can scrape off dirt from the cleaned mop, for example, the scraper can scrape off liquid from the cleaned mop, and thus, the cleaned mop can be dried.

By way of example and not limitation, the mop can be a mop, in particular a snap-fit mop or a rotating mop, i.e. the scraping element 11 can scrape dirt from a snap-fit mop or a rotating mop.

In addition, the scraping element includes a contact surface 1100, the contact surface 1100 is: the scraper element 11 has a surface facing the base 10 and capable of making contact with the wiper element. The scraping element 11 may be a rigid element or a flexible element, the material of the scraping element 11 may be plastic or silicone, the shape of the scraping element 11 may be a sheet shape, a block shape or a special shape, and the scraping element 11 is not particularly limited, and the scraping element 11 may be used to "scrape dirt on the mop when the cleaning robot moves towards the direction close to the mop cleaning device 101 or towards the direction away from the mop cleaning device 101".

Optionally, the carrying surface 100 includes a plane section 1000 and a bevel section 1001, and the scraping element 11 is protruded from the plane section 1000 or/and the bevel section 1001.

Specifically, the base 10 includes a base bottom surface, the base bottom surface can contact with the ground, the bearing surface 100 includes a plane section 1000 or/and an inclined section 1001, the plane section 1000 is disposed parallel to the base bottom surface, and the inclined section 1001 forms an included angle with the base bottom surface.

Optionally, the scraping element comprises a first scraping element disposed at an acute angle to a reference direction, wherein the reference direction may be a movement direction corresponding to the cleaning robot when approaching the mop cleaning device 101.

By way of example and not limitation, the carrying surface 100 includes a plane section 1000 and a slope section 1001, the plane section 1000 is connected to the mop cleaning device 101, the slope section 1001 is provided with a first scraper protruding thereon, the slope section 1001 is formed by extending one end of the plane section 1000 towards the ground, and correspondingly, the reference direction may be specifically: one end of the "plane section 1000 extends toward the ground to form a direction opposite to the extending direction corresponding to the slope section 1001". The direction of extension may be as indicated by arrow 2 in fig. 1.

When the cleaning robot moves on the slope section 1001 in a direction away from the mop cleaning device 101, the first scraper and the mop of the cleaning robot contact each other and move in a relative friction manner, so that the first scraper can scrape dirt on the mop strongly and efficiently to clean the mop. In addition, the first scraping piece can also prevent the scraped dirt from flowing to the ground, so that the ground is prevented from being polluted.

Wherein, first scraping piece and reference direction are the acute angle setting can specifically be: the contact surface 1100 of the first scraper is arranged at an acute angle to the reference direction.

Optionally, the scraping element comprises a second scraping element arranged at an acute angle to the opposite direction of the reference direction.

By way of example and not limitation, the carrying surface 100 includes a plane section 1000 and a slope section 1001, the plane section 1000 is connected to the mop cleaning device 101, a second scraper is protruded from the slope section 1001, the slope section 1001 is formed by extending one end of the plane section 1000 towards the ground, and correspondingly, the opposite direction of the reference direction is the extending direction, that is, the second scraper is disposed at an acute angle with the extending direction.

When the cleaning robot moves on the slope section 1001 in a direction approaching the cleaning device 101, the second scraper and the cleaning robot's scraper contact each other and move in a relative friction manner, so that the second scraper can strongly and efficiently scrape off the dirt on the scraper to clean the scraper.

Wherein, the second scraping part and the extending direction are arranged at an acute angle and can be specifically: the contact surface 1100 of the second scraper is arranged at an acute angle to the extension direction.

In some embodiments, the scraper 11 comprises a first end 110 and a second end 111, the first end 110 being contactable with a mop of the cleaning robot; second end 111 is connected to base 10, so that a connection between scraper element 11 and base 10 is achieved.

The first end 110 includes a contact surface 1100 and a back surface 1101.

In some embodiments, the contact surface 1100 is provided with a protrusion and/or a recess, which can increase the friction between the scraping element 11 and the mopping element of the cleaning robot, so that the dirt on the mopping element of the cleaning robot can be scraped more cleanly.

By way of example and not limitation, the boss may include at least one of: the structure comprises a point-shaped convex structure and a block-shaped convex structure, wherein the block-shaped convex structure can comprise at least one of a polygonal prism convex structure, a cylinder convex structure and a polygonal pyramid convex structure.

In some embodiments, the first end 110 includes a transition segment for connecting the contact face 1100 and the back face 1101. The provision of a transition section at the first end portion 110 reduces mechanical damage to the mop by the first end portion 110.

By way of example and not limitation, the surface of the transition section may be any of the following: plane, concave surface, convex surface, the surface of transition section can be provided with bellying or/and depressed part.

In some embodiments, the contact surface 1100 and the back surface 1101 are disposed at an acute angle to form the first end portion 110, and the acute angle between the contact surface 1100 and the back surface 1101 may be specifically: the edge line of one side of the contact surface 1100 is overlapped with the edge line of one side of the back surface 1101, and the included angle formed by the contact surface 1100 and the back surface 1101 is an acute angle, so that the first end part 110 formed in the way is relatively sharp, and dirt on the mopping piece can be scraped more cleanly.

Optionally, scraper element 11 is fixedly or rotatably connected to base 10. The method specifically comprises the following steps: the second end 111 is fixedly or rotatably connected to the base 10.

If the second end portion 111 is fixedly connected to the base 10, the second end portion 111 and the base 10 cannot move relative to each other.

The fixed connection is, by way of example and not limitation, in particular an adhesive or a weld.

When the second end portion 111 is pivotally connected to the base 10, the pivotally connected second end portion 111 and the base 10 can be relatively rotated.

By way of example and not limitation, at least two bushings are fixedly disposed on the base 10, the second end portion 111 includes a shaft, an outer diameter of the shaft matches an inner diameter of the bushings, two end portions of the shaft are rotatably connected to the two bushings, respectively, so as to achieve a rotational connection between the second end portion 111 and the base 10, and the rotatably connected second end portion 111 and the base 10 can rotate relatively.

In some embodiments, scraper member 11 is rotatably connected to base 10, and base 10 is provided with a first driving mechanism capable of driving scraper member 11 to rotate around its axis by a specified angle. Wherein the designated angle is greater than 0 degrees and less than 360 degrees.

Specifically, the first driving mechanism can drive the scraping element 11 to rotate around the axis thereof, so that the rotated scraping element 11 is inclined to the base 10, and further, dirt on the mopping element of the cleaning robot can be scraped. Alternatively, when the scraping member is not needed to scrape off the dirt on the scraping member, the first driving mechanism can drive the scraping member 11 to rotate around the shaft thereof, so that the scraping member rotates to approach the carrying surface 100, and thus, the scraped dirt can be prevented from flowing out of the maintenance station.

By way of example and not limitation, the first driving mechanism includes a first electric control portion and a first motor, the first electric control portion is electrically connected with the first motor, the first electric control portion is used for controlling the motor, the first motor is connected with the second end portion 111, and the second end portion 111 includes a shaft. When the first electric control portion controls the first motor to rotate, the rotation of the first motor can drive the second end portion 111 to rotate around the shaft thereof by a specified angle.

Optionally, the base 10 is recessed with a dirt collection chamber located below the scraper member 11.

Wherein the filth collection chamber is a space for collecting filth. Therefore, the scraped dirt can be effectively prevented from flowing out of the maintenance station 1 through the bearing surface 100, and the dirt can be prevented from polluting the bearing surface 100 and the environment outside the maintenance station.

In some embodiments, the maintenance station 1 further comprises a base station housing 12, the base station housing 12 being connected to the base 10. The base station enclosure 12 can protect the structures inside the base station.

By way of example and not limitation, the base station housing 12 may be plastic or metal.

In some embodiments, a first dirt discharge passage is provided in the maintenance station 1, which first dirt discharge passage communicates with the dirt collection chamber, the first dirt discharge passage being capable of discharging dirt out of the dirt collection chamber; be provided with separation piece 13 in the filth collection chamber, be provided with first through-hole on separation piece 13, separation piece 13 is used for preventing the filth that the size is greater than the through-hole size to get into first filth row passageway, and wherein, the through-hole size is the size of first through-hole.

By way of example and not limitation, the first dirt discharge passage is embodied as a conduit, and the shape of the first through hole includes, but is not limited to, at least one of: round, square, irregular.

Because be provided with first through-hole on the separation piece 13, separation piece 13 can prevent that the filth that the size is greater than the through-hole size from getting into first filth and arranging the passageway, consequently, can avoid the great filth of size to lead to the fact the jam to first filth row passageway effectively.

In some embodiments, the blocking member 13 is provided with a second through hole, and a user can insert a tool or a finger into the second through hole to hook the blocking member 13 out or put the blocking member 13 into the dirt collecting chamber. The second via may be as shown in fig. 1.

In some embodiments, the base 10 is recessed with an access space 14, the access space 14 is in communication with the waste water collection chamber, and the access space 14 can be used to accommodate a tool or a finger to facilitate access of the tool or the finger to the barrier 13.

Example two:

the embodiment of the present invention provides a second maintenance station, and in the maintenance station 1 provided in the embodiment of the present invention, the wiping member cleaning device 101 and the scraping member 11 are arranged at an interval.

Since the mop cleaning device 101 is spaced apart from the scraper 11, dirt scraped off by the scraper 11 can be effectively prevented from entering the mop cleaning device 101.

Alternatively, the mop cleaning device 101 includes a cleaning tank 15 and a second driving mechanism connected to the cleaning tank 15, the second driving mechanism being capable of driving the cleaning tank 15 to move.

Wherein, the washing tank 15 is a tank for cleaning the mop, the second driving mechanism can drive the washing tank 15 to move upwards/downwards/forwards/backwards/leftwards/rightwards and the like, so that the mop of the cleaning robot can completely enter the washing tank 15, and then the tank wall of the washing tank 15 can be prevented from scraping dirt on the mop, and the dirt can be prevented from falling around the outside of the washing tank, and the mop can completely enter the washing tank 15, so that the mop can be cleaned more comprehensively. In addition, the second driving mechanism drives the cleaning tank 15 to move, so that the liquid in the cleaning tank 15 can be effectively prevented from flowing out of the maintenance station.

For example, before the mop of the cleaning robot is cleaned, the second driving mechanism drives the cleaning tank 15 to move upward until a pressure value corresponding to a pressure applied to the top of the cleaning tank 15 is greater than or equal to a preset pressure value; alternatively, the second driving mechanism drives the cleaning tank 15 to move until the top of the cleaning tank 15 reaches a designated position, and then cleans the mop of the cleaning robot.

By way of example and not limitation, the second drive mechanism includes, but is not limited to: the second motor is connected with the cleaning tank 15, the second motor can be controlled by the second electric control part to rotate, and the rotation of the second motor drives the cleaning tank 15 to move.

Optionally, the mop cleaning device 101 includes an ultrasonic generator and an ultrasonic transducer 16, the ultrasonic generator being electrically connected to the ultrasonic transducer 16.

The ultrasonic generator is used for converting mains supply into a high-frequency alternating current signal matched with the ultrasonic transducer 16, so that the ultrasonic transducer 16 is driven to work; the ultrasonic transducer 16 can convert a high-frequency alternating-current electric signal (electric energy) into ultrasonic waves (mechanical energy), and can transmit the ultrasonic waves. The cleaning tank 15 stores cleaning liquid, and the physical effects such as cavitation, radiation pressure, acoustic flow and the like generated when ultrasonic waves propagate in the cleaning liquid can peel off dirt on the mopping piece, namely the cleaning of the mopping piece can be realized. The cleaning fluid is a fluid used to clean the mop, and by way of example and not limitation, the cleaning fluid may include at least one of: clear water, degerming agent and disinfectant.

In some embodiments, the mop cleaning device 101 includes an ultrasonic generator and an ultrasonic transducer 16, the ultrasonic generator is electrically connected to the ultrasonic transducer 16, the ultrasonic transducer 16 is detachably disposed in the cleaning tank 15, and the ultrasonic transducer 16 is detachably disposed in the cleaning tank 15, so that replacement of the ultrasonic transducer 16 can be facilitated.

In some embodiments, a second dirt discharge passage is provided in the maintenance station 1, which second dirt discharge passage communicates with the mop cleaning device 101, which second dirt discharge passage is capable of discharging dirt from the mop cleaning device 101 out of the mop cleaning device 101.

By way of example and not limitation, the second dirt discharge passage is embodied as a conduit.

The scraper 11 is capable of scraping off dirt from the mop before the mop cleaning device 101 cleans the mop, so that dirt of larger size can be prevented from entering the mop cleaning device 101.

In some embodiments, the maintenance station 1 further comprises at least two storage devices, each for storing cleaning fluid and dirt, including dirty water obtained after cleaning the mop.

The base station housing 12 may be formed with a device storage space, which is a space for accommodating a storage device.

By way of example and not limitation, referring to fig. 1, the storage apparatus includes a fresh water storage tank 130, a degerming agent storage tank 131, and a dirt storage tank 132, wherein the fresh water storage tank 130, the degerming agent storage tank 131, and the dirt storage tank 132 are respectively used for storing fresh water, degerming agent, and dirt, wherein the dirt storage tank 132 may be communicated with the first dirt discharge passage or/and the second dirt discharge passage, and dirt may enter the dirt storage tank 132 through the dirt of the first dirt discharge passage or/and the second dirt discharge passage.

Optionally, the base 10 is formed with an accommodation space 17, and the accommodation space 17 can accommodate a part of a tread of a road wheel of the cleaning robot, so that the cleaning robot can stably stop on the maintenance station 1.

Specifically, the base 10 is concavely provided with an accommodating space 17, and a traveling wheel of the cleaning robot is matched with the accommodating space 17.

Optionally, the maintenance station 1 further comprises a charging mechanism 18. The charging mechanism 18 is used to supply electric power to the cleaning robot.

By way of example and not limitation, referring to fig. 3, the charging mechanism 18 may be disposed on an inner wall of the base station housing 12, the charging mechanism 18 including a charging contact, and the cleaning robot having a receiving contact, the charging contact being capable of transmitting power to the receiving contact, thereby charging the cleaning robot.

Optionally, the maintenance station 1 further comprises a guiding mechanism capable of emitting a first guiding signal capable of guiding the cleaning robot into the maintenance station 1 or/and a second guiding signal capable of guiding the cleaning robot to move on the load-bearing surface 100 of the maintenance station 1 in a direction towards the proximity of the mop cleaning device 101 or in a direction away from the mop cleaning device 101. The cleaning robot is provided with a receiving mechanism, the receiving mechanism is used for receiving the first guide signal and the second guide signal, and if the receiving mechanism receives the first guide signal, the cleaning robot enters the maintenance station 1 according to the first guide signal, so that the efficiency of the cleaning robot entering the maintenance station 1 can be improved; if the receiving means receives the second guiding signal, the cleaning robot controls the cleaning robot to move on the carrying surface 100 of the maintenance station 1 in a direction approaching the mop cleaning device 101 or in a direction away from the mop cleaning device 101 according to the second guiding signal, so that the accuracy of the movement of the cleaning robot can be improved.

By way of example and not limitation, the guiding means comprise an infrared emitter, the infrared sensor being able to emit infrared rays, and the receiving means comprise an infrared receiver, the infrared receiver being able to receive infrared rays.

Example three:

fig. 4 shows a schematic flowchart of a cleaning method provided by an embodiment of the present application, the cleaning method is applied to a cleaning robot, a mop is disposed on the cleaning robot, and the mop can be disposed at the bottom of the cleaning robot, the cleaning method includes steps S401, S402, and S403, where:

step S401, cleaning information is acquired, and the cleaning information is used for indicating that a mopping piece of the cleaning robot needs to be cleaned.

By way of example and not limitation, the cleaning information may include at least one of: cleaning instructions, area cleaning work completion information and designated time information.

Wherein, cleaning instruction can be for being used for instructing cleaning robot to get into in maintaining station 1 and carry out the instruction of motion on the loading face 100 of maintaining station 1, and regional cleaning work completion information is used for showing that cleaning robot has cleaned its region that needs to be clean, and appointed time information can be for being used for showing that the current time equals the information of predetermineeing the walking time, and it is preset to predetermine the walking time, and it indicates to predetermine the walking time: the cleaning robot starts to walk for entering the maintenance station 1, and the specified time information can trigger the cleaning robot to enter the maintenance station 1, namely the cleaning robot can realize the function of walking regularly to enter the maintenance station 1, thereby realizing the regular cleaning of the mopping piece.

By way of example and not limitation, the preset cleaning time is 10 o 'clock 30 minutes, the current time is 10 o' clock 30 minutes, and the specified time information is specifically used to indicate that the current time 10 o 'clock 30 is equal to the preset cleaning time 10 o' clock 30 minutes.

Step S402, controlling the cleaning robot to move on the carrying surface 100 of the maintenance station 1 toward the direction close to the mop cleaning device 101 of the maintenance station 1 or toward the direction away from the mop cleaning device 101, so that dirt on the mop is scraped by the scraping member 11 of the maintenance station 1, where the maintenance station 1 is the maintenance station 1 described in any one of the first embodiment and the second embodiment.

Wherein scraping of dirt from the mop by the scraper 11 of the maintenance station 1 comprises: all dirt on the mop is scraped off by the scraper elements 11 of the maintenance station 1, or parts of the dirt on the mop are scraped off by the scraper elements 11 of the maintenance station 1.

The maintenance station 1 includes base 10, and base 10 includes loading surface 100, is provided with on the base 10 and drags a belt cleaning device 101, drags a belt cleaning device 101 to wash and drags a piece, and maintenance station 1 still includes scraping a 11, scrapes 11 slope bulges and locates loading surface 100, scrapes 11 and is used for: when the cleaning robot moves in a direction toward the mop cleaning device 101 or in a direction away from the mop cleaning device 102, dirt on the mop of the cleaning robot is scraped off. In addition, the scraping element may include a contact surface 1100, the contact surface 1100 being: the scraper element 11 has a surface facing the base 10 and capable of making contact with the wiper element.

Since the cleaning robot can control itself to move toward the mop cleaning device 101 or away from the mop cleaning device 101, the scraping element 11 at the maintenance station and the mop disposed at the bottom of the cleaning robot can contact each other and move in a friction manner, so that the dirt on the mop can be scraped off.

In some embodiments, before performing step S402, the cleaning robot is further capable of determining the position information corresponding to the maintenance station 1, and controlling the cleaning robot to travel to the entrance of the maintenance station 1 according to the position information corresponding to the maintenance station 1, so that the cleaning robot can enter the maintenance station 1 through the entrance and can move on the carrying surface 100 of the maintenance station 1 in a direction approaching the mop cleaning device 101 or in a direction away from the mop cleaning device 101.

The position information corresponding to the maintenance station 1 is used to indicate the position of the maintenance station 1.

The maintenance station 1 may comprise a guiding mechanism capable of emitting a first guiding signal capable of guiding the cleaning robot into the maintenance station 1 or/and a second guiding signal capable of guiding the cleaning robot to move on the load-bearing surface 100 of the maintenance station 1 in a direction towards the proximity of the mop cleaning device 101 or in a direction away from the mop cleaning device 101. The cleaning robot may be provided with a receiving mechanism for receiving the first guiding signal and the second guiding signal.

In some embodiments, before the cleaning robot performs step S402, if the cleaning robot receives the first guide signal through the receiving mechanism, the cleaning robot enters the maintenance station 1 according to the first guide signal.

In some embodiments, step S402 includes: if the cleaning robot receives the second guiding signal via the receiving means, the cleaning robot controls the cleaning robot to move on the carrying surface 100 of the maintenance station 1 in a direction towards the mop cleaning device 101 or in a direction away from the mop cleaning device 101 in accordance with the second guiding signal.

Optionally, step S402 includes: the cleaning robot is controlled to move on the carrying surface 100 of the maintenance station 1 in a direction approaching the mop cleaning device 101 or in a direction moving away from the mop cleaning device 101 according to the target movement times, i.e. the cleaning robot is controlled to move on the carrying surface 100 of the maintenance station 1 several times, so that the mop can be scraped several times by the scraping element 11.

Wherein the number of target movements comprises: a first number of movements or a second number of movements, the first number of movements being: the number of movements the cleaning robot has to move towards the direction of approaching the mop cleaning device 101, the second number of movements being: the number of times the cleaning robot needs to move away from the mop cleaning device 101. If the number of target movements includes the first number of movements, step S402 includes: controlling the cleaning robot to move on the carrying surface 100 of the maintenance station 1 towards the direction close to the mop cleaning device 101 according to the first movement times; if the number of target movements includes the second number of movements, step S402 includes: the cleaning robot is controlled to move on the carrying surface 100 of the maintenance station 1 in a direction away from the mop cleaning device 101 according to the second number of movements.

By way of example and not limitation, assuming that the target number of movements comprises a first number of movements, which is 10, the cleaning robot is correspondingly controlled to move on the load-bearing surface 100 of the maintenance station 1 in a direction towards the mop cleaning device 101 according to the first number of movements, in particular: the cleaning robot is controlled to move on the carrying surface 100 of the maintenance station 1 in the direction close to the mop cleaning device 101 until the scraping piece 11 scrapes off the primary mop, after the scraping piece 11 scrapes off the primary mop, the cleaning robot is controlled to move in the direction away from the mop cleaning device 101 until the scraping piece 11 is crossed, after the scraping piece 11 is crossed, the cleaning robot is controlled to move in the direction close to the mop cleaning device 101, and the process is repeated in a reciprocating mode until the number of times that the cleaning robot moves in the direction close to the mop cleaning device 101 reaches 10 times, and the number of times that the mop is scraped by the scraping piece 11 reaches 10 times.

In some embodiments, the number of target movements is preset, so that the step of calculating the number of target movements, i.e., the calculation amount, can be reduced.

In some embodiments, the cleaning robot can also determine the target number of movements depending on the degree of contamination of the wipers before performing said controlling of the cleaning robot on the carrying surface 100 of the maintenance station 1 in the direction of approaching the wiper cleaning device 101 or in the direction of moving away from the wiper cleaning device 101 depending on the target number of movements. Because the target movement times can be determined according to the pollution degree of the mopping piece, the timeliness of the target movement times can be improved, and the mopping piece can be cleaned more cleanly.

By way of example and not limitation, the degree of contamination of the mop may be represented by an integer greater than or equal to 0, and a larger value indicates a greater degree of contamination of the mop, and assuming a degree of contamination of 1 for the mop, a target number of movements corresponding to the degree of contamination 1 is 10, i.e., a target number of movements is determined to be 10 based on the degree of contamination of the mop.

In step S403, after the scraping member 11 scrapes off the dirt on the mop, the cleaning robot is controlled to move to a designated position so that the mop can be in the mop cleaning device 101.

Dirt of larger size on the mop can be scraped off by the scraper 11 before the mop enters the mop cleaning device 101, so that dirt of larger size can be prevented from entering the mop cleaning device 101. If the maintenance station 1 is provided with a second dirt discharge passage which is communicated with the mop cleaning device 101, the embodiment of the present invention can also prevent the second dirt discharge passage from being blocked by the dirt with a large size.

In addition, after the scraping element 11 scrapes off all or part of the dirt on the mop, the cleaning robot is controlled to move to a designated position, so that the mop can be located in the mop cleaning device 101, and the mop cleaning device 101 cleans the mop, so that the mop can be cleaned more cleanly in the embodiment.

In some embodiments, the cleaning robot can also perform step S402 after performing step S403. I.e. after the mop cleaning device 101 has cleaned the mop, the liquid on the mop can be scraped off by the scraper 11, thereby increasing the dryness of the cleaned mop.

Optionally, a power receiving mechanism is disposed on the cleaning robot, and the power receiving mechanism is configured to receive electric energy, and the cleaning robot can further perform step a.

Step a, receiving electric energy through a power receiving mechanism until the electric energy storage value of the cleaning robot meets a preset condition.

By way of example and not limitation, the power receiving mechanism includes a power receiving contact, and the preset condition may be that an electric energy storage value of the cleaning robot is greater than or equal to a specified electric energy storage value, where the specified electric energy storage value may be a preset electric energy storage value, or the specified electric energy storage value is equal to an electric energy value corresponding to an electric energy required by the cleaning robot to walk for a specified time.

In some embodiments, the cleaning robot can also perform steps b and c.

And b, acquiring walking path information, wherein the walking path information is used for representing a path which is passed by the cleaning robot when the cleaning robot walks to an entrance of the maintenance station from a starting position, and the starting position can be a position where the cleaning robot is located when the cleaning robot receives the cleaning information.

And c, returning to the initial position according to the walking path information.

After the cleaning robot exits the maintenance station 1, the cleaning robot can return to the initial position according to the travel path, and thus, the cleaned floor area (the floor area other than the above path) can be prevented from being contaminated.

It should be noted that, for the technical details that are not described in detail in this embodiment, reference may be made to each of the first embodiment and the second embodiment.

Example four

Fig. 5 is a schematic view of a cleaning robot according to an embodiment of the present invention. As shown in fig. 5, the cleaning robot 5 of this embodiment includes: a processor 51, a memory 52 and a computer program 53 stored in the memory 52 and executable on the processor 51, and a mop is provided on the cleaning robot 5, which may be provided at the bottom of the cleaning robot 5.

The cleaning robot 5 is an apparatus capable of cleaning the surface of an object by a wiper, and for example, the cleaning robot 5 is capable of cleaning the floor by a wiper. The cleaning robot 5 may include, but is not limited to, a processor 51, a memory 52, and a computer program 53 stored in the memory 52 and operable on the processor 51. In some embodiments, the cleaning robot 5 may further include at least one of the following mechanisms: receiving mechanism, dust box, sewage case.

The processor 51, when executing the computer program 53, implements the steps in the various cleaning method embodiments described above, such as the steps S401 to S403 shown in fig. 4.

Illustratively, the computer program 53 may be divided into one or more modules/units, which are stored in the memory 52 and executed by the processor 51 to carry out the invention. One or more modules/units may be a series of computer program instruction segments capable of performing specific functions, which are used to describe the execution of the computer program 53 in the cleaning robot 5.

It will be appreciated by those skilled in the art that fig. 5 is merely an example of the cleaning robot 5 and does not constitute a limitation of the cleaning robot 5 and may include more or less components than shown, or combine certain components, or different components, for example the cleaning robot 5 may also include input output devices, network access devices, buses, etc.

The Processor 51 may be a Central Processing Unit (CPU), other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic device, discrete hardware component, or the like. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.

The storage 52 may be an internal storage unit of the cleaning robot 5, such as a hard disk or a memory of the cleaning robot 5. The memory 52 may also be an external storage device of the cleaning robot 5, such as a plug-in hard disk provided on the cleaning robot 5, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), and the like. Further, the memory 52 may also include both an internal storage unit and an external storage device of the cleaning robot 5. The memory 52 is used for storing computer programs and other programs and data required for the cleaning robot 5. The memory 52 may also be used to temporarily store data that has been output or is to be output.

It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-mentioned division of the functional units and modules is illustrated, and in practical applications, the above-mentioned function distribution may be performed by different functional units and modules according to needs, that is, the internal structure of the apparatus is divided into different functional units or modules, so as to perform all or part of the functions described above. Each functional unit and module in the embodiments may be integrated in one processing unit, or each unit may exist alone physically, or two or more units are integrated in one unit, and the integrated unit may be implemented in a form of hardware, or in a form of software functional unit. In addition, specific names of the functional units and modules are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present application. For the specific working processes of the units and modules in the system, reference may be made to the corresponding processes in the foregoing method embodiments, which are not described herein again.

In the above embodiments, the description of each embodiment has its own emphasis, and reference may be made to the related description of other embodiments for parts that are not described or recited in any embodiment.

Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.

In the embodiments provided in the present invention, it should be understood that the disclosed cleaning robot and method may be implemented in other ways. For example, the above-described embodiments of the cleaning robot are merely illustrative, and for example, the division of modules or units is only one logical division, and other divisions may be realized in practice, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.

Units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.

In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.

The integrated modules/units, if implemented in the form of software functional units and sold or used as separate products, may be stored in a computer readable storage medium. Based on such understanding, all or part of the flow in the method according to the embodiments of the present invention may also be implemented by a computer program, which may be stored in a computer-readable storage medium and used by a processor to implement the steps of the above-described embodiments of the method. Wherein the computer program comprises computer program code, which may be in the form of source code, object code, an executable file or some intermediate form, etc. The computer readable medium may include: any entity or device capable of carrying computer program code, recording medium, U.S. disk, removable hard disk, magnetic disk, optical disk, computer Memory, read-Only Memory (ROM), random Access Memory (RAM), electrical carrier wave signals, telecommunications signals, software distribution media, and the like. It should be noted that the computer readable medium may contain other components which may be suitably increased or decreased as required by legislation and patent practice in jurisdictions, for example, in some jurisdictions, in accordance with legislation and patent practice, the computer readable medium does not include electrical carrier signals and telecommunications signals.

It should be noted that, for technical details that are not described in detail in this embodiment, reference may be made to each of the third embodiment.

The above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will 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; such modifications and substitutions do not substantially depart from the spirit and scope of the embodiments of the present invention, and are intended to be included within the scope of the present invention.

The above description is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention, and all equivalent structural changes made by using the contents of the present specification and the drawings, or any other related technical fields directly/indirectly applied to the present invention are included in the scope of the present invention.

Claims

1. A maintenance station for cleaning a mop of a cleaning robot, the maintenance station comprising:

2. The maintenance station according to claim 1, characterized in that said bearing surface comprises a plane section and a bevel section, said scraper element protruding from said plane section and/or said bevel section.

3. The maintenance station according to claim 1, characterized in that said scraper element is fixedly or rotatably connected to said base.

4. The maintenance station according to claim 1, characterized in that said scraping element is rotatably connected to said base, said base being provided with a first drive mechanism capable of driving said scraping element to rotate about its axis through a given angle.

5. The maintenance station according to claim 1, characterized in that said base is recessed with a dirt collection chamber located below said scraper member.

6. The maintenance station according to claim 5, wherein a first dirt discharge passage is provided in the maintenance station, the first dirt discharge passage communicating with the dirt collection chamber;

be provided with the separation piece in the filth collection chamber, be provided with first through-hole on the separation piece, the separation piece is used for preventing the filth that the size is greater than the through-hole size from getting into first filth row passageway.

7. The maintenance station according to claim 1, characterized in that said mop cleaning device is spaced apart from said scraper.

8. The maintenance station according to claim 1, characterized in that said mop cleaning device comprises a cleaning tank and a second driving mechanism, said second driving mechanism being connected with said cleaning tank, said second driving mechanism being able to drive said cleaning tank in motion.

9. The maintenance station according to claim 8, characterized in that said mop cleaning device comprises an ultrasonic generator and an ultrasonic transducer, said ultrasonic generator being electrically connected to said ultrasonic transducer, said ultrasonic transducer being removably arranged in said cleaning bath.

10. A cleaning method, characterized in that the cleaning method is applied to a cleaning robot, the cleaning method comprising:

controlling the cleaning robot to move on a carrying surface of a maintenance station in a direction towards a mop cleaning device close to the maintenance station or in a direction away from the mop cleaning device so that dirt on the mop is scraped off by a scraper of the maintenance station, wherein the maintenance station is the maintenance station as claimed in any one of claims 1 to 9;

11. A cleaning robot, comprising:

a processor; and the number of the first and second groups,

the memory stores instructions executable by the processor to enable the processor to perform the cleaning method of claim 10.