EP4388962A1 - Station de base et système de robot de nettoyage - Google Patents

Station de base et système de robot de nettoyage Download PDF

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Publication number
EP4388962A1
EP4388962A1 EP22857258.2A EP22857258A EP4388962A1 EP 4388962 A1 EP4388962 A1 EP 4388962A1 EP 22857258 A EP22857258 A EP 22857258A EP 4388962 A1 EP4388962 A1 EP 4388962A1
Authority
EP
European Patent Office
Prior art keywords
cleaning
base station
support
station according
robot
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
EP22857258.2A
Other languages
German (de)
English (en)
Other versions
EP4388962A4 (fr
Inventor
Xing Li
Pan CHENG
Xiang Lin
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Beijing Rockrobo Technology Co Ltd
Original Assignee
Beijing Rockrobo Technology Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Beijing Rockrobo Technology Co Ltd filed Critical Beijing Rockrobo Technology Co Ltd
Publication of EP4388962A1 publication Critical patent/EP4388962A1/fr
Publication of EP4388962A4 publication Critical patent/EP4388962A4/fr
Pending legal-status Critical Current

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Classifications

    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
    • A47L9/2868—Arrangements for power supply of vacuum cleaners or the accessories thereof
    • A47L9/2873—Docking units or charging stations
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/24—Floor-sweeping machines, motor-driven
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/28—Floor-scrubbing machines, motor-driven
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4013—Contaminants collecting devices, i.e. hoppers, tanks or the like
    • A47L11/4016—Contaminants collecting devices, i.e. hoppers, tanks or the like specially adapted for collecting fluids
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4013—Contaminants collecting devices, i.e. hoppers, tanks or the like
    • A47L11/4025—Means for emptying
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4036—Parts or details of the surface treating tools
    • A47L11/4041—Roll shaped surface treating tools
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/408—Means for supplying cleaning or surface treating agents
    • A47L11/4083—Liquid supply reservoirs; Preparation of the agents, e.g. mixing devices
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4091—Storing or parking devices, arrangements therefor; Means allowing transport of the machine when it is not being used
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • A47L2201/02—Docking stations; Docking operations
    • A47L2201/028—Refurbishing floor engaging tools, e.g. cleaning of beating brushes

Definitions

  • the present disclosure relates to the field of smart home technologies, and in particular, to a base station and a cleaning robot system.
  • a current cleaning robot for example, a sweeping and mopping integrated cleaning robot, usually includes a sweeping roller brush and a flat mopping cloth. After the flat mopping cloth is used, it usually needs to be cleaned manually, or directly replaced with a new flat mopping cloth, which is extremely inconvenient for use.
  • An embodiment of the present disclosure provides a base station, configured to clean a cleaning system of a cleaning robot.
  • the base station includes: a base station body; and a cleaning assembly.
  • the cleaning assembly is movably disposed on the base station body, and the cleaning assembly includes a first cleaning member that can float up and down relative to the base station body. The first cleaning member interferes with the cleaning system of the cleaning robot to clean the cleaning system of the cleaning robot.
  • the cleaning assembly includes a support and a driving portion, where the driving portion is configured to drive the support to move relative to the base station body along a first direction.
  • the first cleaning member includes a cleaning member body and a supporting portion.
  • the cleaning member body is adapted to interfere with the cleaning system.
  • the supporting portion connects the cleaning member body and the support, where the supporting portion is an elastic member.
  • the supporting portion includes a first connecting section, a transition section, and a second connecting section connected in sequence.
  • the second connecting section is provided at the bottom of the cleaning member body.
  • the transition section is provided obliquely downward in a direction from the second connecting section to the first connecting section.
  • the support is provided with a slot fitting the first connecting section.
  • the support is further provided with support seats located on both sides of the supporting portion, and an end of the cleaning member body away from the supporting portion is higher than the support seats.
  • the number of supporting portions is one or at least two, and the at least two supporting portions are distributed at intervals along a length direction of the cleaning member body; and/or a gap is provided between the cleaning member body and the support along the length direction of the cleaning member body.
  • the cleaning assembly further includes: a second cleaning member, disposed on the support and in parallel with the first cleaning member; where the second cleaning member includes a cleaning roller adapted to interfere with the cleaning system, and the cleaning roller is rotatably provided relative to the support.
  • the cleaning assembly further includes: a water outlet apparatus, disposed on the support and in parallel with the first cleaning member and the second cleaning member.
  • the base station body includes a cleaning tank disposed below the cleaning assembly, and at least one side of the cleaning tank is provided with a sewage outlet.
  • the cleaning assembly further includes a clearing member disposed toward the bottom of the cleaning tank. The clearing member is configured to move debris in the cleaning tank closer to the sewage outlet.
  • the clearing member includes a connecting portion and an abutting portion, the connecting portion is connected to the support, and the abutting portion is a flexible member and adapted to abut against the bottom of the cleaning tank.
  • At least two protruding structures are provided at intervals on a side of the abutting portion away from the sewage outlet.
  • a length of the abutting portion is equal to an in-tank width of the bottom of the cleaning tank.
  • the clearing member is located at the bottom of the support on a side away from the sewage outlet.
  • the clearing member is detachably connected to the support.
  • one of the connecting portion and the support is provided with a limiting portion, and the other of the connecting portion and the support is provided with a positioning portion adapted to the limiting portion; where the limiting portion includes a clamping hook, and the positioning portion includes a slot; and/or the limiting portion includes a magnetic member, and the positioning portion includes a magnetic attraction member.
  • the number of cleaning assemblies is one or at least two, and at least two cleaning assemblies are distributed at intervals for interfering with different cleaning systems.
  • An embodiment of the present disclosure provides a cleaning robot system, including: a cleaning robot including a cleaning system; and the base station according to any one of the above first aspects.
  • the first cleaning member interferes with the cleaning system to remove debris on the cleaning system.
  • the cleaning robot system includes the cleaning robot 10 and a base station, that is, the base station is used in cooperation with the cleaning robot 10.
  • the cleaning robot 10 may include a robot body 110, a perception system 120, a control module 130, a driving system 140, a cleaning system 150, an energy system 160, and a human-machine interaction system 170. It can be understood that the cleaning robot 10 may be a self-moving cleaning robot 10 or other cleaning robots 10 meeting requirements.
  • the self-moving cleaning robot 10 is a device that automatically performs a cleaning operation in a certain area to be cleaned without operation of a user. When the self-moving cleaning robot 10 starts to work, the automatic cleaning device starts from the base station to perform a cleaning task. When the self-moving cleaning robot 10 completes the cleaning task or needs to stop the cleaning task, the self-moving cleaning robot 10 may return to the base station for charging or another operation.
  • the robot body 110 includes a front part 111 and a rear part 112, has an approximately circular shape (both front and rear are circular), and may also have other shapes, including but not limited to an approximately D shape with a square front and a circular rear, and a rectangular or square shape with a square front and a square rear.
  • the perception system 120 includes a position determining apparatus 121 disposed on the robot body 110, a collision sensor and a proximity sensor disposed on a buffer 122 in the front part 111 of the robot body 110, a cliff sensor disposed at the lower part of the robot body 110, and sensing devices such as a magnetometer, an accelerometer, a gyroscope, an odometer and the like disposed inside the robot body 110 for providing various position information and motion state information of the robot to the control module 130.
  • the position determining apparatus 121 includes but is not limited to a camera and a laser distance sensor (LDS).
  • the front part 111 of the robot body 110 can carry the buffer 122.
  • the buffer 122 detects one or more events in a travel path of the cleaning robot 10 through a sensor system, such as an infrared sensor, disposed on the buffer 122, and based on an event detected by the buffer 122, such as an obstacle or a wall, the cleaning robot 10 may control the driving wheel module 141 to make the cleaning robot 10 respond to the event, such as moving away from the obstacle.
  • a sensor system such as an infrared sensor
  • the control module 130 is disposed on a circuit board inside the robot body 110, and includes a computing processor, such as a central processing unit or an application processor, communicating with a non-transitory memory, such as a hard disk, a flash memory, or a random access memory.
  • the application processor draws an instant map of the environment where the cleaning robot 10 is located by using a positioning algorithm such as Simultaneous Localization and Mapping (SLAM), based on obstacle information fed back by the LDS.
  • SLAM Simultaneous Localization and Mapping
  • the application processor based on distance information and speed information fed back by sensing devices such as the sensor disposed on the buffer 122, the cliff sensor, the magnetometer, the accelerometer, the gyroscope, the odometer and the like, comprehensively determines what working state and position the cleaning robot 10 is currently in, and a current posture of the cleaning robot 10, such as crossing a door threshold, getting on a carpet, being located at a cliff, being stuck above or below, having a full dust box, being picked up, etc. Further, the application processor will also give specific next-step action strategies for different situations, so that the cleaning robot 10 has better cleaning performance and user experience.
  • the driving system 140 may operate the robot body 110 to travel across the ground based on a drive command having distance and angular information (for example, x, y, and 8 components).
  • the driving system 140 includes the driving wheel module 141, which can simultaneously control left and right wheels.
  • the driving wheel module 141 include a left driving wheel module 141 and a right driving wheel module 141.
  • the left and right driving wheel modules 141 are disposed along a transverse axis defined by the robot body 110.
  • the cleaning robot 10 may include one or more driven wheels 142.
  • the driven wheels 142 include but are not limited to universal wheels.
  • the driving wheel module 141 includes traveling wheels, a driving motor, and a control circuit for controlling the driving motor.
  • the driving wheel module 141 may also be connected with a circuit for measuring a driving current and the odometer.
  • the driving wheels may have a biased drop-type suspension system, be movably secured, for example, rotatably attached, to the robot body 110, and receive a spring bias biased downward and away from the robot body 110.
  • the spring bias allows the driving wheels to maintain contact and traction with the ground with a specific ground force, while the cleaning elements of the cleaning robot 10 also contact the ground with a specific pressure.
  • the energy system 160 includes a rechargeable battery, such as a nickel-hydrogen battery and a lithium battery.
  • the rechargeable battery may be connected with a charging control circuit, a battery pack charging temperature detection circuit and a battery undervoltage monitoring circuit.
  • the charging control circuit, the battery pack charging temperature detection circuit, and the battery undervoltage monitoring circuit are connected with a single-chip microcomputer control circuit.
  • the robot is charged by being connected to a charging pile through a charging electrode disposed on a side or the bottom of the robot body.
  • the human-machine interaction system 170 includes buttons on a panel of the robot for a user to select a function.
  • the human-machine interaction system 170 further includes a display screen and/or an indicator light and/or a loudspeaker, for indicating to the user a current state of the robot or the function selected.
  • the human-machine interaction system 170 further includes a client program on a mobile phone. For a path-guided automatic cleaning device, the mobile phone client can display a map of the environment where the device is located for the user, as well as the location of the robot, and may provide users with more abundant and user-friendly functional items.
  • the cleaning system 150 may be a dry cleaning system 151 and/or a wet cleaning system 153.
  • the dry cleaning system 151 may include a roller brush, a dust box, a fan, and an air outlet.
  • the roller brush that has a certain interference with the ground sweeps up garbage on the ground and roll it to the front of a dust suction inlet between the roller brush and the dust box, and then the garbage is sucked into the dust box by a suction gas generated by the fan and passing through the dust box.
  • the dry cleaning system 151 may further include a side brush 152 having a rotation axis angled relative to the ground, for moving debris into an area of the roller brush of the cleaning system 150.
  • the wet cleaning system 153 may include: a cleaning head 1531, a driving unit 1532, a water delivery mechanism, a liquid storage tank, and the like.
  • the cleaning head 1531 may be arranged under the liquid storage tank, and cleaning liquid inside the liquid storage tank is transported to the cleaning head 1531 through the water delivery mechanism, so that the cleaning head 1531 performs wet cleaning on a surface to be cleaned.
  • the cleaning liquid inside the liquid storage tank may also be directly sprayed onto the surface to be cleaned, and the cleaning head 1531 cleans the surface by spreading the cleaning liquid evenly.
  • the cleaning head 1531 is configured to clean the surface to be cleaned
  • the driving unit 1532 is configured to drive the cleaning head 1531 to reciprocate basically along a target surface, where the target surface is a part of the surface to be cleaned.
  • the cleaning head 1531 reciprocates along the surface to be cleaned
  • the cleaning head 1531 generates high-frequency friction with the surface to be cleaned by reciprocating motion with a cleaning cloth or a cleaning plate provided on a contact surface between the cleaning head 1531 and the surface to be cleaned, thereby removing stains on the surface to be cleaned.
  • the driving unit 1532 may further include a driving platform 1533 and a supporting platform 1534.
  • the driving platform 1533 is connected to the bottom surface of the robot body 110 for providing a driving force.
  • the supporting platform 1534 is detachably connected to the driving platform 1533 for supporting the cleaning head 1531, and may move up and down when driven by the driving platform 1533.
  • the wet cleaning system 153 may be connected with the robot body 110 through an active lifting module.
  • the wet cleaning system 153 is temporarily not involved in the work, for example, when the cleaning robot 10 docks at the base station to clean the cleaning head 1531 of the wet cleaning system 153 and fill the liquid storage tank; or when the wet cleaning system 153 cannot be used to clean the surface to be cleaned, the wet cleaning system 153 is raised by the active lifting module.
  • the cleaning head 1531, the driving platform 1533, the supporting platform 1534, the water delivery mechanism, and the liquid storage tank etc. can be powered by one or more motors.
  • the energy system 160 provides power and energy for the motor, and is overall controlled by the control module 130.
  • the water delivery mechanism in the embodiment of the present disclosure may include a water outlet apparatus, and the water outlet apparatus may be directly or indirectly connected to the liquid outlet of the liquid storage tank, where the cleaning liquid may flow to the water outlet apparatus through a cleaning liquid outlet of the liquid storage tank, and can be evenly applied to the surface to be cleaned by the water outlet apparatus.
  • a connecting member may be provided on the water outlet apparatus, and the water outlet apparatus is connected to the cleaning liquid outlet of the liquid storage tank through the connecting member.
  • a distribution port is provided on the water outlet apparatus. The distribution port may be a continuous opening or a combination of several disconnected small openings, and several nozzles may be provided at the distribution port.
  • the cleaning liquid flows to the distribution port through the cleaning liquid outlet of the liquid storage tank and the connecting member of the water outlet apparatus, and is evenly applied on the surface to be cleaned through the distribution port.
  • the liquid storage tank further includes a water replenishment port, which may be provided on a side wall of the water tank.
  • a water replenishment port which may be provided on a side wall of the water tank.
  • the base station includes a base station body 20 and a cleaning assembly 30.
  • the cleaning assembly 30 may be movably disposed on the base station body 20.
  • the cleaning assembly 30 may move relative to the base station body 20 along a first direction.
  • the first direction is a left-right direction of the base station.
  • the cleaning assembly 30 may reciprocate along the left-right direction of the base station.
  • the left-right direction of the base station is shown by solid arrows in FIG. 5 .
  • the cleaning assembly 30 includes a first cleaning member 31 that can float up and down relative to the base station body 20. The first cleaning member 31 removes debris on the cleaning system 150 by interfering with the cleaning system 150.
  • the cleaning assembly 30 is located opposite to the cleaning system 150, and by interfering with the cleaning system 150, the first cleaning member 31 removes debris on the cleaning system 150 during the cleaning assembly 30 moving relative to the base station body 20.
  • the cleaning robot 10 can realize automatic cleaning on the cleaning assembly 30 of the base station 20, thereby eliminating the need for manual cleaning of the cleaning system 150 or replacement of a new cleaning system 150, simplifying manual operations, improving manual cleaning experience, helping reduce cleaning costs, and suitable for promotion and application.
  • the first cleaning member 31 may float up and down relative to the base station body 20, so as to effectively adapt the position and its own characteristics of the cleaning system 150 of the cleaning robot 10. In this way, the first cleaning member 31 can effectively and reliably interfere with the cleaning system 150, so that friction force between the first cleaning member 31 and the cleaning system 150 is within a certain range. This makes cleaning work possible and ensures a good cleaning effect.
  • the friction force between the first cleaning member 31 and the cleaning system 150 is relatively large, which will affect sensitivity of the first cleaning member 31 moving relative to the base station body 20, and in turn affect the cleaning efficiency. If the amount of abutting between the cleaning system 150 and the first cleaning member 31 is too small, the friction force between the first cleaning member 31 and the cleaning system 150 is relatively small. This causes a problem of incomplete cleaning, which will affect the cleaning effect of the first cleaning member 31.
  • the thickness of the cleaning system 150 is large or the scalability of the cleaning system 150 is large, there is a problem that the amount of interference between the first cleaning member 31 and the cleaning system 150 is insufficient, resulting in a part of the cleaning system 150 far away from the first cleaning member 31 not being cleaned. If the thickness of the cleaning system 150 is small or the scalability of the cleaning system 150 is small, there is a problem that the amount of interference between the first cleaning member 31 and the cleaning system 150 is large (for example, the amount of abutting between the two is too large) and thus the cleaning system 150 is damaged.
  • the present disclosure enables the first cleaning member 31 to float up and down relative to the base station body 20, thereby automatically adjusting the amount of abutting between the first cleaning member 31 and the cleaning system 150 to ensure that the amount of abutting between the two is within an appropriate range. Therefore, the friction force between the first cleaning member 31 and the cleaning system 150 is within an appropriate range, so as to ensure that the first cleaning member 31 has a good cleaning effect and ensure high cleaning efficiency. At the same time, the wear on the cleaning system 150 is reduced, a service life of the cleaning system 150 is prolonged, and user satisfaction is improved.
  • a floating amount of the first cleaning member 31 relative to the base station body 20 may be reasonably set to meet cleaning requirements for the cleaning system 150 at different locations and with different characteristics, thereby expanding the application scope of the product.
  • the cleaning assembly 30 includes a support 32 connected to the base station body 20 and a driving portion 34.
  • the driving portion 34 is configured to drive the support 32 to move relative to the base station body 20 along the first direction.
  • the driving portion 34 drives the support 32 to move relative to the base station body 20, that is, the support 32 can move in an approximately horizontal plane relative to the base station body 20.
  • the support 32 reciprocates along a left-right direction of the base station body 20.
  • the first cleaning member 31 is disposed on the support 32, where the first cleaning member 31 includes a cleaning member body 311 and a supporting portion 312.
  • the cleaning member body 311 is adapted to interfere with the cleaning system 150, and the supporting portion 312 connects the cleaning member body 311 and the support 32. That is to say, the support 32 moves relative to the base station body 20, and drives the cleaning member body 311 to move relative to the base station body 20 through the supporting portion 312.
  • the cleaning member body 311 interferes with the cleaning system 150, debris on the cleaning system 150 is removed to realize automatic cleaning of the cleaning system 150.
  • the driving portion 34 moves relative to the base station body 20 synchronously with the support 32.
  • the driving portion 34 may include a motor and a gear 341, and the motor drives the gear 341 to rotate, while the base station body 20 may be provided with a rack 342, so that the gear 341 moves along an extension direction of the rack 342, and thus the driving portion 34 moves on the base station body 20 synchronously with the support 32 of the cleaning assembly 30, so as to realize movement of the first cleaning member 31 relative to the base station body.
  • both ends of the support 32 are provided with racks 342.
  • the supporting portion 312 is an elastic member. Through the supporting portion 312 of the elastic member, that is, under the action of an external force, such as the action force of the cleaning system 150, the cleaning member body 311 can be driven to float up and down, so that the cleaning member body 311 can automatically adjust the amount of interference with the cleaning system 150 to ensure that the amount of interference between the two is within an appropriate range, so as to make the friction force between the cleaning member body 311 and the cleaning system 150 within an appropriate range to ensure a good cleaning effect and ensure a high cleaning efficiency.
  • the cleaning member body 311 may be a cleaning scraper, or other cleaning structures that meet requirements.
  • the number of supporting portions 312 may be one or at least two, for example, the number of supporting portions 312 is one, two, three or other numbers that meet requirements. Different numbers of the supporting portions 312 can meet requirements for different structures and different arrangement positions of the supporting portions 312. At least two supporting portions 312 are distributed at intervals along a length direction of the cleaning member body 311, which can reduce materials used for the supporting portions 312 on the basis of ensuring that the cleaning member body 311 is reliably connected to the support 32 and that a floating amount of the cleaning member body 311 is within a reasonable range, thereby reducing manufacturing costs.
  • the supporting portion 312 includes a first connecting section 313, a transition section 315, and a second connecting section 314 connected in sequence, where the second connecting section 314 is provided at the bottom of the cleaning member body 311, that is, the supporting portion 312 is located at a side of the cleaning member body 311 away from the cleaning system 150 of the cleaning robot 10.
  • the support 32 is provided with a slot, and the first connecting section 313 fits the slot.
  • the first cleaning member 31 provided by the embodiment of the present disclosure can implement a detachable connection between the first cleaning member 31 and the support 32 through the first connecting section 313 being fitted the slot on the support 32, thereby facilitating disassembling the first cleaning member 31 from the support 32 for cleaning and maintenance, which is conducive to improving cleaning experience of the first cleaning member 31 and reducing replacement costs.
  • the transition section 315 is provided obliquely downward in a direction from the second connecting section 314 to the first connecting section 313. Since the supporting portion 312 is an elastic member, that is, the transition section 315 can be an elastic member, a vertical distance between the first connecting section 313 and the second connecting section 314 can be adjusted to realize that the cleaning member body 311 can float up and down in the vertical direction, so that the first cleaning member 31 can float up and down relative to the base station body 20 to improve the cleaning effect. Further, the supporting portion 312 has an integrated structure, which is conducive to improving the support strength of the supporting portion 312. It can be understood that the supporting portion 312 may also be a split structure, which is not specifically limited in the present disclosure.
  • the cleaning member body 311 and the supporting portion 312 are integrally formed, which facilitates processing and production.
  • the cleaning member body 311 and the supporting portion 312 are of a split structure. Due to the interference between the cleaning member body 311 and the cleaning system 150, a failure rate or worn rate is high. Through the cleaning member body 311 and the supporting portion 312 provided in a split structure, the cleaning member body 311 may be replaced or maintained separately to further reduce maintenance costs or use costs.
  • the support 32 is further provided with support seats 321 on both sides of the supporting portion 312, and an end of the cleaning member body 311 away from the supporting portion 312 is higher than the support seats 321, where a part of the cleaning member body 311 higher than the support seats 321 is configured to interfere with the cleaning system 150 of the cleaning robot 10 for cleaning operations.
  • the arrangement of the support seats 321 can support the supporting portion 312, or the supporting portion 312 and part of the cleaning member body 311, so as to avoid the following problem: during the movement of the support 32 relative to the base station body 20, the first cleaning member 31 interferes with the cleaning system 150 of the cleaning robot 10, so that the first cleaning member 31 is displaced greatly along a moving direction of the support 32 to affect the amount of abutting between the first cleaning member 31 and the cleaning system 150.
  • the arrangement of the support seats 321 can reduce the displacement of the first cleaning member 31 along the moving direction of the support 32 during the cleaning, which is conducive to making the first cleaning member 31 reliably abut against the cleaning system 150, thereby ensuring a good cleaning effect.
  • FIG. 17 and FIG. 18 there are a plurality of support seats 321 on either side of the supporting portion 312, and the support seats 321 on both sides of the supporting portion 312 are staggered.
  • Such an arrangement may use fewer support seats 321 to make the displacement of the first cleaning member 31 along the moving direction of the support smaller, improve the reliability of the abutting between the first cleaning member 31 and the cleaning system 150, and meet a design requirement of the base station with a compact structure and a small volume.
  • a gap 322 is provided between the cleaning member body 311 and the support 32.
  • the arrangement of the gap 322 can ensure that the cleaning member body 311 floats up and down reliably and flexibly relative to the support 32 under the action of the supporting portion 312, thereby improving the cleaning efficiency and cleaning effect of the first cleaning member 31.
  • the supporting portion 312 is connected to the bottom of the cleaning member body 311 and connected to the support 32 located at the bottom of the cleaning member body 311, while the cleaning member body 311 is separated from the support 32 in a width direction, for example, a gap is provided between the support seats and the cleaning member body 311. In this way, there is a movable gap between the peripheral side of the cleaning member body 311 and the support 32, enabling the cleaning member body 311 to float up and down.
  • the length direction of the cleaning member body 311 is perpendicular to the moving direction of the support 32 relative to the base station body 20. In other words, when the support 32 moves left and right relative to the base station body 20, the length direction of the cleaning member body 311 is consistent with a front direction of the base station body 20. As shown in FIG. 16 and FIG. 17 , a gap 322 is provided between any end of the cleaning member body 311 in the length direction and the support 32. During the movement of the support 32 relative to the base station body 20, the first cleaning member 31 interferes with the cleaning system 150, so that debris removed from the cleaning system 150 can flow between the end of the cleaning member body 311 in the length direction and the support 32 under the guidance of the cleaning member body 311.
  • the width of the gap 322 between the end of the cleaning member body 311 in the length direction and the support 32 is too small, there will be a problem that the cleaning member body 311 will be stuck due to the accumulation of debris. Therefore, by appropriately arranging the gap 322 between the end of the cleaning member body 311 in the length direction and the support, it is possible to reduce a possibility that debris (such as silt) is deposited between the cleaning member body 311 and the support 32 and causes the cleaning member body 311 to be stuck on the support 32 and unable to float up and down, thereby ensuring flexibility of the first cleaning member to float.
  • debris such as silt
  • the cleaning assembly 30 further includes a second cleaning member 33 disposed on the support 32.
  • the support 32 ensures that the first cleaning member 31 and the second cleaning member 33 can move accordingly, so as to ensure that the first cleaning member 31 and the second cleaning member 33 interfere with the cleaning system 150 at different positions to ensure the cleaning effect.
  • the second cleaning member 33 and the first cleaning member 31 are disposed on the support 32 in parallel.
  • the second cleaning member 33 may be disposed in parallel on any side of the first cleaning member 31. In a case of multiple second cleaning members 33, the second cleaning members 33 may also be distributed in parallel on any side or both sides of the first cleaning member 31.
  • the second cleaning member 33 includes a cleaning roller, and the cleaning roller is rotatably provided relative to the support 32.
  • the cleaning roller interferes with the cleaning system 150 to remove the debris on the cleaning system 150.
  • brushes and/or blades are provided on the outer surface of the cleaning roller, and the brushes and/or blades may penetrate deep into the cleaning system 150 to bring out dirt hidden therein, further improving the cleaning effect.
  • the base station body 20 includes a cleaning tank 21 disposed below the cleaning assembly 30.
  • the cleaning tank 21 is configured to accommodate debris removed from the cleaning system 150 by the cleaning assembly 30, thereby facilitating subsequent treatment of the debris and improving the cleanliness of environment near the base station.
  • the cleaning tank 21 is provided with a sewage outlet 211, through which debris in the cleaning tank 21 can be removed to the outside of the cleaning tank 21.
  • the bottom of the cleaning tank 21 may be obliquely arranged toward the sewage outlet 211 to facilitate the movement of impurities in the cleaning tank 21 to the sewage outlet 211.
  • the debris removed from the cleaning system 150 may include sewage, hair, scrap, particle dust, or other debris that meet requirements, which are not specifically limited in the present disclosure.
  • the cleaning assembly 30 further includes a clearing member 36, which faces the bottom of the cleaning tank 21.
  • the debris in the cleaning tank 21 is brought closer to the sewage outlet 211 by the clearing member 36, such as by abutting against the bottom of the cleaning tank 21 by the clearing member 36.
  • the clearing member 36 moves the debris in the cleaning tank 21 closer to the sewage outlet 211, so that the debris can be discharged collectively, quickly and smoothly through the sewage outlet 211, which is conducive to improving the sewage discharge efficiency and the sewage discharge effect of the base station and improving user's satisfaction.
  • the base station may further include a sewage discharge mechanism, which communicates with the sewage outlet 211, so as to transport the debris in the cleaning tank 21 to the outside of the cleaning tank 21 through the sewage outlet 211 through a suction action, a pumping action, etc. of the sewage discharge mechanism, thereby further improving the sewage discharge effect of the base station.
  • the sewage discharge mechanism may include a fan assembly or a pump body assembly, or a sewage discharge assembly that meets requirements, which is not specifically limited in the present disclosure.
  • the base station further includes a collecting box.
  • the collecting box communicates with the cleaning tank 21 through the sewage outlet 211, so that the debris in the cleaning tank 21 is transported to the collecting box through the sewage discharge mechanism, so as to prevent the debris in the cleaning tank 21 from overflowing and affecting the cleaning effect of the cleaning member and causing the working environment to be dirty.
  • the arrangement of the collecting box is conducive to ensuring a good cleaning effect, and facilitates centralized treatment of the collected debris.
  • the clearing member 36 includes a connecting portion 361 and an abutting portion 362.
  • the connecting portion 361 is connected to the support 32, and the abutting portion 362 may be a flexible member and is suitable for abutting against the bottom of the cleaning tank 21.
  • the support 32 drives the first cleaning member 31 and the clearing member 36 to move relative to the base station body 20, thereby removing the debris from the cleaning system 150, and moving the debris in the cleaning tank 21 closer to the sewage outlet 211.
  • the structure is simple, and can meet the design requirement of a base station with a compact structure.
  • multiple supports 32 may be disposed on the base station, and the first cleaning member 31 and the clearing member 36 may be disposed on different supports 32, and the movements of the multiple supports 32 are respectively controlled by a controller of the base station.
  • the abutting portion 362 of the clearing member 36 abuts against the bottom of the cleaning tank 21, so that during the movement of the cleaning assembly 30 relative to the base station body 20, the debris in the cleaning tank 21 is moved closer to the sewage outlet 211.
  • the structure is simple, easy to implement and suitable for promotion and application.
  • the abutting portion 362 is a flexible member, which is conducive to reducing the wear of the abutting portion 362 under the condition that the clearing member 36 is tightly and reliably abutted against the bottom of the cleaning tank 21, and improving a service life of the clearing member 36. In addition, such an arrangement is not easy to cause scratches and other damages to the cleaning tank 21.
  • At least two protruding structures 363 may be provided at intervals on a side of the abutting portion 362 of the clearing member 36 away from the sewage outlet 211. Then, in a process in which the support 32 drives the clearing member 36 to move away from the sewage outlet 211, the side of the abutting portion 362 provided with the protruding structures 363 abuts against the bottom of the cleaning tank 21, so that debris in the cleaning tank 21 located on a side of the abutting portion 362 away from the sewage outlet 211 will pass through a gap between the at least two protruding structures 363 and move to the sewage outlet 211.
  • a side of the abutting portion 362 that is not provided with the protruding structures 363 abuts against the bottom of the cleaning tank 21.
  • the side of the abutting portion 362 that is not provided with the protruding structures 363 is a smooth structure, that is, the smooth structure abuts against the bottom of the cleaning tank 21. Then, debris located on the side of the abutting portion 362 close to the sewage outlet 211 will move toward the direction close to the sewage outlet 211 and stays in the vicinity of the sewage outlet 211.
  • the arrangement of the smooth structure on one side of the abutting portion 362 can make the clearing member 36 in close contact with the bottom of the cleaning tank 21 when moving toward the sewage outlet 211, which facilitates improving the thoroughness of debris collection.
  • the debris in the cleaning tank 21 may be scraped to one side.
  • the debris collection provided on the cleaning assembly 30 may be configured to scrape the debris in the cleaning tank 21 to one side where the sewage outlet 211 is provided.
  • the protruding structures 363 is provided on the left side of the abutting portion 362, and the right side of the abutting portion 362 is a straight-edge structure, such as a smooth surface.
  • the cleaning assembly 30 moves to the right, the smooth surface of the abutting portion 362 contacts the bottom of the cleaning tank 21, scraping the debris in the cleaning tank 21 to the vicinity of the sewage outlet;
  • the cleaning assembly 30 moves to the left, the protruding structures 363 of the abutting portion 362 is in contact with the bottom of the cleaning tank 21, and a gap is formed between the protruding structures 363 and the bottom of the cleaning tank 21, so that the debris in the cleaning tank 21 can pass through the gap without largely being scraped to the side not far away from the water outlet, thereby improving the sewage discharge efficiency and thoroughness of sewage discharge.
  • the number of protruding structures 363 may be at least two.
  • the number of protruding structures 363 is two, three, four, or other numbers that meet requirements. Different numbers of protruding structures 363 may meet requirements for different structures and different sizes of the protruding structure 363.
  • At least two protruding structures 363 are distributed along a length direction of the abutting portion 362.
  • the length direction of the abutting portion 362 is perpendicular to the moving direction of the support 32 relative to the base station body 20.
  • the protruding structures 363 may be protruding points, bumps, or other protruding structures 363 that meet requirements.
  • the length of the abutting portion 362 may be equal to the in-tank width of the bottom of the cleaning tank 21, so that an end of the abutting portion 362 in the length direction can match the side wall of the cleaning tank 21. This avoids the following problem: a gap between the abutting portion 362 and the side wall of the cleaning tank 21 is large, and thus debris is missed in the gap and the collection effect is affected. At the same time, it is also avoided that excessive abutting between the abutting portion 362 and the tank wall of the cleaning tank 21 affects the flexibility of the cleaning assembly 30 moving relative to the base station body.
  • the length of the abutting portion 362 is equal to the in-tank width of the bottom of the cleaning tank 21, which is conducive to ensuring a good collection effect and collection efficiency.
  • the length direction of the abutting portion 362 is consistent with a width direction of the cleaning tank 21, and the width direction of the cleaning tank 21 is perpendicular to the moving direction of the support 32 relative to the base station body 20.
  • the width direction of the cleaning tank 21 is a front-rear direction of the base station body 20.
  • the length direction of the abutting portion 362 is consistent with the front-rear direction of the base station body 20, and the front-rear direction of the base station body 20 is shown by dotted arrows in FIG. 5 .
  • the clearing member 36 may be disposed on a side of the support 32 away from the sewage outlet 211, which is conducive to increasing the farthest distance between the clearing member 36 and the sewage outlet 211, thereby increasing a collection range of the clearing member 36 and improving the collection efficiency.
  • the clearing member 36 is disposed at the bottom of the support 32, which facilitates reducing the volume of the clearing member 36, thereby meeting a requirement for a compact structure of the cleaning assembly 30 and expanding the application scope of the product.
  • the clearing member 36 is detachably connected to the support 32, so that the clearing member 36 can be detached from the support 32 for cleaning and maintenance, thereby improving the cleaning experience of the clearing member 36, improving maintenance efficiency, and reducing replacement costs. This is suitable for promotion and application.
  • the clearing member 36 may alternatively be fixed on the support 32, for example, the support 32 and the clearing member 36 form an integral structure, which is convenient for production and simplifies an assembly process.
  • the clearing member 36 is bonded to the support 32 by an adhesive, which is conducive to improving the reliability of a connection between the clearing member 36 and the support 32.
  • the clearing member 36 may be a scraper or other structures that meet requirements.
  • one of the connecting portion 361 and the support 32 is provided with a limiting portion, and the other is provided with a positioning portion.
  • the clearing member 36 can be detachably connected to the support 32.
  • the structure is simple and easy to use.
  • the limiting portion includes a clamping hook
  • the positioning portion includes a slot.
  • the clamping hook is provided on the connecting portion 361, and the slot is provided on the support 32.
  • the clamping hook is provided on the support 32, and the slot is provided on the connecting portion 361.
  • the detachable connection between the clearing member 36 and the support 32 can be quickly and conveniently realized through clamping of the clamping hook and the slot.
  • the structure is simple, easy to process, and low in costs.
  • the clamping hook and the slot can ensure the reliability of the connection between the clearing member 36 and the support 32, thereby ensuring a good cleaning effect of the clearing member 36.
  • the limiting portion includes a magnetic member
  • the positioning portion includes a magnetic attraction member.
  • the magnetic member is provided on the connecting portion 361, and the magnetic attraction member is provided on the support 32.
  • the magnetic member is provided on the support 32, and the magnetic attraction member is provided on the connecting portion 361.
  • the detachable connection between the clearing member 36 and the support 32 can be implemented quickly and conveniently through the attraction and separation of the magnetic member and the magnetic attraction member.
  • the reliability of the connection between the clearing member 36 and the support 32 can be ensured, thereby ensuring a good cleaning effect of the clearing member 36.
  • the limiting portion includes a clamping hook and a magnetic member
  • the positioning portion includes a slot and a magnetic attraction member.
  • the clamping hook and the magnetic member are provided on the connecting portion 361, and the slot and the magnetic attraction member are provided on the support 32.
  • the clamping hook and the magnetic member are provided on the support 32, and the slot and the magnetic attraction member are provided on the connecting portion 361.
  • the detachable connection between the clearing member 36 and the support 32 is implemented by using the double structure, which is conducive to further improving the reliability of the connection between the clearing member 36 and the support 32, thereby ensuring a good cleaning effect of the clearing member 36.
  • the magnetic member may be a magnetic strip, a magnetic steel or other structures that meet requirements
  • the magnetic attraction member may be a magnet or other structures that meet requirements, which are not specifically limited in the present disclosure.
  • the number of cleaning assemblies 30 is one or at least two, where at least two cleaning assemblies 30 are distributed at intervals and configured to interfere with different cleaning systems 150.
  • one base station may include one cleaning assembly 30, a cleaning member of the one cleaning assembly 30 interferes with a cleaning system 150 of a cleaning robot 10 to clean the cleaning system.
  • One base station may alternatively include two, three or another number of cleaning assemblies 30 that meet requirements. Different cleaning assemblies 30 may respectively clean different parts of the cleaning system of the cleaning robot 10, thereby improving the cleaning efficiency of the base station.
  • the cleaning assembly 30 includes a first cleaning assembly 37 and a second cleaning assembly 38.
  • the first cleaning assembly 37 and the second cleaning assembly 38 are both disposed on the base station body 20 and work independent of each other. In this way, cleaning systems of two cleaning robots 10 may be automatically cleaned at the same time.
  • the first cleaning assembly 37 interferes with the cleaning system 150 of one cleaning robot 10 to implement self-cleaning of the cleaning system 150
  • the second cleaning assembly 38 interferes with the cleaning system 150 of the other cleaning robot 10 to implement self-cleaning of the cleaning system 150, which expands the application scope of the product and is suitable for promotion and application.

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Cleaning In General (AREA)
  • Manipulator (AREA)
  • Electric Suction Cleaners (AREA)
  • Electric Vacuum Cleaner (AREA)
EP22857258.2A 2021-08-20 2022-03-22 Station de base et système de robot de nettoyage Pending EP4388962A4 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN202121975661.8U CN216135813U (zh) 2021-08-20 2021-08-20 基站和清洁机器人系统
PCT/CN2022/082323 WO2023019939A1 (fr) 2021-08-20 2022-03-22 Station de base et système de robot de nettoyage

Publications (2)

Publication Number Publication Date
EP4388962A1 true EP4388962A1 (fr) 2024-06-26
EP4388962A4 EP4388962A4 (fr) 2025-08-27

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US (1) US20250127359A1 (fr)
EP (1) EP4388962A4 (fr)
JP (1) JP7842198B2 (fr)
CN (1) CN216135813U (fr)
AU (1) AU2022331896B2 (fr)
WO (1) WO2023019939A1 (fr)

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JP2024530670A (ja) 2024-08-23
JP7842198B2 (ja) 2026-04-07
AU2022331896A1 (en) 2024-04-04
WO2023019939A1 (fr) 2023-02-23
US20250127359A1 (en) 2025-04-24
EP4388962A4 (fr) 2025-08-27
AU2022331896B2 (en) 2025-09-04
CN216135813U (zh) 2022-03-29

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