WO2022078503A1

WO2022078503A1 - Cleaning system

Info

Publication number: WO2022078503A1
Application number: PCT/CN2021/124129
Authority: WO
Inventors: 毋宏兵; 谢明健; 饶尧; 钟红风; 张士松
Original assignee: 苏州宝时得电动工具有限公司
Priority date: 2020-10-16
Filing date: 2021-10-15
Publication date: 2022-04-21
Also published as: CN115916019A

Abstract

The cleaning system provided in the present invention comprises: a cleaning robot, a base station, and a pairing apparatus; the base station comprises: a main body and a first liquid container; the cleaning robot comprises: a machine body and a second liquid container of the robot; the pairing apparatus comprises: a first connector, and a second connector that matchingly connects with the first connector; the first connector is connected to the first liquid container, and the first connector comprises a liquid outlet tip and a first auxiliary connection element on the liquid outlet tip; the second connector is connected to the second liquid container of the robot, and the second connector comprises a second auxiliary connection element; a magnetic attractive force can be produced between the first auxiliary connection element and the second auxiliary connection element; and the liquid outlet tip has a degree of freedom of movement at least on a plane perpendicular to the axial direction of the first connector. An embodiment of the present invention utilizes the magnetic attractive force between the first auxiliary connection element and the second auxiliary connection element to implement pairing between the first connector and the second connector, allowing the second connector to actively search for a pairing connection with the first connector when the cleaning robot is returning to the base station.

Description

cleaning system

technical field

The present invention relates to the technical field of cleaning equipment, in particular to a cleaning system.

Background technique

The cleaning robot will continuously consume the cleaning solution during the cleaning process, which is convenient for users to use. Known embodiments such as publication numbers CN1927549A and CN105149155A provide a solution for the base station to replenish the cleaning solution for the cleaning robot. However, the above-mentioned patented technology has not been promoted and used in actual products, and there are few cleaning robots on the market that can automatically add fresh cleaning solution.

The main reason that hinders the application of the above-mentioned patented technologies in actual products is that the docking process between the cleaning robot and the base station is complicated and difficult. When the cleaning robot is close to the base station, the position changes so much that a sealed pipe connection cannot be achieved, so that the cleaning solution cannot be replenished.

SUMMARY OF THE INVENTION

In view of this, embodiments of the present invention provide a cleaning system that can solve the above problems.

In order to achieve the above objects, the present invention provides the following technical solutions.

A cleaning system, comprising: a cleaning robot, a base station for the cleaning robot to dock to replenish fluid, and a docking device for connecting the cleaning robot to the base station;

The base station includes: a main body, a first liquid tank provided on the main body, and the first liquid tank is used to provide liquid to the cleaning robot;

The cleaning robot includes: a fuselage, a moving module arranged at the bottom of the fuselage and used to drive the cleaning robot to walk, a working module arranged on the fuselage and used to perform work tasks, and a moving module arranged on the fuselage The robot on the second liquid tank, the second liquid tank obtains liquid from the first liquid tank;

The docking device includes: a first joint, a second joint matched with the first joint; the first joint is connected to the first liquid tank, the first joint includes a liquid outlet end and a a first attachment element on the liquid outlet head; the second joint is connected to a second liquid tank of the robot, the second joint comprising a second attachment element; wherein the first attachment element and one of the second attachment elements is a magnetic element, and the other is a magnetic element or a magnetizable element; a magnetic attraction force can be generated between the first attachment element and the second attachment element, so that the first joint can be connected with the second joint through the magnetic attraction force;

The liquid outlet end has a degree of freedom of movement at least in a plane perpendicular to the axial direction of the first joint.

Preferably, the first connector has a working state protruding out of the main body of the base station to be mated with the second connector, and a non-working state;

The main body of the base station is further provided with a driving mechanism matched with the first joint, and the driving mechanism is used to drive the first joint to move to realize the mating with the second joint;

The driving mechanism can at least drive the first joint to switch from the non-working state to the working state, and maintain the first joint in the working state; wherein, the working state is that the first joint is connected to the working state. The second connector is mated.

Preferably, the base station includes:

a detection device for detecting whether the cleaning robot reaches a predetermined position;

A control device is configured to control the driving mechanism to drive the first connector to move based on the signal sent by the detection device to realize the mating with the second connector.

Preferably, the driving mechanism includes a push rod and a transmission member fixedly connected to the push rod, and the transmission member swings in response to an external thrust to drive the push rod to drive the first joint to move in the axial direction.

Preferably, the first joint further includes a guide member for guiding the push rod to move in a predetermined direction.

Preferably, the first joint at least further comprises: a liquid inlet end for connecting with the first liquid tank; the liquid inlet end and the liquid outlet end are connected through a flexible pipe, and the liquid outlet The end head is used for inserting and fitting with the second joint, and the liquid inlet end head is connected with the first liquid tank through a liquid inlet pipeline.

Preferably, the first joint further includes an axial tensile member, which is used to improve the ability of the flexible pipe to withstand stretching.

Preferably, the axial tensile member is a braided structure wrapped around the outer wall of the flexible pipe; or, the axial tensile member is connected between the liquid inlet end and the liquid outlet end.

Preferably, the main body is provided with a horizontal guide sleeve, and the side wall of the horizontal guide sleeve is provided with a horizontal escape hole; the first joint is movably arranged in the horizontal escape hole; the first joint is provided with a horizontal escape hole. A guide portion, the horizontal guide portion is slidably provided in the horizontal guide sleeve.

Preferably, a return spring is provided between at least one end of the horizontal guide portion along the movable direction thereof and the inner wall of the horizontal guide cavity.

Preferably, the first joint is vertically movable on the main body of the base station and communicates with the first liquid tank;

The second joint is movably arranged at the bottom of the fuselage of the cleaning robot along the horizontal direction, and communicates with the second liquid tank of the robot;

The main body of the base station is further provided with a driving mechanism matched with the first connector, and the driving mechanism is used for driving the first connector to move in the vertical direction to realize the mating with the second connector.

Preferably, a guide member is installed on the bottom of the second joint, and a guide hole is formed on the guide member; in the direction from bottom to top, the cross-sectional area of the guide hole is gradually reduced; the guide hole is used to The first connector is inserted into the second connector for guiding.

Preferably, the first connector includes: a plug connector that is arranged substantially vertically and is used for inserting and mating with the second connector, and an adapter that is arranged substantially horizontally and is connected to the plug connector;

The adapter is communicated with the first liquid tank through a flexible pipe.

Preferably, a sealing member is provided on the first joint or the second joint, and the sealing member seals the joint between the first joint and the second joint when they are in a mating state.

Preferably, the first joint includes a first connecting portion, the second joint includes a second connecting portion matched with the first connecting portion, and the sealing member seals the first connecting portion and the second connecting portion gaps between parts.

Preferably, the first connecting part or the second connecting part is provided with a water-absorbing material; when the first joint and the second joint are in a mating state, the water-absorbing material is squeezed to be in a compressed state; When the first joint and the second joint are in a separated state, the water-absorbing material returns to its original state.

Preferably, the base station further includes: a base station controller;

The first joint or the second joint is provided with a docking detection element for detecting whether the first joint and the second joint are successfully docked;

When the detection result of the docking detection element is yes, the base station controller controls the base station to replenish liquid to the robot second liquid tank of the cleaning robot.

Preferably, the docking device is provided with a one-way flow restricting structure, the one-way flow restricting structure allows the liquid to flow from the first joint to the second joint, and inhibits the liquid from flowing from the second joint to the first joint.

A cleaning system, characterized in that it comprises: a cleaning robot, a base station for the cleaning robot to dock to replenish liquid, and a docking device for connecting the cleaning robot to the base station;

The base station includes: a main body and a first liquid tank arranged on the main body;

The cleaning robot includes: a fuselage, a moving module arranged at the bottom of the fuselage and used to drive the cleaning robot to walk, a working module arranged on the fuselage and used to perform work tasks, and a moving module arranged on the fuselage The second liquid tank on the robot;

The docking device includes: a first joint and a second joint matched with the first joint; the first joint is connected to the first liquid tank through a flexible pipe, and the first joint includes a liquid outlet end and a first attachment element mounted on the liquid outlet end; the second joint is connected with the second liquid tank of the robot through a flexible pipe, and the second joint includes a second attachment element; wherein, the One of the first attachment element and the second attachment element is a magnetic element, and the other is a magnetic element or a magnetizable element; a magnetic attraction force can be generated between the first attachment element and the second attachment element, so as to enabling the first joint and the second joint to be connected together by the magnetic attraction;

The liquid outlet end or the second joint has a degree of freedom of movement at least in a plane perpendicular to the axial direction of the first joint.

Using the magnetic attraction force between the first attachment element and the second attachment element to realize the docking of the first joint and the second joint, the liquid outlet end has the freedom of movement at least in a plane perpendicular to the axial direction of the first joint so that when the cleaning robot returns to the base station, the second connector can actively seek for docking with the first connector. Therefore, not only the sealing of the liquid flow channel can be achieved, but also the docking efficiency can be improved, and the docking effect is better.

Description of drawings

1 is a side view of a cleaning system according to a first non-limiting embodiment of the present invention;

2 is a top view of a cleaning system according to a second non-limiting embodiment of the present invention;

3 is a schematic three-dimensional structure diagram of a cleaning robot according to a first non-limiting embodiment of the present invention;

Fig. 4 is the exploded structure schematic diagram of the cleaning robot shown in Fig. 3;

5 to 6 are water circuit diagrams according to the cleaning system shown in FIGS. 1 to 2;

FIG. 7 is a schematic structural diagram of the docking device in the cleaning system shown in FIGS. 1 to 2 when it is in a separated state;

Fig. 8 is a partial enlarged structural schematic diagram of the docking device in Fig. 2;

FIG. 9 is a working flow chart of a cleaning system according to an embodiment of the present invention;

10 is a schematic structural diagram of a cleaning robot according to a second non-limiting embodiment of the present invention;

11 is a schematic structural diagram of a base station matched with the cleaning robot shown in FIG. 10;

12 is a schematic structural diagram of a cleaning system according to a third non-limiting embodiment formed by the cleaning robot shown in FIG. 10 and the base station shown in FIG. 11 ;

Figure 13 is a perspective cross-sectional view of the docking device in Figure 12;

Fig. 14 is a schematic diagram of the assembly structure of the first joint and the driving mechanism in the cleaning system shown in Fig. 12;

15 is a cross-sectional view of the docking device shown in FIG. 14 when the first joint and the second joint are not butted;

FIG. 16 is a cross-sectional view of the docking device shown in FIG. 14 when the first joint and the second joint are butted;

FIG. 17 is a schematic diagram of a specific docking mechanism of the cleaning robot.

Detailed ways

Embodiments of the present invention provide a base station 200 for docking the cleaning robot 100 to replenish liquid for the cleaning robot 100 , and a cleaning system using or configuring the base station 200 . As shown in FIG. 1 , FIG. 3 , FIG. 4 , FIG. 10 and FIG. 12 , the cleaning robot 100 includes a body 101 , a mobile module arranged at the bottom of the body 101 for driving the cleaning robot 100 to walk on the working surface, 101 A cleaning module 102 at the bottom for performing cleaning tasks, a robot second liquid tank 103 arranged on the fuselage 101 for accommodating liquid to wet the cleaning medium held by the cleaning module 102, arranged on the fuselage 101 The power supply unit 117 (eg battery pack, battery pack) on the fuselage 101 and the robot controller (not shown) connected to the power supply unit 117 are provided on the body 101 .

In an optional embodiment, the moving module may include a driving wheel 104 provided on the rear side of the bottom of the fuselage 101 , and a universal wheel 105 provided on the front end of the bottom of the fuselage 101 . Among them, the driving wheel 104 is used as a power wheel, and is driven to rotate by a motor connected to the robot controller. The universal wheel 105 is connected with the robot controller, and is controlled by the robot controller to retract or lower. The body 101 is provided with a lift mechanism for driving the cleaning module 102 to rise or fall, and the lift mechanism can adopt a known cam structure. The cleaning module 102 may be a wiping module for performing mopping/wiping work on a work surface, including a mop, a cleaning medium (eg, mop, mop, etc.) mounted on the mop. The top of the fuselage 101 may be provided with a detection element, such as a laser scanning module, connected with the robot controller to detect whether there is an obstacle ahead of the cleaning robot 100 in the walking direction. When it is detected that there is an obstacle ahead of the cleaning robot 100 in the walking direction, the robot controller controls the lifting mechanism to lift the cleaning module 102, and the universal wheel 105 is lowered. At this time, the cleaning robot 100 is in the obstacle clearance mode. After the cleaning robot 100 goes over the obstacle, the robot controller then controls the lifting mechanism to put down the cleaning module 102, and the universal wheel 105 is retracted. At this time, the cleaning robot 100 is in the working mode, and the cleaning operation can be performed. Further, as shown in FIG. 7 and FIG. 4 , the body 101 of the cleaning robot 100 may be provided with a strike plate 119 , the strike plate 119 is U-shaped, and is arranged at the front end of the body 101 , and between the body 101 and the body 101 The elastic member can thus recoverably move relative to the fuselage 101 . The strike plate 119 can buffer the cleaning robot 100 and avoid rigid collision. During the movement of the cleaning robot 100, if there are hard objects such as desks, chairs, doors, walls, etc. in front of the cleaning robot 100, and the cleaning robot 100 does not avoid them in time, the striker 119 collides with these hard objects and moves between the body 101 , the elastic element is compressed to store energy. When the cleaning robot 100 adjusts the moving direction to disengage the striker 119 from the hard object, the elastic member is released, and the striker 119 returns to its original position. To implement the basic functions of the cleaning robot 100, the cleaning robot 100 in the embodiment of the present invention may further include other necessary modules or components, such as a roller brush, a side brush, a suction port, a dust box, and the like. It should be noted that, other necessary modules or components included in the cleaning robot 100 can be selected from any suitable existing structures. In order to clearly and briefly describe the technical solutions provided by the present invention, the above-mentioned parts will not be repeated here, and the accompanying drawings in the description are also simplified accordingly. It should be understood, however, that the present invention is not thereby limited in scope.

The cleaning robot 100 according to the embodiment of the present invention can be applied to cleaning operation scenarios including but not limited to mopping floors and cleaning windows. In a specific scenario, the cleaning robot 100 in the embodiment of the present invention may be a mopping robot, and the mopping robot can drive the cleaning module 102 to contact the ground, so as to wipe the ground. It should be noted that the above scenario for mopping the floor is only a feasible cleaning operation scenario of the cleaning robot 100 according to the embodiment of the present invention. Within an conceivable scope, those skilled in the art can extend the cleaning robot 100 in the embodiment of the present invention to any suitable cleaning scene, which is not limited in the embodiment of the present invention. This article uses the mopping robot as the main scene to illustrate. However, based on the above description, it can be seen that the protection scope of the embodiments of the present invention is not limited thereby.

The robot second liquid tank 103 configured by the cleaning robot 100 is used for accommodating liquid. As shown in FIG. 4 , the liquid is supplied to the cleaning medium through a liquid outlet pipe 109 . In some embodiments, the liquid contained in the second liquid tank 103 of the robot may be water, which is used to wet the cleaning medium to realize wet mopping. In other embodiments, the liquid contained in the second liquid tank 103 of the robot may be a cleaning solution, which is used to improve the cleaning effect and increase the fragrance of the ground. In still other embodiments, the liquid contained in the second liquid tank 103 of the robot may be a disinfectant to sterilize the working surface. Likewise, the present description takes the liquid contained in the second liquid tank 103 of the robot as the cleaning solution as the main scenario for exposition. However, based on the above description, it can be seen that the protection scope of the embodiments of the present invention is not limited thereby.

In the prior art, after the user manually mixes cleaning solutions of different concentrations, the mixed cleaning solution is added to the robot second liquid tank 103 of the cleaning robot 100 . This method of rehydration is very inconvenient, and the user experience is poor. In view of this, in some embodiments of the present invention, the base station 200 can complete the proportioning of the cleaning solution of the required concentration and automatically replenish the cleaning solution to the cleaning robot 100, eliminating the need for the user to manually proportion the cleaning solution of different concentrations and pour the cleaning solution into the cleaning solution. The intervention action of the second liquid tank 103 of the robot can improve the user experience.

The technical solutions of the embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

With reference to FIGS. 1 , 5 to 6 , in one embodiment, the base station 200 includes: a main body 203 , and two cavities disposed on the main body 203 : a first liquid tank 201 and a second cavity 202 . The main body 203 is provided with a parking position 204 for parking the cleaning robot 100 , and the first liquid tank 201 and the second cavity 202 are located above the parking position 204 . Specifically, the main body 203 includes a storage structure 2033 located above the parking position 204 . The storage structure 2033 is substantially hollow, and is formed with a first installation position for the first liquid tank 201 to be installed and a second installation position for the second cavity 202 to be installed. An installation position for installing the first liquid tank 201 and the second cavity 202 . The first installation position and the second installation position are specifically installation slots. The storage structure 2033 is connected to the parking position 204 through the supporting rear plate 2031 , that is, the storage structure 2033 is supported above the parking position 204 through the supporting rear plate 2031 .

The first liquid tank 201 is used for accommodating cleaning solutes, such as liquid cleaning liquid, disinfecting liquid, and the like. The second cavity 202 is used to accommodate a solvent, such as water. In an optional embodiment, the first liquid tank 201 and/or the second cavity 202 may be integrally provided with the main body 203 . That is, the first liquid tank 201 and/or the second cavity 202 are fixedly arranged on the main body 203 and cannot be separated from the main body 203 . Of course, in another optional embodiment, in order to conveniently hold the liquid, the first liquid tank 201 and/or the second cavity 202 may also be provided separately from the main body 203 . Specifically, the upper end of the receiving structure 2033 is open, and the first liquid tank 201 and/or the second cavity 202 is a box or shell structure, which can be inserted or withdrawn from the upper end opening of the receiving structure 2033 .

Further, the first installation position and the second installation position are respectively provided with a first in-position detection element and a second in-position detection element for detecting whether the first liquid tank 201 and the second cavity 202 are installed. The detection element and the second presence detection element are connected to the base station controller, and the base station controller controls and controls the installation of the first liquid tank 201 and the second cavity 202 when the first presence detection element and the second presence detection element do not detect that the first liquid tank 201 and the second cavity 202 are installed. operation of the connected warning unit.

In this embodiment, the first presence detection element and the second presence detection element may adopt any suitable existing structures, such as various sensors, optical, acoustic, mechanical or electromagnetic detection elements. The example does not limit this. For example, in a specific embodiment, the in-position detection element may be an optical detection element, which is provided at the bottom of the installation position, and includes a light-emitting unit and a light-receiving unit. The light emitting unit emits detection light (upward emission) to the installation position. If the installation position is provided with a cavity, the detection light is reflected by the bottom wall of the cavity and received by the light receiving unit. If no cavity is provided on the installation position, the detection light is emitted through the opening at the upper end of the receiving structure 2033, and the light receiving unit does not receive the reflected detection light. Therefore, whether the current installation position is provided with a cavity is identified according to whether the light receiving unit receives the reflected detection light. When the first liquid tank 201 and the second cavity 202 are installed on the first installation position and the second installation position, respectively, the first and second in-position detection elements can detect that the first liquid tank 201 and the second cavity 202 are in the position In place state. Furthermore, the first and second presence detection elements may be in a silent state. Once the first and second in-position detection elements detect that the first liquid tank 201 and/or the second cavity 202 are in an out-of-position state, a corresponding trigger instruction is sent to the base station controller, and the base station controller controls the alert based on the trigger instruction unit operation. The warning unit includes an audible/optical warning device provided on the main body 203, such as a buzzer, a speaker, etc., which can issue an audible/optical warning signal. Of course, the alerting unit may also include a user's client, such as a mobile smart phone, or software (APP) loaded on the mobile smart phone. The base station controller can be communicated with the client. When the first and second presence detection elements detect that the first liquid tank 201 and/or the second cavity 202 are in an off position, the base station controller based on the first and second presence The trigger command provided by the detection element to establish a communication connection with the client, and then the client can call its own software and hardware operations to generate corresponding warning signals, such as the display screen displays prompt text messages, the vibration module vibrates, and the fill light flashes , a sound from the speaker, etc. The first liquid tank 201 and the second cavity 202 may be provided with a liquid level detection element connected to the base station controller, and the base station controller controls when the liquid level detection element detects that the liquid level in the corresponding cavity is lower than a set threshold value. Alert unit operation. By setting the liquid level detection element, the user can be informed to replenish the liquid in time when the remaining amount or the retained amount of the liquid in the first liquid tank 201 and/or the second cavity 202 is small, thereby ensuring that the cleaning robot 100 needs to perform liquid replenishment , with adequate liquid reserves and supplies.

As shown in FIG. 5 , in some optional embodiments, the liquid level detection element includes a liquid level sensor 205, which is provided at a position near the bottom of the first liquid tank 201 and the second cavity 202 for real-time detection of the first liquid The liquid level in the tank 201 and the second cavity 202. When the liquid level is lower than the set threshold, a trigger command is sent to the base station controller. Or, in some other optional embodiments, the liquid level detection element may further include a liquid presence sensor 206, which may be provided at the outlet of the first liquid tank 201 and the second cavity 202 (for example, it may be described below). The first pipeline 2071 and the second pipeline 2072 ) are used to detect whether there is liquid in the first liquid tank 201 and the second cavity 202 . When the detection result is no (the corresponding liquid level is 0), a trigger command is sent to the base station controller. In this embodiment, the set threshold may be set according to actual conditions, for example, 5% of the cavity height, which is not limited in this embodiment. In addition, the embodiment of the base station controller controlling the operation of the warning unit can be referred to the above description, which is not repeated here.

As shown in FIGS. 5 to 6 , the base station 200 further includes a liquid supply assembly 207 , and the liquid supply assembly 207 has an input end 2074 communicated with the first liquid tank 201 and the second cavity 202 , and an output end 2075 communicated with the input end 2074 . The input end 2074 is used to receive the cleaning solute and solvent discharged from the first liquid tank 201 and the second cavity 202 respectively. The output terminal 2075 is used to communicate with the robot second liquid tank 103 of the cleaning robot 100 to supply the cleaning solute and solvent to the cleaning robot 100 .

In a feasible embodiment, the output end 2075 can directly provide the cleaning solute and the solvent to the cleaning robot 100, and the cleaning solute and the solvent are not premixed. That is, the cleaning solute and the solvent are not mixed in the base station 200, but are mixed and proportioned in the second liquid tank 103 of the robot to form a cleaning solution. As shown in FIG. 5 , in order to achieve the above purpose, the liquid supply assembly 207 includes: a first pipeline 2071 communicating with the first liquid tank 201 , and a second pipeline 2072 communicating with the second cavity 202 . The ends of the first pipeline 2071 and the second pipeline 2072 connected with the first liquid tank 201 and the second cavity 202 form the input end 2074 , and the first pipeline 2071 and the second pipeline 2072 face away from the input end 2074 The end of the output terminal 2075 is formed.

In order to realize the automatic proportioning of cleaning solution of required concentration or proportion, the liquid supply component 207 is provided with a proportional control component 208 for controlling the amount of cleaning solute and solvent discharged from the first liquid tank 201 and the second cavity 202 . The base station controller is connected to the proportional control assembly 208 for controlling the operation of the proportional control assembly 208 . In this embodiment, the proportional control assembly 208 includes a flow control element, and the base station controller controls the flow of the flow control element. In an optional embodiment, the flow control member includes a first pump 2081 and a second pump 2082, which are respectively provided on the first pipeline 2071 and the second pipeline 2072.

Contrary to the above-mentioned embodiment, in another feasible embodiment, the cleaning solute and solvent provided by the output end 2075 to the cleaning robot 100 are pre-mixed. That is, after the cleaning solute and the solvent are mixed and proportioned in the base station 200 to form a cleaning solution, the cleaning solution is supplied to the cleaning robot 100 from the output end 2075 . In order to achieve the above purpose, the liquid supply assembly 207 also includes: a mixing area located between the input end 2074 and the output end 2075, the mixing area is used to mix the cleaning solute inputted by the input end 2074 with the solvent to obtain a cleaning solution, and the output end 2075 passes through the mixing area. The mixing area is in communication with the input 2074 for supplying the cleaning solution to the cleaning robot 100 .

Specifically, as shown in FIG. 6 , the liquid supply assembly 207 includes: a first pipeline 2071 in communication with the first liquid tank 201 , a second pipeline 2072 in communication with the second cavity 202 , and a first pipeline 2071 A confluence pipe 2073 communicated with the second pipe 2072. The first pipeline 2071 and the second pipeline 2072 are respectively connected to the bottoms of the first liquid tank 201 and the second cavity 202 to make full use of the liquid in the first liquid tank 201 and the second cavity 202 . The first pipeline 2071 and the second pipeline 2072 may be connected to the confluence pipeline 2073 through a three-way structure. In this embodiment, the input end 2074 is formed at the connection of the confluence pipeline 2073 , the first pipeline 2071 and the second pipeline 2072 , and the output end 2075 is formed at the end of the confluence pipeline 2073 facing away from the input end 2074 . The inner flow channel of line 2073 forms a mixing area. That is, the cleaning solute and solvent contained in the first liquid tank 201 and the second cavity 202 are output through the first pipeline 2071 and the second pipeline 2072 respectively, and merge at the input end 2074 into the confluence pipeline 2073 , and then mixed in the confluence pipeline 2073 to obtain the cleaning solution of the desired concentration or proportion. As described above, in this embodiment, the liquid supply assembly 207 is provided with a proportional control assembly 208 for controlling the amount of cleaning solute and solvent discharged from the first liquid tank 201 and the second cavity 202 . The base station controller is connected to the proportional control assembly 208 for controlling the operation of the proportional control assembly 208 .

In an optional embodiment, the proportional control assembly 208 includes: a first pump 2081 and a second pump 2082 . The first pump 2081 is arranged on the first pipeline 2071 or the second pipeline 2072 , and the second pump 2082 is arranged on the confluence pipeline 2073 . Alternatively, the first pump 2081 and the second pump 2082 are provided on the first pipeline 2071 and the second pipeline 2072, respectively. The base station controller controls the flow of the first pump 2081 and the second pump 2082, and then controls the flow of the cleaning solute and solvent, thereby obtaining a cleaning solution with a set ratio or concentration.

For example, if the first pump 2081 and the second pump 2082 are provided on the first pipeline 2071 and the confluence pipeline 2073, respectively. When a cleaning solution with a concentration of 10% is required, the base station controller controls the first pump 2081 to accumulatively output 1 part (eg 50mL) of cleaning solute, and controls the second pump 2082 to accumulatively output 10 parts (500mL) of the mixed solution. Then, according to the flow conservation, the cumulative output of the solvent from the second cavity 202 is 9 parts (450 mL). After the 10 parts of the obtained mixed solution are fully mixed in the confluence pipeline 2073 (mixing area), a cleaning solution with a concentration of 10% can be obtained by proportioning. Alternatively, if the first pump 2081 and the second pump 2082 are provided on the second pipeline 2072 and the confluence pipeline 2073, respectively. When a cleaning solution with a concentration of 10% is required, the base station controller controls the first pump 2081 to output 9 parts (eg 450mL) of solvent, and controls the second pump 2082 to output 10 parts (500mL) of the mixed solution. Then, according to the flow conservation, the output of the cleaning solute from the first liquid tank 201 is 1 part (50 mL). After the 10 parts of the obtained mixed solution are fully mixed in the confluence pipeline 2073 (mixing area), a cleaning solution with a concentration of 10% can be obtained by proportioning. Alternatively, if the first pump 2081 and the second pump 2082 are respectively provided on the first pipeline 2071 and the second pipeline 2072 . When a cleaning solution with a concentration of 10% is required, the base station controller controls the first pump 2081 to output 1 part (eg 50mL) of cleaning solute, and controls the second pump 2082 to output 9 parts (450mL) of the mixed solution. Then, according to the conservation of flow, the cumulative input of the mixed solution at the confluence pipeline 2073 is 10 parts (500 mL). After the 10 parts of the obtained mixed solution are fully mixed in the confluence pipeline 2073 (mixing area), a cleaning solution with a concentration of 10% can be obtained by proportioning.

In the above embodiment, the base station controller can adjust the output flow of the first pump 2081 and the second pump 2082 by controlling the output power, output speed, and working time of the first pump 2081 and the second pump 2082, or select the first pump 2081 and the second pump 2082 with different flow rates. to achieve the preset output flow. Since the amount of cleaning solute and solvent is generally different (generally, the amount of cleaning solute is less than the amount of solvent), in order to make the cleaning solute and solvent fully mixed, the base station controller can control the speed of the two pumps to make the cleaning The output can be accomplished in the same time period with solute and solvent.

In the embodiment in which the second pump 2082 is provided on the confluence pipeline 2073, the second pump 2082 can agitate the mixed cleaning solute and solvent, so that the cleaning solute and the solvent can be fully mixed to obtain a cleaning solution Uniformity is better.

In the embodiment in which the first pump 2081 is arranged on the first pipeline 2071 or the second pipeline 2072, and the second pump 2082 is arranged on the confluence pipeline 2073, in order to prevent the liquids in the two cavities from flowing in series, it is necessary to Controls the start and stop sequence of both pumps. Specifically, when the base station 200 starts to supply the cleaning solution to the cleaning robot 100 , the base station controller controls the first pump 2081 to start up not earlier than the second pump 2082 . When the base station 200 finishes supplying the cleaning solution to the cleaning robot 100, the base station controller controls the first pump 2081 to be turned off no later than the second pump 2082. That is, when the base station 200 starts to replenish the cleaning robot 100, the second pump 2082 is turned on first, and then the first pump 2081 is turned on, or both pumps are turned on at the same time, but the first pump 2081 cannot be turned on prior to the second pump 2082. , to avoid pumping the cleaning solution in the first liquid tank 201 into the second cavity 202 , or pumping the solvent in the second cavity 202 into the first liquid tank 201 . Similarly, after the base station 200 completes the replenishment of the cleaning robot 100, the second pump 2082 should be turned off first, and then the first pump 2081 should be turned off, or both pumps should be turned off at the same time.

The above is to avoid the problem of serial flow of liquids in the two chambers through control logic. Of course, the above problems can also be avoided through structural improvement. Specifically, when the first pump 2081 and the second pump 2082 are respectively provided on the first pipeline 2071 and the confluence pipeline 2073, a second one-way valve may be provided on the second pipeline 2072, and the second one-way valve The flow of liquid from the input end 2074 to the second cavity 202 is inhibited. Alternatively, when the first pump 2081 and the second pump 2082 are respectively provided on the second pipeline 2072 and the confluence pipeline 2073, a first one-way valve may be provided on the first pipeline 2071, and the first one-way valve inhibits The liquid flows from the input end 2074 to the first liquid tank 201 . In this way, when starting to work or to stop working, the turn-on sequence or turn-off sequence of the first pump 2081 and the second pump 2082 can be relatively free. Due to the existence of the one-way valve, there is no problem of liquid flow between the two chambers.

As shown in FIG. 10 , in another optional embodiment, a pump may be added to the proportional control assembly 208, including a first pump 2081, a second pump 2082, and a third pump 2083, which are respectively provided in the first pipeline 2071, on the second pipeline 2072 and the confluence pipeline 2073. The base station controller controls the flow of the cleaning solute and solvent by controlling the flow of at least two of the first pump 2081, the second pump 2082 and the third pump 2083, thereby obtaining a cleaning solution with a set ratio or concentration.

The specific manner in which the base station controller controls the flow rates of at least two of the first pump 2081 , the second pump 2082 and the third pump 2083 can be referred to the above description, which is not repeated here. In practice, from the standpoint of simple control logic, the base station controller can only control the flow rates of the first pump 2081 and the second pump 2082, and the third pump 2083 plays the role of stirring to fully mix the cleaning solute and solvent.

The concentration of the cleaning solution can be set by the user as required. Specifically, the base station controller is connected to an input device, and the input device can provide the base station controller with a mixing ratio parameter of the cleaning solute and the solvent based on the user operation. In some embodiments, the input device may include a touch panel provided on the main body 203 of the base station 200 , or the touch panel may also be provided on the body 101 of the cleaning robot 100 . The touch panel can display predetermined proportioning concentration option controls, such as a series of free or discontinuous concentration option controls such as 5%, 10%, 15%, 20%, etc.; or, a range of 1% to 50%. Continuous scroll bar density options control. The user taps the touch panel to set the desired density. Subsequently, the base station controller receives the concentration parameter input from the touch panel, and controls the operation of the proportional control component 208 . Alternatively, in other embodiments, the input device may be a user's client, such as a mobile smart phone, or software (APP) loaded on the mobile smart phone. Referring to the above description, the base station controller communicates with the client terminal, the user can set the required concentration on the display interface of the client terminal, the base station controller receives the concentration parameter sent by the client terminal, and controls the operation of the proportional control component 208 .

In order to prevent foreign objects in the external environment from entering and contaminating the liquid, when the first liquid tank 201 and the second cavity 202 are in a position state, they are generally in a closed state. When the base station 200 replenishes the cleaning robot 100 with liquid, the air pressure in the first liquid tank 201 and the second cavity 202 will decrease due to the decrease of the liquid volume and the increase of the air volume. To this end, in order to balance the pressure difference between the inside and outside of the cavity caused by the reduction of the liquid volume, the first liquid tank 201 is provided with a first waterproof and ventilating device; and/or, the second cavity 202 is provided with a second waterproof and ventilating device. In this way, when the liquid volume in the cavity decreases, the outside air can enter the cavity through the corresponding waterproof and ventilating device to compensate for the space released by the reduction of the liquid volume and maintain the pressure balance inside and outside the cavity.

In some optional embodiments, the first waterproof and ventilating device and/or the second waterproof and ventilating device may be holes, penetrating through the top walls of the first liquid tank 201 and the second cavity 202, and a waterproof and ventilating membrane is provided in the holes. Of course, in some other optional embodiments, the first waterproof and ventilating device and/or the second waterproof and ventilating device may be a waterproof and ventilating valve, which is provided at any position on the walls of the first liquid tank 201 and the second cavity 202 . .

As described above, in general, the amount of the cleaning solute is less than the amount of the solvent, that is, the consumption rate of the cleaning solute is lower than the consumption rate of the solvent. Therefore, in practice, the volume of the first liquid tank 201 for accommodating the cleaning solute is smaller than the volume of the second cavity 202 for accommodating the solvent. When different types of cleaning solutes need to be used (for example, cleaning liquid needs to be used in some scenarios, and disinfectant liquid needs to be used in other scenarios), the first liquid tank 201 needs to be replaced frequently. At this time, if the waterproof and breathable valve is provided on the first liquid tank 201, then each first liquid tank 201 must be equipped with a waterproof and breathable valve, which will lead to an increase in cost.

In view of this, in the embodiment in which the first waterproof venting device is a waterproof ventilating valve, the waterproof ventilating valve is provided at the interface between the first liquid tank 201 and the liquid supply assembly 207 . Specifically, the first installation position on the storage structure 2033 is formed with a socket, the bottom of the first liquid tank 201 is provided with a corresponding socket, and the first pipeline 2071 is connected to the socket. The plug socket is inserted into the matching hole, and when the positioning and installation of the first liquid tank 201 is realized, the communication between the first liquid tank 201 and the first pipeline 2071 can be realized at the same time. The waterproof and ventilating valve as the first waterproof and ventilating device may be provided in the socket. In this way, the first liquid tank 201 does not need to be additionally equipped with the first waterproof and ventilating device, and only one waterproof and ventilating valve is provided in the base station 200 to realize the installation of different first liquid tanks 201, thereby reducing the cost. Similarly, the second waterproof and ventilating device may also be provided at the interface between the second cavity 202 and the liquid supply assembly 207, and the specific method can refer to the above description. Of course, since the volume of the second cavity 202 is larger than that of the first liquid tank 201 , its accommodating capacity is relatively large, and since the solvent it accommodates is generally water, frequent replacement is not required. Therefore, in practice, the base station 200 only needs to be configured with one second cavity 202 , and the second waterproof and ventilating device can also be provided on the side wall of the second cavity 202 . In some embodiments, for the consideration of cost reduction, the second waterproof and ventilating device may adopt the structural design of the holes and the waterproof and ventilating membrane described above.

It can be seen from the above that the base station 200 in the embodiment of the present invention can adjust the cleaning container and the flow rate of the solvent output by the first liquid tank 201 and the second cavity 202 by setting the proportional control component 208, so as to obtain the desired proportion or concentration of cleaning solution, and the resulting cleaning solution may be provided to the cleaning robot 100 . In this way, the intervention action of manually mixing cleaning solutions of different concentrations and pouring the cleaning solution into the box of the cleaning robot 100 is avoided, and the mixing and replenishing operations of the cleaning solution can be completed automatically, and the user experience is better.

As shown in FIG. 6 , in order to receive the cleaning solution supplied by the base station 200 , the robot second liquid tank 103 of the cleaning robot 100 is provided with a liquid port 106 . The liquid outlet pipe 109 is connected, and the other end is used to connect with the liquid supply assembly 207 . Since the existing cleaning robot is artificially replenishing liquid, a liquid outlet is generally provided on the box body on it. The one liquid outlet is connected to the cleaning module 102 through the liquid outlet pipe 109 to wet the cleaning medium. In the present invention, although the second liquid tank 103 of the robot needs to be replenished, the structure of the second liquid tank 103 of the robot is not changed. That is, only one liquid port 106 is provided in the second liquid tank 103 of the robot, and the one liquid port 106 serves as a liquid inlet when the base station 200 replenishes the cleaning robot 100 with liquid, and serves as a liquid outlet when the cleaning robot 100 is working. Specifically, the tee joint 108 is connected to the inlet end of the liquid outlet pump 110 through the liquid pipe 120 , and the liquid outlet pipe 109 is connected to the outlet end of the liquid outlet pump 110 . As shown in FIG. 4 , the liquid outlet pipe 109 includes a pipe body connected with the outlet end of the liquid outlet pump 110 , and a water distribution strip connected with the pipe body. When the cleaning robot 100 is working, the liquid outlet pump 110 operates to pump the liquid in the second liquid tank 103 of the robot to the cleaning module 102 through the liquid outlet pipe 109 . The water distribution strip of the liquid outlet pipe 109 can achieve uniform wetting of the cleaning medium installed on the cleaning module 102 . By arranging the tee joint 108, the connection between the liquid pipe 107 and the liquid outlet pipe 109 and the liquid supply assembly 207 can be realized, thereby simplifying the design of the water circuit and achieving a high degree of structural integration. Of course, the addition and discharge of the second liquid tank 103 of the robot may not be limited to the above-mentioned shared liquid port 106. In other embodiments, considering factors such as the layout of the whole machine such as space, the second liquid tank of the robot may also be placed separately in the second liquid tank of the robot. A liquid filling port is added on 103 to facilitate liquid addition. That is, the liquid filling port is used for adding liquid to the second liquid tank 103 of the robot, and the above-mentioned liquid port 106 is used for liquid discharging.

The docking process between the cleaning robot 100 and the base station 200 is complicated and difficult. Specifically, when the cleaning robot 100 is close to the base station 200, the position changes greatly, and it is difficult to achieve a sealed pipe connection. Therefore, how to achieve accurate docking between the cleaning robot 100 and the base station 200, and how to prevent leakage during the fluid replenishment process, is an urgent technical problem to be solved. In view of this, the present invention realizes the connection between the cleaning robot 100 and the base station 200 through the docking device 300 .

As shown in FIG. 7 , in a feasible embodiment, the docking device 300 includes: a first connector 301 , and a second connector 302 that is plug-fitted with the first connector 301 . The first connector 301 is provided on the base station 200 and communicates with the first liquid tank 201 and the second cavity 202 . The second connector 302 is provided on the cleaning robot 100 and communicates with the second liquid tank 103 of the robot. The first joint 301 is connected to the output end 2075 of the liquid supply assembly 207 , that is, to the end of the confluence pipeline 2073 .

As shown in FIG. 1 , in one embodiment, the first joint 301 may be provided on the support rear plate 2031 of the main body 203 , and the second joint 302 may be provided on the front end of the body 101 of the cleaning robot 100 . This embodiment enables liquid addition from the front end. Alternatively, in one embodiment, the first connector 301 may be provided on the parking position 204 of the main body 203 , and the second connector 302 may be provided on the bottom of the body 101 of the cleaning robot 100 . This embodiment enables liquid addition from the bottom. Alternatively, in one embodiment, the first connector 301 may be provided on the receiving structure 2033 of the main body 203 , and the second connector 302 may be provided on the rear end of the body 101 of the cleaning robot 100 . This embodiment enables liquid addition from the rear end.

The second connector 302 is provided on the body 101 of the cleaning robot 100 , and is connected to the other end of the second liquid tank 103 of the robot through the liquid replenishing pipe 111 . Specifically, as shown in FIG. 4 , the second joint 302 can be provided on the striker 119 and connected to the fluid replacement tube 111 through the hose 118 and the tee joint 112 described below. More specifically, the hose 118 is connected to the second connector 302 , one end of the tee connector 112 is connected to the hose 118 , the other end is connected to the fluid replacement tube 111 , and the third end is connected to the third waterproof and ventilating device 113 described below.

As shown in FIG. 1 and FIG. 3 , in an optional embodiment, the second joint 302 is arranged on the peripheral surface of the fuselage 101 , more preferably at the front end of the fuselage 101 entering the base station 200 . Correspondingly, the first connector 301 is provided on the support rear plate 2031 of the base station 200 . The advantage of this design is that the position of the fuselage 101 can be actively driven and adjusted by the driving wheel 104 to ensure the connection of the joints. Of course, the arrangement positions of the first joint 301 and the second joint 302 are not limited to the above-mentioned embodiment. In other embodiments, the second joint 302 may also be arranged at other positions such as the top, bottom, and rear peripheral surface of the fuselage 101 , and the arrangement position of the first joint 301 in the base station 200 also changes accordingly.

Similarly, this article describes the scenario where the first connector 301 is provided on the support rear plate 2031 of the base station 200, and the second connector 302 is provided on the front end of the cleaning robot 100, that is, the front end adding liquid. However, based on the above description, it can be seen that the protection scope of the embodiments of the present invention is not limited thereby.

In order to improve the docking efficiency of the second joint 302 and the first joint 301 , the first joint 301 and the second joint 302 are respectively provided with a first attachment element 3011 and a second attachment element 3022 . Wherein, one of the first attachment element 3011 and the second attachment element 3022 is a magnetic element, and the other is a magnetic element or a magnetizable element. A magnetic attraction force can be generated between the first attachment element 3011 and the second attachment element 3022, so that the first joint 301 and the second joint 302 can be connected together by magnetic attraction force.

In this embodiment, the magnetic element may be a magnetized element capable of generating a magnetic field, for example, a magnet (such as a permanent magnet or a hard magnet) with its own magnetism, or an electromagnetic element (such as an electromagnetic element) that can generate magnetism after being energized iron). The magnetizable elements may be made of magnetizable materials such as iron, cobalt, nickel, etc., which are capable of being attracted by magnetic forces.

As shown in FIG. 1 , when liquid replenishment is required, the cleaning robot 100 drives into the base station 200 . After the cleaning robot 100 drives into the base station 200 and stops at the parking position 204, under the action of the magnetic attraction between the first attachment element 3011 and the second attachment element 3022, the second joint 302 is made to actively search for the first joint 301 , so that the first connector 301 and the second connector 302 can be aligned, and the first connector 301 and the second connector 302 can be plugged together, so that the docking can be realized quickly and efficiently.

Although the returning of the cleaning robot 100 to the base station 200 is a relatively mature prior art, it is difficult to strictly match the direction and position of the cleaning robot 100 each time it drives into the base station 200 . If the docking of the first joint 301 and the second joint 302 is realized only by the adjustment of the traveling direction of the cleaning robot 100 and the magnetic attraction between the first attachment element 3011 and the second attachment element 3022, once the cleaning robot 100 A slight difference in the direction or position of driving into the base station 200 may cause the first connector 301 and the second connector 302 to fail to connect to each other. Therefore, the fault tolerance space for the docking of the first joint 301 and the second joint 302 is small, and the docking is difficult.

In view of this, the present invention implements a redundant design for the docking of the first connector 301 and the second connector 302 . To achieve the above purpose, in an optional embodiment, a structural design of flexible connection at both ends may be adopted for the first joint 301 . Referring to FIG. 7 , the first connector 301 includes: a liquid inlet end 3012 disposed on the main body 203 (specifically, the support rear plate 2031 ), and a liquid outlet end 3013 that is inserted and matched with the second connector 302 . The first attachment element 3011 is provided on the liquid outlet end 3013 , the liquid inlet end 3012 is communicated with the liquid supply assembly 207 through the confluence pipeline 2073 , and the liquid outlet end 3013 is connected with the liquid inlet end 3012 through the flexible pipe 303 .

In this embodiment, the liquid inlet end 3012 can be fixedly penetrated through the mounting hole of the support rear plate 2031 of the main body 203 . As shown in FIG. 1 , one end (upper end) of the confluence pipeline 2073 is connected to the cavity, and the other end (lower end) is sleeved with the liquid inlet end 3012 . The flexible tube 303 can be a silicone tube, which has better flexibility and deformability. One end is sleeved with the liquid inlet end 3012, and the other end is sleeved with the liquid outlet end 3013, so as to realize the connection between the liquid inlet end 3012 and the liquid outlet end 3013. Connected.

With the structural design of the flexible connection between the two ends of the first joint 301, when the cleaning robot 100 drives into the base station 200, even if the second joint 302 is not completely aligned with the first joint 301, the first attachment element 3011 and the Under the action of the magnetic attraction between the two attachment elements 3022 , the flexible tube 303 can be driven to bend, thereby realizing the butt joint of the liquid outlet end 3013 and the second joint 302 . In this way, the second joint 302 can be docked with the first joint 301 within a predetermined direction range, which greatly improves the fault tolerance space and docking efficiency of the first joint 301 and the second joint 302 for docking, and reduces the difficulty of docking.

The strength of the flexible tube 303 is weaker than that of the rigid tube. After the cleaning robot 100 completes the liquid replenishment, the cleaning robot 100 needs to drive away from the base station 200 . However, since the first joint 301 and the second joint 302 are still tightly connected together by the magnetic attraction force of the first attachment element 3011 and the second attachment element 3022, the cleaning robot 100 can only forcefully pull the second joint by means of dragging 302 is separated from the first connector 301 . In this way, the flexible tube 303 will be stretched in the axial direction. Over time, the flexible tube 303 is susceptible to stress damage and fatigue, and its service life is reduced.

In view of this, in some embodiments, the first joint 301 is further provided with an axial tensile member for improving the tensile capacity of the flexible pipe 303 . In this way, when the first joint 301 and the second joint 302 need to be separated, the axial force for overcoming the magnetic attraction force between the first attachment element 3011 and the second attachment element 3022 acts on the axial tensile member, while No or less action on the flexible tube 303 . Therefore, the formation and protection of the flexible pipe 303 can reduce the damage and fatigue of the flexible pipe 303 .

As shown in FIG. 7 , in an optional embodiment, the axial tensile member may be a braided structure wrapped around the outer wall of the flexible tube 303 . The braided structure can be in the form of a fabric mesh or a wire mesh, and is wrapped around the flexible tube 303 . The braided structure can not only provide axial tensile force to the flexible tube 303, but also will not damage the flexibility of the flexible tube 303, and can also play a better supporting role for the liquid outlet end 3013, preventing the liquid outlet end 3013 from sagging. This leads to the problem of being unable to connect with the first connector 301 .

In the case where the axial tensile member is provided, for the sake of safety, the flexible pipe 303 still needs to be fixedly connected to the liquid inlet end 3012 and the liquid outlet end 3013 at least in the axial direction, so as to prevent the flexible pipe 303 from being affected by the axial direction. When the tensile force is applied, the liquid inlet end 3012 and the liquid outlet end 3013 are separated. As shown in FIG. 7 , in some optional embodiments, the axial fixing method of the flexible tube 303 and the liquid inlet end 3012 may be as follows: the outer wall of the liquid inlet end 3012 is provided with a groove, and the flexible tube 303 is sleeved on the After the liquid inlet end 3012 is placed outside the flexible pipe 303, a sleeve fastener is arranged, and the sleeve fastener is embedded in the groove. In this embodiment, the socket fastener may be a ferrule or a wire. Of course, the axial fixing method of the flexible tube 303 and the liquid inlet end 3012 is not limited to the above-mentioned embodiment. In other embodiments, only the axial fixing of the two can be achieved, which is also feasible. For example, in other optional embodiments, the liquid inlet end 3012 and the flexible tube 303 are made of the same material, both of which are silica gel, and the ends of the two are melted and integrated by hot melting to achieve axial fixation. Or, in some other optional embodiments, the end of the flexible pipe 303 is provided with a metal end, and the metal end is screwed with the liquid outlet end 3013 . Alternatively, in some other optional embodiments, the flexible tube 303 can be connected with the liquid inlet end 3012 through snaps.

Similarly, the axial fixing method of the flexible tube 303 and the liquid outlet end 3013 can also be referred to the above description. As shown in FIG. 7 , the embodiment in which the flexible tube 303 and the liquid outlet end 3013 are connected by snaps is mainly introduced here. Specifically, the outer wall of the flexible tube 303 is provided with a joint buckle 305 , the outer wall of the joint buckle 305 is provided with a bayonet 3051 , and the liquid outlet end 3013 is provided with a hook 3014 . When the end of the flexible tube 303 is sleeved on the liquid outlet end 3013, the joint buckle 305 moves to the connection between the flexible tube 303 and the liquid outlet end 3013, and the flexible tube 303 is fixed on the liquid outlet end 3013. The hook 3014 is embedded in the bayonet 3051 to realize the fixation of the connector buckle 305 .

The above is an embodiment in which an axial tensile member is used to overcome the magnetic attraction force of the first attachment element 3011 and the second attachment element 3022 . Of course, this is on the premise that the magnetic attraction force between the first attachment element 3011 and the second attachment element 3022 always exists. Therefore, if the magnetic attraction force between the first attaching element 3011 and the second attaching element 3022 is controllable, that is, the magnetic attraction force between the two attaching elements can be generated or disappeared according to actual needs, then the above-mentioned implementation is retained. In the example, in the case where the docking efficiency of the first connector 301 and the second connector 302 is high and the connection stability is good, it is also easier to separate the first connector 301 and the second connector 302 after the fluid replacement is completed.

Specifically, the magnetic element is an electromagnet that is energized to generate a magnetic field. During the process of the cleaning robot 100 entering the base station 200 and the process of the base station 200 replenishing the cleaning robot 100 with liquid, the electromagnet is in a power-on state. After the base station 200 completes the replenishment of the cleaning robot 100, the electromagnet is in a power-off state. The electromagnet as the magnetic element can be provided on the first joint 301 , that is, the base station 200 ; it can also be provided on the second joint 302 , that is, the cleaning robot 100 . The electromagnet is electrically connected to the power supply unit (eg, a battery pack), and the electrical connection between the electromagnet and the power supply unit is an on-off connection. Specifically, in an optional embodiment, an on-off switch is provided on the wire connecting the electromagnet and the power supply unit, and the on-off switch is connected to the base station controller and/or the robot controller. When the fluid needs to be replenished, the robot controller sends a control instruction to return to the base station 200 , and the cleaning robot 100 starts to return to the base station 200 according to a predetermined route. At the same time, the base station controller and/or the robot controller controls the on/off switch (which controller controls, depending on whether the electromagnet is located on the base station 200 or the cleaning robot 100), the electromagnet is energized, and a magnetic field is generated. After the cleaning robot 100 enters the base station 200, since the electromagnet is energized and magnetized, it can magnetically attract another magnetic element or a magnetizable element until the first attachment element 3011 and the second attachment element 3022 are under the action of the magnetic attraction force suck together. When the liquid replenishment is completed (introduced below, the liquid level sensor 116 detects the liquid level in the second liquid tank 103 of the robot to determine whether the liquid replenishment is completed), the base station controller and/or the robot controller controls the on-off switch to be turned off, and the electromagnet fails. The electricity and the magnetic field disappear, and the magnetic attraction force between the first attachment element 3011 and the second attachment element 3022 disappears accordingly. At this time, the first connector 301 and the second connector 302 can be easily separated. In this way, when the first joint 301 and the second joint 302 are required to be docked, the electromagnet is controlled to be energized, so that the docking of the first joint 301 and the second joint 302 can be preferably achieved. When separation is required, the electromagnet is controlled to lose power, so that the first joint 301 and the second joint 302 can be easily separated.

By adopting the above structural design, not only the axial fixation of the flexible tube 303 with the liquid inlet end 3012 and the liquid outlet end 3013 can be realized, but also the circumferential fixation of the flexible tube 303 with the liquid inlet end 3012 and the liquid outlet end 3013 can be realized, and The flexible tube 303 is in a sealed connection with the liquid inlet end 3012 and the liquid outlet end 3013 . Therefore, a better seal is formed at the junction of the flexible tube 303 and the liquid inlet end 3012 and the liquid outlet end 3013 to avoid liquid leakage.

The above is an embodiment of improving the docking redundancy of the first joint 301 and the second joint 302 by means of the structural design of the flexible connection between the two ends of the first joint 301 . Of course, the manner of improving the docking redundancy of the first connector 301 and the second connector 302 is not limited to this. It can be seen from the above that the second connector 302 and the first connector 301 are both in the process of docking, and deviations are likely to occur mainly in the horizontal direction. Therefore, if the docking range of the first joint 301 and the second joint 302 in the horizontal direction can be expanded, the purpose of improving the docking redundancy can also be achieved.

Specifically, as shown in FIG. 2 and FIG. 8 , in another optional embodiment, the first joint 301 has a degree of freedom to move in the horizontal direction relative to the main body 203 . That is, the first joint 301 can move left and right along the horizontal direction on the support rear plate 2031 of the main body 203 . In this way, when the cleaning robot 100 drives into the base station 200 and the position is left or right, the first joint 301 is driven left or right on the main body 203 through the magnetic attraction of the first attachment element 3011 and the second attachment element 3022. The horizontal offset movement to the right can also preferably realize the butt joint of the second connector 302 and the first connector 301 .

The specific implementation is as follows: the main body 203 (supporting the rear plate 2031 ) is provided with a horizontal guide sleeve 306 , and the side wall of the horizontal guide sleeve 306 is provided with a horizontal escape hole 3061 . The first joint 301 is movably passed through the horizontal escape hole 3061 . The first joint 301 is provided with a horizontal guide portion 3015 , and the horizontal guide portion 3015 is slidably provided in the horizontal guide sleeve 306 . The support rear plate 2031 may be provided with a horizontal opening 2032 extending in the same direction as the horizontal escape hole 3061 , and the horizontal guide sleeve 306 is embedded in the horizontal opening 2032 . The horizontal guide sleeve 306 has an elongated hollow shell structure, and horizontal avoidance holes 3061 are provided through the front and rear side walls. The horizontal avoidance holes 3061 are provided to allow the first joint 301 to smoothly move horizontally. The horizontal guide portion 3015 and the body of the first joint 301 are arranged substantially vertically, so that the first joint 301 has a "cross"-shaped structure. By arranging the horizontal guide portion 3015 , the horizontal movement of the first joint 301 can be guided and limited. With the above structural design, the first joint 301 can move left or right relative to the main body 203 in the horizontal direction. Wherein, the first connector 301 has a central position. In order to make the first joint 301 return to the center position after the cleaning robot 100 completes the liquid replenishment, as shown in FIG. The return spring 307 applies a restoring force to the first joint 301 through the horizontal guide portion 3015 . In an optional embodiment, return springs 307 are respectively provided between two ends of the horizontal guide portion 3015 and the inner wall of the horizontal guide sleeve 306 .

In order to limit and maintain the shape of the return spring 307, a protrusion 3062 is formed on the inner wall of the horizontal guide sleeve 306, the end of the horizontal guide portion 3015 is recessed inward to form a groove 3016, and one end of the return spring 307 is sleeved outside the protrusion 3062 , and the other end is received in the groove 3016 . In this way, the outer end of the return spring 307 is restricted by the protrusion 3062, the position is stable, and the inner end is accommodated by the groove 3016. When the horizontal guide portion 3015 moves to drive the return spring 307 to compress, the inner wall of the groove 3016 can centralize the return spring 307 , to prevent the return spring 307 from bending.

In the embodiment in which the number of return springs 307 is one, both ends of the return spring 307 are respectively fixedly connected to the end of the horizontal guide portion 3015 and the inner wall of the horizontal guide sleeve 306 . When the return spring 307 is in a natural extension state, the first joint 301 is in the center position. When the first joint 301 moves toward or away from the side where the return spring 307 is located, the return spring 307 is compressed or stretched to achieve energy storage. After the liquid replenishment is completed, the second joint 302 is disengaged from the first joint 301 , the elastic potential energy accumulated by the return spring 307 is released, and the first joint 301 is pushed or pulled to return to the center position. In the embodiment in which the number of return springs 307 is two, the specifications and elastic coefficients of the two return springs 307 are the same. When the first joint 301 is in the center position, both return springs 307 are in a compressed state, or both are in a tensioned state. When the first joint 301 moves toward the side where one of the return springs 307 (for example, the return spring 307 on the right) is located, the return spring 307 on the side is compressed, and the return spring 307 on the other side (the return spring 307 on the left) is stretched , the two return springs 307 are both charged. After the liquid replenishment is completed, the second joint 302 is disengaged from the first joint 301, the elastic potential energy accumulated by the two return springs 307 is released, and the first joint 301 is jointly pushed or pulled to return to the center position.

In the above-mentioned embodiment in which the first joint 301 can move horizontally, the first joint 301 can adopt the structural design of a rigid tube as a whole. In the above two embodiments, the end of the first connector 301 for plugging with the second connector 302 can be designed with a tapered structure, so as to cooperate with the second connecting part 3023 (described below) of the second connector 302 .

In this way, the magnetic attraction between the first attachment element 3011 and the second attachment element 3022 is used to realize the docking of the first joint 301 and the second joint 302 , so that when the cleaning robot 100 returns to the base station 200 , the second joint 302 The docking with the first connector 301 can be actively sought. Therefore, not only the sealing of the liquid flow channel can be achieved, but also the docking efficiency can be improved, and the docking effect is better.

Since the cleaning robot 100 needs to move on the work surface to perform cleaning tasks, the second joint 302 provided on the cleaning robot 100 preferably cannot protrude from the outer wall of the fuselage 101 to minimize interference with surrounding obstacles. As shown in FIG. 7 , the second joint 302 includes a striker 3021 , and the striker 3021 is disposed on the body 101 of the cleaning robot 100 and preferably flush with the outer wall of the body 101 . The striking plate 3021 is recessed inward to form a second connecting portion 3023 , and a plug connector 3024 is formed at the rear end to facilitate connection with the hose 118 . Specifically, the hose 118 can be sleeved outside the plug connector 3024, and can be axially fixed with the plug connector 3024 in the manner described above.

Of course, the arrangement of the second connection portion 3023 and the plug connector 3024 is not limited to the above-mentioned embodiment. In another feasible embodiment, the setting positions of the second connecting portion 3023 and the plug connector 3024 may be reversed. That is, the second connection portion 3023 is provided on the first connector 301 , and the plug connector 3024 is provided on the second connector 302 . In short, the first connector 301 is provided with one of the second connection portion 3023 and the plug connector 3024 , and the second connector 302 is provided with the other of the second connection portion 3023 and the plug connector 3024 .

The second attachment element 3022 may be fixedly disposed on the side of the striker plate 3021 facing away from the first joint 301, ie, the back side. The fixing method can be as follows: the back side of the strike plate 3021 is provided with an accommodating groove, and the second attachment element 3022 is fixed in the accommodating groove. In some optional embodiments, the second attachment element 3022 may be annular, the accommodating groove is correspondingly an annular groove, and the second attachment element 3022 is embedded in the accommodating groove. Or, in some other optional embodiments, the second attachment elements 3022 are multiple free block structures, the accommodating grooves are multiple and are arranged at intervals along the circumferential direction, and the multiple second attachment elements 3022 are respectively Embedded in the corresponding accommodating groove. Or, in some further optional embodiments, the second attachment element 3022 is a magnetic element, the striker 3021 is made of magnetizable material such as iron, cobalt, nickel, then the second attachment element 3022 can be attracted by magnetic force On strike plate 3021. Same as above, the first attachment element 3011 is fixedly disposed on the side of the liquid outlet end 3013 that faces away from the second joint 302, ie, the back side. The securing manner may be the same as or similar to the securing manner of the second attachment element 3022 and the striker plate 3021 described above. In some embodiments, in order to prevent the first attachment element 3011 from being detached from the liquid outlet end 3013 , the back end of the liquid outlet end 3013 is provided with a backstop hook 3017 for limiting the position of the first attachment element 3011 .

In a preferred embodiment, in order to play the role of automatic alignment, the first attachment element 3011 and the second attachment element 3022 are preferably annular, and the first attachment element 3011 and the second attachment element 3022 The inner and outer diameters are equal respectively. The front end of the liquid outlet end 3013 forms a first connecting portion 3018 , which is matched with the second connecting portion 3023 . The first connection portion 3018 is inserted into the second connection portion 3023 to realize the connection between the first connector 301 and the second connector 302 . In order to improve the sealing of the butt joint between the first joint 301 and the second joint 302 and avoid liquid leakage, the first joint 301 or the second joint 302 is provided with a sealing member 308 , and the sealing member 308 is between the first joint 301 and the second joint 302 Seal the junction of the two when in the mated state. Specifically, the sealing member 308 may include, but is not limited to, an O-type sealing ring, a K-shaped sealing ring or an F-shaped sealing ring, and the sealing member 308 is sleeved outside the first connecting portion 3018 . When the first connection part 3018 is inserted into the second connection part 3023, under the action of the magnetic attraction between the first attachment element 3011 and the second attachment element 3022, the sealing member 308 is compressed and expanded, thereby sealing the first connection part 3018 and the gap between the second connecting portion 3023. Further, a water-absorbing material 3019 is provided in the second connecting portion 3023, and the water-absorbing material 3019 may include any flexible porous medium, such as a sponge. When the first joint 301 and the second joint 302 are in the mating state, under the action of the magnetic attraction between the first attachment element 3011 and the second attachment element 3022, the water absorbing material 3019 is pressed by the first connection part 3018 in a compressed state. When the first joint 301 and the second joint 302 are in the separated state as shown in FIG. 7 , the water-absorbing material 3019 returns to its original state, and completely absorbs a very small amount of cleaning solution remaining in the second joint 3023 to ensure that the first joint 301 and the second joint 301 are completely separated. There will be no droplets in the second joint 302, thereby preventing water from flowing out of the first joint 301 when the cleaning robot 100 is detached from the base station 200, thereby causing short circuits in the base station 200 or rusting of metal parts in the base station 200, and cleaning can also be avoided. During the cleaning operation of the robot 100, the liquid remaining in the second joint 302 drips onto the work surface.

In order to further withdraw the liquid remaining in the docking device 300 after completing the liquid replenishment, the base station controller controls the second pump 2082 to reversely rotate for a predetermined time after the completion of the liquid replenishment. Specifically, after the cleaning robot 100 returns to the base station 200, the base station 200 adds liquid to the second liquid tank 103 of the robot. When the liquid level sensor 116 detects that the liquid level in the robot's second liquid tank 103 reaches a certain threshold, the cleaning robot 100 sends a signal to stop adding liquid to the base station 200 through sensors such as infrared and Bluetooth. When the base station 200 receives the signal, it controls the first pump 2081 to be turned off, and the second pump 2082 is activated to reverse for a certain period of time, so as to empty the liquid remaining in the docking device 300 .

It is known that the base station controller controls the second pump 2082 to rotate in the forward direction, in order to replenish liquid to the cleaning robot 100 . After the liquid replenishment is completed, the second pump 2082 is controlled to reverse for a predetermined time, in order to withdraw the liquid remaining in the docking device 300, prevent the liquid leakage in the docking device 300, and prevent the liquid stored in the docking device 300 from dripping on the base station 200 or on the work surface. The above predetermined time may be set according to the actual situation, and is subject to at least partially withdrawing the liquid in the docking device 300, for example, 1-5 seconds, which is not limited in this embodiment.

In one embodiment, a third waterproof and ventilating device 113 and a third one-way valve 114 are provided between the docking device 300 and the second liquid tank 103 of the robot. Specifically, as shown in FIG. 4 , another tee joint 112 is provided on the hose 118 , and the third waterproof and ventilating device 113 is provided on the tee joint 112 . The third waterproof and ventilating device 113 may be a waterproof and permeable valve, located between the docking device 300 and the third one-way valve 114 . The third one-way valve 114 inhibits the circulation of the cleaning solution from the second liquid tank 103 of the robot to the docking device 300 . Due to the existence of the third one-way valve 114, during the reverse pumping process of the second pump 2082, the liquid will not be pumped out from the second liquid tank 103 of the robot, but the third waterproof and ventilating device 113 will inhale air from the outside to balance the reverse pumping process. The pressure difference brought by the pumping. When the anti-pumping action is completed, the process of replenishing the cleaning solution is completely completed. At this time, the cleaning robot 100 just drove out of the base station 200 and returned to the position where the work was suspended and continued to work.

In the embodiment in which two cavities are provided in the base station 200, the liquid retained in the docking device 300 is a mixed solution. In order to prevent the mixed solution from being pumped back to any one or both of the cavities, causing the liquid (cleaning liquid, water) originally contained in the two cavities to be contaminated, as shown in Figure 6, in an optional In the embodiment, the liquid supply assembly 207 further includes: a buffer tank 2076 , which is arranged on the confluence pipeline 2073 and located between the input end 2074 and the second pump 2082 . Further, a fourth one-way valve 2077 located between the buffer tank 2076 and the input end 2074 is further provided on the confluence pipeline 2073 . The fourth one-way valve 2077 inhibits the flow of liquid from the buffer tank 2076 to the input end 2074 . In this way, when the second pump 2082 is reversed, the liquid (mixed solution) in the docking device 300 is pumped back into the buffer tank 2076 . Moreover, due to the restrictive effect of the existence of the fourth one-way valve 2077, the liquid pumped back into the buffer tank 2076 will not be further pumped back into the first liquid tank 201 and/or the second cavity 202, and further The purity of the liquid in the first liquid tank 201 and the second cavity 202 is guaranteed. Similarly, in order to balance the pressure difference between the inside and outside, the buffer box 2076 can be provided with a balancing device, including a hole on the top wall of the buffer box 2076, and a waterproof vent valve arranged at any position on the wall of the buffer box 2076.

To ensure that the first connector 301 and the second connector 302 are in a fully docked state, the fluid replacement operation can be performed, the first connector 301 or the second connector 302 is provided with a docking detection element 309 for detecting the first connector 301 and the second connector. 302 Whether the connection is successful. As shown in FIG. 7 , in a specific embodiment, the docking detection element 309 is provided on the second joint 302 , specifically on the strike plate 3021 , and moves together with the cleaning robot 100 . Or, in another optional embodiment, the docking detection element 309 may also be provided on the base station 200 . In this embodiment, the “successful docking” includes: the first joint 301 and the second joint 302 are docked, and the first joint 301 and the second joint 302 are sealed. Wherein, to determine whether the first connector 301 and the second connector 302 are docked, after the first connector 301 and the second connector 302 are docked, the docking detection element 309 can detect whether the distance between the first connector 301 and the second connector 302 reaches Set a threshold to judge. After the first joint 301 and the second joint 302 are successfully connected, the sealing member 308 is squeezed and deformed, so as to realize the sealing of the first joint 301 and the second joint 302 . Referring to the above description, the docking detection element 309 may adopt any suitable existing structure, such as various sensors, optical, acoustic, mechanical or electromagnetic detection elements, etc., which are not limited in this embodiment. The docking detection element 309 is connected in communication with the base station controller. In some embodiments, when the docking detection element 309 is disposed on the first connector 301 , that is, the cleaning robot 100 , the docking detection element 309 can be communicatively connected to the robot controller, and the robot controller is then communicatively connected to the base station controller. In other embodiments, the docking detection element 309 is provided on the second connector 302, that is, the base station 200, and the docking detection element 309 can be directly connected to the base station controller in communication. The docking detection element 309 may provide the detection results to the base station controller. The base station controller controls whether the base station 200 supplies liquid to the cleaning robot 100 based on the detection result of the docking detection element 309 . When the detection result of the docking detection element 309 is yes, it indicates that the first connector 301 and the second connector 302 are successfully docked, and the base station controller controls the proportional control component 208 to operate to replenish the robot second liquid tank of the cleaning robot 100 . On the contrary, when the detection result of the docking detection element 309 is negative, it means that the first connector 301 and the second connector 302 are not connected successfully, and the base station 200 does not supply liquid to the cleaning robot 100 .

In some embodiments, the main body 203 is provided with a third presence detection element for detecting whether the cleaning robot 100 is parked on the base station 200 . Specifically, the third in-position detection element is disposed on the parking position 204 or the support rear plate 2031 , and the specific structure can refer to the above description, which is not repeated here. The third in-position detection element can be communicatively connected to the base station controller, or can be communicatively connected to the base station controller through the robot controller. When the detection result of the third presence detection element is yes, the base station controller controls the proportional control assembly 208 to operate to replenish the cleaning solution to the cleaning robot 100 . Further, only when the third in-position detection element detects that the cleaning robot 100 is in the docking water/charging state, and the docking detection element 309 detects that the first joint 301 and the second joint 302 are successfully docked, the two conditions are met simultaneously. Cleaning robot 100 rehydration. When the detection result of the third presence detection element is negative, the base station controller controls the proportional control component 208 to stop replenishing the cleaning solution to the cleaning robot 100 . The applicable scenarios of this embodiment include: after the cleaning robot 100 completes its work, it will return to the base station 200, and the base station 200 will replenish the cleaning solution to the cleaning robot 100 in time. The advantage of this is that when the cleaning robot 100 works next time, it is ensured that the second liquid tank 103 of the robot is filled with the cleaning solution.

Further, the base station controller and/or the robot controller are connected to the reminder unit. When the detection result of the third presence detection element is yes, the base station controller and/or the robot controller controls the reminding unit to operate. In this way, during the whole process of replenishing the cleaning solution, the user can be told through the APP, the robot panel, the base station panel, voice prompts and other methods not to forcibly remove the cleaning robot 100 from the base station 200 . If the user forcibly removes the cleaning robot 100 from the base station 200 for some reason, the second pump 2082 will stop working and pump back for a short period of time to avoid liquid dripping on the base station 200 .

Following the above description, the second liquid tank 103 of the robot is provided with a liquid level sensor 116 connected to the robot controller. When the liquid level sensor 116 detects that the liquid level of the cleaning solution in the second liquid tank 103 of the robot is lower than the lower threshold, the robot controller controls the cleaning robot 100 to return to the base station 200 to replenish the cleaning solution. Correspondingly, when the liquid level sensor 116 detects that the liquid level of the cleaning solution in the second liquid tank 103 of the robot is higher than the upper limit threshold, the base station controller controls the proportional control component 208 based on the control instruction for stopping the liquid replenishment sent by the robot controller. stop working.

In this embodiment, the upper threshold and the lower threshold can be set according to the actual situation. For example, the upper threshold can be 95% of the height of the second liquid tank 103 of the robot, and the upper threshold can be 5% of the height of the second liquid tank 103 of the robot , which is not uniquely limited in this embodiment.

The working process of the cleaning system according to the embodiment of the present invention is described below in conjunction with FIG. 9 :

The cleaning robot 100 starts work.

The work of the cleaning robot 100 is turned on, and the operation can be triggered by the user, or the cleaning robot 100 itself can operate spontaneously.

The user-triggered operation includes: a robot panel disposed on the body 101 is provided with a start button, the user clicks and triggers the start button, and the cleaning robot 100 starts to work. Alternatively, the user remotely manipulates a client (eg, a mobile smart phone, or an APP loaded on the mobile smart phone) that is in communication with the cleaning robot 100 to control the cleaning robot 100 to start operating. Alternatively, the user remotely controls the remote control device to control the cleaning robot 100 to start operating. The spontaneous operation of the cleaning robot 100 itself includes: the cleaning robot 100 is set to start working at a time, for example, starting to work at 10:00 am every day; or, starting to work at 10:00 am every Saturday, and so on.

The cleaning robot 100 starts a self-check program to detect whether the liquid volume in the second liquid tank 103 of the robot is lower than a preset threshold.

The starting of the self-checking program of the cleaning robot 100 may be triggered by the robot controller's starting instruction based on the above-mentioned work. The detection of the amount of liquid in the second liquid tank 103 of the robot is accomplished by the liquid level sensor 116 . The liquid level sensor 116 detects the liquid level height of the liquid in the second liquid tank 103 of the robot in real time, and provides the detection result to the cleaning person controller in real time. When the cleaning person controller judges that the current liquid level of the second liquid tank 103 of the robot is higher than the lower threshold based on the real-time detection result provided by the liquid level sensor 116, that is, the detection result is no, indicating that the liquid reserve in the cleaning robot 100 is sufficient to control the cleaning The robot 100 performs the steps of continuing work. On the contrary, when the cleaning person controller judges that the current liquid level of the second liquid tank 103 of the robot is lower than the lower threshold value based on the real-time detection result provided by the liquid level sensor 116, that is, the detection result is yes, indicating that the liquid reserve in the cleaning robot 100 is insufficient, The cleaning robot 100 is controlled to return to the base station 200 along the shortest path. After the cleaning robot 100 arrives at the base station 200 , it establishes a communication connection with the base station 200 by any existing known means such as infrared, bluetooth, wireless, etc.

After the base station 200 receives the signal from the cleaning robot 100 for requesting liquid replenishment, it starts a self-checking procedure to detect whether the first liquid tank 201 for holding the cleaning liquid is installed. When the detection result is no, that is, the base station 200 is not installed with the first liquid tank 201 at this time, an alarm signal that there is no first liquid tank 201 is sent to the outside. Specifically, the base station controller controls the alarm unit communicatively connected to it to send out an alarm signal to notify the user to install the first liquid tank 201 . When the detection result is yes, that is, the first liquid tank 201 has been installed in the base station 200 at this time, the base station 200 continues to self-check whether the second cavity 202 is installed. When the detection result is negative, that is, the base station 200 does not have the second cavity 202 installed at this time, an alarm signal of the absence of the second cavity 202 is sent to the outside, notifying the user to install the second cavity 202 . When the detection result is yes, that is, the second cavity 202 has been installed in the base station 200 at this time, the base station 200 continues to self-check whether there is water in the second cavity 202 . Specifically, the liquid level sensor 205 is used to detect the liquid level height in the second cavity 202 to determine whether there is water. When the detection result is no, that is, there is no water in the second cavity 202 at this time, an alarm signal that there is no water in the second cavity 202 is sent to the outside to notify the user to add water to the second cavity 202 . During this period, the cleaning robot 100 returns to the base station 200 to stand by. When the detection result is yes, that is, there is water in the second cavity 202 , the cleaning robot 100 drives into the base station 200 and parks at the parking position 204 . The docking detection element 309 detects whether the docking is successful. Specifically, the docking detection element 309 provided on the base station 200 is turned on to detect whether the first connector 301 and the second connector 302 are successfully connected. The docking detection element 309 provides the detection structure to the base station controller in real time.

When the base station controller determines that the first connector 301 and the second connector 302 are not successfully connected based on the detection result provided by the docking detection element 309 , the cleaning robot 100 backs up to perform multiple re-docking operations. During this period, the base station controller controls the proportional control component 208 not to perform the liquid replenishment operation temporarily. During the re-docking operation for several times, for example, three times, the docking detection element 309 detects in real time whether the first connector 301 and the second connector 302 are successfully docked. If the connection is not successfully detected again, the liquid adding process is interrupted, the cleaning robot 100 stops and alarms, and the user intervenes in the inspection at this time. If the detection result of the second inspection shows that the first connector 301 and the second connector 302 are successfully connected, the cleaning robot 100 sends a signal of the successful connection to the base station 200 .

After receiving the signal of successful docking, the base station 200 starts to add liquid to the second liquid tank 103 of the robot according to the set ratio. Before adding liquid, the user can adjust or modify the cleaning solution ratio parameters through the input device. The base station 200 controls the proportional control component 208 to output the cleaning solute and the solute of the corresponding flow according to the input ratio parameter. During the process of adding liquid from the base station 200 to the cleaning robot 100, the reminder unit that is in communication with the base station controller and/or the robot controller is controlled to operate, and sends out a reminder signal through voice broadcast, text display, light flashing, etc. The user is reminded not to pull out the first liquid tank 201 and the second cavity 202 .

In the process of adding liquid, there are different measures to deal with different abnormal situations.

For example, if the user pulls the cleaning robot 100 out of the base station 200 , the docking detection element 309 will detect that the docking between the first connector 301 and the second connector 302 is disconnected. Then, the cleaning robot 100 sends a disconnection signal to the base station 200, and the base station controller controls the first pump 2081 to stop and the second pump 2082 to pump back for a period of time to empty the residual liquid in the docking device 300 and issue an alarm signal. If the second liquid tank 103 of the robot is pulled out, the cleaning robot 100 sends a signal to the base station 200, the base station 200 stops supplying liquid, and sends an alarm signal to prompt the user to replace the second liquid tank 103 of the robot. Wherein, the body 101 of the base station 200 is also provided with an in-position detection element for detecting whether the second liquid tank 103 of the robot is in position, and is connected in communication with the robot controller. When the in-position detection element detects that the second liquid tank 103 of the robot is pulled out, it communicates with the robot controller, and further informs the base station 200 that the second liquid tank 103 of the robot is pulled out. If any one or both of the cavities in the base station 200 are removed, the base station 200 stops adding liquid, and an alarm prompts the user to replace the cavities. Specifically, the first and second presence detection elements respectively detect in real time whether the first liquid tank 201 and the second cavity 202 are in place, and provide the detection results to the base station controller. If the power supply of the base station 200 is unplugged, after reinserting the power supply, the base station controller first starts the second pump 2082 to reverse the pumping, check the cavity and the docking state, and then check whether to start adding liquid. For specific steps, please refer to the above description of whether the cavity is in place, whether there is water in the cavity, and whether the docking is successful, and will not be repeated here. During the liquid addition process, the liquid in the first liquid tank 201 and the second cavity 202 is consumed and gradually decreases, and the liquid in the second liquid tank 103 of the robot gradually increases. Before the robot's second liquid tank 103 is filled up, the base station 200 will perform a real-time self-check to detect whether there is liquid in the first liquid tank 201 and the second cavity 202 . When it is detected that there is no water in the second cavity 202 or the water level is lower than the set threshold, the base station 200 stops adding water to the cleaning robot 100, and sends a signal to the cleaning robot 100 that the base station 200 has no water and the water addition is completed, and the cleaning robot 100 follows Continue working out. When it is detected that there is no cleaning liquid in the first liquid tank 201 or the liquid level of the cleaning liquid is lower than the set threshold, the base station controller operates through the warning unit connected to it to remind the user that there is no cleaning liquid in the first liquid tank 201 or The amount of cleaning liquid is small, and at the same time, the cleaning liquid pump, namely the first pump 2081, stops working, and the water pump, namely the second pump 2082, continues to work to add water to the cleaning robot.

That is, during the process of adding liquid to the cleaning robot 100 by the base station 200, the base station 200 self-checks the liquid amounts in the first liquid tank 201 and the second cavity 202 in real time. As long as there is still water in the second cavity 202 , even if there is no cleaning liquid in the first liquid tank 201 , the base station 200 still performs the operation of adding water to the cleaning robot 100 . When there is no water in the second cavity 202 , even if there is cleaning liquid in the first liquid tank 201 , the base station 200 will stop the operation of adding liquid to the cleaning robot 100 .

During the process of adding liquid to the cleaning robot 100 by the base station 200 , the cleaning robot 100 detects and monitors the liquid level height in the second liquid tank 103 of the robot in real time through the liquid level sensor 116 . When the liquid level sensor 116 detects that the liquid level in the robot's second liquid tank 103 has not reached the upper threshold, the base station 200 continues to add liquid to the cleaning robot 100 . Once the liquid level sensor 116 detects that the liquid level in the second liquid tank 103 of the robot reaches the upper limit threshold, the cleaning robot 100 sends a signal of filling or full liquid to the base station 200, and the base station controller controls the proportional control component 208 to stop Add liquid.

In the embodiment in which the proportional control assembly 208 adopts at least two pumps as shown in FIG. 5 to FIG. 6 , according to the above description, in order to prevent the liquid in the first liquid tank 201 and the second cavity 202 from flowing in series , the base station controller first controls the first pump 2081 to stop, and then controls the second pump 2082 to stop, and then controls the second pump 2082 to reverse for a period of time to perform reverse pumping to clear the residual night in the docking device 300 . Subsequently, the base station 200 sends a signal that the liquid addition is completed to the cleaning robot 100 . After receiving the signal that the liquid addition is completed, the cleaning robot 100 exits the base station 200 and returns to the breakpoint position to continue the work. After the cleaning operation is completed, the cleaning robot 100 returns to the base station 200 again, automatically replaces the cleaning medium (mopping cloth), replenishes the liquid, charges, and prepares for the next operation.

In the above-described embodiment of the docking device 300 comprising only the first attachment element 3011 and the second attachment element 3022, the first attachment element 3011 and the second attachment element 3022 are provided by the magnetic attraction force generated between the The power of docking between the joint 301 and the second joint 302, and the pressing force of the sealing member 308 being squeezed and deformed. However, the magnetic attraction force is generally small, and there is resistance during the docking process of the first connector 301 and the second connector 302 (usually plugging), and the sealing effect of the sealing member 308 is related to the degree of extrusion deformation. Therefore, practice has proved that the use of magnetic attraction to make the two

joints

301 and 302 butt joints, and at the same time, the sealing member 308 is required to be able to achieve a large degree of extrusion deformation, and the practical application effect is not very ideal.

Furthermore, in the above-described embodiment, the second attachment element 3022 is provided on the second joint 302 . During the working process of the cleaning robot 100, the dirt on the working surface may adhere to the second attachment element 3022, and the second attachment element 3022 may also attract metal materials scattered on the working surface thereon. Therefore, the magnetic attraction force between the first attachment elements 3011 is weakened, and the sealing performance of the

joints

301 and 302 is affected.

In view of this, the embodiment of the present invention provides another docking device 300, which can better solve the above problems.

It should be noted that, for the similarities between this embodiment and the above-mentioned embodiments, reference may be made to the above description, which will not be repeated here. The following focuses on the differences between this embodiment and the above-mentioned embodiments.

As shown in FIG. 10 to FIG. 12 , compared with the first joint 301 being fixed relative to the base station 200 in the above-mentioned embodiment, the second joint 302 is disposed on the outer peripheral side (front or rear end) of the cleaning robot 100 . In this embodiment, The first joint 301 is arranged on the main body 203 of the base station 200 movably in the vertical direction, and the second joint 302 is arranged on the bottom of the body 101 of the cleaning robot 100 movably in the horizontal direction.

In this embodiment, the first connector 301 has a working state in which it extends out of the main body 203 of the base station 200 to be mated with the second connector 302 , and a non-working state in which it is accommodated inside the main body 203 of the base station 200 . The driving mechanism 310 can at least drive the first joint 301 to switch from the non-working state to the working state, and maintain the first joint 301 in the working state. The working state is that the first joint 301 is mated with the second joint 302 in the vertical direction, and the driving mechanism 310 applies a pressing force to the first joint 301 to keep the sealing member 308 pressed and deformed. Wherein, the driving mechanism 310 can at least drive the first joint 301 to switch from the non-working state to the working state, including: switching the first joint 301 from the non-working state to the working state, and switching from the working state to the non-working state, both by the driving mechanism 310 Drive, or, the drive mechanism 310 only drives the first joint 301 to switch from the non-working state to the working state. As for the first joint 301 to switch from the working state to the non-working state, it is not necessary to be driven by the driving mechanism 310. The joint 301 can be switched from a working state to a non-working state under the action of its own gravity, which will be described in detail below.

The parking position 204 is provided with a first receiving cavity 2041 . When in a non-working state, the first connector 301 is accommodated in the first accommodating cavity 2041 . When in the working state, the first connector 301 at least partially protrudes out of the first receiving cavity 2041 . In this way, after the cleaning robot 100 drives into the parking space 204, the second connector 302 located at the bottom of the second connector 302 can be conveniently connected to the first connector 301, and the docking operation between the cleaning robot 100 and the base station 200 and the driving of the cleaning robot 100 into the base station The movements of the 200 are seamless and unified, simplifying the entire dosing process.

In a further embodiment, the top wall of the first accommodating cavity 2041 is provided with an opening corresponding to the first connector 301 , and the parking position 204 is provided with a cover member operable to open or close the opening. When the first connector 301 is in a non-working state, the cover covers the opening to prevent dust from falling on the first connector 301 . When the first connector 301 is in the working state, the cover at least partially opens the opening for the first connector 301 to protrude. In this embodiment, the cover member may adopt any existing structure, which is not limited in this embodiment.

For example, the cover member may include a thin plate-like structure made of hard materials such as plastic or metal, slidably disposed on the lower surface of the top wall of the first receiving cavity 2041, and driven horizontally by a power source such as a motor 3101 and a telescopic rod structure move to block or open the opening. Alternatively, the cover part can be made of a flexible elastic material such as rubber, fixed on the inner wall of the opening, and provided with cutting lines including but not limited to "cross" shape and "rice" shape, so that the cover part is divided into multiple parts. A sheet-like unit. When the first connector 301 is accommodated in the first accommodating cavity 2041, a plurality of sheet-shaped monomers are assembled to form a complete cover, which blocks the opening. When the driving mechanism 310 drives the first joint 301 to move upward, the first joint 301 can push open a plurality of sheet-shaped monomers, and then extend.

Since the first connector 301 is movably disposed on the base station 200, the first connector 301 can be hidden inside the base station 200 when not in use, so as to achieve the purpose of dust prevention. Likewise, since the second joint 302 is disposed at the bottom of the body 101 of the cleaning robot 100 , foreign objects can be prevented from falling into the cleaning robot 100 during operation. In this way, the first joint 301 and the second joint 302 will not suffer from poor sealing effect after butting due to the existence of foreign matter between them.

As shown in FIGS. 11 to 16 , in an optional embodiment, the driving mechanism 310 is also accommodated in the first accommodating cavity 2041 and located on one side of the first joint 301 , including: a motor 3101 and a motor 3101 driven by the motor 3101 Rotating transmission member 3102. Because the thickness of the parking position 204 is relatively thin, the driving mechanism 310 has a horizontal or flat design as a whole, the output shaft of the motor 3101 extends substantially horizontally, the transmission member 3102 is connected to the output shaft of the motor 3101 , and the first joint 301 is rotatably connected to the transmission member 3102 . Along the axis direction of the output shaft of the motor 3101, the connection point between the first joint 301 and the transmission member 3102 (hereinafter referred to as the first connection point) is not the same as the connection point between the output shaft of the motor 3101 and the transmission member 3102 (hereinafter referred to as the second connection point). coincide. Through the above-mentioned eccentric structure design, the rotational motion output by the horizontally arranged motor 3101 can be converted into the vertical motion of the first joint 301, thereby switching the first joint 301 between the working state and the non-working state. When the transmission member 3102 is driven to rotate so that the first connection point is at the highest point, or when the first connection point is higher than a certain position of the second connection point, the first joint 301 and the second joint 302 are docked to the bottom or the docking is completed. When the transmission member 3102 is locked by the motor 3101 and stably in this position, the pressure is continuously and stably applied to the first joint 301, so that the sealing member 308 is kept in a state of being squeezed and deformed.

In this embodiment, the transmission member 3102 can be roughly in the form of a block, but it is not limited thereto. In fact, as long as the two connection points mentioned above do not coincide in the direction of the output shaft of the motor 3101 . The transmission member 3102 is fixedly arranged on the output shaft of the motor 3101, and the connection method of the transmission member 3102 and the first joint 301 depends on different situations.

Specifically, as described above, if the first joint 301 needs to be driven by the driving mechanism 310 to switch from the non-working state to the working state and from the working state to the non-working state, the transmission member 3102 is rotatably connected to the first joint 301 . In a specific embodiment, the side of the first joint 301 facing the transmission member 3102 is provided with a first matching portion, and the side of the transmission member 3102 facing away from the motor 3101 is provided with a second matching portion. One of the first matching portion and the second matching portion is a groove, the other is a protrusion, and the protrusion is rotatably inserted into the groove. In this way, when the transmission member 3102 is driven to rotate by the motor 3101, the first joint 301 can be driven to move up or down in the vertical direction through the cooperation of the protrusion and the groove. The position of the protrusion and the groove is the first connection point.

However, if the first joint 301 is driven by the driving mechanism 310 from the non-working state to the working state, and the driving mechanism 310 is not required to be driven from the working state to the non-working state, the transmission member 3102 can be contacted and connected with the first joint 301 . Specifically, in another optional embodiment, the transmission member 3102 includes a cam, and the lower surface of the first joint 301 is in contact with the outer cam surface of the cam. In this way, when the potential energy of the cam is driven to rotate by the motor 3101 to its contact point with the lower surface of the first joint 301 gradually increases, the first joint 301 is driven to move upward. When the potential energy of the cam is driven to rotate by the motor 3101 to the point of contact with the lower surface of the first joint 301 and the potential energy gradually decreases, the first joint 301 falls downward under the action of its own gravity. The point where the lower surface of the first joint 301 contacts the cam is the first connection point.

Of course, the driving mechanism 310 is not limited to the above-mentioned embodiment. In other feasible embodiments, as long as the first joint 301 can be driven to move upward in the vertical direction, and the sealing member 308 can obtain a pressing force to maintain the extrusion deformation after the butt is completed, it shall be covered in this embodiment. within the scope of protection.

For example, the above-mentioned transmission member 3102 can be replaced with a link mechanism, and the first joint 301 is moved up and down by the motor 3101 driving the link mechanism to drive the first joint 301 to move up and down. When the dimensions of the parking position 204 and the first receiving cavity 2041 are not limited or required, the driving mechanism 310 can directly drive the first joint 301 to move up and down by using linear motion modules such as pneumatic rods, hydraulic rods, and electric telescopic rods. Alternatively, the transmission member 3102 can be replaced with a structure such as a meshing gear and rack, a screw and a screw, so as to convert the rotational motion of the motor 3101 into a linear motion of the first joint 301 .

In order to ensure that the first joint 301 and the second joint 302 can successfully complete the docking, and also to stop in time to protect the joint from being damaged when the docking process is blocked, the cleaning system also includes a control module for controlling the operation of the motor 3101, and a control module for controlling the operation of the motor 3101. The detection element of the communication connection of the control module. In this embodiment, the control module may be the above-mentioned base station 200 controller, or may be the above-mentioned robot controller. The detection element is used to detect the working parameter of the motor 3101, and the working parameter includes at least one of current and torque.

If the working parameters remain unchanged when the motor 3101 drives the first connector 301 to switch from the hidden state to the working state, it means that the first connector 301 is not inserted into the second connector 302 and no other blocking is operated, then the control module controls The motor 3101 operates in the reverse direction to switch the first connector 301 to the hidden state. After the cleaning robot 100 adjusts the orientation, the docking operation is performed.

Since the first joint 301 is inserted into the second joint 302, the sealing resistance needs to be overcome. Therefore, if the working parameter increases to the first threshold when the motor 3101 drives the first connector 301 to switch from the hidden state to the working state, indicating that the first connector 301 is normally inserted into the second connector 302, the control module controls the motor 3101 to continue The first connector 301 is driven to switch to the working state. When the detection result of the docking detection element 309 is YES, it means that the first joint 301 has moved to the end, and the docking is completed, and the control module controls the motor 3101 to stop the operation. The docking detection element 309 in this embodiment can be referred to the above. It should be noted that, adapted to the driving mechanism 310 of this embodiment, the docking detection element 309 may include a travel switch matched with the transmission member 3102 . When the transmission member 3102 is rotated to trigger the closing of the travel switch, the first connector 301 and the second connector 302 are connected successfully.

If the working parameter increases to a second threshold value greater than the first threshold during the process of switching the first connector 301 from the hidden state to the working state by driving the motor 3101, it means that the extension of the first connector 301 encounters the card group, for example, it may reach the cleaning On the lower surface of the robot 100, the control module controls the motor 3101 to operate in reverse, so that the first connector 301 is switched to the hidden state, and the docking operation is performed after the cleaning robot 100 adjusts the orientation. In this embodiment, the first threshold is slightly larger than the value of the working parameter when the working parameter is working normally. The first threshold and the second threshold may be set according to actual conditions, which are not limited in this embodiment.

As shown in FIG. 14 to FIG. 16 , in order to adapt to the flat structure design of the parking position 204 and the first receiving cavity 2041 , the first connector 301 includes a plug connector 311 that is arranged substantially vertically and is used for inserting and mating with the second connector 302 and a substantially vertical connector 311 . The adapter 312 arranged horizontally and connected to the plug connector 311 . Since the first joint 301 needs to have a degree of freedom to move up and down, the adapter 312 communicates with the first liquid tank 201 through the first flexible pipe 313 . In the scenario where the base station 200 can supply the cleaning liquid in the required proportion to the cleaning robot 100, and the base station 200 further includes the second cavity 202, the adapter 312 needs to communicate with the confluence pipeline 2073 through the first flexible pipe 313.

As shown in FIG. 13 , the main body 203 of the base station 200 is provided with a plurality of limit seats 211 surrounding the plug connector 311 , and the plurality of limit seats 211 are arranged at the bottom of the first accommodating cavity 2041 of the parking position 204 . The joints 312 are sandwiched between adjacent limiting seats 211 . In this way, the plurality of limiting seats 211 can provide a limit for the movement of the first joint 301 in the horizontal direction, so as to avoid a large horizontal displacement of the first joint 301 in the first accommodating cavity 2041 . In addition, the limiting seat body 211 provides a setting location for the first attachment elements 3011 , and one or more first attachment elements 3011 are mounted on the limiting seat body 211 . Specifically, the upper end of the limiting seat body 211 is recessed downward to form an accommodating groove that matches the shape of the first attachment element 3011 , and the first attachment element 3011 is embedded in the accommodating groove and fixed.

In this embodiment, the number of the second attachment elements 3022 is one or more and is associated with the first attachment elements 3011 , and the second attachment elements 3022 are fixedly arranged on the outer wall of the second joint 302 . Specifically, the outer wall of the second joint 302 is formed with a plurality of clamping grooves, and the first attachment element 3011 is embedded and fixed in the clamping grooves. The second joint 302 has a degree of freedom to move in the horizontal direction on the body 101 of the cleaning robot 100 . Specifically, the body 101 of the cleaning robot 100 is provided with a second accommodating cavity 122 , the bottom of the second accommodating cavity 122 is slidably provided with a bottom plate 123 , and the second joint 302 is fixed on the bottom plate 123 . The bottom plate 123 can replace the lower end of the second connector 302 in contact with the bottom of the second accommodating cavity 122 , so as to provide anti-wear protection for the second connector 302 . In this way, the bottom plate 123 can support the second connector 302 to move horizontally in the second accommodating cavity 122 .

The top of the second accommodating cavity 122 can provide a limit for the vertical movement of the second joint 302 . In a specific embodiment, the second joint 302 in the second accommodating cavity 122 can move along the vertical direction with a margin It is not more than 5 mm, preferably not more than 3 mm, and more preferably the movement margin is about 1 mm. In this way, a small gap is left between the top of the second joint 302 and the top of the second receiving cavity 122 , which on the one hand can ensure the limiting effect of the second joint 302 in the vertical direction and prevent the second joint 302 from being damaged by the cleaning robot. Large vertical bounce occurs inside the 100; on the other hand, the top of the second accommodating cavity 122 does not contact the top of the second joint 302, so that the horizontal movement of the second joint 302 is not hindered and the docking process is smooth.

Similarly, since the second joint 302 needs to have a degree of freedom of horizontal movement, the second joint 302 also needs to communicate with the second liquid tank 103 of the robot through the second flexible pipe 314 .

In this embodiment, the sealing member 308 is provided on the first joint 301 and/or the second joint 302 . As shown in FIGS. 15 and 16 , in an alternative embodiment, the sealing member 308 is received in the second connecting portion 3023 of the second joint 302 . In this embodiment, the sealing member 308 has a cylindrical shape, and a channel 3081 is provided in the middle. When the first connector 301 is inserted into it, the outer wall thereof is wrapped to achieve sealing. The lower end of the second connecting portion 3023 is provided with a guide member 315 for pressing against the sealing member 308 and fixing the sealing member 308 in the second connecting portion 3023 . As shown in FIG. 15 , the guide member 315 is provided with a guide hole 3151 corresponding to the channel 3081 . In the direction from bottom to top, the cross-sectional area of the guide hole 3151 is gradually reduced, so as to guide the first connector 301 when it is inserted into the second connector 302 .

Of course, the disposition form of the sealing member 308 does not exist in the above-mentioned embodiment. In other feasible embodiments, the sealing member 308 may be fixedly sleeved on the outer wall of the first joint 301 . When the first connector 301 protrudes from the main body 203 of the base station 200 , the sealing member 308 can be driven to move together and be inserted into the second connector 302 . Alternatively, the outer wall of the first joint 301 and the second joint 302 are provided with a sealing member 308 . When the first joint 301 is inserted into the second joint 302 , the two sealing members 308 are in an interference fit to achieve sealing.

In this embodiment, the main body 203 of the base station 200 is further provided with a driving mechanism 310 that cooperates with the first connector 301, and is used to drive the first connector 301 to move in the vertical direction to realize the mating with the second connector 302, and When the first joint 301 and the second joint 302 are in the mating state, a pressing force is applied to the first joint 301 to keep the sealing member 308 pressed and deformed. Compared with the above-mentioned embodiment, the magnetic attraction force is used to realize the butt joint of the two joints and the application and maintenance of the above-mentioned pressing force. The joint 301 and the second joint 302 can be docked smoothly, and the sealing member 308 can obtain a large pressing force, so that the sealing member 308 can be sufficiently squeezed and deformed, so as to ensure the sealing performance after the docking.

In addition, compared with the above-mentioned embodiment in which the first joint 301 and the second joint 302 are horizontally butted as shown in FIG. 1 , in this embodiment, the first joint 301 and the second joint 302 are butted in the vertical direction, the sealing member 308 side The walls do not need to withstand the gravitational force of the liquid. Therefore, compared with the horizontal docking method, the vertical docking has lower requirements on sealing, and the mechanical driving mechanism 310 exerts a greater pressing force on the sealing member 308, and the sealing member 308 is squeezed and deformed. More sufficient, therefore, after the first joint 301 and the second joint 302 of this embodiment are butted together, the sealing effect is significantly better than that of the above-mentioned embodiment, thereby ensuring that no liquid leakage occurs during the liquid adding process.

The docking device 300 further includes an alignment component for making the two joints face each other in the vertical direction during the docking process of the first joint 301 and the second joint 302, so as to ensure smooth docking. In an alternative embodiment, the alignment assembly can be aligned by magnetic attraction, which is substantially the same as the above-mentioned embodiment, and includes at least one first attachment element 3011 and at least one second attachment element 3011 associated with the first attachment element 3011 . The attachment element 3022, one of the first attachment element 3011 and the second attachment element 3022 is a magnetic element and the other is a magnetic element or a magnetizable element. A magnetic attraction force can be generated between the first attachment element 3011 and the second attachment element 3022, and the first joint 301 and the second joint 302 are aligned by the magnetic attraction force; between the first attachment element 3011 and the second attachment element 3022 They are attracted to each other by magnetic attraction. In this embodiment, the magnetic attraction not only has the function of aligning, but also has the function of assisting butt joint and enhancing the docking force.

As described above, the differences between this embodiment and the above-mentioned embodiments are supplemented:

In the above-mentioned embodiment, the magnetic attraction force generated between the first attachment element 3011 and the second attachment element 3022 provides the power of docking between the first joint 301 and the second joint 302, and the sealing member 308 is squeezed and deformed. Compression force, which requires a larger magnetic force for the attachment element. At the same time, since the axes of the second attachment element 3022 and the second joint 302 are coincident, this will cause the second attachment element 3022 to attract the magnetic material scattered on the working surface to the second joint during the working process of the cleaning robot 100. The surface of 302 affects the sealing performance of the

joints

301 and 302 butt joints.

In this embodiment, the first attachment element 3011 and the second attachment element 3022 only need to be aligned with each other through magnetic attraction, and the magnetic force requirement is relatively small, and the second attachment element 3022 and the second joint 302 are axial The relative offset distance is about 15mm, so as to avoid the situation that the surface of the second joint 302 adsorbs the magnetic material and affects the sealing performance of the butt joint.

In another optional embodiment, the alignment assembly further includes the above-mentioned guide hole 3151 . Since the guide hole 3151 is in the shape of a trumpet with a large bottom and a small top, when the first connector 301 tries to connect with the second connector, the upper end of the plug connector 311 of the first connector 301 can abut against the inner wall of the guide hole 3151, and the inner wall of the guide hole 3151 Slide up and push the second joint 302 to move horizontally for fine adjustment, so that the second joint 302 and the first joint 301 are aligned, so that the first joint 301 and the two joints can be accurately docked, and the docking can be successfully completed.

The cleaning system further includes an alignment detection element communicatively connected with the control module for detecting whether the first joint 301 and the second joint 302 are aligned. For the alignment detection element, reference may be made to the description of the docking detection element 309 above, which will not be repeated. If the first connector 301 and the second connector 302 are aligned, the docking detection element 309 sends an alignment signal to the base station 200 . The control module controls the operation of the transport pump in the base station 200 according to the received alignment signal, and supplies the liquid in the first liquid tank 201 to the second liquid tank 103 of the robot through the joint device 300 .

Further, the cleaning system further includes a liquid level detection element communicatively connected with the control module for detecting whether the liquid volume in the robot's second liquid tank 103 reaches a preset threshold value during the base station 200 replenishing the cleaning robot 100 with liquid. If it is reached, a signal to stop the fluid replacement will be sent to the base station 200 . According to the received signal to stop the replenishment, the control module controls the operation of the motor 3101, so that the first joint 301 is switched from the working state to the non-working state, and makes the transport pump of the base station 200 run in the reverse direction to pump the residual liquid in the first joint 301. Back to the first liquid tank 201 . Refer to the above description for the possible solution of the residual liquid withdrawal in this part, and will not be repeated here.

In one embodiment, the docking device 300 is provided with a one-way flow restricting structure, the one-way flow restricting structure allows the liquid to flow from the first joint 301 to the second joint 302 and inhibits the liquid from flowing from the second joint 302 to the first joint 301 . That is, only the base station 200 is allowed to replenish the liquid in the cleaning robot 100 , and the liquid in the cleaning robot 100 is not allowed to flow back to the base station 200 . The unidirectional current limiting structure may adopt any suitable structure, which is not limited in this embodiment. As shown in FIG. 15 and FIG. 16 , in an optional embodiment, the one-way flow restricting structure may be a ball valve structure. Specifically, the upper end of the sealing member 308 is recessed downward to form a ball seat 317 in a substantially circular arc shape. The two connecting parts 3023 are provided with a ball 316 which is matched with the ball seat 317 . In this way, when the liquid flows from bottom to top, the sphere 316 can be flushed, and the communication relationship between the first joint 301 and the second joint 302 can be opened. When pumping liquid is stopped, the ball 316 falls back and is seated on the ball seat 317 under the action of gravity, which blocks the communication relationship between the first joint 301 and the second joint 302 and prevents liquid from returning.

In one embodiment, as shown in FIG. 17 , when in a non-working state, the first connector 301 is accommodated in the main body 203, and in other embodiments, it can also be partially extended. The base station 200 further includes a detection device and a control device , is used to detect whether the cleaning robot reaches the predetermined position. When the cleaning robot reaches the predetermined position, the detection device sends a signal to the control device, and the control device controls the driving mechanism to drive the first joint 301 to move to realize docking with the second joint 302 . The driving mechanism 310 specifically includes a transmission member 321, the transmission member 321 is movably arranged on the main body 203 through an elastic member, the first end of the transmission member 321 is fixedly connected with the push rod 320, and the second end can make the transmission member 320 in response to an external thrust. 321 swings. One end of the flexible tube 303 is sleeved on the push rod 320 , and the other end is connected to the liquid outlet end 3013 . The first joint 301 further includes guide pieces 322 . In one embodiment, the guide pieces 322 may be disposed on both sides of the flexible pipe 303 and have a predetermined distance from the flexible pipe 303 . The guide member 322 may be a guide rail for guiding the push rod 320 to move in a predetermined direction. In one embodiment, the push rod 320 moves in the axial direction of the flexible tube 303 . In one embodiment, when the cleaning robot reaches a predetermined position, the detection device sends a signal to the control device, and the control device controls the drive mechanism 310 to push the second end of the transmission member 321, and the transmission member 321 swings, thereby pushing the first joint 301 to extend Out of a predetermined position outside the main body 203 , the first attachment element 3011 and the second attachment element 3022 are butted together due to mutual attraction, so as to realize the butt joint of the first joint 301 and the second joint 302 .

Since the flexible tube 303 has good flexibility, it has the freedom of movement on a plane perpendicular to the axial direction of the first joint 301, even if the position where the cleaning robot 100 is parked has a small deviation, when the first joint 301 is connected to the second joint 301 When the joints 302 are butted together due to the magnetic force, the flexible tube 303 will not be damaged due to the pulling force.

The above are only a few embodiments of the present invention, and those skilled in the art can make various changes or modifications to the embodiments of the present invention without departing from the spirit and scope of the present invention according to the contents disclosed in the application documents.

Claims

A cleaning system, characterized in that it comprises: a cleaning robot, a base station for the cleaning robot to dock to replenish liquid, and a docking device for connecting the cleaning robot to the base station;

The base station includes: a main body, a first liquid tank provided on the main body, and the first liquid tank is used to provide liquid to the cleaning robot;

The cleaning robot includes: a fuselage, a moving module arranged at the bottom of the fuselage and used to drive the cleaning robot to walk, a working module arranged on the fuselage and used to perform work tasks, and a moving module arranged on the fuselage The robot on the second liquid tank, the second liquid tank obtains liquid from the first liquid tank;

The docking device includes: a first joint, a second joint matched with the first joint; the first joint is connected to the first liquid tank, the first joint includes a liquid outlet end and a a first attachment element on the liquid outlet head; the second joint is connected to a second liquid tank of the robot, the second joint comprising a second attachment element; wherein the first attachment element and one of the second attachment elements is a magnetic element, and the other is a magnetic element or a magnetizable element; a magnetic attraction force can be generated between the first attachment element and the second attachment element, so that the first joint can be connected with the second joint through the magnetic attraction force;

The liquid outlet end has a degree of freedom of movement at least in a plane perpendicular to the axial direction of the first joint.
The cleaning system of claim 1, wherein the first connector has a working state protruding out of the main body of the base station to be mated with the second connector, and a non-working state;

The main body of the base station is further provided with a driving mechanism matched with the first joint, and the driving mechanism is used to drive the first joint to move to realize the mating with the second joint;

The driving mechanism can at least drive the first joint to switch from the non-working state to the working state, and maintain the first joint in the working state; wherein, the working state is that the first joint is connected to the working state. The second connector is mated.
The cleaning system of claim 2, wherein the base station comprises:

a detection device for detecting whether the cleaning robot reaches a predetermined position;

A control device is configured to control the driving mechanism to drive the first connector to move based on the signal sent by the detection device to realize the mating with the second connector.
The cleaning system according to claim 2, wherein the driving mechanism comprises a push rod and a transmission member fixedly connected to the push rod, and the transmission member swings in response to an external thrust to drive the push rod to drive The first joint moves in the axial direction.
The cleaning system of claim 4, wherein the first joint further comprises a guide member for guiding the push rod to move in a predetermined direction.
The cleaning system according to claim 1, wherein the first joint at least further comprises: a liquid inlet end for connecting with the first liquid tank; the liquid inlet end is connected to the liquid outlet The ends are connected by a flexible pipe, the liquid outlet end is used for inserting and mating with the second joint, and the liquid inlet end is connected with the first liquid tank through a liquid inlet pipeline.
The cleaning system of claim 6, wherein the first joint further includes an axial tensile member for enhancing the ability of the flexible tube to withstand stretching.
The cleaning system according to claim 7, wherein the axial tensile member is a braided structure wrapped around the outer wall of the flexible pipe; or, the axial tensile member is connected to the liquid inlet end and the liquid outlet.
The cleaning system according to claim 1, wherein the main body is provided with a horizontal guide sleeve, the side wall of the horizontal guide sleeve is provided with a horizontal avoidance hole; the first joint is movably penetrated in the horizontal avoidance hole The first joint is provided with a horizontal guide portion, and the horizontal guide portion is slidably arranged in the horizontal guide sleeve.
The cleaning system according to claim 9, wherein a return spring is provided between at least one end of the horizontal guide portion along the movable direction thereof and the inner wall of the horizontal guide cavity.
The cleaning system according to claim 1, wherein the first joint is vertically movable on the main body of the base station and communicates with the first liquid tank;

The second joint is movably arranged at the bottom of the fuselage of the cleaning robot along the horizontal direction, and communicates with the second liquid tank of the robot;

The main body of the base station is further provided with a driving mechanism matched with the first connector, and the driving mechanism is used for driving the first connector to move in the vertical direction to realize the mating with the second connector.
The cleaning system according to claim 11, wherein a guide member is installed on the bottom of the second joint, and a guide hole is formed on the guide member; along the direction from bottom to top, the cross-sectional area of the guide hole is gradually narrowing; the guide hole is used to guide the insertion of the first connector into the second connector.
12. The cleaning system of claim 11, wherein the first connector comprises: a plug connector disposed substantially vertically and for mating with the second connector, a plug connector disposed generally horizontally and connected to the plug connector the adapter;

The adapter is communicated with the first liquid tank through a flexible pipe.
The cleaning system according to claim 1, wherein a sealing member is provided on the first joint or the second joint, and the sealing member seals the two joints when the first joint and the second joint are in a mated state. the junction of the person.
15. The cleaning system of claim 14, wherein the first connector includes a first connecting portion, the second connector includes a second connecting portion that cooperates with the first connecting portion, and the sealing member The gap between the first connection part and the second connection part is sealed.
The cleaning system according to claim 14, wherein a water absorbing material is provided in the first connecting part or the second connecting part; when the first joint and the second joint are in a mated state, the water absorbing material The material is squeezed into a compressed state; when the first joint and the second joint are in a separated state, the water-absorbing material returns to its original state.
The cleaning system of claim 1, wherein the base station further comprises: a base station controller;

The first joint or the second joint is provided with a docking detection element for detecting whether the first joint and the second joint are successfully docked;

When the detection result of the docking detection element is yes, the base station controller controls the base station to replenish liquid to the robot second liquid tank of the cleaning robot.
The cleaning system of claim 1, wherein the docking device is provided with a one-way flow restricting structure, the one-way flow restricting structure allows liquid to flow from the first joint to the second joint, and inhibits the liquid Flow from the second junction to the first junction.
A cleaning system, characterized in that it comprises: a cleaning robot, a base station for the cleaning robot to dock to replenish liquid, and a docking device for connecting the cleaning robot to the base station;

The base station includes: a main body and a first liquid tank arranged on the main body;

The cleaning robot includes: a fuselage, a moving module arranged at the bottom of the fuselage and used to drive the cleaning robot to walk, a working module arranged on the fuselage and used to perform work tasks, and a moving module arranged on the fuselage The second liquid tank on the robot;

The docking device includes: a first joint and a second joint matched with the first joint; the first joint is connected to the first liquid tank through a flexible pipe, and the first joint includes a liquid outlet end and a first attachment element installed on the liquid outlet end; the second joint is connected with the robot second liquid tank through a flexible pipe, and the second joint includes a second attachment element; wherein, the One of the first attachment element and the second attachment element is a magnetic element, and the other is a magnetic element or a magnetizable element; a magnetic attraction force can be generated between the first attachment element and the second attachment element, so as to enabling the first joint and the second joint to be connected together by the magnetic attraction;

The liquid outlet end or the second joint has a degree of freedom of movement at least in a plane perpendicular to the axial direction of the first joint.