US20200077858A1 - Base station and cleaning robot system - Google Patents

Abstract

The present disclosure relates to the field of cleaning robot technology, and in particular to a cleaning robot system. The cleaning robot system includes the base station and a cleaning robot. The base station is independent to the cleaning robot of the cleaning robot system. The base station includes a base station body and a mop member cleaning device arranged on the base station body. The mop member cleaning device is configured to clean a mop member of the cleaning robot. Based on the base station, the cleaning robot system is capable of automatically cleaning the mop member with no need for users to change or clean the mop member frequently, which is helpful to free consumers from house cleaning, thus relieving the burden on the consumers, and also helpful to clean the mop member in time so as to ensure a better effect in next cleaning.

Description

FIELD
• The present disclosure relates to the field of cleaning robot technology, and in particular to a base station and a cleaning robot system.
BACKGROUND
• In recent years, with the development of social economy and living standards, house cleaning has gradually entered an era of intelligence and mechanization, along with which cleaning robots come into being. The cleaning robots may free people from the house cleaning, thereby to effectively reduce people's burden on house cleaning, as well as the level of fatigue.
• Some cleaning robots having mops may also mop the floor when in use, so as to implement mopping function. However, the cleaning robots which can mop the floor still exist the following defects:
• (1) The cleaning robot is not capable of automatically cleaning the mop, and the mop uncleaned can hardly effectively clean the house. Thus, users need to clean and change the mop frequently. This will burden the users and make it impossible to completely free users from floor mopping, in addition, it will lead to an ineffective floor cleaning due to a delayed washing or changing of the mop.
• (2) The cleaning robot holds the mop against the floor by its gravity, and drags the mop to rub the floor for the purpose of cleaning. The relative motion between the mop and the floor is generated by only the movement of the cleaning robot itself. Therefore, an ineffective floor cleaning would occur due to a less relative motion between the mop and the floor.
SUMMARY
• One technical problem to be solved is that the cleaning robots cannot automatically clean the mops and users need to change or clean the mops frequently.
• To solve the aforementioned technical problem, the present disclosure provides a base station for a cleaning robot system. The cleaning robot system includes the base station and a cleaning robot. The cleaning robot includes a mop member that is configured to mop a floor surface. The base station is arranged to be independent to the cleaning robot of the cleaning robot system, and the base station includes a base station body and a mop member cleaning device arranged on the base station body. The mop member cleaning device is configured to clean the mop member.
• Optionally, the mop member cleaning device includes a protruding structure. The protruding structure includes a protruding portion, and the protruding portion is in contact with the mop member during the process of the mop member cleaning device cleaning the mop member. And/or, the mop member cleaning device includes a cleaning roller, and the cleaning roller is in contact with the mop member during the process of the mop member cleaning device cleaning the mop member.
• Optionally, the protruding portion is a curved protruding portion, a straight protruding portion, or a polyline protruding portion.
• Optionally, the protruding structure includes at least two of the protruding portions. The at least two of the protruding portions are defined in radial arrangement and/or in array arrangement.
• Optionally, the mop member cleaning device and the mop member are arranged to be rotatable relative to each other, and/or, the mop member cleaning device and the mop member are arranged to be movable relative to each other, during the process of the mop member cleaning device cleaning the mop member.
• Optionally, the base station further includes a scraping and blocking member. The scraping and blocking member is configured to scrape rubbish off the mop member before the mop member gets in the mop member cleaning device; and/or, the scraping and blocking member is configured to prevent cleaning fluid from splashing during the process of the mop member cleaning device cleaning the mop member.
• Optionally, the base station further includes a guiding structure defined on the mop member cleaning device. The guiding structure is configured to guide the cleaning robot to move relative to the mop member cleaning device, to allow the mop member to get in and out the mop member cleaning device.
• Optionally, the guiding structure includes a guiding surface that is inclined obliquely downward from the mop member cleaning device and extends to the floor. And/or, the guiding structure includes an upwardly projected guiding wheel. And/or, the guiding structure includes a guiding plate defined at a lateral side of the mop member cleaning device.
• Optionally, the guiding structure includes the guiding surface and the guiding wheel. The guiding wheel is arranged on the guiding surface.
• Optionally, the base station further includes a mop drying device. The mop drying device is configured to dry the mop member.
• Optionally, the base station further includes a charging device arranged on the base station body. The charging device is configured to charge the cleaning robot.
• Optionally, the mop member cleaning device includes a cleaning notch. The cleaning notch is configured to place the mop member during the process of the mop member cleaning device cleaning the mop member.
• Optionally, the mop member cleaning device further includes a fluid inlet structure, and cleaning fluid for cleaning the mop member is allowed to enter the cleaning notch through the fluid inlet structure. And/or, the mop member cleaning device further includes a fluid discharge structure, and the cleaning fluid after cleaning the mop member is allowed to be discharged outside of the cleaning notch through the fluid discharge structure.
• Optionally, the base station further includes a cleaning fluid supply device that is connected with the fluid inlet structure, and the cleaning fluid supply device is configured to supply the cleaning fluid for cleaning the mop member to the cleaning notch. And/or, the base station further includes a dirty fluid collection device that is connected with the fluid discharge structure, and the dirty fluid collection device is configured to collect the cleaning fluid after the base station cleaning the mop member.
• Optionally, the cleaning fluid supply device includes a first storage unit and a first power device. The first storage unit is configured to store the cleaning fluid, and the first power device is configured to drive the cleaning fluid to flow to the cleaning notch from the first storage unit. And/or, the dirty fluid collection device includes a second storage unit. The second storage unit is configured to store the cleaning fluid after cleaning the mop member.
• Optionally, the cleaning fluid supply device further includes an auxiliary material supply device. The auxiliary material supply device is configured to provide auxiliary material required for cleaning the mop member to the first storage unit or the cleaning notch.
• Optionally, the second storage unit is arranged below the cleaning notch and is connected with the cleaning notch. Or, the dirty fluid collection device further includes a second power device. The second power device is configured to pump the cleaning fluid after cleaning the mop member into the second storage unit for the purpose of storage.
• Optionally, the base station further includes a fluid level detection device. The fluid detection device is configured to detect a fluid level of the cleaning fluid.
• Optionally, the fluid level detection device includes a first conductive element, a second conductive element and a third conductive element. The first conductive element is configured for detecting capacitance value of environment, the second conductive element and the third conductive element are both arranged in the first storage unit and the second storage unit, the second conductive element is configured for detecting capacitance difference caused by a fluid level change of the cleaning fluid, the third conductive element is configured for detecting capacitance value of the cleaning fluid.
• The present disclosure also provides a cleaning robot system. The cleaning robot system includes a cleaning robot. The cleaning robot includes a moving device that is configured to drive the cleaning robot to move on the floor surface, and a cleaning device that is configured to clean the floor surface. The cleaning device includes a mop device. The mop device includes a mop unit. The mop unit includes a mop member that is configured to mop the floor surface. The cleaning robot system further includes a base station according to the present disclosure.
• Optionally, the cleaning robot system further includes a lifting mechanism. The lifting mechanism is arranged on the cleaning robot and/or the base station. The lifting mechanism is configured to lift a forward end and/or a rearward end of the cleaning robot.
• Optionally, the moving device includes a moving wheel, and the cleaning robot includes a suspension device and a chassis. The suspension device is arranged at the moving wheel for elastically connecting the moving wheel and the chassis, to keep the moving wheel in contact with the floor.
• Optionally, the mop device further includes a mop drive mechanism. The cleaning robot includes a chassis, the mop drive mechanism is configured to drive the mop member of the mop unit to rotate relative to the chassis, and/or, the mop drive mechanism is configured to drive the mop member of the mop unit to horizontally reciprocate relative to the chassis.
• Optionally, the mop device includes one mop unit. The mop drive mechanism is configured to drive the mop member of the one mop unit to rotate and/or horizontally reciprocate relative to the chassis.
• Optionally, the mop device includes two mop units. The mop drive mechanism is configured to drive the mop members of the two mop units to rotate around a vertical axis. The mop members of the two mopping units are rotatable in a same direction or in opposite directions around the vertical axis relative to the chassis, or, the mop members of the two mopping units are alternately rotatable in the same direction or in opposite directions around the vertical axis relative to the chassis.
• The base station in the present disclosure is arranged to be independent to the cleaning robot, and the mop member cleaning device thereof is capable of automatically cleaning the mop member of the cleaning robot. Thus, the cleaning robot system with the base station is capable of automatically cleaning the mop member, which does not need users to change or clean the mop member frequently. This may free people from the house cleaning, and effectively relieve people of the cleaning burden. Further, a more timely cleaning of the mop member is facilitated, and the ineffective floor cleaning due to the delayed washing or changing of the mop member would be prevented.
• Further functions of the present disclosure and its advantages will become apparent from the following detailed description of exemplary embodiments.
BRIEF DESCRIPTION OF THE DRAWINGS
• In order to illustrate the technical solution in the embodiments of the present disclosure or the prior art more clearly, brief description would be made below to the drawings required in the embodiments of the present disclosure or the prior art. Obviously, the drawings in the following description are merely some of the embodiments of the present disclosure, and those skilled in the art could obtain other drawings according to the structures shown in the drawings without any creative efforts.
• FIG. 1 is an overall structure view of a cleaning robot system according to a first embodiment in the present disclosure;
• FIG. 2 is an overall structure view of a base station shown inFIG. 1;
• FIG. 3 is an exploded structure view of the base station shown inFIG. 2;
• FIG. 4 is a structure of a mop member cleaning device shown inFIG. 2;
• FIG. 5 is an installation view of a fluid level detection device in the first storage unit;
• FIG. 6 is a top perspective view of the overall structure of a cleaning robot shown inFIG. 1;
• FIG. 7 is a bottom perspective view of the overall structure of a cleaning robot shown inFIG. 1;
• FIG. 8 is an exploded structure view of the cleaning robot shown inFIG. 6;
• FIG. 9 is a structure view of the cleaning robot shown inFIG. 6 with an upper housing and a processing circuit being removed;
• FIG. 10 is a structure view of the cleaning robot shown inFIG. 9 with a dust removal fan and a fan duct being removed;
• FIG. 11 is an overall structure view of a mop device of the cleaning robot shown inFIG. 6;
• FIG. 12 is an exploded structure view of the mop device show inFIG. 11;
• FIG. 13 illustrates degrees of freedom of the mop member shown inFIG. 12 swinging under the action of a flexible connection block and a horizontal rotating shaft;
• FIG. 14 is a structure view of the mop device shown inFIG. 11 with a horizontal rotating shaft being removed;
• FIG. 15 illustrates degrees of freedom of the mop member shown inFIG. 14 swinging under the action of the flexible connection block;
• FIG. 16 illustrates a first modified embodiment ofFIG. 13;
• FIG. 17 illustrates a second modified embodiment ofFIG. 13;
• FIG. 18 illustrates a third modified embodiment ofFIG. 13;
• FIG. 19 illustrates an air passage of the rubbish collection device of the cleaning robot shown inFIG. 6;
• FIG. 20 illustrates the positional relationship between the mop device and the rubbish collection device of the cleaning robot shown inFIG. 6;
• FIG. 21 is a process view in which the cleaning robot according to the first embodiment shown inFIG. 1 gets in the base station under the action of the lifting mechanism;
• FIG. 22 illustrates a matching state of the cleaning robot according to the first embodiment shown inFIG. 1 with the base station after the cleaning robot getting in the base station;
• FIG. 23 illustrates a mechanism of the base station according to the first embodiment shown inFIG. 1 cleaning the mop member of the cleaning robot;
• FIG. 24 is an overall structure view of a cleaning robot system according to a second embodiment in the present disclosure;
• FIG. 25 is an overall structure view of a base station shown inFIG. 24;
• FIG. 26 is an exploded structure view of the base station shown inFIG. 25;
• FIG. 27 is an overall structure view of a cleaning robot shown inFIG. 24;
• FIG. 28 is an exploded structure view of the cleaning robot shown inFIG. 27;
• FIG. 29 is a structure view of the cleaning robot shown inFIG. 27 with a upper housing and a upper housing cover being removed;
• FIG. 30 is a structure view of the cleaning robot shown inFIG. 27 with a lower housing cover being removed;
• FIG. 31 is an exploded structure view of a mop device shown inFIG. 30;
• FIG. 32ais a cross-sectional view of the assembled structure of the output shaft and the mop unit shown inFIG. 31;
• FIG. 32bis a partial enlarged view of I shown inFIG. 32a;
• FIG. 32cis a partial enlarged view of II shown inFIG. 32b;
• FIG. 33 is an exploded structure view of a rubbish collection device according to the second embodiment (omitting the dust removal fan);
• FIG. 34 illustrates an air passage of the rubbish collection device according to the second embodiment;
• FIG. 35 illustrates a movement of the cleaning robot according to the second embodiment getting in the base station;
• FIG. 36 illustrates a variant of the positional relationship between the suction port and the mop device according to the first embodiment and the second embodiment;
• FIG. 37 illustrates another variant of the first embodiment and the second embodiment;
• FIG. 38 is an overall structure view of a cleaning robot system according to the third embodiment in the present disclosure;
• FIG. 39 is a bottom perspective view of the overall structure of a cleaning robot shown inFIG. 38;
• FIG. 40 is a structure view of the cleaning robot shown inFIG. 38 with the upper housing being removed;
• FIG. 41 illustrates the positional relationship between the suction port and the mop device according to the third embodiment;
• FIG. 42 is a structure view of the cleaning robot having the mop unit that is rotatable around the horizontal axis according to a fourth embodiment;
• FIG. 43 illustrates a mechanism of the base station with the cleaning roller cleaning the mop member of the cleaning robot shown inFIG. 42;
• FIG. 44 illustrates a variant of the cleaning robot according to the fourth embodiment shown inFIG. 43;
• FIG. 45 illustrates a variant of the cleaning robot shown inFIG. 44;
• FIG. 46 is a structure view of a cleaning robot having a mop unit that is horizontally reciprocable according to a fifth embodiment;
• FIG. 47 illustrates a variant of the cleaning robot according to the fifth embodiment shown inFIG. 46;
• FIGS. 48 and 49 respectively illustrate two modified structures of the protruding structure according to the present disclosure;
• FIG. 50 is a structure view of the cleaning robot provided with a suspension device at the wheel;
• FIG. 51 is a partial enlarged view of III shown inFIG. 50;
• FIG. 52 illustrates a process of the cleaning robot getting in and out the base station based on the lifting mechanism and the suspension device shown inFIG. 50;
• FIG. 53 illustrates a process of the cleaning robot getting in and out the base station based on the guiding surface and the guiding wheel;
• FIG. 54 is a structure view of a cleaning robot system according to a sixth embodiment in the present disclosure;
• FIG. 55 illustrates a state of a base station according to the sixth embodiment shown inFIG. 54 cleaning the cleaning robot;
• FIG. 56 illustrates a mechanism of a base station in another embodiment according to the present disclosure cleaning the mop member of the cleaning robot;
• FIG. 57 is a partial enlarged view of the bottom of the cleaning robot based on a modified embodiment of the first embodiment according to the present disclosure;
• FIG. 58 is a partial view of the bottom of the cleaning robot shown inFIG. 57 from a different angle.
• In the aforementioned Figures:
• 1, base station;
• 10, base station body;101: supporting frame;102, supporting-frame bottom lid;
• 11, mop member cleaning device;111, cleaning notch;112, protruding portion;1121, bottom protrusion;1122, side protrusion;113, fluid inlet structure;114, fluid discharge structure;115, guiding plate;116, guiding surface;117, scraping and blocking member;118, cleaning roller;119, guiding wheel;
• 12, cleaning fluid supply device;121, first storage unit;1211, bin body;1212, bin lid;1213, handle;1214, buckle;122, first water pump;
• 13, dirty fluid collection device;131, second storage unit;132, second water pump;
• 14, charging device;141, charging element;
• 151, first conductive element;152, second conductive element;153, third conductive element;
• 2, cleaning robot;
• 20, housing;201, upper housing;2011, upper housing cover;202, chassis;2021, lower housing cover;203, avoiding slot;
• 21, moving device;211, moving wheel;212, spring;213, supporting member;
• 22, cleaning device;221, mop device;2211, mop unit;22111, mop member;22112, platen;2212, mop drive mechanism;22121, two-head worm motor;22121′, single-head worm motor;22122, worm gear;22123, output shaft;22124, bearing;22125, oil seal ring;2213, mounting chassis;2214 upper tray;2215, lower tray;2216, flexible connection block;2217, magnetic adsorption member;2218, horizontal rotating shaft;2219, scraping and blocking structure;222, sweeping device;2221, side brush;
• 23, rubbish collection device;231, dust bin;2311, blocking plate;2312, scraping blade;2312′, roller brush;2313, bin body;2314, bin lid;2315, handle;2316, positioning pin;233, filter net;233′, HEPA paper;2331′, HEPA paper frame;234, dust removal fan;235, fan duct;236, dust suction port;237, rubbish blocking member;238, filter frame;
• 24, lifting mechanism;
• 25, collision sensing plate;251, camera;252, charging contact element
• 26, laser radar;261, radar protecting cover;
• 27, control device;
• 28, battery.
DETAILED DESCRIPTION OF THE EMBODIMENTS
• The technical solutions in the embodiments according to the present disclosure will be described clearly and completely combined with the drawings. Obviously, the described embodiments are a part of the embodiments of the present disclosure, but not all of them. Based on the embodiments in the present disclosure, all other embodiments obtained by those skilled in the art without creative work shall fall in the scope of protection of the present disclosure.
• Techniques, methods, and apparatus known to those skilled in the art will not be discussed in detail. However, where appropriate, the techniques, methods, and apparatus should be considered as part of the present disclosure.
• In the present disclosure, it should be understood that the use of the terms “first”, “second” and the like to define a component is merely for the distinction between the corresponding components. The meaning is therefore not to be construed as limiting the scope of the present disclosure.
• In addition, it should be understood that orientation words such as “forward, backward, up, down, left, right”, “transversal, longitudinal, vertical, horizontal” and “top, bottom”, etc. are indicated. The orientation or positional relationship is usually defined based on the state in which the cleaning robot system is normally used. The cleaning robot advances in the forward direction, and accordingly, the cleaning robot moves back in the backward direction. The orientation words “inside, outside” refer to inside and outside of the outline of each component.
• FIGS. 1 to 58 show various embodiments of a cleaning robot system including a base station according to the present disclosure. Referring toFIGS. 1 to 58, the cleaning robot system includes thebase station1 and acleaning robot2. The cleaningrobot2 includes amop member22111, and themop member22111 is configured to mop a floor surface. Thebase station1 in the present disclosure is arranged to be independent to thecleaning robot2. Thebase station1 includes abase station body10 and a mopmember cleaning device11 arranged on thebase station body10. The mopmember cleaning device11 is configured to clean themop member22111.
• In the present disclosure, the mopmember cleaning device11 of thebase station1 is capable of automatically cleaning themop member22111 of the cleaningrobot2, so that the cleaning robot system having thebase station1 is capable of automatically cleaning themop member22111 and does not need users to change themop member22111 frequently. Therefore, thebase station1 in the present disclosure is not only helpful to free users from the floor cleaning, thereby reducing cleaning burden on users, but also helpful to clean themop member22111 in time, so as to ensure a better effect in next cleaning.
• In the present disclosure, thebase station1 may clean themop member22111 by means of ultrasonic cleaning, dry cleaning, water cleaning, and etc. The water cleaning method is preferable, because it is easier to implement, with lower cost and better cleaning effect. Themop member22111 retains a certain amount of moisture after the water cleaning, which can be used for mopping directly with no need for manual wetting, thus enhancing the working efficiency of the cleaningrobot2.
• In the present disclosure, to enable the base station to provide better cleaning effect, preferably, the mopmember cleaning device11 and themop member22111 are arranged to be in motion relative to each other. For example, the mopmember cleaning device11 and themop member22111 are arranged to rotate relative to each other; and/or, the mopmember cleaning device11 and themop member22111 are arranged to move relative to each other. During the process of the mopmember cleaning device11 cleaning themop member22111, themop member22111 is pressed against the mopmember cleaning device11 closely to increase the friction between the mopmember cleaning device11 and themop member22111, thus the cleanliness of themop member22111 can be improved. The relative motion between the mopmember cleaning device11 and themop member22111 may be generated by that one of the mopmember cleaning device11 and themop member22111 moves, while the other one remains static; or both of the mopmember cleaning device11 and themop member22111 move, with different motion directions and/or different motion speeds, that is, when thecleaning device11 moves themop member22111 remains static or when themop member22111 moves, thecleaning device11 remains static.
• In the present disclosure, the mopmember cleaning device11 may include a protruding structure, and the protruding structure includes a protrudingportion112. The protrudingportion112 is in contact with themop member22111 during the process of the mopmember cleaning device11 cleaning themop member22111. The protrudingportion112 can scrape sewage or rubbish off themop member22111 during the cleaning process, so as to achieve a more thorough cleaning of themop member22111, and prevent themop member22111 from remaining excessively moisture after cleaning. In addition, when there is relative motion between the mopmember cleaning device11 and themop member22111, a plane friction motion is generated between the protrudingportion112 and themop member22111, which increases the frictional force between the mopmember cleaning device11 and themop member22111, thereby further improving the cleaning effect of the mopmember cleaning device11 on themop member22111.
• In order to facilitate thecleaning robot2 to move into thebase station1, preferably, thebase station1 in the present disclosure further includes a guiding structure defined on the mopmember cleaning device11. The guiding structure is configured to guide thecleaning robot2 to move into or out of thebase station1, thereby to allow themop member22111 to get into or out of the mopmember cleaning device11. Based on this, when themop member22111 needs cleaning, the cleaningrobot2 can conveniently move into thebase station1 under the guiding action of the guiding structure, thereby allowing themop member22111 to get into the mopmember cleaning device11 for cleaning. And after cleaning themop member22111, the cleaningrobot2 can smoothly move out of thebase station1 under the guiding action of the guiding structure, thereby allowing themop member22111 to get out of the mopmember cleaning device11. As can be seen, the guiding structure makes it more convenient for thecleaning robot2 to move into and out of thebase station1, thus improving the working efficiency of the cleaning robot system. The guiding structure may include at least one of a guiding surface, a guiding plate and a guiding wheel.
• The present disclosure will be further described combined with various embodiments of the cleaning robot system as shown inFIGS. 1 to 58.
• FIGS. 1 to 23 show a first embodiment of a cleaning robot system.
• As shown inFIGS. 1 to 23, in the first embodiment, the cleaning robot system includes acleaning robot2 and abase station1 which are defined to be independent to each other. The cleaningrobot2 is configured to automatically clean a floor surface, the ways of cleaning including mopping and sweeping. Thebase station1 is configured to charge the cleaningrobot2 and clean themop member22111 of the cleaningrobot2. After themop member22111 works for a period of time, the cleaningrobot2 needs to be charged and/or themop member22111 needs to be cleaned, the cleaningrobot2 can automatically return to thebase station1 for charging and/or for cleaning of themop member22111.
• FIGS. 6 to 20 show the structure of the first embodiment of the cleaningrobot2. As shown inFIGS. 6 to 20, in the first embodiment, the cleaningrobot2 is a mobile cleaning device, including ahousing20, a movingdevice21, a cleaning device22, arubbish collection device23, etc.
• Thehousing20 is defined to be a mounting base body for other structural components of the cleaningrobot2, and provides supporting for the other structural components. As shown inFIGS. 6 to 8, thehousing20 in this embodiment includes anupper housing201 and achassis202, between which there is a space. The movingdevice21, the cleaning device22, and therubbish collection device23 are all mounted on thechassis202. Theupper housing201 is covered above thechassis202, in order to protect the structural components in the space between theupper housing201 and thechassis202, and enable overall structure to be integrity and beauty.
• The movingdevice21 is used for driving thecleaning robot2 to move on the floor surface. As shown inFIGS. 7 to 8, the movingdevice21 in this embodiment includes two movingwheels211. The two movingwheels211 are symmetrically disposed on the left and right sides of thechassis2. The rotations of the movingwheels211 enable to drive the cleaningrobot2 forward or backward, and the differential steering of the cleaningrobot2 can be performed by driving the two movingwheels211 at different rotation speeds.
• The cleaning device22 is used for cleaning the floor surface. In this embodiment, the cleaning device22 includes amop device221, and themop device221 includes twomop units2211. Each of themop units2211 includes aplaten22112 and amop member22111. Themop member22111 is mounted on a bottom surface of theplaten22112 for mopping the floor surface.
• Themop member22111 may be various members capable of mopping the floor, such as a mop cloth (or referred to a rag) or a sponge. Themop member22111 in this embodiment uses the mop cloth. And preferably, themop member22111 is detachably connected with theplaten22112. For example, in this embodiment, themop member22111 is affixed to the bottom surface of theplaten22112 with a hook-and-loop fastener, which facilitates the disassembly and replacement of themop member22111.
• In this embodiment, themop member22111 and theplaten22112 are both circular. In other embodiments, the two may have other shapes such as rectangle. The two being arranged in circular shapes is more convenient for themop unit2211 to clean a narrow area such as a corner inside a house, and beneficial for the following rotation arrangement.
• In order to solve the poor mopping effect of the existing cleaning robot, referring toFIGS. 7 to 12 andFIG. 20, themop unit2211 in this embodiment is arranged to rotate relative to thechassis202. In this way, during the mopping process, the relative motions between themop member22111 and the floor include not only the relative motion caused by the movement of the cleaningrobot2 relative to the floor, but also the relative motion caused by the rotation of themop member22111 relative to the floor, which enhances the mopping force of themop member22111 and increases the number of times of mopping, thereby to improve the mopping effect of cleaning the floor, especially facilitating to clean stubborn stains stuck to the floor surface more thoroughly. In addition, it is convenient for themop member22111 to sweep up large particulates and dust on the floor surface by its rotation, that is, themop member22111 also has the function of sweeping, which enables the cleaningrobot2 in the first embodiment to integrate the functions of sweeping and mopping with no need for an additional sweeping device222, thus better cleaning effect and multi-function can be achieved. Beyond that, the cleaningrobot2 is simpler in structure and smaller in size to realize miniaturization and flexibility.
• Themop unit2211 rotates relative to thechassis202 around a horizontal axis or a vertical axis. In this embodiment, the rotation around the vertical axis is preferable, because themop member22111 rotated around the vertical axis helps to achieve a better effect on mopping and sweeping. On condition that themop device221 includes at least twomop units2211, the at least twomop units2211 may be driven to rotate around the vertical axis, wherein the at least twomop units2211 may be driven to rotate around the vertical axis in a same direction or in different directions by themop drive mechanism2212, or the at least twomop units2211 are driven to alternately rotate around the vertical axis in the same direction and in different directions, that is, the at least twomop units221 are rotated in opposite directions for a certain period of time, then are changed to rotate in opposite directions for another period of time. By the arrangement that the twomop units2211 are rotated around the vertical axis in opposite directions, themop device221 can gather rubbish to the place between the two of themop units2211, thereby to achieve a better effect on rubbish gathering.
• As shown inFIG. 20, in this embodiment, the twomop units2211 can gather the swept rubbish to the middle of them by rotating around the vertical axis in opposite directions, so as to realize the function of rubbish collection. Based on this, in this embodiment, themop device221 can be cooperated with therubbish collection device23 to achieve a better cleaning effect, which will be detailed later. In addition, when the twomop units2211 are rotated around the vertical axis in opposite directions, the directions of frictional forces generated by the two rotatedmopping units2211 are opposite to each other, thus the frictional forces counteract each other, which avoids unbalanced walking of the cleaningrobot2. In summary, the cleaningrobot2 can move more smoothly.
• In order to realize the rotations of themop units2211 relative to the floor, themopping device221 in this embodiment further includes amop drive mechanism2212. Themop drive mechanism2212 is connected with themop units2211 and thechassis202, and configured to drive themop units2211 to rotate relative to thechassis202, that is, to drive themop unit2211 to rotate relative to the floor. Specifically, as shown inFIGS. 8 to 12, in this embodiment, themop drive mechanism2212 includes a worm gear and worm mechanism which can transmit the torques in opposite directions to themop units2211, themop drive mechanism2212 includes a worm motor, twoworm gears22122, and twooutput shafts22123. The worm motor is connected with a worm, each of the worm gears22122 is engaged with the worm to form the worm gear and worm mechanism. The worm gears22122 are drivingly connected between the worm motor and theoutput shafts22123, and each of the worm gears22122 is connected corresponding to each of theoutput shafts22123. Theoutput shafts22123 are drivingly connected between the worm gears22122 and themop units2211, and each of theoutput shafts22123 is connected corresponding to each of themop units2211. The worm motor drives the worm gears22122 to rotate to provide theoutput shafts22123 with torques in opposite directions, and theoutput shafts22123 drive themop units2211 to rotate to transmit the torques in opposite directions to themop units2211. The twooutput shafts22123 are vertically arranged, the worm motor drives themop units2211 to rotate around their owncorresponding output shafts22123 to realize the rotation of the twomop units2211 around the vertical axis in opposite directions.
• More specifically, as shown inFIG. 12, in this embodiment, the worm motor is a double-head worm motor22121. The double-head worm motor22121 is used as a worm power mechanism for outputting the torques. The twoworm gears22122 are respectively engaged with the double-head worm motor22121 and the twoworm gears22122 are respectively engaged with the two worms on the two sides of the double-head worm motor22121. The double-head worm motor22121 provides torques in opposite directions, and the worm motor drives theoutput shafts22123 to rotate in opposite directions via the worm gears22122 to drive themop units2211 to rotate around vertical axis in opposite directions. In this way, the structure is simple and tight, and transmission efficiency is high.
• In addition, as shown inFIGS. 11 and 12, themop device221 in this embodiment further includes a mountingchassis2213, anupper tray2214, and alower tray2215. Themop drive mechanism2212 is mounted on thechassis202 by the mountingchassis2213, theupper tray2214, and thelower tray2215. Theupper tray2214 and thelower tray2215 are fastened to each other to form a hollow space. The components of themop drive mechanism2212 are located in the hollow space for a cooperative transmission, the mountingchassis2213 is arranged on thechassis202, and thelower tray2215 is mounted on the mountingchassis2213, so as to allow themop drive mechanism2212 to be mounted on thechassis202. And themop drive mechanism2212 in this embodiment further includes abearing22124 and anoil seal ring22125. Thebearing22124 and theoil seal ring22125 are arranged between theoutput shaft22123 and theworm gear22122 to achieve smoother transmission.
• In this embodiment, themop units2211 are swingingly connected to thechassis202 of the cleaningrobot2. Based on this, themop member22111 of themop unit2211 can be in contact with the floor surface at all times by swinging relative to thechassis202 in response to the unevenness of the floor surface, so as to ensure that the twomop members22111 in this embodiment are in close contact with the floor surface at all times. In this way, the area having an uneven floor surface can be effectively prevented from failing to be mopped, thereby to enable a more thorough and efficient cleaning on various kinds of floor surface. Besides, the cleaningrobot2 is capable of cleaning more complex and diverse kinds of floor surface, thus effectively expanding the cleaning scope thereof.
• Specifically, themop units2211 in this embodiment not only enable to swing around the vertical axis, but also swing around the horizontal axis, so that themop members22111 have a plurality of degrees of freedom of swinging, which facilitates themop members22111 to be in contact with the floor surface at all times and more adaptive to the uneven floor surface, thus achieving a better effect on floor cleaning.
• In order to realize the swinging of themop unit2211 around the vertical axis, in this embodiment, as shown inFIG. 12,flexible connection blocks2216 are arranged between themop units2211 and theoutput shafts22123 of themop drive mechanism2212, to connect themop unit2211 and theoutput shaft2213. Theflexible connection blocks2216 may be detachably connected with themop units2211 and/or themop drive mechanism2212. Theflexible connection blocks2216, as flexible connecting structures, can be freely deformed. Therefore, when the cleaningrobot2 encounters an uneven floor surface, theflexible connection blocks2216 can be deformed when themop members22111 are subjected to the ground pressure, to drive themop units2211 to swing relative to the chassis202 (namely relative to the floor) around thevertical output shafts22123, thereby keeping in contact with the floor. In addition, as shown inFIGS. 11, 13 and 15, theflexible connection blocks2216 provide an adjustment degree of freedom of swinging for the corresponding mop units2211 (namely, the first degree of freedom of swing I inFIG. 13), thus themop units2211 have more ways of swinging to be more flexible to adapt to the uneven floor surface.
• As can be seen, themop units2211 enable to swing around the vertical axis by the deformation of material of theflexible connection block2216 connected between theoutput shaft22123 and themop member2211, and the swinging angle of themop unit2211 can be flexibly adjusted in accordance with the uneven floor surface, which allows themop member22111 in close contact with the floor surface at all times during the mopping process, thus further improving the mopping effect.
• It should be noted that the flexible connecting structure applied in this embodiment is not limited to theflexible connection block2216. Other flexible connecting structures capable for realizing the swinging of themop unit2211 by the deformation of material itself are also applicable.
• In order to realize the swinging of themop unit2211 around the horizontal axis, in this embodiment, a horizontalrotating shaft2218 is arranged between themop device221 and thechassis202, to connect themop device221 and thechassis202. Specifically, as shown inFIGS. 12 and 13, the horizontalrotating shaft2218 in this embodiment is connected between thechassis202 and the middle of the drive shaft that is connected between the twomop units2211 of themop device221. The horizontalrotating shaft2218 provides a degree of freedom of horizontal rotation (namely a second degree of freedom of swing J as shown inFIG. 13) for each of themop units2211, so that each of themop units2211 enables to swing around the horizontalrotating shaft2218 in response to the unevenness of the floor surface, thereby enabling themop member22111 to be in contact with the floor.
• As can be seen, by simultaneously arranging theflexible connection block2216 and the horizontalrotating shaft2218 in this embodiment, themop member22111 is allowed to have a plurality of degrees of freedom of swinging, thereby to be more flexible to adapt to the uneven floor surface. In this way, themop members22111 can keep close contact with the floor surface when the cleaningrobot2 encounters an uneven floor surface, thereby to clean the floor more cleanly.
• In another aspect, referring toFIG. 13, in this embodiment, since themop device221 and thechassis202 are provided with the horizontalrotating shaft2218 therebetween, the contact of themop device221 with the floor surface is equivalent to a fulcrum, that is, there is one fulcrum when themop device221 is in contact with the floor surface. At the same time, there are two fulcrums when the two movingwheels211 are in contact with the floor surface. Thus, as a whole, a three-point support is formed between the cleaningrobot2 in this embodiment and the floor, which enhances the overall operational stability of the cleaningrobot2 and further improves the cleaning effect.
• It should be noted that the way to realize the swinging of themop units221 in response with the unevenness of the floor surface is not limited to the above-described embodiment (namely the way shown inFIG. 13). Three alternative embodiments are provided below.
• As an alternative embodiment, as shown inFIG. 16, the location of the horizontalrotating shaft2218 can be changed, the horizontalrotating shaft2218 is arranged between the movingdevice21 and thechassis202 to connect the movingdevice21 and thechassis202. Based on this, the movingdevice21 and thechassis202 are connected by the rotating shaft. The movingdevice21 as a whole provides one fulcrum for thecleaning robot2. And each of theflexible connection blocks2216 of themop device221 provides two adjustment degrees of freedom of swinging for each of themop units2211, so that there are two fulcrums in contact with the floor, that is, themop device221 provides two fulcrums for thecleaning robot2. As can be seen, this alternative embodiment also allows themop member22111 in contact with the floor surface at all times, and enables a three-point support between the cleaningrobot2 and the floor surface. The three fulcrums in this alternative embodiment include two front fulcrums and one rear fulcrum, while the three fulcrums as shown inFIG. 13 include one front fulcrum and two rear fulcrums.
• As the other two alternative embodiments, referring toFIGS. 17 and 18, in these embodiments, without arranging the aforementionedflexible connection block2216, the horizontalrotating shaft2218 is arranged between themop device221 and thechassis202, or the horizontalrotating shaft2218 is arranged between the movingdevice221 and thechassis202. In these two alternatives, although the mopping performance when themop members22111 are in close contact with the floor surface is not equal as that when both of themop members22111 swing around the vertical axis, themop member22111 and/or the movingdevice21 can still swing relative to thechassis202 to form the aforementioned three-point support, and the structure is simpler and the cost is lower.
• Therubbish collection device23 is configured to collect rubbish gathered by the cleaning device22, and includes a collection port for connecting the inside and the outside of therubbish collection device23 thereof. The rubbish gathered by the cleaning device22 gets into therubbish collection device23 through the collection port.
• As shown inFIGS. 7 to 9 and 19, in this embodiment, therubbish collection device23 includes adust bin231, afilter net233, adust removal fan234, afan duct235, and adust suction port236. Thedust bin231 includes abin body2313 and abin lid2314. Thebin lid2314 is covered at the top opening of thebin body2313. Thedust suction port236 is disposed at a lower portion of thedust bin231 with an opening facing the floor surface, through which the rubbish can get into thedust bin231. Thedust removal fan234 is connected with the inside of thedust bin231 through thefan duct235, the rubbish such as dust gets into thedust bin231 through thedust suction port236 under the action of thedust removal fan234. Thefilter net233 is disposed on one side of thedust bin231 and located on a path where thedust removal fan234 is connected with the dust bin231 (thefilter net233 is specifically disposed on a path where thefan duct235 is connected with thedust bin231 inFIG. 19), so that the rubbish in the wind is filtered by the filter net233 to remain in thedust bin231, whereas the wind is drawn away by thedust removal fan234.
• As shown inFIG. 19, the outlet of thedust removal fan234 faces the double-head worm motor22121, so that the wind from thedust removal fan234 is directly blown to the double-head worm motor22121 to cool the double-head worm motor22121, thereby ensuring the working performance of the double-head worm motor22121, and prolonging the operation life of the double-head worm motor22121.
• In an modified embodiment, the mop drive mechanism is arranged on two sides of the dust suction device, so that the dust suction device as a whole extends along the front-rear direction of the cleaningrobot2. For example, the double-head worm motor22121 may be replaced with two motors, and the two motors output power via the worm gear and worm mechanism or a gear wheel mechanism. In other words, the gear wheel mechanism can transmit the torques in opposite directions to themop units2211, which functions the same as the worm gear and worm mechanism. In this way, it is convenient to respectively arrange the two motors on two sides of the dust suction device, to avoid the motor shaft from crossing through and blocking the dust suction device, which allows the air passage of the dust suction device smoother, reduces the air inlet resistance of the dust suction device, and increases the air flow rate of the dust suction device. As such, the dust suction effect of the dust suction device is improved.
• In this embodiment, when therubbish collection device23 is in operation, thedust removal fan234 drives wind to draw the rubbish into the inside of thebin body2313 through thedust suction port236. The rubbish is blocked by thefilter net233, whereas the wind enters thefan duct235 through thefilter net233, to flow toward thedust removal fan234, and finally is drawn by thedust removal fan234.
• As can be seen, therubbish collection device23 in this embodiment is a dust suction device, and thedust suction port236 serves as a collection port. In this embodiment, under the suction force of the dust suction device, not only more rubbish can be gathered by the cleaning device22 more thoroughly and quickly, reducing the residual rubbish on the floor, but also larger particulates can be suck into the inside of therubbish collection device23. Thus, using the dust suction device as therubbish collection device23 is advantageous for a better effect on floor cleaning.
• In addition, as described above, in this embodiment, the rubbish can be gathered between the two of themop units2211 by the two of themop units2211 that are rotated around the vertical axis in opposite directions. In order to collect rubbish more conveniently and efficiently, as shown inFIGS. 7 and 20, in this embodiment, thedust suction port236 is disposed at the middle of the two of themop units2211 of themop device221, so that thedust suction port236 is located between the twomop units2211 and on a path where the rubbish is gathered, which allows therubbish collection device23 to collect the rubbish more fully, thereby realizing a better effect in rubbish collection. Thedust suction port236 may be disposed at the middle of the rear of the two of themop units2211, or at the middle of the front of the two of themop units2211. On condition that thedust suction port236 is disposed at the middle of the rear of the two of themop units2211, as shown inFIG. 36, since the rubbish is gathered by therubbish collection device23 after it is gathered in a smaller area, so that thedust suction port236 can be designed relatively smaller. And the smaller thesuction port236 is, the greater the suction force is, thus more effective collection can be achieved. And on condition that thedust suction port236 is disposed at the middle of the front of the twomop units2211, as shown inFIGS. 7 and 20, the rubbish is collected before being mopped, so that the rubbish can be collected without being wet by themop member22111. The unwetted rubbish is more easier to be collected because its adhesion to the ground is weak. On condition that thedust suction port236 is disposed at the middle of the front of the two of themop units2211 rotated around the vertical axis in opposite directions, it is less difficult to collect the rubbish. In this way, the dust collecting device only needs to provide a relatively smaller suction force to collect rubbish, and the problem that the rubbish such as hair is difficult to collect due to excessive moisture can be avoided, thereby making it easier and more thorough to collect rubbish.
• Based on themop device221 and therubbish collection device23 described above, the cleaningrobot2 in this embodiment is allowed to provide a higher quality floor cleaning. In operation, themop drive mechanism2212 drives the two of the mop members2111 in contact with the floor surface to rotate around the vertical axis in opposite directions to mop the stubborn stain adhered to the floor, and gather the rubbish to the middle of the two of the mop members2111 for further collection by therubbish collection device23.
• In addition, referring toFIGS. 57 and 58, in an improved embodiment of this embodiment, therubbish collection device23 further includes ablocking plate2311. Theblocking plate2311 extends obliquely downward to the ground from the collection port (namely thesuction port236 in this embodiment) of therubbish collection device23. Based on this, theblocking plate2311 can block the rubbish gathered to the position thereof, so as to prevent the rubbish cleaned by the cleaning device22 from spreading out of the range that the collection port (the suction port236) can collect, which facilitates the rubbish collection of therubbish collection device23, and also avoids a secondary pollution to the floor after cleaning. In particular, when themop members22111 are rotated relative to thechassis202 of the cleaningrobot2 around the vertical axis for cleaning purpose, theblocking plate2311 can prevent the gathered rubbish from being carried away from the collection port (the suction port236) by themop members22111.
• In this embodiment, therubbish collection device23 may be configured to not work, while themop device221 is configured to work; or alternatively, themop device221 is replaced with the sweeping device222 for sweeping the rubbish on floor, for example, a roller brush, so that the sweeping device222 can be cooperated with therubbish collection device23 to implement a separate sweeping function. Because themop device221 in this embodiment is detachably connected with themop drive mechanism2212, it is convenient to realize a switching of the cleaning mode by the replacement of themop device221 and the sweeping device222. In addition, the cleaningrobot2 has the functions of dry-mopping and wet-mopping by the replacement of thewet mop members22111 and thedry mop members22111, the cleaningrobot2 in this embodiment can be used for dry mopping. Similarly, because themop members22111 in this embodiment are detachably connected with theplaten22112, it is also convenient to realize a quick switching of the cleaning mode by the replacement of thedry mop members22111 and thewet mop members22111.
• In addition, as shown inFIGS. 6 and 8 to 10, in this embodiment, the cleaningrobot2 further includes acollision sensing plate25, alaser radar26, acontrol device27, abattery28, and a man-machine interaction device such as a button, a screen. Thecollision sensing plate25 is configured to prevent thecleaning robot2 from colliding with an obstacle. In this embodiment, thecollision sensing plate25 is arranged at the front end of thehousing20. Thelaser radar26 is configured for map scanning, to realize the mapping and localization of the cleaningrobot2. In this embodiment, thelaser radar26 is embedded in the rear of theupper housing201. Thebattery28 is configured to supply electric power to thecleaning robot2. Thecontrol device27 is configured to control various operations of the cleaningrobot2, such as, sensor signal collection, motor drive control, battery management, navigation and localization, map generation, intelligent obstacle avoidance, and cleaning path planning.
• Further, in order to facilitate thecleaning robot2 to cross obstacles and move into/out of thebase station1, the cleaningrobot2 in this embodiment further includes alifting mechanism24. Thelifting mechanism24 is configured to lift the front end and/or the rear end of the cleaningrobot2, which provides a lifting force for thecleaning robot2. In this manner, the cleaningrobot2 can conveniently cross an obstacle with a certain height (for example, a door threshold) while moving on the floor, thereby improving the ability of crossing obstacles and expanding the cleaning range thereof. In addition, the cleaningrobot2 can move into and out of thebase station1 that has the mopmember cleaning device11 with a certain height more conveniently.
• Specifically, as shown inFIGS. 7, 8, and 10, in this embodiment, thelifting mechanism24 is arranged on thechassis202 of the cleaningrobot2, and located at a front position of thechassis202. Thelifting mechanism24 includes a swing arm which can swing upward and downward. After the swing arm swings downward, it sticks out from thechassis202 and is supported on a bearing surface (for example, the floor surface), so as to raise the front end of the cleaningrobot2. And after the swing arm swings upward, it takes back, the front end of the cleaningrobot2 is not lifted by the swing arm, so that the front end of the cleaningrobot2 is lowered. Based on this, as shown inFIGS. 21 and 22, during the process of the cleaningrobot2 crossing obstacles or moving into thebase station1, thelifting mechanism24 can raise the front end of the cleaningrobot2, to actively lift the height of the forward end of the cleaningrobot2, which facilitates the cleaningrobot2 to quickly cross the obstacles, or quickly move into thebase station1, thereby allowing themop members22111 to successfully get into the mopmember cleaning device11.
• Those skilled in the art should understand that thelifting mechanism24 is not limited to being disposed on thechassis202, it may also be disposed on thebase station1. Or alternatively, onelifting mechanism24 is disposed on thebase station1, and one is disposed on thechassis202. And on condition that thelifting mechanism24 is disposed on thechassis202, thelifting mechanism24 is not limited to being disposed at the front of thechassis202, it may also be disposed at the rear of thechassis202, so as to raise the rear end of the cleaningrobot2.
• FIGS. 50 to 52 show an alternative embodiment in which thelifting mechanism24 is disposed at the rear of thechassis202. As shown inFIGS. 50 to 52, in this alternative embodiment, thelifting mechanism24 is disposed at the rear of thechassis202. In this manner, as shown inFIG. 52, when the cleaningrobot2 needs to move into thebase station1, without the help of thelifting mechanism24, the cleaningrobot2 can directly move into thebase station1 under the action of its own driving force and the guiding action of the guiding structure (such as the inclined guidingsurface116 shown inFIG. 52) of thebase station1, thereby allowing themop members22111 to get in the mopmember cleaning device11. After the cleaning of themop members22111 is finished and thecleaning robot2 needs to move out of thebase station1, thelifting mechanism24 raises the rear end of the cleaningrobot2, to make the rear edge of themop members22111 higher than the edge of the mopmember cleaning device11, thereby allowing the cleaningrobot2 to move out of thebase station1. And in this alternative embodiment, preferably, a suspension device is disposed at the movingwheels211. The suspension device is configured for maintaining an elastic connection between the movingwheels211 and thechassis202, to allow the movingwheels211 to be in contact with the floor at all times. As such, when thelifting mechanism24 raises the rear end of the cleaningrobot2, the movingwheels211 can be in close contact with the floor under the action of the suspension device, to provide a frictional force to thecleaning robot2. Thus, the suspension device facilitates the cleaningrobot2 to move out of thebase station1 more efficiently.
• Specifically, as shown inFIGS. 50 and 51, in the alternative embodiment, the suspension device includes aspring212 and a supporting member213. Thespring212 is horizontally arranged. The supporting member213 is obliquely connected between thespring212 and the movingwheel211, and a portion between its two ends that are respectively connected with thespring212 and the movingwheel211 is arranged to rotate relative to thehousing20 of the cleaningrobot2. Based on this, the suspension device not only enables the movingwheel211 to be in contact with the floor surface, but also assists thelifting mechanism24 to raise the rear end of the cleaningrobot2 with the elastic force of thespring212. In this case, thelifting mechanism24 only needs to apply a small lifting force to raise the rear end of the cleaningrobot2, which allows thelifting mechanism24 to use a small motor, thereby reducing cost and saving installation space.
• In addition, the suspension device and thelifting mechanism24 may be provided independently of each other without the participation of each other. The ability of crossing obstacles of the cleaningrobot2 can be improved on condition that the suspension device is separately provided, because the suspension device can allow the movingwheel211 to be in contact with the floor surface at all times.
• FIGS. 2 to 5 show the structure of thebase station1 in the first embodiment. In this embodiment, thebase station1 cleans themop members22111 by means of water cleaning, that is, thebase station1 washes themop members22111 to maintain the cleanness of themop members22111.
• As shown inFIGS. 2 to 5, thebase station1 in this embodiment includes abase station body10, a mopmember cleaning device11, a cleaningfluid supply device12, a dirtyfluid collection device13, and a chargingdevice14.
• Thebase station body10 is defined to be a mounting base body for other structural components of thebase station1. The mopmember cleaning device11, the cleaningfluid supply device12, and the dirtyfluid collection device13 are all arranged on thebase station body10. Thebase station body10 provides supporting for these structural components that are mounted thereon.
• As shown inFIG. 2, in this embodiment, the mopmember cleaning device11 is arranged below thebase station body10, the cleaningfluid supply device12 and the dirtyfluid collection device13 are arranged above thebase station body10 and respectively located at the left and right sides of thebase station body10, thereby making the structure compact and beautiful. In this embodiment, the mopmember cleaning device11 is cooperated with the cleaningfluid supply device12 and the dirtyfluid collection device13, to realize the cleaning for themop members22111 by means of water cleaning. In addition, since themop unit2211 in this embodiment is rotatable round the vertical axis, themop unit2211 and the mopmember cleaning device11 are rotatable relative to each other, so that thebase station1 can implement the water cleaning by the friction between themop unit2211 and the mopmember cleaning device11. During the cleaning process, themop member22111 is placed on the mopmember cleaning device11 and rotated for cleaning, the cleaningfluid supply device12 is configured to supply cleaning fluid, and the dirtyfluid collection device13 is configured to collect dirty fluid after the cleaning.
• Specifically, as shown inFIG. 4, the mopmember cleaning device11 in this embodiment includes acleaning notch111, a protruding structure, afluid inlet structure113, and afluid discharge structure114. The protruding structure includes at least two protrudingportions112.
• Thecleaning notch111 is configured to place themop members22111 during the process of the mopmember cleaning device11 cleaning themop members22111, and provide a containing space for the cleaning fluid. As shown inFIGS. 3 and 4, in this embodiment, the mopmember cleaning device11 includes twocleaning notches111. The shape and size of each cleaningnotch111 are adapted to the shape and size of themop unit221 in this embodiment. Thecleaning notch111 has a circular cross section. This arrangement of thecleaning notch111 corresponds to the shape, size and quantity of themop unit221 of the cleaningrobot2. In this way, the mop members2111 and the cleaning fluid can be better received, thereby to prevent the cleaning fluid from splashing out. And thebase station1 can clean all themop members22111 of the cleaningrobot2 at the same time, thus improving the cleaning efficiency. The shape and size of thecleaning notch111 can be arranged according to the specific structure of themop units2211. The number of thecleaning notch111 may be arranged to be equal to the total number of themop unit221 of a plurality of cleaningrobots2, and onecleaning notch111 is in one-to-one correspondence with onemop unit221, so that thebase station1 can simultaneously clean all themop members22111 of the plurality of cleaningrobots2, which improves the cleaning efficiency.
• The protruding structure is configured to be in contact with themop members22111 received in thecleaning notch111. Since the entire surface of themop member22111 can be in contact with the protruding structure, the larger the contact area is, the higher the cleaning efficiency is. During the cleaning process, the protruding structure can scrape off fluid and increase the friction force, thereby further improving the cleaning effect. As shown inFIG. 4, in this embodiment, the protruding structure is disposed in thecleaning notch111. Each of the protrudingportions112 is curved, namely an extending path of the cross section of the protrudingportion112 is a curve, and the plurality of protrudingportions112 in each cleaningnotch111 are radially arranged. The protruding structure as shown in this embodiment is better adapted to the rotational movement of themop member22111, so that the protruding structure rubs the rotatedmop members22111 more fully during the cleaning process, thereby to achieve better cleaning effect. In addition, when themop members22111 are rotated, water is squeezed out from themop members22111 under the action of mutual extrusion and friction between themop members22111 and the protruding structure, and then thrown away from themop members22111 under the action of the rotation of themop members22111, thus the protruding structure can also dry themop member22111.
• Both thefluid inlet structure113 and thefluid discharge structure114 are connected with thecleaning notch111, so that the cleaning fluid can flow into thecleaning notch111 through thefluid inlet structure113 and be sprayed on the mop member (22111), and after cleaning themop members22111 the cleaning fluid can be discharged outside of thecleaning notch111 through thefluid discharge structure114. As shown inFIG. 4, in this embodiment, thefluid inlet structure113 and thefluid discharge structure114 are both disposed in thecleaning notch111. The two may also be disposed at other positions, as long as the two are connected with thecleaning notch111.
• The cleaningfluid supply device12 is connected with thecleaning notch111 via thefluid inlet structure113, so as to conveniently supply the cleaning fluid to thecleaning notch111. The dirtyfluid supply device113 is connected with thecleaning notch111 through thefluid discharge structure114, so as to conveniently collect the dirty cleaning fluid after cleaning themop members22111. Combined withFIGS. 3 and 4, in this embodiment, the cleaningfluid supply device12 includes afirst storage unit121 and afirst water pump122. Thefirst storage unit121 is configured to contain the cleaning fluid, and thefirst water pump122 is used as a first power device, which is configured to drive the cleaning fluid to flow to thecleaning notch111 from thefirst storage unit121. The dirtyfluid collection device13 includes asecond storage unit131 and asecond water pump132. Thesecond storage unit131 is configured to store the dirty cleaning fluid, and thesecond water pump132 is used as a second power device, which is configured to pump the dirty cleaning fluid into thesecond storage unit131.
• In order to facilitate users to know the fluid level of the cleaning fluid in thefirst storage unit121 and thesecond storage unit131 in time, in this embodiment, thebase station1 further includes a fluid level detection device for detecting the fluid level of the cleaning fluid. Specifically, as shown inFIG. 5, in this embodiment, the fluid level detection device is arranged in thefirst storage unit121 and thesecond storage unit131. The fluid level detection device includes a firstconductive element151, a secondconductive element152, and a thirdconductive element153. The firstconductive element151 is configured for detecting the capacitance value of environment. The secondconductive element152 and the thirdconductive element153 are arranged in the storage unit which contains the cleaning fluid to be detected, namely, the secondconductive element152 and the thirdconductive element153 are arranged in thefirst storage unit121 and thesecond storage unit131. The secondconductive element152 is configured for detecting the capacitance difference caused by the fluid level change of the cleaning fluid, and the thirdconductive element153 is configured for detecting the capacitance value of the cleaning fluid. Since different fluid levels produce different capacitance values, the fluid level detection device can detect the fluid levels of the cleaning fluid in thefirst storage unit121 and thesecond storage unit122 in real time, thereby convenient for adding new cleaning fluid into thefirst storage unit121, or emptying thesecond storage unit131. The firstconductive element151 and the secondconductive element152 are used to correct the detection data of the measured fluid level, to make the fluid level detection result more accurate. A specific calibration process may refer to the following formula:
• $H=\gamma \frac{C_2-C_{20}}{C_3-{\mathrm{<figure-callout\; label="C"\; filenames="US20200077858A1-20200312-D00001.png,US20200077858A1-20200312-D00010.png"\; state="\{\{state\}\}">C</figure-callout>}}_1}$
• H : final fluid level obtained;
• C₂: capacitance value measured by the secondconductive element152 when there is a certain fluid level;
• C₂₀: capacitance value measured by the secondconductive element152 when there is no fluid in the storage unit;
• C₃: capacitance value measured by the third conductive element153 (when covered by the fluid);
• C₁: capacitance value measured by the first conductive element151 (_{in air);}
• γ: correction parameter.
• During the operation of thebase station1 in this embodiment, referring toFIG. 23, themop member22111 is received in thecleaning notch111 and is rotated around the vertical axis with the entire surface being tightly pressed against the protruding structure. The cleaning fluid in thefirst storage unit121 after being pressurized by thefirst water pump122 is sprayed on themop members22111 received in thecleaning notch111 through thefluid inlet structure113. The impact force produced during the spraying helps to further improve the cleaning effect. The dirty cleaning fluid after the cleaning is scraped off themop members22111 by the protrudingportion112, and thrown away from themop members22111 under the action of a centrifugal force when themop members22111 are rotated, to flow to thefluid discharge structure114, and then pumped intosecond storage unit131 bysecond water pump132.
• As can be seen, the cleaningfluid supply device12 and the dirtyfluid collection device13 are cooperated to maintain the cleanness of the cleaning fluid in thecleaning notch111, which avoids a secondary pollution to themop members22111, thereby further guaranteeing the cleaning effect. In addition, the rotation of themop members22111 during the cleaning process plays a role in centrifugal drying, which avoids the cleanedmop members22111 being over-wet. By this way, it can prevent themop members22111 from leaving more water on the floor during the mopping process to affect the cleanliness of the floor, also it can prevent themop members22111 from being too wet to apply to a special floor such as a wooden floor, thus effectively expanding the application range of the cleaningrobot2. Based on this, during the cleaning process, themop members22111 may be controlled to keep a proper rotation speed to rub the protrudingportion112 for cleaning purpose, and also controlled not to rotate too fast, so as to prevent the cleaning fluid from being thrown out. And after the cleaning, thefluid inlet structure113 stops feeding the cleaning fluid, themop members22111 may be controlled to rotate at a lower rotation speed for a period of time to dry most of the moisture, and then controlled to accelerate the rotation speed for further drying. The specific rotation speed and the degree of drying can be adjusted according to actual needs.
• In this embodiment, the cleaning fluid may be water, or a mixture of water and a cleaning agent. The mixture of water and the cleaning agent is preferable, because it has a better effect in cleaning themop members22111. On condition that using the mixture of water and the cleaning agent as the cleaning fluid, thefirst storage unit121 may include only one container in which the mixture is directly contained; or thefirst storage unit121 may include two containers, wherein, one is used for containing the cleaning agent, and the other one is used for containing the water. In this case, thefirst water pump122 simultaneously drives the cleaning agent and the water to directly flow to thecleaning notch111 from the respective containers. Or the first power device further includes a third water pump. The third water pump drives the cleaning agent to mix with the water, and then thefirst water pump122 drives the mixed mixture with water and cleaning agent to flow into thecleaning notch111.
• Further, in order to facilitate to control the moisture of themop member22111, thebase station1 in this embodiment may further include a drying device. The drying device is configured to dry themop members22111 after the cleaning, so that themop members22111 retains a moderate amount of moisture when the cleaningrobot2 moves out of thebase station1, which prevents the floor from being slippery and prevents themop member22111 from getting moldy due to excessive moisture. And with the drying device, the drying process can be finished inside thebase station1, which enriches the functions of thebase station1 and simplifies the post-processing steps, thereby improving the efficiency.
• In addition, to facilitate thecleaning robot2 to move into and out of thebase station1, thebase station1 may further include a guiding structure disposed on the mopmember cleaning device11. The guiding structure is configured to guide thecleaning robot2 to move relative to the mopmember cleaning device11, thereby allowing themop members22111 to get in and out of the mopmember cleaning device11. Specifically, as shown inFIG. 4, in this embodiment, thebase station1 includes a guidingsurface116 serving as the guiding structure. The guidingsurface116 is inclined obliquely downward from the mop member cleaning device11 (specifically, an edge of the cleaning notch111) and extends to the floor. In this manner, the guidingsurface116 can guide thecleaning robot2 to move along the guidingsurface116 to the height of the edge of thecleaning notch111, thus convenient for themop members22111 to get in thecleaning notch111. As shown inFIGS. 21 and 22, the guidingsurface116 is cooperated with theabove lifting mechanism24 of the cleaningrobot2, to facilitate thecleaning robot2 to move in and out of thebase station1, thereby improving the working efficiency of the cleaning robot system. The guiding structure is not limited to the structure shown in this embodiment. The guiding structure may include a guidingplate116 and/or a guiding wheel119, both of which will be detailed in the second embodiment shown inFIGS. 24 to 35 and the embodiment shown inFIG. 53.
• The chargingdevice14 is configured to dock with thebattery28 of the cleaningrobot2 for the purpose of charging, to realize the charging function of thebase station1. As shown inFIGS. 2 to 4, in this embodiment, the chargingdevice114 is disposed on the guidingsurface116. As such, the chargingdevice114 can charge the cleaningrobot2, when the cleaningrobot2 moves onto the guidingsurface116. The chargingdevice14 charges the cleaningrobot2 in many ways. For example, a contact-type charging method can be realized by the contact of a chargingelement141 arranged on thebase station1 with a chargingcontact element252 arranged on the cleaning robot2 (as shown inFIGS. 28 and 29). For another example, a wireless charging method can be realized by the cooperation of an induction coil arranged on thechassis202 of the cleaningrobot2 with a charging coil arranged on the guidingsurface116 of thebase station1.
• FIGS. 24 to 35 illustrate a second embodiment of the cleaning robot system.
• As shown inFIGS. 24 to 35, the second embodiment is substantially same as the first embodiment. Thebase station1 is configured to charge the cleaningrobot2 and clean the twomop members22111 of the cleaningrobot2, the twomop members22111 are rotatable around the vertical axis in opposite directions, and each of themop members22111 is swingable relative to thechassis202. Main differences between the two embodiments are as follows: in one aspect, the structures of themop drive mechanisms2212 for driving the twomop members22111 to rotate round the vertical axis in opposite directions are different; in another aspect, themop members22111 swing relative to thechassis202 in different ways; in another aspect, the structures of therubbish collection devices23 are slightly different; and in another aspect, the structures of thebase station bodies10, thefirst storage units121, thesecond storage units131, and the guiding structures are slightly different. The differences of the above four aspects will be described below, and other undescribed points can be understood reference to the first embodiment. In addition, only the differences are highlighted as described.
• FIGS. 27 to 34 illustrate the structure of the cleaningrobot2 in this second embodiment.
• As shown inFIGS. 28 to 31, in the second embodiment, although themop drive mechanism2212 uses the worm gear and worm mechanism to transmit torques to theoutput shafts22123, the worm motor of the worm gear and worm mechanism adopts two single-head worm motors22121′ instead of the double-head worm motor22121. Each of the single-head worm motors22121′ is meshed with each of the twoworm gears22122 of the worm gear and worm mechanism in one-to-one correspondence, so that the two sets of the worm gears can rotate in different directions to drive the twomop members22111 to rotate around the vertically arrangedoutput shafts22123 in opposite directions, which maintains a relative dynamic balance of the head portion of the cleaningrobot2, improves the mopping effect, and gathers the rubbish to the middle for therubbish collection device23 to collect.
• As shown inFIGS. 32aand 32c, to realize the swingable connection between themop unit2211 and themop drive mechanism2212, thereby to realize the swingable connection between themop unit2211 and thechassis202, in the second embodiment, theoutput shaft22123 and themop unit2211 are not connected with the flexible connection structure such as the flexible connection block22126, instead, the connection by which themop unit2211 is connected with themop drive mechanism2212 is a gap sleeve connection. Specifically, as shown inFIG. 32c, in the second embodiment, the gap sleeve connection is used for connecting theoutput shaft22123 with theplaten22112. The gap between theoutput shaft22123 and theplaten22112 allows theplaten22112 to swing relative to theoutput shaft22123 with a gap swing angle and a gap swing space. And since themop members22111 are arranged on theplaten22112, on condition that the gap sleeve connection is used for connecting themop unit2211 with themop drive mechanism2212, the swingable connection between themop unit2211 and thechassis202 is realized by the gap motion, so that themop member22111 is allowed to change its swinging angle according to the floor surface, so as to be more adaptive to the floor surface.
• In addition, as shown inFIG. 32b, in this embodiment, themop unit2211 is detachably connected with themop drive mechanism2212, in order to facilitate themop unit2211 to be easily disassembled and assembled, amagnetic adsorption member2217 which is configured to attract themop unit2211 with the mopping connecting structure is disposed between theplaten22112 of themop unit2211 and theoutput shaft22123 of themop drive mechanism2212. By arranging themagnetic adsorption member2217, theplaten22112 is detachably connected with theoutput shaft22123 rather than be fixedly connected with theoutput shaft22123. The magnetic adsorption allows users to disassemble and install themop unit2211 without any tools, which is easy and convenient. The detachable connection between themop unit2211 and themop drive mechanism2212 may adopt one or more of other ways, such as a threaded connection element, or/and a buckle element, or/and a hook element.
• As shown inFIGS. 33 and 34, in the second embodiment, therubbish collection device23 uses the dust suction device, and thedust suction port236 is disposed at the middle of the front of the twomop members22111. However, compared to the above first embodiment, the filter structure uses aHEPA paper233′ instead of thefilter net233. TheHEPA paper233′ is configured for filtering dust in airflow. AHEPA frame2331′ is correspondingly provided for supporting theHEPA paper233′. And afilter frame238 is disposed between thebin body2313 and thebin lid2314 of thedust bin231. TheHEPA paper233′ is disposed outside thefilter frame238, and located on a path where thebin body2313 is connected with thedust removal fan234. In addition, ahandle2315 is disposed on thebin lid2314. Thehandle2315 is mounted on thebin lid2314 by apositioning pin2316, which is convenient for users to remove thedust bin231 and empty the dust in thedust bin231 in time.
• In addition to the above main differences, the cleaningrobot2 in the second embodiment has some other differences from the cleaningrobot2 in the first embodiment. As shown inFIG. 28, the structure of thehousing20 of the cleaningrobot2 in the second embodiment is slightly different. Theupper housing201 is provided with a battery mounting groove for mounting thebattery28, and correspondingly, the battery mounting groove is provided with anupper housing cover2011 thereon for shielding the battery mounting groove and thebattery28 therein, thereby to protect thebattery28 and maintain the overall beauty. The bottom ofchassis202 is additionally provided with a lower housing cover2021, to facilitate the disassembly and maintenance. In addition, acamera251 and acharging contact element252 are further provided on thecollision sensing plate25. Thecamera251 is configured to cooperate with thelaser radar26, for better scanning position and obstacle recognition. The chargingcontact element252 is configured to be in contact with a chargingelement141 on thebase station1 for charging thebattery28.
• FIGS. 25 to 26 show the structure of thebase station1 in the second embodiment.
• As shown inFIGS. 25 and 26, in the second embodiment, thebase station body10 includes a supportingframe101 and a supporting-frame bottom lid102. The cleaningfluid supply device12 and the dirtyfluid collection device13 are disposed on the supportingframe101, and located on two sides of the supportingframe101. The supporting-frame bottom lid102 is disposed at the bottom of the supportingframe101. Thefirst storage unit121 and thesecond storage unit131 each includes abin body1211, a bin lid1212, ahandle1213 and abuckle1214. The bin lid1212 is covered at the top opening of thebin body1211. Thehandle1213 is disposed on the bin lid1212 for convenient carrying. Thebuckle1214 is arranged at a position where thebin body1211 is in contact with the bin lid1212, to realize a buckle connection between thebin body1211 and the bin lid1212.
• As shown inFIGS. 25 and 26, in the second embodiment, the notch of thecleaning notch111 is provided with a scraping and blockingmember117, for example, a scraping and blocking blade. The scraping and blockingmember117 is disposed at the notch of thecleaning notch111, which increases the height of thecleaning notch111. In one aspect, the cleaning fluid in thecleaning notch111 is prevented from splashing out of thecleaning notch111 during the process of the mopmember cleaning device11 cleaning themop members22111 by the scraping and blockingmember117, thus the scraping and blockingmember117 serves as a waterproof bar. In another aspect, as themop member22111 passes the scraping and blockingmember117 before getting in thecleaning notch111, rubbish stuck to themop members22111 can be scraped off by the scraping and blockingmember117 before the mop member22111s gets into the mopmember cleaning device11, which prevents the rubbish from entering thecleaning notch111 to clog thefluid inlet structure113 and thefluid discharge structure114. The scraping and blockingmember117 may be flexible or rigid. Preferably, the scraping and blockingmember117 uses a flexible element, such as a rubber scraping blade. In one aspect, themop members22111 can be elastically pressed against the scraping and blockingmember117 when getting in thecleaning notch111, which enhances the scraping action of the scraping and blockingmember117. In another aspect, the scratching to themop members22111 is reduced. In yet another aspect, if the scraping and blockingmember117 is a flexible element, the scraping and blockingmember117 will undergo elastic deformation and return to the original state by itself after themop members22111 completely gets into thecleaning notch111, to prevent the cleaning fluid from splashing again. The scraping and blockingmember117 may also be disposed on the guidingsurface116, as long as it prevents the splashing of the cleaning fluid and/or scrapes the rubbish in advance.
• As shown inFIG. 35, to facilitate thecleaning robot2 to move into thebase station1, in the second embodiment, the guiding structure of thebase station1 further includes a guidingplate115 disposed on a lateral side of the mopmember cleaning device11, preferably the guidingplate115 extends to the bottom of the guidingsurface116 along the inclined direction of the guidingsurface116. Both the guidingplate115 and the guidingsurface116 guide themop members22111 of the cleaningrobot2 to get in the mopmember cleaning device11 more accurately and quickly. As shown inFIG. 35, the twomop members22111 are rotated in opposite directions, and when the cleaningrobot2 moves in thebase station1, if one of themop members22111 comes in contact with the guidingplate115, the deviation of the route of the cleaningrobot2 can be corrected by a friction force between themop members22111 and the guidingplate115, thereby to drive the cleaningrobot2 to move into thebase station1 along a correct track. As can be seen, the guidingplate115 can correct the deviation of the route of the cleaningrobot2 moving in and out of thebase station1.
• In the first embodiment and the second embodiment, thelifting mechanism24 is cooperated with the guiding structure of thebase station1, to facilitate thecleaning robot2 to move into thebase station1. It can also be realized by the guiding action of the guiding structure without thelifting mechanism24. As shown inFIG. 53, the guiding structure of thebase station1 includes not only the preceding guidingsurface116, but also a guiding wheel119. The guiding wheel119 is arranged on the guidingsurface116 and protrudes upward. In this case, when moving into thebase station1, the cleaningrobot2 first moves to the height of the guiding wheel119 by its own driving force under the guiding action of the guidingsurface116, and the front end of the cleaningrobot2 is raised under the action of the guiding wheel119 until themop members2211 crosses over the guiding wheel119 and enters thecleaning notch111, the entering process is finished. And when themop members22111 needs to exit thebase station1 after the cleaning, the cleaningrobot2 falls back, and finishes the exiting process under the action of the guiding wheel119 and the guidingsurface116. In addition, to prevent the upwardly projecting guiding wheel119 from interfering with the contact of themop members22111 with the cleaning surface during the cleaning process, referring toFIG. 53, an avoidingslot203 is defined in thecleaning robot2, which is configured to adapt to the guiding wheel119. After themop unit2211 crosses over the guiding wheel119 and enters thecleaning notch111, the guiding wheel119 is embedded in the avoidingslot203, so that themop members22111 can be in close contact with the cleaning surface, thereby ensuring the cleaning effect.
• FIG. 37 shows an improved embodiment of the first embodiment and the second embodiment described above.
• As shown inFIG. 37, this embodiment differs from the first embodiment and the second embodiment mainly in that, themop device221 of the cleaningrobot2 in this embodiment further includes a scraping and blocking structure2219 disposed behind themop unit2211. The scraping and blocking structure2219 is configured to scrape and block rubbish and/or fluid dropped from themop unit221, to prevent the rubbish and/or the fluid from remaining on the floor that has been mopped by themop unit2211, thereby to realize a secondary cleaning. The scraping and blocking structure2219 may be a scraping blade or a cloth strip or the like, preferable a flexible member which is advantageous for reducing scratching damages to the floor surface. The scraping and blocking structure2219 is not limited to be applicable to thecleaning robot2 described in the first embodiment and the second embodiment, it is also applicable toother cleaning robots2 in the present disclosure.
• FIGS. 38 to 41 show a third embodiment of the cleaning robot system.
• As shown inFIGS. 38 to 41, the third embodiment differs from the foregoing two embodiments mainly in that, themop device221 of the cleaningrobot2 in this embodiment includes onemop unit2211, and correspondingly, the mopmember cleaning device11 of thebase station1 in this embodiment includes onecleaning notch111. In addition, the cleaningfluid supply device12 and the dirtyfluid collection device13 of thebase station1 are stacked one above the other for a more compact structure. The cleaningrobot2 and thebase station1 in this embodiment both have smaller structures, thus more suitable for small families.
• As shown inFIG. 41, in the third embodiment, themop unit2211 is rotatable relative to thechassis202 around the vertical axis. To realize the rotation of themop unit2211 around the vertical axis, as shown inFIG. 40, themop drive mechanism2212 in this embodiment uses the worm motor to output the torque. But the difference is that the worm motor in this embodiment includes one single-head worm motor22121′ and oneworm gear22122. The single-head worm motor22121′ and theworm gear22122 are engaged to drive themop unit2211 to rotate around the vertical axis, thereby to achieve a better effect on floor cleaning.
• Based on the cleaning device22 including onemop unit2211, for a more thorough rubbish collection, as shown inFIG. 41, in this embodiment, thedust suction port236 of therubbish collection device23 is disposed on the outside of the edge of themop unit2211. The rubbish is gathered by the edge of themop member2211 to the outside of themop unit2211 with the rotation of themop unit2211, thus, thedust suction port236 acting as the collection port is positioned on the path where themop unit2211 gathers the rubbish, which is convenient to collect the rubbish into thedust bin231. Further, in this embodiment, a rubbish blocking member237 is disposed on a side wall of thehousing20, and thedust suction port236 is disposed between the edge of themop unit2211 and the rubbish blocking member237, so that the rubbish is gathered to a smaller area under the blocking action of the rubbish blocking member237, which realizes a more effective collection.
• In the above three embodiments, the structures of the cleaningnotches111 and the protruding structures are substantially the same. Thecleaning notch111 is a deep notch having a circular cross section, and the protruding structure includes a plurality of curved protruding portions that are in radial arrangement. However, it should be noted that, in the present disclosure, the specific structures of thecleaning notch111 and the protruding structure are not limited to the structures described in the three embodiments. Taking the modified embodiment shown inFIGS. 48 and 49 for example, thecleaning notch111 may be a cleaning disk which is a shallow disk having a rectangular cross section. And the protrudingportion112 may be a straight protruding portion or a polyline protruding portion, namely, the extending path of the cross section of the protrudingportion112 is straight or polyline. The arrangement of the plurality of protrudingportions112 may be radial arrangement or other forms, for example, array arrangement. The array arrangement may be straight array arrangement (namely, matrix arrangement), circular array arrangement, or annular array arrangement or the like. The straight array arrangement is particularly suitable for the case that themop member22111 horizontally reciprocates relative to the mopmember cleaning device11, so as to clean themop member22111 more cleanly. Besides the shape of each protrudingportion112 in each cleaningnotch111 is different, that is, the plurality of protrudingportions112 may include any combination of the curved protruding portion, the straight protruding portion, and the polyline protruding portion. Similarly, the arrangement of the protrudingportions112 in each cleaningnotch111 may also be any combination of various arrangements such as the radial arrangement and the array arrangement. Also the shapes and the arrangements of the protrudingportions112 indifferent cleaning notches111 may be the same or different.
• In another embodiment, the protrudingportion112 includes abottom protrusion1121 arranged at the bottom of thecleaning notch111 and aside protrusion1122 formed on the inner side of thecleaning notch111. During the process of the mopmember cleaning device11 cleaning themop member22111, themop member22111 rotates relative to thebottom protrusion1121, and thebottom protrusion1121 extrudes and rubs the bottom surface of themop member22111; in addition, themop member22111 rotates relative to theside protrusion1122, and theside protrusion1122 extrudes and rubs the side surface of themop member22111. By this way, the bottom surface of themop member22111 is cleaned by thebottom protrusion1121, and the side surface of themop member22111 is cleaned by theside protrusion1122.
• There may be various ways to clean the side surface of themop member22111. For example, the edges of the twomop members22111 are arranged to touch each other. In this way, when the twomop members22111 rotate in opposite directions, the two moppingmembers22111 rub against each other at the contact position so as to clean the side surface of the two moppingmembers22111.
• In the above three embodiments, the dirtyfluid collection devices13 all collect the dirty cleaning fluid by the pumping action of the second power devices. However, in other embodiments according to the present disclosure, the second power device is not arranged, instead, as shown inFIGS. 54 and 55, thesecond storage unit131 is directly disposed under thecleaning notch111, to be connected with thecleaning notch111. In this case, the dirty cleaning fluid automatically flows from thecleaning notch111 into thesecond storage unit121 under gravity, so that the structure is allowed to be simpler, the usage is more convenient, and the cost is lower.
• To realize a better effect in cleaning themop member22111, as well as to satisfy more diverse usage needs of users and pursuit higher life quality, the cleaningfluid supply device12 in the present disclosure may further include an auxiliary material supply device, which is configured to supply an auxiliary material required for cleaning themop member22111, such as a disinfectant, a fragrance, and a wax layer for waxing. The auxiliary material supply device may directly supply the auxiliary material to thecleaning notch111, or supply the auxiliary material to thefirst storage unit121, so that the auxiliary material is first mixed with the cleaning fluid, and then the mixed auxiliary material and cleaning fluid together flow into thecleaning notch111 under the driving force of the first power device.
• It should be noted that, in other embodiments according to the present disclosure, excluding the cleaningfluid supply device12 and/or the dirtyfluid collection device13, instead, thebase station1 is directly arranged near a position where a tap water pipe and/or a drain pipe are installed. In this way, thebase station1 can directly use the tap water supplied from the tap water pipe to clean themop member22111, and the dirty fluid after the cleaning can be directly discharged through the drain pipe. In this way, the structure of the base station is simpler and the cost is lower.
• In the above three embodiments, themop drive mechanisms2212 for driving themop units2211 to rotate relative to thechassis202 all use the worm gear and worm mechanisms to transmit opposite torques to the twooutput shafts22123. However, in other embodiments according to the present disclosure, a gear wheel mechanism may be used to transmit opposite torques to the twooutput shafts22123. As explained in the first embodiment, to solve the poor mopping effect of the existingcleaning robot2, themop unit2211 may be arranged to be driven to rotate around the vertical axis relative to thechassis202 by themop drive mechanism2212 as in the above three embodiments, or may be arranged to be driven to rotate around the horizontal axis by themop drive mechanism2212.FIGS. 42 and 43 show the cleaning robot system in the fourth embodiment having themop unit2211 rotated around the horizontal axis.
• As shown inFIG. 42, in the fourth embodiment, themop unit2211 of the cleaningrobot2 includes a roller that can rotate horizontally and amop member22111 arranged on the outer surface of the roller. Themop drive mechanism2212 drives themop unit2211 to rotate around the horizontal axis, which enhances the relative movement between themop member22111 and the floor, thereby increasing the mopping force and the number of times of mopping, as well as realizing both the mopping and sweeping functions. Therefore, the effect in mopping themop member22111 is improved.
• In regard to thecleaning robot2 in this embodiment, abase station1 different from those in the foregoing three embodiments is provided. As shown inFIG. 43, in this embodiment, the mopmember cleaning device11 includes acleaning roller118, the cleaningroller118 which is configured to clean themop member22111 is arranged in thecleaning notch111 of the mopmember cleaning device11 of thebase station1. The cleaningroller118 is in contact with themop member22111 during the process of the mopmember cleaning device11 cleaning themop member22111, themop member22111 is pressed against and supported by the cleaningroller118, so that the relative rotation of the cleaningroller118 and themop member22111 can achieve the purpose of cleaning themop member22111. The relative rotation of the cleaningroller118 and themop member22111 can be realized by an active rotation of themop member22111, or an active rotation of the cleaningroller118, or active rotations of both thecleaning roller118 and themop member22111 with different directions and/or different speeds. The active rotation of themop member22111 is preferable, because the active rotation of themop member22111 can be realized by the driving of themop drive mechanism2212 of the cleaningrobot2, and there is no need to provided an extra mechanism on thebase station1 for driving the cleaning roller. Thus, thebase station1 has a simpler structure and a reduced cost. In addition, the active rotation of themop member22111 also plays a role in drying, to maintain themop member22111 suitably moist after cleaning. The mopmember cleaning device11 with the cleaningroller118 is applicable to other embodiments according to the present disclosure.
• To improve the cleaning performance of the cleaningrobot2, in the fourth embodiment, a rubbish scraping member which is configured to scrape rubbish adhered to the cleaning device22 is further arranged on the cleaning device22. The rubbish scraping member may be ascraping blade2312, or aroller brush2312′, and the corresponding structures of the twocleaning robots2 are respectively shown inFIGS. 44 and 45.
• In thecleaning robot2 as shown inFIG. 44, the rubbish scraping member uses thescraping blade2312. Thescraping blade2312 which can be contact with the rotatedmop member22111 is arranged on thehousing20 of the cleaningrobot2. In this way, during the process that themop member22111 rotates to clean the floor, each time themop member22111 comes into contact with thescraping blade2312, thescraping blade2312 scrapes the rubbish adhered to themop member22111, thereby maintaining the cleanness of themop member22111, and ensuring the quality of floor cleaning.
• In thecleaning robot2 as shown inFIG. 45, the rubbish scraping member uses theroller brush2312′. Theroller brush2312′ that the rotation direction is the same with themop member22111 is arranged on thehousing20. The co-directional contact friction between theroller brush2312′ and themop member22111 can scrape the rubbish off themop member22111. In addition, the rotation of theroller brush2312′ can throw the rubbish to therubbish collection device23, thereby facilitating the rubbish collection.
• In addition, referringFIGS. 44 and 45, in these two types ofcleaning robots2, both of the tworubbish collection devices23 include blockingplates2311. Theblocking plate2311 obliquely extends downward to the floor surface from the collection port (the dust suction port236) of therubbish collection device23. Based on this, theblocking plate2311 can block the rubbish gathered to the position thereof, and prevent the rubbish cleaned by the cleaning device22 from spreading out of the range that the collection port can collect, thereby to facilitate the collection of therubbish collection device23, and avoid the rubbish to cause a secondary pollution to the floor after cleaning. In particular, when themop member22111 rotates relative to thechassis202 of the cleaningrobot2 around the vertical axis, theblocking plate2311 prevents the gathered rubbish from being carried away from the collection port by themop member22111. And theblocking plate2311 can be cooperated with the aforementioned rubbish scraping member, to facilitate a more thorough rubbish collection of therubbish collection device23. The rubbish scraping member and theblocking plate2311 shown inFIGS. 44 and 45 are applicable to other embodiments according to the present disclosure.
• In addition, the foregoing embodiments all take the example that themop unit2211 rotates relative to thechassis202 for description. However, to increase the relative movement of themop unit22111 and the floor to improve the mopping effect, the mop unit2111 in the present disclosure may be arranged to horizontally reciprocate relative to thechassis202. That is, better mopping effect can be achieved not only by the rotation of themop unit2211 relative to the floor surface but also by the horizontal reciprocation of themop unit2211 relative to the floor surface. In the embodiment as shown inFIGS. 46 and 47, themop unit2211 can horizontally reciprocate relative to thechassis202. In this case, themop member22111 cleans the floor surface by a pushing cleaning mode, that is, themop member22111 cleans the stain or rubbish by moving back and forth to mop the floor, which is similar to the manual mopping mode, and can reduce the rubbish leftover at the rear of themop device2211. It is more convenient for thecleaning robot2 having themop unit2211 which can reciprocate horizontally to cooperate with thebase station1, the cleaning of themop member22111 can be realized during the process that the mopmember cleaning device11 and themop member22111 move relative to each other. In addition, in the present disclosure, themop unit2211 of the cleaningrobot2 is arranged to rotate relative to thechassis202, or horizontally reciprocate relative to thechassis202. And during the process of cleaning the floor, it is preferable to perform the rotation for mopping first and then the pushing for mopping, which takes advantages of the rotation mopping and the pushing mopping, thereby to achieve more effective floor cleaning.
• Additionally, in the foregoing embodiments, the cleaning devices22 include only themop devices221. However, in other embodiments according to the present disclosure, thecleaning device21 may further include the sweeping device222 for sweeping the floor, so that the cleaningrobot2 can clean the floor with both themop device221 and the sweeping device222, achieving a better cleaning effect. The sweeping device222 may be disposed in front of and/or behind themop device221, preferably in front of themop device221, so as to realize a cleaning mode of “sweeping first and then mopping”. The sweeping device222 cleans most of the rubbish (dust and large particulates), and then themop device221 cleans the remaining difficult-to-clean rubbish (such as stubborn stains), thereby improving the quality of floor cleaning.FIG. 47 shows one of the embodiments. As shown inFIG. 47, in this embodiment, the cleaning device22 includes amop unit2211 which can horizontally reciprocate and aside brush2221 disposed in front of themop unit2211 and served as the sweeping device222, thedust suction port236 is disposed between themop unit2211 and theside brush2221, the floor can be cleaned with the cooperation of thedust suction port236, themop unit2211 and theside brush2221. Those skilled in the art can understand that the sweeping device222 is not limited to theside brush2221, and various types of sweeping devices222 can be used to cooperate with various types ofmop units2211.
• As an improvement to the above embodiments, themop unit2211 further comprises a sweeping member (such as a bristles or a brush), the sweeping member may be arranged on the edge of themop member22111 of the above-mentionedmop unit2211, so that themop unit2211 itself becomes an integrated structure with both the sweeping and mopping functions. On condition that the specific sweeping device222 is not provided, themop unit2211 itself can fully gather rubbish (especially hair), so as to achieve a better cleaning effect. In addition, when themop unit2211 cleans floor edge, the sweeping member arranged on the edge of themop member22111 can be in close contact with this area, which expands the cleaning range of themop device221, thereby allowing the cleaningrobot2 to effectively clean the corner part of the house.
• In the foregoing embodiments, the swinging of themop unit2211 relative to thechassis202 is implemented by the swingable connection between themop unit2211 and themop drive mechanism2212, but the implementation way is not limited thereto. For example, the swinging of themop unit2211 may also be implemented by that themop drive mechanism2212 is swingably connected to thechassis202. In this case, themop unit2211 and themop drive mechanism2212 are connected in a non-swinging way (for example, the two are fixedly connected). Actually, on condition that themop unit2211 is connected with thechassis202 by themop drive mechanism2212, themop unit2211 is swingably connected with themop drive mechanism2212, and/or, themop drive mechanism2212 is swingably connected with thechassis202. By both ways, the swinging of themop unit2211 relative to thechassis202 can be realized. For another example, on condition that themop unit2211 does not rotate and/or horizontally reciprocate relative to thechassis202, themop drive mechanism2212 may be replaced with a mop connection structure of non-driving mode connecting themop unit2211 and thechassis202. In this condition, to realize the swinging of themop unit2211 relative to thechassis202, themop unit2211 may be swingably connected with the mop connection structure of non-driving mode, and/or, the mop connection structure of non-driving mode may be swingably connected with thechassis202.
• As can be seen, in the present disclosure, the mop connection structure connecting themop unit2211 and thechassis202 may be either a mop connection structure of driving mode (such as themop drive mechanism2212 in the foregoing embodiments), or a mop connection structure of non-driving mode (for example, the connection shaft connected between themop unit2211 and the chassis202). Regardless of the mode of the mop connection structure, when themop unit2211 is swingably connected to the mop connection structure, and/or the mop connection structure is swingably connected to thechassis202, themop unit2211 can be swingably connected to thechassis202 by the mop connection structure.
• It should be noted that, in the present disclosure, therubbish collection device23 may adopt other structures. For example, without arranging thedust removal fan234 and thefan duct235, the rubbish can enter the inside of therubbish collection device23 through the collection port, under its own inertia and the gathering action of the cleaning device22. In this case, therubbish collection device23 exerts no additional action on the rubbish, which only acts as a dustpan.
• The foregoing description merely portrays some illustrative embodiments in accordance with the present disclosure and therefore is not intended to limit the scope of the present disclosure. Any modifications, equivalents, improvements, etc. made within the spirit and scope of the present disclosure shall fall in the scope of protection of the present disclosure.

Claims (45)

1. A base station (1) for a cleaning robot system, wherein, the cleaning robot system comprises the base station (1) and a cleaning robot (2), the cleaning robot (2) comprises a mop member (22111) that is configured to mop a door, the base station (1) is arranged to be independent to the cleaning robot (2) of the cleaning robot system, and the base station (1) comprises a base station body (10) and a mop member cleaning device (11) arranged on the base station body (10), the mop member cleaning device (11) is configured to clean the mop member (22111).

2. The base station (1) ofclaim 1, wherein, the mop member cleaning device (11) comprises a protruding structure, the protruding structure comprises a protruding portion (112), the protruding portion (112) is in contact with the mop member (22111) during the process of the mop member cleaning device (11) cleaning the mop member (2211); and/or, the mop member cleaning device (11) comprises a cleaning roller (118), and the cleaning roller (118) is in contact with the mop member (22111) during the process of the mop member cleaning device (11) cleaning the mop member (22111).

3. The base station (1) ofclaim 2, wherein, the protruding portion (112) is a curved protruding portion, a straight protruding portion, or a polyline protruding portion.

4. The base station (1) ofclaim 2, wherein, the protruding structure comprises at least two of the protruding portions (112), the at least two of the protruding portions (112) are defined in radial arrangement and/or in array arrangement.

5. The base station (1) ofclaim 1, wherein, the mop member cleaning device (11) and the mop member (22111) are arranged to be rotatable relative to each other, and/or, the mop member cleaning device (11) and the mop member (22111) are arranged to be movable relative to each other, during the process of the mop member cleaning device (11) cleaning the mop member (22111).

6. The base station (1) ofclaim 1, wherein, the base station (1) further comprises a scalping and blocking member (117), the scraping and blocking member (117) is configured to scrape rubbish off the mop member (22111) before the mop member (22111) gets in the mop member cleaning device (11), and/or, the scraping and blocking member (117) is configured to prevent cleaning fluid from splashing during the process of the mop member cleaning device (11) cleaning the mop member (22111).

7. The base station (1) ofclaim 1, wherein, the base station (1) further comprises a guiding structure defined on the mop member cleaning device (11), the guiding structure is configured to guide the cleaning robot (2) to move relative to the mop member cleaning device (11), to allow the mop member (22111) to get in and out the mop member cleaning device (11).

8. The base station (1) ofclaim 7, wherein, the guiding structure comprises a guiding surface (116) that is inclined obliquely downward from the mop member cleaning device (11) and extends to the floor; and/or, the guiding structure comprises an upwardly projected guiding wheel (119); and/or, the guiding structure comprises a guiding plate (115) defined at a lateral side of the mop member cleaning device (11).

9. The base station (1) ofclaim 8, wherein, the guiding structure comprises the guiding surface (116) and the guiding wheel (119), the guiding wheel (119) is arranged on the guiding surface (116).

10. The base station (1) ofclaim 1, wherein, the base station (1) further comprises a mop drying device, the mop drying device is configured to dry the mop member (22111).

11. The base station (1) ofclaim 1, wherein, the base station (1) further comprises a charging device (14) arranged on the base station body (10), the charging device (14) is configured to charge the cleaning robot (2).

12. The base station (1)claim 1, wherein the mop member cleaning device (11) comprises a cleaning notch (111), the cleaning notch (111) is configured to place the mop member (22111) during the process of the mop member cleaning device (11) cleaning the mop member (22111).

13. The base station (1) ofclaim 12, wherein, the mop member cleaning device (11) further comprises a fluid inlet structure (113), cleaning fluid for cleaning the mop member (22111) is allowed to enter the cleaning notch (111) through the fluid inlet structure (113); and/or, the mop member cleaning device (11) further comprises a fluid discharge structure (114), the cleaning fluid after cleaning the mop member (22111) is allowed to be discharged outside of the cleaning notch (111) through the fluid discharge structure (114).

14. The base station (1) ofclaim 13, wherein, the base station (1) further comprises a cleaning fluid supply device (12) that is connected with the fluid inlet structure (113), the cleaning fluid supply device (12) is configured to supply the cleaning fluid for cleaning the mop member (22111) to the cleaning notch (111); and/or, the base station (1) further comprises a dirty fluid collection device (13) that is connected with the fluid discharge structure (114), the dirty fluid collection device (13) is configured to collect the cleaning fluid after the base station (1) cleaning the mop member (22111).

15. The base station (1) ofclaim 14, wherein, the cleaning fluid supply device (12) comprises a first storage unit (121) and a first power device, the first storage unit (121) is configured to store the cleaning fluid, the first power device is configured to drive the cleaning fluid to flow to the cleaning notch (111) from the first storage unit (121); and/or, the dirty fluid collection device (13) comprises a second storage unit (131), the second storage unit (131) is configured to store the cleaning fluid after cleaning the mop member (22111).

16. The base station (1) ofclaim 15, wherein, the cleaning fluid supply device (12) further comprises an auxiliary material supply device, the auxiliary material supply device is configured to provide auxiliary material required for cleaning the mop member (22111) to the first storage unit (121) or the cleaning notch (111).

17. The base station (1) ofclaim 15, wherein, the second storage unit (131) is arranged below the cleaning notch (111) and connected with the cleaning notch (111); or, the dirty fluid collection device (13) further comprises a second power device, the second power device is configured to pump the cleaning fluid after cleaning the mop member (22111) into the second storage unit (131) for the purpose of storage.

18. The base station (1) ofclaim 15, wherein, the base station (1) further comprises a fluid level detection device, the fluid detection device is configured to detect a fluid level of the cleaning fluid.

19. The base station (1) ofclaim 18, wherein, the fluid level detection device comprises a first conductive element (151), a second conductive element (152) and a third conductive element (153), the first conductive element (151) is configured for detecting capacitance value of environment, the second conductive element (152) and the third conductive element (153) are both arranged in the first storage unit (121) and the second storage unit (131), the second conductive element (152) is configured for detecting capacitance difference caused by a fluid level change of the cleaning fluid, the third conductive element (153) is configured for detecting capacitance value of the cleaning fluid.

20. A cleaning robot system, comprising a cleaning robot (2), the cleaning robot (2) comprising a moving device (21) that is configured to drive the cleaning robot (2) to move on floor, and a cleaning device (22) that is configured to clean the floor, the cleaning device (22) comprising a mop device (221), the mop device (221) comprising a mop unit (2211), the mop unit (2211) comprising a mop member (22111) that is configured to mop the floor, wherein, the cleaning robot system further comprises a base station (1);

the base station (1) is arranged to be independent to the cleaning robot (2), the base station (1) comprises a base station body (10 and a mop member cleaning device (11) arranged on the base station body (10), the mop member cleaning device (11) is configured to clean the mop member (22111).

21. The cleaning robot system ofclaim 20, wherein, the cleaning robot system further comprises a lifting mechanism (24), the lifting mechanism (24) is arranged on the cleaning robot (2) and/or the base station (1), the lifting mechanism (24) is configured to lift a forward end and/or a rearward end of the cleaning robot (2).

22. The cleaning robot system ofclaim 20, wherein, the moving device (21) comprises a moving wheel (211), the cleaning robot (2) comprises a suspension device and a chassis (202), the suspension device is arranged at the moving wheel (211) for elastically connecting the moving wheel (211) and the chassis (202) to keep the moving wheel (211) in contact with the floor.

23. The cleaning robot system according toclaim 20, wherein, the mop device (221) further comprises a mop drive mechanism (2212), the cleaning robot (2) comprises a chassis (202), the mop drive mechanism (2212) is configured to drive the mop member (22111) of the mop unit (2211) to rotate relative to the chassis (202), and/or, the mop drive mechanism (2212) is configured to drive the mop member (22111) of the mop unit (2211) to horizontally reciprocate relative to the chassis (202).

24. The cleaning robot system ofclaim 23, wherein, the mop device (221) comprises one mop unit (2211), the mop drive mechanism (2212) is configured to drive the mop member (22111) of the mop unit (2211) to rotate and/or horizontally reciprocate relative to the chassis (202).

25. The cleaning robot system ofclaim 23, wherein, the mop device (221) comprises two mop units (2211), the mop drive mechanism (2212) is configured to drive the mop members (22111) of the two mop units (2211) to rotate around a vertical axis; wherein, the mop members (22111) of the two mopping units (2211) are rotatable in a same direction or in opposite directions around the vertical axis relative to the chassis (202), or, the mop members (22111) of the two mopping units (2211) are alternately rotatable in the same direction or in opposite directions around the vertical axis relative to the chassis (202).

26. The cleaning robot system ofclaim 20, wherein, the mop member cleaning device (11) comprises a protruding structure, the protruding structure comprises a protruding portion (112), the protruding portion (112) is in contact with the mop member (22111) during the process of the mop member cleaning device (11) cleaning the mop member (22111); and/or, the mop member cleaning device (11) comprises a cleaning roller (118), and the cleaning roller (118) is in contact with the mop member (22111) during the process of the mop member cleaning device (11) cleaning the mop member (22111).

27. The cleaning robot system ofclaim 26, wherein, the protruding portion (112) is a curved protruding portion, a straight protruding portion, or a polyline protruding portion.

28. The cleaning robot system ofclaim 26, wherein, the protruding structure comprises at least two of the protruding portions (112), the at least two of the protruding portions (112) are defined in radial arrangement and/or in array arrangement.

29. The cleaning robot system ofclaim 20, wherein, the mop member cleaning device (11) and the mop member (22111) are arranged to be rotatable relative to each other, and/or, the mop member cleaning device (11) and the mop member (22111) are arranged to be movable relative to each other, during the process of the mop member cleaning device (11) cleaning the mop member (22111).

30. The cleaning robot system ofclaim 20, wherein, the base station (1) further comprises a scraping and blocking member (117), the scraping and blocking member (117) is configured to scrape rubbish off the mop member (22111) before the mop member (22111) gets in the mop member cleaning device (11), and/or, the scraping and blocking member (117) is configured to prevent cleaning fluid from splashing during the process of the mop member cleaning device (11) cleaning the mop member (22111).

31. The cleaning robot system ofclaim 20, wherein, the base station (1) further comprises a guiding structure defined on the mop member cleaning device (11), the guiding structure is configured to guide the cleaning robot (2) to move relative to the mop member cleaning device (11), to allow the mop member (22111) to get in and out the mop member cleaning device (11).

32. The cleaning robot system ofclaim 31, wherein, the guiding structure comprises a guiding surface (116) that is inclined obliquely downward from the mop member cleaning device (11) and extends to the floor; and/or, the guiding structure comprises an upwardly projected guiding wheel (119); and/or, the guiding structure comprises a guiding plate (115) defined at a lateral side of the mop member cleaning device (11).

33. The cleaning robot system ofclaim 32, wherein, the guiding structure comprises the guiding surface (116) and the guiding wheel (119), the guiding wheel (119) is arranged on the guiding surface (116).

34. The cleaning robot system ofclaim 20, wherein, the base station (1) further comprises a mop drying device the mop drying device is configured to dry the mop member (22111).

35. The cleaning robot system ofclaim 20, wherein, the base station (1) further comprises a charging device (14) arranged on the base station body (10), the charging device (14) is configured to charge the cleaning robot (2).

36. The cleaning robot system ofclaim 20, wherein, the mop member cleaning device (11) comprises a cleaning notch (111), the cleaning notch (111) is configured to place the mop member (22111) during the process of the mop member cleaning device (11) cleaning the mop member (22111).

37. The cleaning robot system ofclaim 36, wherein, the mop member cleaning device (11) further comprises a fluid inlet structure (113), cleaning fluid for cleaning the mop member (22111) is allowed to enter the cleaning notch (111) through the fluid inlet structure (113); and/or, the mop member cleaning device (11) further comprises a fluid discharge structure (114), the cleaning fluid after cleaning the mop member (22111) is allowed to be discharged outside of the cleaning notch (111) through the fluid discharge structure (114).

38. The cleaning robot system ofclaim 37, wherein, the base station (1) further comprises a cleaning fluid supply device (12) that is connected with the fluid inlet structure (113), the cleaning fluid supply device (12) is configured to supply the cleaning fluid for cleaning the mop member (22111) to the cleaning notch (111); and/or, the base station (1) further comprises a dirty fluid collection device (13) that is connected with the fluid discharge structure (114), the dirty fluid collection device (13) is configured to collect the cleaning fluid after the base station (1) cleaning the mop member (22111).

39. The cleaning robot system ofclaim 38, wherein, the cleaning fluid supply device (12) comprises a first storage unit (121) and a first power device, the first storage unit (121) is configured to store the cleaning fluid, the first, power device is configured to drive the cleaning fluid to flow to the cleaning notch (111) from the first storage unit (121); and/or, the dirty fluid collection device (13) comprises a second storage unit (131), the second storage unit (131) is configured to store the cleaning fluid after cleaning the mop member (22111).

40. The cleaning robot system ofclaim 39, wherein, the cleaning fluid supply device (12) further comprises an auxiliary material supply device, the auxiliary material supply device is configured to provide auxiliary material required for cleaning the mop member (22111) to the first storage unit (121) or the cleaning notch (111).

41. The cleaning robot system ofclaim 39, wherein, the second storage unit (131) is arranged below the cleaning notch (111) and connected with the cleaning notch (111); or, the dirty fluid collection device (13) further comprises a second power device, the second power device is configured to pump the cleaning fluid after cleaning the mop member (22111) into the second storage unit (131) for the purpose of storage.

42. The cleaning robot system ofclaim 39, wherein, the base station (1) further comprises a fluid level detection device, the fluid detection device is configured to detect a fluid level of the cleaning fluid.

43. The cleaning robot system ofclaim 42, wherein, the fluid level detection device comprises a first conductive element (151), a second conductive element (152) and a third conductive element (153), the first conductive element (151) is configured for detecting capacitance value of environment, the second conductive element (152) and the third conducive element (153) are both arranged in the first storage unit (121) and the second storage unit (131), the second conductive element (152) is configured for detecting capacitance difference caused by a fluid level change of the cleaning fluid, the third conductive element (153) is configured for detecting capacitance value of the cleaning fluid.

44. The cleaning robot system ofclaim 21, wherein, the moving device (21) comprises a moving wheel (211), the cleaning robot (2) comprises a suspension device and a chassis (202), the suspension device is arranged at the moving wheel (211) for elastically connecting the moving wheel (211) and the chassis (202) so as to keep the moving wheel (211) in contact with the floor.

45. The cleaning robot system according toclaim 21, wherein, wherein, the mop device (221) further comprises a mop drive mechanism (2212), the cleaning robot (2) comprises a chassis (202), the mop drive mechanism (2212) is configured to drive the mop member (22111) of the mop unit (2211) to rotate relative to the chassis (202), and/or, the mop drive mechanism (2212) is configured to drive the mop member (22111) of the mop unit (2211) to horizontally reciprocate relative to the chassis (202).

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