CLEANING ROBOT SYSTEM

CROSS-REFERENCE TO RELATED APPLICATIONS

[0001]The present application is a Continuation Application of International Application No. PCT/CN2023/125827, filed on Oct. 23, 2023, which claims the benefit of priority to Chinese Patent Application No. 202320566267.1, filed on Mar. 21, 2023, both of which are incorporated by reference herein in their entireties for all purposes.

TECHNICAL FIELD

[0002]The present disclosure relates to the technical field of smart homes, in particular to a cleaning robot system.

BACKGROUND ART

[0003]With the iterative updating and development of technologies, self-moving cleaning devices have entered into the daily life of ordinary families, and have gradually become widespread. Among current self-moving cleaning devices, mopping machines and sweeping-mopping integrated machines are highly favored by people because of their mopping functions.

[0004]To enable a mopping disk to be lifted during the non-mopping operation, a movement mechanism is usually provided to lift and lower the mopping disk. However, the inventor found that, in general, a connecting structure between the mopping disk and the movement mechanism is complicated, resulting in inconvenient disassembly.

SUMMARY OF THE APPLICATION

BRIEF DESCRIPTION OF THE DRA WINGS

[0009]FIG. 1 is a schematic structural diagram of a self-moving cleaning device according to an embodiment of the present disclosure;

[0010]FIG. 2 is a schematic structural diagram of the embodiment shown in FIG. 1 from one perspective;

[0011]FIG. 3 is a schematic structural diagram of a base station according to an embodiment of the present disclosure;

[0012]FIG. 4 is a partial schematic structural diagram of the embodiment shown in FIG. 3 from one perspective;

[0013]FIG. 5 is a schematic structural diagram of a part of the base station and a washing disk according to an embodiment of the present disclosure;

[0014]FIG. 6 is a schematic structural diagram of the washing disk according to an embodiment of the present disclosure;

[0015]FIG. 7 is a schematic structural diagram of a cleaning assembly of a self-moving cleaning device and a part of the base station according to an embodiment of the present disclosure; and

[0016]FIG. 8 is a sectional view of the embodiment shown in FIG. 7 from one perspective.

[0017]In the figures:

[0018]100 self-moving cleaning device, 110 machine main body, 111 forward portion, 112 rearward portion, 120 perception system, 121 determining apparatus, 122 buffer, 140 driving system, 141 driving wheel module, 142 driven wheel, 150 cleaning system, 151 dry cleaning system, 152 side brush, 170 human-machine interaction system, 180 cleaning assembly, 181 movement mechanism, 1811 sleeve, 1812 first matching part, 1813 guiding portion, 1814 driving portion, 1815 transmission portion, 1816 rotating portion, 183 cleaning element, 1831 first magnetically attractable part, 1832 second matching part;

[0019]200 base station, 211 accommodating cavity, 2111 mounting groove, 2112 water outlet, 213 clean water tank, 214 sewage tank, 220 washing disk, 2211 cleaning cavity, 2212 sewage sump, 222 washing portion, 2223 first washing protrusion, 223 sewage pipe, 224 water guiding portion, 2241 water guiding groove, 2242 liquid discharging port, 230 electromagnet.

DETAILED DESCRIPTION

[0020]In the following descriptions, a large number of specific details are provided to understand the technical solutions provided by the present disclosure more thoroughly. However, it is apparent to those skilled in the art that the technical solutions provided by the present disclosure may be implemented without one or more of these details.

[0021]It should be noted that the terms used herein are only intended to describe specific embodiments rather than to limit embodiments according to the present disclosure. The singular forms used herein are also intended to include the plural forms unless otherwise indicated clearly in the context. Furthermore, it should also be understood that the terms “include” and/or “comprise” used in the Description specify the presence of the discussed features, integers, steps, operations, elements and/or assemblies, but do not exclude the presence or addition of one or more other features, integers, steps, operations, elements, assemblies and/or combinations thereof.

[0022]The embodiments according to the present disclosure will now be described in more detail with reference to the accompanying drawings. However, these embodiments may be implemented in various different forms and should not be construed as being limited to the embodiments set forth herein. It should be understood that these embodiments are provided to make the disclosure of the present disclosure thorough and complete, and to fully convey the concepts of these embodiments to those skilled in the art.

[0023]As shown in FIGS. 1 to 8, embodiments of the present disclosure provide a cleaning robot system. The cleaning robot system includes a self-moving cleaning device 100 and a base station 200, i.e., the base station 200 and the self-moving cleaning device 100 are used in cooperation.

[0024]Further, as shown in FIGS. 1 and 2, the self-moving cleaning device 100 may include a machine main body 110, a perception system 120, a control module, a driving system 140, a cleaning system 150, an energy system and a human-machine interaction system 170. It can be understood that the self-moving cleaning device 100 may be a self-cleaning device or other self-moving cleaning devices 100 that meet requirements. The self-moving cleaning device 100 is a device that automatically performs, without user operations, a cleaning operation in a certain region to be cleaned. When the self-moving cleaning device 100 starts to work, the self-moving cleaning device 100 starts from the base station 200 to perform a cleaning task. When the self-moving cleaning device 100 completes the cleaning task or needs to stop the cleaning task, the self-moving cleaning device 100 may return to the base station 200 for operations such as charging, and/or water replenishing, and/or cleaning, and/or dust collection.

[0025]As shown in FIG. 1, the machine main body 110 includes a forward portion 111 and a rearward portion 112, is approximately circular, and may also be in other shapes including, but not limited to, an approximately D shape with a square front and a circular rear, and a rectangular or square shape with a square front and a square rear.

[0026]As shown in FIG. 1, the perception system 120 includes a position determining apparatus 121 located on the machine main body 110, a collision sensor and a proximity sensor both arranged on a buffer 122 of the forward portion 111 of the machine main body 110, a cliff sensor arranged at a lower portion of the machine main body 110, and a magnetometer, an accelerometer, a gyroscope and an odograph and other sensing apparatuses arranged inside the machine main body 110, for providing various position information and motion status information of a machine to the control module. The position determining apparatus 121 includes, but is not limited to, a camera and a laser distance sensor (LDS, laser distance sensor in full name).

[0027]As shown in FIG. 1, the forward portion 111 of the machine main body 110 may carry the buffer 122. When a driving wheel module 141 propels the self-moving cleaning device 100 to travel on the ground in the process of cleaning, the buffer 122 detects one or more events in a travel path of the self-moving cleaning device 100 via a sensor system arranged thereon, for example, an infrared sensor. The self-moving cleaning device 100 may control, based on the events (e.g., an obstacle and a wall) detected by the buffer 122, the driving wheel module 141 to enable the self-moving cleaning device 100 to respond to the event, for example, by moving away from the obstacle.

[0028]The control module is arranged on a main circuit board inside the machine main body 110 and includes a computing processor, such as a central processing unit and an application processor, in communication with a non-transitory memory, such as a hard disk, a flash memory and a random-access memory. The application processor is configured to draw a simultaneous map of an environment where the self-moving cleaning device 100 is located based on obstacle information fed back by the laser distance sensor by use of a positioning algorithm, for example, simultaneous localization and mapping (SLAM, simultaneous localization and mapping in full name). In addition, by combining the distance information and speed information fed back by the sensors, the cliff sensor, the magnetometer, the accelerometer, the gyroscope, the odograph, and other sensing apparatuses arranged on the buffer 122, a comprehensive judgment may be made on a current working status and a current position of the self-moving cleaning device 100, as well as a current posture of the self-moving cleaning device 100, such as crossing a doorsill, moving onto a carpet, being at a cliff, being stuck from above or below, having a full dust box, being picked up, etc. For different cases, specific next action strategies will be given, such that the operation of the self-moving cleaning device 100 is more in line with the requirements of an owner, thereby providing better user experience.

[0029]As shown in FIG. 2, the driving system 140 may manipulate the machine main body 110 to travel across the ground based on a driving command with distance and angle information, such as components of x, y and theta. The driving system 140 includes a driving wheel module 141, and the driving wheel module 141 may control both of a left wheel and a right wheel simultaneously. In order to control the movement of the machine more accurately, the driving wheel module 141 includes a left driving wheel module and a right driving wheel module, which are arranged along a transverse axis defined by the machine main body 110. In order to enable the self-moving cleaning device 100 to move more stably or have a better movement ability on the ground, the self-moving cleaning device 100 may include one or more driven wheels 142, and the driven wheels 142 include but are not limited to universal wheels. The driving wheel module 141 includes a traveling wheel, a driving motor and a control circuit for controlling the driving motor. The driving wheel module 141 may also be connected to an odograph, and a circuit for measuring a driving current. A driving wheel may be provided with an offset drop suspension system, which is fastened movably to (e.g., attached rotatably to) the machine main body 110, and receives a spring offset biased downward and away from the machine main body 110. The spring offset allows the driving wheel to maintain contact and traction with the ground with a certain landing force, while cleaning elements 183 of the self-moving cleaning device 100 are also in contact with the ground with certain pressure.

[0030]The energy system includes a rechargeable battery, such as a nickel-metal hydride battery and a lithium battery. The rechargeable battery may be connected to a charging control circuit, a battery pack charging temperature detecting circuit, and a battery undervoltage monitoring circuit which are then connected to a single chip microcomputer control circuit. A main unit is connected to the base station 200 through a charging electrode arranged on one side or below the machine body for charging.

[0031]The human-machine interaction system 170 includes buttons on a panel of the main unit for a user to select functions, and may further include a display screen and/or an indicator light and/or a horn that present a current status or function options of the self-moving cleaning device to the user. The human-machine interaction system may further include a mobile phone client program. For a route navigation type self-moving cleaning device 100, a mobile phone client may show the user a map of the environment where the device is located, as well as a position of the device, thereby providing the user with richer and more user-friendly function items.

[0032]The cleaning system 150 includes a wet cleaning system, i.e., the self-moving cleaning device 100 may be a mopping machine, or the cleaning system 150 includes a wet cleaning system and a dry cleaning system 151, i.e., the self-moving cleaning device 100 may be a sweeping and mopping integrated machine.

[0033]As shown in FIG. 2, the dry cleaning system 151 according to the embodiment of the present disclosure may include a rolling brush, a dust box, a fan and an air outlet. The rolling brush having a certain interference with the ground sweeps up debris on the ground and rolls the debris up to the front of a dust suction port between the rolling brush and the dust box, and after that, the debris is sucked into the dust box by an airflow having a suction force that is generated by the fan and passes through the dust box. The dry cleaning system 151 may further include a side brush 152 having a rotating shaft, and the rotating shaft is angled relative to the ground for moving particles into a rolling brush region of the cleaning system 150.

[0034]The wet cleaning system may include a cleaning assembly 180, a water supply mechanism, a liquid storage tank and the like. The cleaning assembly 180 may be arranged below the liquid storage tank, and a cleaning liquid inside the liquid storage tank is transmitted to the cleaning assembly 180 by means of the water supply mechanism, such that the cleaning assembly 180 can perform wet cleaning on a plane to be cleaned. In other embodiments of the present disclosure, the cleaning liquid inside the liquid storage tank may also be directly sprayed onto the plane to be cleaned, and the cleaning assembly 180 uniformly spreads the cleaning liquid, thereby cleaning the plane. It can be understood that the self-moving cleaning device 100 is provided with a water filling port in communication with the liquid storage tank, and the liquid storage tank can be replenished with a liquid outside the self-moving cleaning device 100 by means of the water filling port, so as to achieve a replenishment operation on the liquid storage tank with water.

[0035]As shown in FIGS. 7 and 8, the cleaning assembly 180 according to an embodiment of the present disclosure includes a movement mechanism 181 and a cleaning element 183 that are arranged on the machine main body 110, i.e., the whole cleaning assembly 180 may be mounted on the machine main body 110 by means of the movement mechanism 181, and the cleaning assembly 180 moves with the movement of the machine main body 110 to achieve a mopping function. The movement mechanism 181 is configured to drive the cleaning element 183 to perform operations, such as lifting and lowering of the cleaning element 183 and also the rotation of the cleaning element 183. Therefore, according to the demand as to whether the cleaning element 183 is in contact with a surface to be cleaned, lifting, lowering and rotating operations of the cleaning element 183 can be achieved through the movement mechanism 181 to meet different functional requirements of the cleaning element 183. That is, the implementation of differentiated strategies for the cleaning element 183 can be achieved. Therefore, the cleaning performance of a self-cleaning device, the cleaning efficiency and the use experience arc improved.

[0036]The cleaning element 183 is located at the rear of the dry cleaning system 151 in an advancing direction of the self-moving cleaning device 100, and the cleaning element 183 may typically be a water-absorbing flexible substance such as a fabric and sponge. In this solution, the cleaning element 183 may be at least one rotating turntable, and water in the liquid storage tank of a self-moving robot is guided to the cleaning element 183, and the wetted cleaning element 183 removes stains on the ground through rotational movement.

[0037]Further, when the self-moving cleaning device 100 is moving in scenarios where mopping is unnecessary, such as going to and from the base station 200, or cleaning a carpet, the movement mechanism 181 may be controlled by using the control module to drive the cleaning element 183 to be lifted. It can be understood that the lifting of the cleaning element 183 means that the lowest lower surface of the cleaning element 183 is higher than the lowest lower surface of the driving wheel, such that in such a case, the cleaning element 183 will not be in contact with a surface to be cleaned during movement of the self-moving cleaning device 100 driven by the driving wheel. Therefore, it avoids secondary contamination to the surface to be cleaned caused by the contact between the cleaning element 183 and the surface to be cleaned in the scenario where mopping is unnecessary, which is conducive to improving the cleaning performance of the self-moving cleaning device 100, and enhancing the cleaning efficiency and the use experience.

[0038]When the self-moving cleaning device 100 is moving in scenarios where mopping is required, for example, wet treatment is performed on the ground, the movement mechanism 181 may be controlled by using the control module to drive the cleaning element 183 to be lowered, such that the lowest lower surface of the cleaning element 183 may interfere with and be in contact with the surface to be cleaned. In addition, the movement mechanism 181 is controlled by using the control module to drive the cleaning element 183 to rotate, such that the cleaning element 183 can interfere with and be in contact with the surface to be cleaned during the movement of the self-moving cleaning device 100 driven by the driving wheel, thereby implementing a mopping operation on the surface to be cleaned.

[0039]As shown in FIGS. 7 and 8, in some embodiments provided by the present disclosure, the cleaning element 183 and the movement mechanism 181 of the self-moving cleaning device 100 are detachably connected by means of the first magnetic attraction assembly, such that the cleaning element 183 and the movement mechanism 181 can be quickly and conveniently separated for respective maintenance or clearing of them, which is convenient to operate. It should be noted that due to a downward gravitational force of the cleaning element 183 itself, at least a part of a magnetic attraction force from the first magnetic attraction assembly can overcome the gravitational force of the cleaning element 183, and resistance, vibration, etc. of the cleaning element 183 during the mopping operation. That is, a part of the magnetic attraction force from the first magnetic attraction assembly can counteract the gravitational force of the cleaning element 183, and resistance, vibration, etc. of the cleaning element 183 during the mopping operation, such that the cleaning element 183 connected to the movement mechanism 181 by means of the first magnetic attraction assembly can normally perform mopping and achieve lifting and lowering, rotating and other operations. In other words, in order to ensure that the cleaning element 183 can be reliably mounted on the movement mechanism and work normally, the magnetic attraction force of the first magnetic attraction assembly must exceed the gravitational force of the cleaning element 183, and the first magnetic attraction assembly uses this excess magnetic attraction force compared to the gravitational force of the cleaning element 183 to reliably attract the cleaning element 183 onto the movement mechanism 181.

[0040]As shown in FIG. 8, in the above embodiment, the cleaning element 183 is also provided with a first magnetically attractable part 1831, and the base station 200 is provided with an electromagnet 230. It can be understood that the electromagnet 230 is an apparatus that can generate an electromagnetic force when energized. A magnetic attraction force between the energized electromagnet 230 and the first magnetically attractable part 1831 is greater than the difference between the magnetic attraction force of the first magnetic attraction assembly and the gravitational force of the cleaning element 183. In this way, the electromagnet 230 on the base station 200 is energized when the self-moving cleaning device 100 is docked at the base station 200. Since the magnetic attraction force between the energized electromagnet 230 and the first magnetically attractable part 1831 on the cleaning element 183 is greater than the difference between the magnetic attraction force of the first magnetic attraction assembly and the gravitational force of the cleaning element 183, the cleaning element 183 originally attracted onto the movement mechanism 181 can be reliably attracted by the electromagnet 230 on the base station 200. That is, the cleaning element 183 is transformed from being attractively connected to the movement mechanism 181 to being attractively connected to the energized electromagnet 230 on the base station 200, which in turn enables, by moving the movement mechanism 181, the movement mechanism 181 and the cleaning element 183 to be separated against the magnetic attraction force from the first magnetic attraction assembly, thereby achieving automatic disassembly and separation of the cleaning element 183 and the movement mechanism 181. The whole process eliminates the need for manual operation by a user, thereby freeing hands of the user and improving the operation experience in disassembling the cleaning element 183.

[0041]It can be understood that the electromagnet 230 is de-energized when it is necessary to connect the cleaning element 183 located on the base station 200 to the movement mechanism 181. Since the de-energized electromagnet 230 generates no electromagnetic force, i.e., there is no attraction force between the de-energized electromagnet 230 and the first magnetically attractable part 1831, it is equivalent to locate the cleaning element 183 on the base station 200 without limitation. In this way, the movement mechanism 181 can be moved to an appropriate position of the cleaning element 183. The cleaning element 183 can be attractively connected to the movement mechanism 181 smoothly and reliably under the action of the first magnetic attraction assembly. This process eliminates the need for manual operation by the user either, thereby freeing the hands of the user and improving the operation experience in connection between the cleaning element 183 and the movement mechanism 181.

[0042]In the embodiments of the present disclosure, the first magnetically attractable part 1831 may be a magnetically conductive iron sheet or other magnetically attractable parts that meet the requirements. For example, in the case where the first magnetically attractable part 1831 is a magnetically conductive iron sheet, the first magnetically attractable part 1831 may not suck impurities such as iron chips from the ground onto the cleaning element 183 when the self-moving cleaning device performs a cleaning task because the iron sheet itself has no magnetic attraction performance.

[0043]As shown in FIGS. 3 and 4, the base station 200 according to an embodiment of the present disclosure is provided with an accommodating cavity 211 for accommodating the self-moving cleaning device 100. That is, when the self-moving cleaning device 100 needs to be charged and/or filled with water, and/or to clean the cleaning element 183 and/or to perform dust collection, the self-moving cleaning device 100 may be docked inside the accommodating cavity 211 of the base station 200.

[0044]The electromagnet 230 is arranged on the bottom wall of the accommodating cavity 211, and the first magnetically attractable part 1831 is located below the first magnetic attraction assembly. In this way, when the self-moving cleaning device 100 is docked at the base station 200 and cooperates with the movement mechanism 181 to drive the cleaning element 183 to be lifted and lowered relative to the machine main body 110, active disassembly and mounting of the cleaning element 183 can be achieved, which is simple to operate and convenient to use.

[0045]In some examples, during a process that the self-moving cleaning device 100 moves close to the base station 200 and is docked at the base station 200, the movement mechanism 181 may drive the cleaning element 183 to be lifted off the surface to be cleaned, so as to avoid interference between the cleaning element 183 and the base station 200 and to enable the self-moving cleaning device 100 to be accurately docked at an appropriate position of the base station 200. Then, the movement mechanism 181 may drive the cleaning element 183 to be lowered. Since the electromagnet 230 is located on the bottom wall of the accommodating cavity 211 and the first magnetically attractable part 1831 is located below the first magnetic attraction assembly, the lowered cleaning element 183 can enable the first magnetically attractable part 1831 to be as close as possible to the electromagnet 230 on the bottom wall of the accommodating cavity 211 of the base station 200. After the electromagnet 230 is energized, the magnetic attraction force between the electromagnet 230 and the first magnetically attractable part 1831 is greater than the difference between a magnetic force of the first magnetic attraction assembly and the gravitational force of the cleaning element 183. Therefore, in this case, the cleaning element 183 is reliably attracted by the energized electromagnet 230. When the movement mechanism 181 reverses its action reversely, for example, attempting to drive the cleaning element 183 to be lifted, since the cleaning element 183 is reliably attracted by the electromagnet 230, the cleaning element 183 cannot be lifted along with the movement mechanism 181. The cleaning element 183 is retained on the base station 200 by the large magnetic attraction force, thereby completing disassembly of the cleaning element 183.

[0046]Similarly, the process of mounting the cleaning element 183 onto the movement mechanism 181 follows the reverse logic relative to the above process. After the self-moving cleaning device 100 is docked at an appropriate position inside the accommodating cavity 211 of the base station 200, the movement mechanism 181 drives the cleaning element 183 to be lowered to enable a tail end of the movement mechanism 181 to be as close as possible to the cleaning element 183 or is in contact with the top of the cleaning element 183. With the electromagnet 230 de-energized, the cleaning element 183 can be attractively connected to the movement mechanism 181 smoothly and reliably under the action of the first magnetic attraction assembly, thereby completing the connection between the cleaning element 183 and the movement mechanism 181. Finally, the movement mechanism 181 may drive the cleaning element 183 to be lifted to enable the cleaning element 183 to be as close as possible to the bottom of the machine main body 110, making it convenient for the self-moving cleaning device 100 to leave the base station 200 smoothly.

[0047]As shown in FIG. 8, in some embodiments according to the present disclosure, the first magnetic attraction assembly includes a first matching part 1812 and a second matching part 1832. The first matching part 1812 is arranged on the movement mechanism 181, and the second matching part 1832 is arranged on the cleaning element 183. One of the first matching part 1812 and the second matching part 1832 is a magnetic part, and the other is a magnetic part or a magnetically attractable part. In this way, disassembly and mounting of the cleaning element 183 and the movement mechanism 181 can be achieved by using magnetic attraction between the first matching part 1812 and the second matching part 1832.

[0048]Further, the magnetic part may be a permanent magnet, and the magnetically attractable part may be a magnetically conductive iron sheet. The permanent magnet may be arranged on the cleaning element 183, and the magnetically conductive iron sheet is arranged on the movement mechanism 181. Alternatively, the permanent magnet may be arranged on the movement mechanism 181, and the magnetically conductive iron sheet is arranged on the cleaning element 183.

[0049]In some examples, as shown in FIG. 8, the permanent magnet is arranged on the cleaning element 183, and the magnetically conductive iron sheet is arranged on the movement mechanism 181. It can be understood that the distance between the permanent magnet on the cleaning element 183 and the first magnetically attractable part 1831 may be set reasonably, such that there is no magnetic action between the permanent magnet and the first magnetically attractable part 1831 or the magnetic action therebetween is negligible.

[0050]Further, as shown in FIGS. 8 and 9, an output end of the movement mechanism 181 includes a sleeve 1811. It can be understood that the movement mechanism 181 further includes a driving portion 1814 and a transmission portion 1815. The driving portion 1814 drives the sleeve 1811 to move by the transmission portion 1815. For example, the driving portion 1814 can drive the sleeve 1811 to be lifted and lowered by the transmission portion 1815, i.e., the sleeve 1811 may be understood as one output end of the movement mechanism 181. The first matching part 1812 is arranged inside the sleeve 1811. The sleeve 1811 has an opening facing downward. The cleaning element 183 includes a connecting portion 1835 adapted to extend into the sleeve 1811. The second matching part 1832 is arranged at the top end of the connecting portion 1835. In this way, the cleaning element 183 may move synchronously with the sleeve 1811 after the first matching part 1812 and the second matching part 1832 are attracted together, thereby achieving lifting and lowering of the cleaning element 183.

[0051]Further, since the first matching part 1812 is located inside the sleeve 1811 and the second matching part 1832 is located at the top end of the connecting portion 1835, the first matching part 1812 and the second matching part 1832 that are attracted to each other are both located inside the sleeve 1811 after the first matching part 1812 and the second matching part 1832 are attracted together. Therefore, the sleeve 1811 can be utilized to play an excellent role in protecting the first matching part 1812 and the second matching part 1832, preventing the first matching part 1812 and the second matching part 1832 from being misaligned or separated by collision with a foreign object, which is conducive to improving the reliability and accuracy of the connection between the first matching part 1812 and the second matching part 1832. Thus, the reliability and accuracy of the connection between the cleaning element 183 and the sleeve 1811 are improved.

[0052]In the above embodiment, the output end of the movement mechanism 181 further includes a rotating portion 1816 extending into the sleeve 1811. It can be understood that the rotating portion 1816 is connected to the transmission portion 1815, and the driving portion 1814 can drive the rotating portion 1816 to rotate by the transmission portion 1815. In this way, the cleaning element 183 can be driven to rotate after the first matching part 1812 and the second matching part 1832 are attracted together, so as to implement the mopping operation.

[0053]The first matching part 1812 is mounted on the lower end face of the rotating portion 1816, such that the first matching part 1812 and the second matching part 1832 can be reliably attached to each other, thereby ensuring good attraction performance and improving the reliability of the connection between the cleaning element 183 and the movement mechanism 181.

[0054]It can be understood that in a specific example, the movement mechanism 181 may include one driving portion 1814. The driving portion 1814 is utilized to simultaneously drive, by the transmission portion 1815, the sleeve 1811 to be lifted and lowered and the rotating portion 1816 to rotate. That is, lifting, lowering and rotating operations of the cleaning element 183 are driven by the same driving portion 1814. In this way, the structure of the movement mechanism 181 can be simplified, such that the cost can be reduced, and the design requirements for a compact structure and a smaller size of the movement mechanism 181 can be satisfied.

[0055]In another specific example (not shown in the figure), the movement mechanism may include two driving portions. One driving portion drives the sleeve to be lifted and lowered by the transmission portion, and the other driving portion drives the rotating portion to rotate by another transmission portion, so as to implement lifting and lowering operation of the sleeve and the rotating operation of the rotating portion, respectively. That is, the lifting and lowering operation and the rotating operation of the cleaning element are driven by the two driving portions, respectively.

[0056]In the above embodiment, as shown in FIG. 8, a guiding portion 1813 is arranged inside the sleeve 1811, and the guiding portion 1813 is configured to guide the second matching part 1832 to be attached to the first matching part 1812. In other words, under the guidance of the guiding portion 1813, the second matching part 1832 can be reliably and accurately attached to the first matching part 1812, such that the reliability and accuracy of the connection between the first matching part 1812 and the second matching part 1832 can be improved, thereby improving the reliability and accuracy of the connection between the cleaning element 183 and the sleeve 1811.

[0057]The guiding portion 1813 is a boss, the first matching part 1812 is located on a side of the boss away from the opening of the sleeve 1811, and a side of the boss away from the first matching part 1812 is provided as a guiding inclined surface. Both of the boss and the guiding inclined surface are convenient to machine, which is conductive to reducing the manufacturing cost.

[0058]By providing the first matching part 1812 on the side of the boss away from the opening of the sleeve 1811, as the movement mechanism 181 approaches the cleaning element 183 separated therefrom, the cleaning element 183 may sequentially pass through the opening of the sleeve 1811 and the boss and then is attractively connected to the first matching part 1812. In this way, the second matching part 1832 of the cleaning element 183 can be smoothly and reliably attached to the first matching part 1812 under the action of the guiding inclined surface of the boss, which ensures the reliability and accuracy of the connection between the cleaning element 183 and the sleeve 1811.

[0059]As shown in FIGS. 5 and 6, in some embodiments according to the present disclosure, the base station 200 further includes a washing disk 220. The washing disk 220 is arranged on the bottom wall of the accommodating cavity 211, and is configured to interfere with the cleaning element 183 of the self-moving cleaning device 100 to remove soiling on the cleaning element 183. In this way, when the self-moving cleaning device 100 is docked inside the accommodating cavity 211 of the base station 200, a cleaning operation can be implemented on the cleaning element 183 by using the washing disk 220 to change a dirty cleaning element 183 into the clean one for the next mopping use.

[0060]Further, as shown in FIG. 10, the washing disk 220 is arranged above the electromagnet 230 in a covering manner. It should be noted that since electromagnetism has excellent penetrating power, the electromagnetic force generated by the electrified electromagnet 230 can penetrate through the washing disk 220 to attract the first magnetically attractable part 1831 at the appropriate position, i.e., the washing disk 220 may not hinder penetration of the electromagnetic force. By providing the washing disk 220 above the electromagnet 230 in a covering manner, the washing disk 220 can be utilized to play an excellent role in protecting the electromagnet 230, which avoids the problem that the electromagnet 230 is likely to be contaminated or damaged when directly exposed to an external environment, thereby being conductive to prolonging the service life of the electromagnet 230.

[0061]As shown in FIGS. 5 and 6, in some embodiments according to the present disclosure, the washing disk 220 is detachably connected to the base station 200. In this way, the washing disk 220 can be detached from the base station 200 as a whole to be washed, which is conductive to improving the thoroughness in washing the washing disk 220. This avoids potential odor generation caused by soiling remaining on the washing disk 220 for a long time arising from incomplete or inconvenient washing of the washing disk 220, thereby being conductive to improving the cleaning experience of the washing disk 220 and improving the user's satisfaction in use. In addition, the washing disk 220 is detachably connected to the base station 200, which is conductive to improving the maintenance efficiency.

[0062]As shown in FIGS. 5 and 6, the washing disk 220 includes a cleaning cavity 2211 and a washing portion 222 arranged inside the cleaning cavity 2211. The washing portion 222 is configured to interfere with the cleaning element 183 of the self-moving cleaning device 100 to remove soiling on the cleaning element 183, thereby implementing the cleaning operation on the cleaning element 183. For example, in the case where the cleaning element 183 is a mopping disk, a washing operation is implemented on the mopping disk by interference between the mopping disk and the washing portion 222 inside the cleaning cavity 2211. Since the cleaning cavity 2211 is configured to accommodate soiling, the washing portion 222 may remove the soiling from the cleaning element 183 and then the soiling is collected inside the cleaning cavity 2211.

[0063]By detachably connecting the washing disk 220 to the base station 200, the washing disk 220 can be detachably connected to the base station 200 as a whole, such that the user can mount the washing disk 220 on the base station 200 or detach the washing disk 220 from the base station 200 as required. For example, the user can detach the entire washing disk 220 from the base station 200, which facilitates washing of the washing disk 220, and improves the convenience in washing the washing disk 220. In addition, this can improve the thoroughness in washing the washing disk 220 and prevent the soiling from being accumulated or left inside the cleaning cavity 2211 for a long time to produce odor, thereby being conductive to improving the user's satisfaction in use.

[0064]It can be understood that the only requirement is to mount the washing disk 220 on the base station 200 when it is necessary to wash the cleaning element 183 of the self-moving cleaning device 100.

[0065]Further, the detachable connection between the washing disk 220 and the base station 200 can be achieved by means of a snap-fit structure, a limiting structure, a threaded structure, a mortise-and-tenon structure, a magnetic attraction structure and the like. The washing portion 222 may be connected to an interior of the cleaning cavity 2211 of the washing disk 220 by means of bonding, welding or other structures, or the washing portion 222 may be integrally molded with a cavity wall of the cleaning cavity 2211, for example, the washing portion 222 may be integrally molded with the washing disk 220. The soiling on the cleaning element 183, removed by the washing portion 222, may include dirty liquid, hair, solid residues and the like.

[0066]In some embodiments according to the present disclosure, when the cleaning element 183 of the self-moving cleaning device 100 is dirty and needs to be washed, the self-moving cleaning device 100 can be docked inside the accommodating cavity 211 of the base station 200 to facilitate the washing operation on the cleaning element 183 by the washing disk 220.

[0067]The washing disk 220 is mounted on the bottom wall of the accommodating cavity 211, such that the washing disk 220 at the bottom of the accommodating cavity 211 can perform the washing operation on the cleaning element 183 at the bottom of the machine main body 110 when the self-moving cleaning device 100 is accommodated inside the accommodating cavity 211 of the base station 200.

[0068]As shown in FIG. 5, a mounting groove 2111 is formed in the bottom wall of the accommodating cavity 211, the shape of an outer edge of the washing disk 220 matches the shape of the mounting groove 2111, and the washing disk 220 may be constrained inside the mounting groove 2111 to limit the movement of the washing disk 220 relative to the base station 200 in a horizontal direction. Therefore, by reasonably setting the shape of the mounting groove 2111 and the shape of the outer edge of the washing disk 220, the entire washing disk 200 and the base station 200 can be mounted when the washing disk 220 is placed inside the mounting groove 2111, for example, is inserted into the mounting groove 2111 from the above. The entire washing disk 220 and the base station 200 can be disassembled when the washing disk 220 is taken out from the top of the mounting groove 2111, which is simple to operate and convenient to use. In addition, this simplifies the arrangement of structures that connect the washing disk 220 to the base station 200, such as a snap-fit structure, a limiting structure, a threaded structure, a mortise-and-tenon structure, and a magnetic attraction structure, thereby facilitating cost reduction.

[0069]As shown in FIGS. 5 and 6, in some embodiments according to the present disclosure, a sewage sump 2212 located inside the cleaning cavity 2211 is arranged on the bottom wall of the cleaning cavity 2211, and the bottom of the sewage sump 2212 may be lower than the upper surface of the bottom wall of the cleaning cavity 2211, such that the soiling may accumulate inside the sewage sump 2212 under the action of gravitational force after the washing portion 222 removes the soiling from the cleaning element 183. The base station 200 further includes a sewage pipe 223, and one end of the sewage pipe 223 extends into the sewage sump 2212. In some examples, a first end of the sewage pipe 223 is in communication with the sewage sump 2212, and a second end of the sewage pipe 223 extends to the outside of the cleaning cavity 2211. In this way, the soiling inside the sewage sump 2212 can be discharged by using the sewage pipe 223, which in turn can discharge the soiling inside the cleaning cavity 2211 in time, such that the cleaning cavity 2211 can continue to accommodate the soiling to achieve continuous washing of the cleaning element 183, thereby being conductive to improving the washing effect. In addition, it is possible to avoid secondary contamination caused by overflow of the soiling inside the cleaning cavity 2211 that is not discharged in time, which is conducive to improving the user's satisfaction in use. In the embodiments of the present disclosure, the sewage pipe 223 may be made of an clastic material to facilitate disassembly of the washing disk 220.

[0070]As shown in FIG. 7, in the above embodiment, a notch 2213 is formed in a side wall of the cleaning cavity 2211. That is, the notch 2213 is formed in the washing disk 220, and the sewage pipe 223 is fixed to the washing disk 220 through the notch 2213 and extends into the sewage sump 2212. The base station 200 includes a sewage tank 214, and the second end of the sewage pipe 223 is in communication with the sewage tank 214, such that soiling can be collected inside the sewage tank 214. It can be understood that a water pump may be arranged on a pipeline through which the sewage pipe 223 is in communication with the sewage tank 214, so as to achieve the collection of sewage.

[0071]As shown in FIG. 3, the sewage tank 214 of the base station 200 may be located above the accommodating cavity 211. It is convenient to enable communication between the sewage pipe 223 and the sewage tank 214 by using the second end of the sewage pipe 223, and then the sewage sump 2212 is in communication with the sewage tank 214 located above the accommodating cavity 211 through the sewage pipe 223. Therefore, the sewage inside the cleaning cavity 2211 of the washing disk 220 can be promptly collected into the sewage tank 214. It can be understood that in other embodiments, the second end of the sewage pipe 223 may also extend to the outside of the base station 200 to be in direct communication with a sewage discharge pipeline. In some examples, the sewage pipe 223 is provided as a bent structure, with a portion connected to the second end of the sewage pipe 223 bent upward to enable reliable communication between the sewage pipe 223 and the sewage tank 214.

[0072]The sewage pipe 223 may be bonded to the notch of the washing disk 220 by means of an adhesive, or the sewage pipe 223 may be welded to the notch of the washing disk 220 by means of welding, or the sewage pipe 223 may be integrally molded with the washing disk 220.

[0073]As shown in FIGS. 5 and 6, in some embodiments according to the present disclosure, the washing portion 222 is arranged on the bottom wall of the cleaning cavity 2211 and protrudes from a surface of the cleaning cavity 2211. The washing portion 222 includes a connecting end and a free end. The connecting end is connected to the side wall of the cleaning cavity, and the free end extends to a peripheral side of the sewage tank 2212, i.e., the washing portion 222 may be understood as a washing rib. A first washing protrusion 2223 is arranged at the top of the washing portion 222. In this way, the soiling can be removed from the cleaning element 183 by using the interference between the first washing protrusion 2223 at the top of the washing portion 222 and the cleaning element 183 of the self-moving cleaning device 10.

[0074]Since the connecting end of the washing portion 222 is connected to the side wall of the cleaning cavity 2211, and the free end of the washing portion 222 extends to the peripheral side of the sewage sump 2212, the washing portion 222 also plays an excellent guiding role, and the soiling can be guided into the sewage sump 2212 by using the washing portion 222, which in turn is conductive to improving the sewage discharge efficiency of the washing disk 220 and improving the cleaning efficiency of the washing disk 220. The washing portion 222 protrudes from the surface of the cleaning cavity 2211, such that the first washing protrusion 2223 on the washing portion 222 can reliably interfere with the cleaning element 183 to ensure an excellent cleaning effect.

[0075]There are at least two washing portions 222. For example, there are two, three, four or more washing portions 222. By reasonably setting the number of the washing portions 222, a sufficient contact area between the first washing protrusion 2223 of the washing portion 222 and the cleaning element 183 can be ensured to guarantee an excellent cleaning effect. In addition, it can be ensured that there is sufficient space inside the cleaning cavity 2211 for the soiling to smoothly flow into the sewage sump 2212, so as to ensure excellent washing efficiency.

[0076]It can be understood that in the process of washing the cleaning element 183, the cleaning element 183 interferes with the first washing protrusion 2223, and at the same time, the movement mechanism of the self-moving cleaning device 100 drives the cleaning element 183 to rotate, enabling the entire cleaning element 183 to perform rotational movement to circularly interfere with the first washing protrusion 2223, thereby implementing a washing operation on the cleaning element 183.

[0077]As shown in FIGS. 5 and 6, in some embodiments according to the present disclosure, the washing disk 220 further includes a water guiding portion 224. The water guiding portion 224 is arranged on the inner bottom wall of the cleaning cavity 2211 and protrudes from the surface of the cleaning cavity 2211, i.e., the water guiding portion 224 can be understood as a water guiding rib. A water guiding groove 2241 is formed at the top of the water guiding portion 224. The water guiding groove 2241 is in communication with a water outlet 2112 in the base station 200. The water guiding groove 2241 is configured to contain a cleaning liquid and can interfere with the cleaning element 183. In this way, the cleaning liquid flows into the water guiding groove 2241 from the water outlet 2112 of the base station 200. When interfering with the water guiding groove 2241, the cleaning element 183 itself can be wetted by the cleaning liquid in the water guiding groove 2241, and then the cleaning element 183 interferes with the washing portion 222 to achieve cleaning of the cleaning element 183. This arrangement is conductive to improving the cleaning effect of the cleaning element 183. The water guiding portion 224 protrudes from the surface of the cleaning cavity 2211, such that the water guiding groove 2241 on the water guiding portion 224 can reliably interfere with the cleaning element 183 to ensure that water in the water guiding groove 2241 can be smoothly dipped by the cleaning element 183.

[0078]There are at least two water guiding portions 224, for example, there are two, three, four or more water guiding portions 224. By reasonably setting the number of the water guiding portions 224, it can be ensured that the cleaning element 183 can be wetted by the cleaning liquid inside the water guiding groove 2241 of the water guiding portion 224 more uniformly and comprehensively. The water guiding portion 224 and the washing portion 222 are spaced apart inside the cleaning cavity 2211.

[0079]It can be understood that in the process of washing the cleaning element 183, the cleaning element 183 interferes with the water guiding groove 2241 of the water guiding portion 224, and at the same time, the movement mechanism of the self-moving cleaning device 100 drives the cleaning element 183 to rotate, causing the entire cleaning element 183 to perform rotational movement to circularly interfere with the water guiding groove 2241, which in turn enables the cleaning element 183 to be wetted uniformly. The wetted cleaning element 183 interferes with the washing portion 222 to improve the washing effect.

[0080]As shown in FIGS. 3 and 4, the base station 200 includes a clean water tank 213, the clean water tank 213 is located above the accommodating cavity 211 and configured to accommodate the cleaning liquid. A water outlet 2112 is formed in a cavity wall of the accommodating cavity 211, and is in communication with the clean water tank 213. The cleaning liquid in the clean water tank 213 can be injected into the water guiding groove 2241 through the water outlet 2112. The water outlet 2112 may be located at the top of the accommodating cavity 211, and right faces the water guiding groove 2241 of the water guiding portion 224. In this way, by controlling opening and closing of the water outlet 2112 via a valve and other components, the cleaning liquid in the clean water tank 213 can be injected into the water guiding groove 2241 under the action of gravitational force. It can be understood that the water outlet 2112 may also be located on a side wall of the accommodating cavity 211, and the cleaning liquid in the clean water tank can be directed into the water guiding groove 2241 by enabling communication between the water outlet 2112 and the water guiding groove 2241 via a pipeline.

[0081]As shown in FIG. 8, in some embodiments according to the present disclosure, the water guiding portion 224 is provided with a liquid discharging port 2242 in communication with the water guiding groove 2241. Since the cleaning liquid in the water guiding groove 2241 cannot be completely dipped by the cleaning element 183 of the self-moving cleaning device 100 after the cleaning liquid enters the water guiding groove 2241 of the water guiding portion 224, there may be a case that the cleaning liquid remains in the water guiding groove 2241. By forming the liquid discharging port 2242 in communication with the water guiding groove 2241 in the water guiding portion 224, the remaining cleaning liquid in the water guiding groove 2241 can be discharged from the liquid discharging port 2242. This can prevent the liquid from remaining in the water guiding groove 2241 for a long time to produce odors, thereby facilitating improvement of the cleanliness of the water guiding groove 2241. It can be understood that the water guiding portion 224 and the washing portion 222 can also be washed in the process of taking the washing disk 220 down from the base station 200 for washing.

[0082]The liquid discharging port 2242 is in communication with the bottom of the water guiding groove 2241, such that the residual liquid in the water guiding groove 2241 can be discharged more completely through the liquid discharging port 2242, which in turn can improve the thoroughness in discharging the liquid from the water guiding groove 2241.

[0083]The present disclosure has been explained through the above embodiments, but it should be understood that the above embodiments are merely for exemplary and illustrative purposes, and are not intended to limit the present disclosure to the scope of the described embodiments. In addition, it can be understood by those skilled in the art that the present disclosure is not limited to the above embodiments, and that more variations and modifications can be made according to the teachings of the present disclosure, all of which fall within the scope of the protection of the present disclosure. The scope of protection of the present disclosure is defined by the appended claims and equivalent scopes thereof.