Robot cleaning system, base station, and control method

Abstract

A robot cleaning system including: a cleaning robot connectable to a mopping module of the cleaning robot, and a base station provided for the cleaning robot to dock, the cleaning robot includes: a main body; a mobile module; and a connection assembly, configured to detachably dispose the mopping module on the body of the robot; the base station includes: a storage module, configured to store at least one mopping module; an operating position, for the cleaning robot to dock to replace the mopping module; and a transfer module, configured to transfer the mopping module between the storage module and the operating position; and the robot cleaning system further includes a control unit. Beneficial effects of the present disclosure are: the cleaning robot is more intelligent, and the corresponding base station is compact in structure and small in occupied area.

What is claimed is: 
     
         1 . A robot cleaning system comprising:
 a cleaning robot detachably connected to a mopping module to a mopping module, the cleaning robot including:
 a main body; 
 a mobile module, configured to drive the cleaning robot to move on a working surface; and 
 a connection assembly, configured to detachably dispose the mopping module on the main body of the robot; 
   a base station provided for the cleaning robot to dock, the base station including:
 a storage region, configured to store at least one mopping module; and 
 a transfer module, configured to transfer the mopping module between the storage region and an operating position, the operating position being a position for the cleaning robot to dock to mount or unload the mopping module; and 
   a control unit configured to control the connection assembly to mount and/or unload a corresponding mopping module at the operating position,   wherein the transfer module is configured to cause the mopping module to at least partially move in a vertical direction, so as to collect the mopping module unloaded from the cleaning robot at the operating position into the storage region and/or transfer a mopping module stored in the storage region to the operating position for the cleaning robot to mount.   
     
     
         2 . The robot cleaning system according to  claim 1 , wherein the control unit is configured to:
 in response to a replacement instruction for instructing that the cleaning robot to return to the base station to replace the mopping module, control the cleaning robot to enter the base station;   in response to the cleaning robot reaching the operating position, control the cleaning robot to separate the mopping module;   after the cleaning robot separates the mopping module, control the cleaning robot to leave the base station;   after the cleaning robot leaves the base station, control the transfer module to pick up the mopping module separated from the cleaning robot;   control the transfer module to place a mopping module for the cleaning robot to mount at the operating position;   control the cleaning robot to enter the base station again; and   in response to the cleaning robot reaching the operating position, control the cleaning robot to mount the mopping module.   
     
     
         3 . The robot cleaning system according to  claim 1 , wherein:
 there is an accommodation cavity enclosed by the operating position and the storage region to accommodate the cleaning robot; and   the control unit is configured to: after the cleaning robot leaves the accommodation cavity, control the transfer module to pass through the accommodation cavity, to pick up a mopping module separated from the cleaning robot at the operating position or to place a mopping module for the cleaning robot to mount at the operating position.   
     
     
         4 . The robot cleaning system according to  claim 1 , wherein:
 the operating position comprises an operating region for the cleaning robot to separate the mopping module;   the storage region comprises a first storage region configured to store a mopping module separated from the cleaning robot;   the operating region is located below the first storage region; and   the control unit is configured to: after the transfer module picks up the mopping module separated from the cleaning robot, control the transfer module to cause the separated mopping module move upward, to store the separated mopping module in the first storage region.   
     
     
         5 . The robot cleaning system according to  claim 1 , wherein:
 the operating position comprises an operating region for the cleaning robot to mount a mopping module;   the storage region comprises a second storage region, configured to store a mopping module provided to the cleaning robot for mounting; wherein the second storage region is located above the operating region; and   the control unit is configured to: after the transfer module takes out a mopping module from the second storage region for the cleaning robot to mount, control the transfer module to move the mopping module downward, to place the mopping module at the operating region.   
     
     
         6 . The robot cleaning system according to  claim 1 , wherein the transfer module is configured such that a movement direction of the mopping module to be substantially perpendicular to a pull-in direction of the cleaning robot. 
     
     
         7 . The robot cleaning system according to  claim 1 , wherein:
 the connection assembly comprises a magnetic element, by which the mopping module is connected to the main body of the cleaning robot through a magnetic action; and   the connection assembly further comprises an ejector rod, configured to generate a downward pressure to the mopping module, so that the mopping module is separated from the main body of the cleaning robot.   
     
     
         8 . The robot cleaning system according to  claim 1 , wherein:
 a width of the base station is greater than a width of the cleaning robot to allow the cleaning robot to enter and dock at a docking station; and   a direction in which the cleaning robot enters the base station is defined as a length direction and a direction in a horizontal plane perpendicular to the length direction is defined as a width direction.   
     
     
         9 . The robot cleaning system according to  claim 1 , wherein:
 the base station further comprises a base including a base plate;   the operating position is formed on the base plate;   there is an accommodation cavity enclosed by the base and the storage region to accommodate the cleaning robot; and   the accommodation cavity has an opening to be provided for the cleaning robot to leave and/or enter.   
     
     
         10 . The robot cleaning system according to  claim 9 , wherein:
 the base station further comprises a signal transmitter, configured to send a leaving instruction signal of leaving the accommodation cavity or an entering instruction signal of entering the accommodation cavity to the cleaning robot;   the signal transmitter is further configured to send a guiding signal of guiding the cleaning robot to return to the base station;   the base station further comprises a guiding structure, configured to guide the cleaning robot to be aligned with the base station; and   each of two sides of the base station along a pull-in direction of the cleaning robot is provided with an auxiliary guiding structure, configured to guide the cleaning robot to reach the operating position.   
     
     
         11 . The robot cleaning system according to  claim 1 , wherein:
 the operating position is provided with a stop structure, configured to stop the mopping module separated from the cleaning robot and/or the mopping module provided for the cleaning robot to mount; and   the stop structure comprises a groove and/or a board for storing the mopping module.   
     
     
         12 . The robot cleaning system according to  claim 1 , wherein the base station comprises a storage state detection module, configured for detecting a state of the mopping module in the storage region and sending an instruction to a user. 
     
     
         13 . The robot cleaning system according to  claim 1 , wherein the base station comprises a fault detection sensor, and when it is detected that the transfer module has a fault, a fault instruction is sent to a user. 
     
     
         14 . The robot cleaning system according to  claim 1 , wherein:
 the cleaning robot comprises a position detection sensor, configured to detect whether the cleaning robot reaches the operating position; and   when it is detected that the cleaning robot reaches the operating position, the control unit is configured to control the cleaning robot to separate or mount a corresponding mopping module at the operating position.   
     
     
         15 . A base station comprising:
 a storage region configured to store at least one mopping module; and   a transfer module configured to transfer a mopping module between the storage region and an operating position, the operating position being a position for a cleaning robot to dock to mount or unload the mopping module,   wherein the transfer module is configured to cause the mopping module to at least partially move in a vertical direction, so as to collect the mopping module unloaded from the cleaning robot at the operating position into the storage region and/or transfer a mopping module stored in the storage region to the operating position for the cleaning robot to mount.   
     
     
         16 . The base station according to  claim 15 , wherein a width of the base station is greater than a width of the cleaning robot. 
     
     
         17 . The base station according to  claim 15 , further comprising:
 a storage state detection module, configured for detecting a state of the mopping module in the storage region and sending an instruction to a user; and   a fault detection sensor, and when it is detected that the transfer module has a fault, a fault instruction is sent to a user.   
     
     
         18 . The base station according to  claim 15 , wherein when the cleaning robot reaches the operating position, there is a gap in a vertical direction between a top of the cleaning robot and a bottom of the storage region. 
     
     
         19 . The base station according to  claim 15 , wherein:
 the storage region comprises a first storage region and a second storage region, the first storage region being configured to store a mopping module separated from the cleaning robot, and the second storage region being configured to store a mopping module provided to the cleaning robot for mounting; and   the operating position comprises an operating region for the cleaning robot to separate the mopping module and/or for the cleaning robot to mount the mopping module.   
     
     
         20 . A control method for a robot cleaning system comprising:
 in response to a replacement instruction for instructing that a cleaning robot to return to a base station to replace a mopping module, controlling, by a control unit, the cleaning robot to enter the base station;   in response to the cleaning robot reaching an operating position, controlling, by the control unit, the cleaning robot to separate the mopping module;   after the cleaning robot separates the mopping module, controlling, by the control unit, the cleaning robot to leave the base station;   after the cleaning robot leaves the base station, controlling, by the control unit, a transfer module to pick up the mopping module separated from the cleaning robot;   controlling, by the control unit, the transfer module to place a mopping module for the cleaning robot to mount at the operating position;   controlling, by the control unit, the cleaning robot to again enter to the base station; and   in response to the cleaning robot reaching the operating position, control the cleaning robot to mount the mopping module.