Sewage tank self-cleaning method, cleaning device and cleaning robot

Abstract

The invention relates to the field of cleaning machines, and discloses a sewage tank self-cleaning method, a cleaning device and a cleaning robot, the sewage tank self-cleaning method is used for the cleaning robot, and the method comprises the following steps that starting triggering conditions are set; when the preset starting triggering condition is met, the air pump assembly is controlled to pump air into the sewage tank, so that bubbles are generated in liquid in the sewage tank to clean the sewage tank; monitoring the real-time liquid level in the sewage tank; when the real-time liquid level is lower than the preset lowest liquid level, the air pump assembly is controlled to stop working; and when the real-time liquid level is between the preset lowest liquid level and the preset highest liquid level, the air pump assembly is controlled to discharge air according to the standard pressure. The scheme has the advantages that the structure is simple, the cost is low, the cleaning effect is good, and sewage tank cleaning does not need frequent manual intervention.

Description

(19) State Intellectual Property Office (12) Invention Patent Application (10) Application Publication Number (43) Application Publication Date (21) Application Number 202511923218.9 (22) Application Date 2025.12.18 (71) Applicant: Chase Innovation Technology (Suzhou) Co., Ltd. Address: Units 1, 2, and 3, Building 8, No. 1688, Songwei Road, Guoxiang Street, Wuzhong Economic Development Zone, Suzhou City, Jiangsu Province, 215000 (72) Inventor: Qiu Rui (74) Patent Agency: Beijing Runping Intellectual Property Agency Co., Ltd. 11283 Patent Attorney: Yue Yongxian (51) Int.Cl. A47L 11 / 40 (2006.01) A47L 11 / 29 (2006.01) (54) Invention Title: Self-cleaning Method, Cleaning Device, and Cleaning Robot for Sewage Tanks (57) Abstract: This invention relates to the field of cleaning machines and discloses a self-cleaning method, cleaning device, and cleaning robot for sewage tanks. The self-cleaning method for sewage tanks is used for cleaning robots and includes the following steps: setting start-up trigger conditions; when the preset start-up trigger conditions are met, controlling the air pump assembly to pump gas into the sewage tank to clean the sewage tank by generating bubbles in the liquid within the tank; monitoring the real-time liquid level in the sewage tank; when the real-time liquid level is lower than a preset minimum liquid level, controlling the air pump assembly to stop working; when the real-time liquid level is between the preset minimum liquid level and the preset maximum liquid level, controlling the air pump assembly to discharge gas at a standard pressure. This solution has the advantages of simple structure, low cost, good cleaning effect, and no need for frequent manual intervention in cleaning sewage tanks. Claims 2 pages, Description 6 pages, Drawings 2 pages, CN 121445266 A 2026.02.03 CN 1 21 44 52 66 A 1. A self-cleaning method for a wastewater tank of a cleaning robot, characterized by comprising the following steps: Step S100. Setting a start-up trigger condition; Step S200. When the preset start-up trigger condition is met, controlling the air pump assembly to pump gas into the wastewater tank to clean the wastewater tank by generating bubbles in the liquid within the tank; Step S300. Monitoring the real-time liquid level in the wastewater tank; Step S400. When the real-time liquid level is lower than a preset minimum liquid level, controlling the air pump assembly to stop working; when the real-time liquid level is between the preset minimum liquid level and the preset maximum liquid level, controlling the air pump assembly to discharge gas at a standard pressure. 2. The self-cleaning method for a wastewater tank according to claim 1, characterized in that step S400 further comprises controlling the air pump assembly to reduce the pressure of the discharged gas when the real-time liquid level is higher than the preset maximum liquid level. 3. The wastewater tank self-cleaning method according to claim 1, wherein the activation triggering condition is when the cleaning robot completes a cleaning task; or when the user sends a wastewater tank cleaning command through the control terminal; or when the liquid level in the wastewater tank is detected to reach the cleaning threshold.4. The wastewater tank self-cleaning method according to claim 1, characterized in that it further includes step S500: when the duration of cleaning the wastewater tank with air bubbles exceeds a preset time, the cleaning robot is controlled to automatically stop working and perform a wastewater discharge operation. 5. The wastewater tank self-cleaning method according to claim 4, characterized in that the preset time in step S500 is 30s-60s. 6. The wastewater tank self-cleaning method according to claim 1, characterized in that the preset minimum liquid level in step S400 is 1 / 5 of the wastewater tank volume, and the preset maximum liquid level is 4 / 5 of the wastewater tank volume. 7. A cleaning device, characterized in that it includes an air pump (2) installed outside a sewage tank (1) and an aeration head (5) and a liquid level sensor (6) installed inside the sewage tank (1), wherein the air outlet of the air pump (2) is connected to the aeration head (5) through an air guide pipe (3), and an air pressure regulating valve is connected in series on the air guide pipe (3), and the air pump (2), the air pressure regulating valve and the liquid level sensor (6) are all electrically connected to a controller and configured to: when the real-time liquid level in the sewage tank (1) detected by the liquid level sensor (6) is lower than a preset minimum liquid level, control the air pump (2) to stop working; when the real-time liquid level in the sewage tank (1) detected by the liquid level sensor (6) is between a preset minimum liquid level and a preset maximum liquid level, the outlet gas pressure of the air pump (2) is adjusted by the air pressure regulating valve and discharged at a standard pressure; When the real-time liquid level in the sewage tank (1) detected by the liquid level sensor (6) is higher than the preset maximum liquid level, the gas outlet of the air pump (2) is discharged at a reduced pressure through the air pressure regulating valve. 8. The cleaning device according to claim 7, characterized in that a one-way valve (4) for preventing sewage and stains in the sewage tank (1) from flowing back to the air pump (2) is also connected in series on the air guide pipe (3). 9. The cleaning device according to claim 7, characterized in that the aeration head (5) has at least one air outlet with a circular tube structure, and the diameter of the air outlet is 0.1mm-0.5mm. 10. The cleaning device according to claim 7, characterized in that the aeration head (5) has multiple air outlets with circular tube structures, and the multiple air outlets are evenly arranged in an array. 11. The cleaning device according to claim 7, characterized in that the air guide pipe (3) is a silicone hose or a plastic hose. 12. The cleaning device according to claim 7, characterized in that the bottom of the sewage tank (1) is further provided with a guide plate inclined toward the sewage discharge port direction as described on page 1 / 2 of claim 2 CN 121445266 A. 13. The cleaning device according to claim 12, characterized in that the inclination angle of the guide plate is 5°–15°.14. The cleaning device according to claim 7, characterized in that a filter screen is further provided inside the sewage discharge port of the sewage tank (1). 15. The cleaning device according to claim 14, characterized in that the pore size of the filter screen is 1mm-2mm. 16. A cleaning robot, characterized in that it includes a robot body, a sewage tank (1) and a cleaning device according to any one of claims 7 to 15, wherein the sewage tank (1) is installed in the robot body, and the cleaning device is installed on the sewage tank (1) and is used to clean the sewage tank (1). Claims 2 / 2 pages 3 CN 121445266 A Self-cleaning method for sewage tank, cleaning device and cleaning robot Technical field

[0001] The present invention relates to the field of cleaning equipment technology, specifically to a self-cleaning method for sewage tank, a cleaning device and a cleaning robot. Background Art

[0002] With the popularization of cleaning robots, their application in tile floor cleaning scenarios such as homes and offices is becoming more and more widespread. Existing cleaning robots are typically equipped with wastewater tanks to collect wastewater generated during the cleaning process, as well as adsorbed dust, hair, food residue, and other stains. However, the current design and cleaning methods of wastewater tanks have significant flaws, making it difficult to meet users' needs for cleaning effectiveness and user experience.

[0003] First, wastewater tanks are mostly static storage structures, and wastewater and stains are prone to sedimentation and separation under gravity. Heavier stains (such as food residue particles) will quickly settle at the bottom of the wastewater tank, while lighter hair, fibers, etc., are prone to floating on the surface of the wastewater or getting tangled on the inner wall of the wastewater tank, resulting in uneven cleaning inside the wastewater tank. After long-term use, the deposited stains are difficult to completely remove by conventional emptying methods, forming stubborn dirt, which not only occupies the effective storage space of the wastewater tank, but also breeds bacteria, produces odors, affects the user experience, and may even contaminate the internal structure of the cleaning robot.

[0004] Second, existing improvement schemes for cleaning wastewater tanks have limitations. Some solutions involve manually disassembling the sewage tank for rinsing, but this method is cumbersome, increases the user's maintenance burden, and makes it difficult to clean the dead corners inside the sewage tank. Another solution involves installing a stirring paddle inside the sewage tank, which is driven by a motor to rotate and agitate the sewage. However, the stirring paddle has a complex structure and is prone to getting entangled in hair, fibers, and other dirt, leading to stirring failure. Furthermore, the friction between the stirring paddle and the inner wall of the sewage tank can cause wear and tear, shortening the equipment's lifespan. At the same time, the motor drive increases the energy consumption and manufacturing cost of the cleaning robot. In addition, some solutions use a high-pressure water spray device to rinse the inner wall of the sewage tank, but this requires an additional water storage tank and high-pressure pump, increasing the size and weight of the equipment. Moreover, the high-pressure water flow can easily cause sewage to splash, contaminating other components inside the cleaning robot, resulting in limited cleaning effectiveness.

[0005] Furthermore, during long-term use, the dirt adhering to the inner wall of the sewage tank will gradually harden, making it difficult to clean with conventional cleaning methods.The cleaning methods used are difficult to remove, which not only affects the cleanliness of the sewage tank, but may also lead to a decrease in the sealing of the sewage tank, resulting in sewage leakage problems, and further reducing the reliability and practicality of the cleaning robot. Therefore, there is an urgent need for a sewage tank cleaning solution that is simple in structure, low in cost, has good cleaning effect, and does not require frequent manual intervention, in order to solve the sewage tank cleaning problem of existing cleaning robots. Summary of the Invention

[0006] The purpose of this invention is to overcome the above-mentioned problems existing in the prior art and provide a sewage tank self-cleaning method, cleaning device and cleaning robot. This solution achieves efficient agitation and cleaning of stains inside the sewage tank, reduces stain deposition and adhesion to the inner wall, eliminates the need for frequent manual disassembly and cleaning, simplifies the structure, reduces costs and energy consumption, and improves the user experience and reliability of the cleaning robot.

[0007] To achieve the above objective, the present invention provides a self-cleaning method for a wastewater tank of a cleaning robot, comprising the following steps: Step S100. Setting a start-up trigger condition; Step S200. When the preset start-up trigger condition is met, controlling the air pump assembly to pump gas into the wastewater tank to clean the wastewater tank by generating bubbles in the liquid within the tank; Step S300. Monitoring the real-time liquid level in the wastewater tank; Step S400. When the real-time liquid level is lower than a preset minimum liquid level, controlling the air pump assembly to stop working; when the real-time liquid level is between the preset minimum liquid level and the preset maximum liquid level, controlling the air pump assembly to discharge gas at a standard pressure.

[0008] Preferably, when the real-time liquid level is higher than the preset maximum liquid level, controlling the air pump assembly to reduce the pressure of the gas discharged.

[0009] Preferably, the activation trigger condition is when the cleaning robot completes a cleaning task; or when the user sends a sewage tank cleaning command through the control terminal; or when the liquid level in the sewage tank is detected to have reached the cleaning threshold.

[0010] Preferably, the method further includes step S500: when the duration of cleaning the sewage tank with bubbles exceeds a preset time, the cleaning robot is controlled to automatically stop working and perform sewage tank discharge operation.

[0011] Preferably, the preset time in step S500 is 30s-60s.

[0012] Preferably, the preset minimum liquid level in step S400 is 1 / 5 of the sewage tank volume, and the preset maximum liquid level is 4 / 5 of the sewage tank volume.

[0013] A second aspect of the present invention provides a cleaning device, including an air pump installed outside a sewage tank and an aeration head and a liquid level sensor installed inside the sewage tank. The air outlet of the air pump is connected to the aeration head through an air guide pipe. An air pressure regulating valve is connected in series on the air guide pipe. The air pump, the air pressure regulating valve and the liquid level sensor are all electrically connected to a controller and are configured to: control the air pump to stop working when the real-time liquid level in the sewage tank detected by the liquid level sensor is lower than a preset minimum liquid level.When the real-time liquid level in the sewage tank detected by the liquid level sensor is between the preset minimum liquid level and the preset maximum liquid level, the gas pressure at the outlet of the air pump is adjusted by the air pressure regulating valve and discharged at the standard pressure; when the real-time liquid level in the sewage tank detected by the liquid level sensor is higher than the preset maximum liquid level, the gas pressure at the outlet of the air pump is adjusted by the air pressure regulating valve and discharged at a reduced pressure.

[0014] Preferably, a one-way valve for preventing sewage and stains in the sewage tank from flowing back to the air pump is also connected in series on the air guide pipe.

[0015] Preferably, the aeration head has at least one air outlet with a circular tube structure, and the diameter of the air outlet is 0.1mm-0.5mm.

[0016] Preferably, the aeration head has multiple air outlets with circular tube structures, and the multiple air outlets are evenly arranged in an array.

[0017] Preferably, the air guide pipe is a silicone hose or a plastic hose.

[0018] Preferably, a guide plate inclined towards the sewage discharge port is also provided at the bottom of the sewage tank.

[0019] Preferably, the inclination angle of the guide plate is 5°-15°.

[0020] Preferably, a filter screen is also provided inside the sewage discharge port of the sewage tank.

[0021] Preferably, the pore size of the filter screen is 1mm-2mm.

[0022] A third aspect of the present invention provides a cleaning robot, comprising a robot body, a sewage tank, and a cleaning device according to any one of the second aspects of the present invention, wherein the sewage tank is installed in the robot body, and the cleaning device is installed on the sewage tank and is used to clean the sewage tank.

[0023] Through the above technical solution, the microbubbles generated by the air pump move in the sewage tank, which can efficiently agitate the sewage and stains, break up the stubborn stains deposited at the bottom of the tank, and at the same time flush the inner wall of the sewage tank to remove attached hair, fibers, etc. Compared with the existing static storage or stirring paddle method, the cleaning is more thorough, effectively reducing stain residue and reducing the probability of bacterial growth and odor generation; this solution does not require complex structures such as stirring paddles, high-pressure pumps and water tanks, which simplifies the internal design of the cleaning robot, reduces manufacturing costs and assembly difficulty, and reduces vulnerable parts, thereby improving equipment reliability; the bubble cleaning process can be automatically triggered by the control system, without the need for the user to manually disassemble the sewage tank for rinsing, reducing the user's maintenance burden, and the stains are easily discharged with the sewage after cleaning; the gas pressure can be adjusted according to the sewage tank volume and stain type to adapt to different specifications of cleaning robots; the liquid level detection module avoids the air pump running dry and sewage splashing, improving the reliability and safety of the device.

[0024] FIG1 is a cross-sectional structural diagram of a cleaning device according to an embodiment of the present invention; FIG2 is a side structural diagram of a cleaning device according to an embodiment of the present invention; FIG3 is a bottom structural diagram of a cleaning device according to an embodiment of the present invention.

[0025] Explanation of reference numerals: 1-Sewage tank; 2-Air pump; 3-Air guide pipe; 4-One-way valve; 5-Aeration head; 6-Liquid level sensor. Detailed Description of Embodiments

[0026] The specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are only for illustration and explanation of the present invention and are not intended to limit the present invention.

[0027] A self-cleaning method for a sewage tank for a cleaning robot provided by the present invention includes the following steps: Step S100. Setting a start-up trigger condition; Step S200. When the preset start-up trigger condition is met, controlling the air pump assembly to pump gas into the sewage tank to clean the sewage tank by generating bubbles in the liquid within the sewage tank; Step S300. Monitoring the real-time liquid level in the sewage tank; Step S400. When the real-time liquid level is lower than a preset minimum liquid level, controlling the air pump assembly to stop working; when the real-time liquid level is between the preset minimum liquid level and the preset maximum liquid level, controlling the air pump assembly to discharge gas at a standard pressure.

[0028] The wastewater tank of the cleaning robot is a sealed box installed inside the cleaning robot (such as a sweeper, floor scrubber, or other floor cleaning equipment). The top of the box is equipped with a wastewater inlet and the bottom is equipped with a wastewater outlet. In the above-mentioned wastewater tank self-cleaning method, in step S100, the set start trigger condition refers to the start of the wastewater tank self-cleaning method after the cleaning robot completes a cleaning task. That is, the start trigger condition is when the user sends a wastewater tank cleaning command through the control terminal. For example, the user clicks the cleaning button on the screen of a mobile phone, tablet, or other control terminal to send the cleaning command. The self-cleaning command is transmitted between the host computer and the cleaning robot through Bluetooth or wireless network connection. Or, the start trigger condition is when the liquid level in the wastewater tank reaches the cleaning threshold. The cleaning threshold refers to the initial liquid level preset value reached when the cleaning work is triggered in the wastewater tank. This threshold is different from the real-time liquid level in subsequent steps. The real-time liquid level in subsequent steps refers to the actual liquid level that changes continuously during the cleaning process.

[0029] In step S200, when the preset start-up triggering condition of step S100 is met, the gas delivered to the sewage tank by the air pump assembly gradually generates a large number of bubbles in the liquid. The bubbles move upward in the sewage tank due to buoyancy, and collide and mix with sewage and deposited stains during the process, forming a strong water flow disturbance, which disperses and suspends the stubborn stains deposited at the bottom of the sewage tank. At the same time, the bubbles will flush the inner wall of the sewage tank during the rising process, removing attached hair, fibers and other stains. Compared with the existing static storage or stirring paddle method, the cleaning is more thorough, effectively reducing stain residue and reducing the probability of bacterial growth and odor generation.

[0030] In step S300, the real-time liquid level in the sewage tank can be monitored by a liquid level detection module, which consists of a liquid level detection module.The system consists of a level sensor and a signal processing unit. In use, the level sensor is installed on the inner wall of the wastewater tank to detect the wastewater level inside the tank. The detected level signal is processed by the signal processing unit and transmitted to the control system. By employing a level detection module, real-time automated monitoring of the level is effectively achieved, significantly improving the automation level of the cleaning robot's wastewater tank self-cleaning process. Furthermore, to achieve real-time monitoring of the wastewater tank level, various types of level sensors are available, which can be divided into two categories: contact and non-contact. Contact sensors include single-flange static pressure / dual-flange differential pressure level transmitters, float-type level transmitters, magnetic level transmitters, submersible level transmitters, electric internal float level transmitters, electric float level transmitters, capacitive level transmitters, magnetostrictive level transmitters, and servo level transmitters. Non-contact sensors include ultrasonic level transmitters and radar level transmitters.

[0031] In step S400, when the real-time liquid level is higher than the preset maximum liquid level, the air pump assembly is controlled to reduce the gas pressure it discharges. The preset minimum liquid level is 1 / 5 of the sewage tank volume, and the preset maximum liquid level is 4 / 5 of the sewage tank volume. These preset minimum and maximum liquid level values ​​are for reference only. It should be understood that the preset minimum and maximum liquid level values ​​can also be set according to actual needs. For example, depending on the volume of the sewage tank, the preset minimum liquid level can be set to 1 / 4 or 1 / 6 of the sewage tank volume, and the corresponding preset maximum liquid level can be 3 / 4 or 5 / 6. During use, when the liquid level is lower than the preset minimum liquid level, the beneficial effect of controlling the air pump assembly to stop working is to greatly avoid damage caused by the air pump running dry. When the liquid level is higher than the preset maximum liquid level, the control system can prompt the user to empty the sewage and at the same time control the air pump to reduce its output air pressure, which achieves the beneficial effect of preventing sewage splashing. The gas pressure can be adjusted according to the sewage tank volume and the type of stains to adapt to different specifications of cleaning robots.

[0032] Further, in a preferred embodiment of the present invention, the sewage tank self-cleaning method further includes step S500. When the duration of cleaning the sewage tank with bubbles exceeds a preset time, the cleaning robot is controlled to automatically stop working and perform sewage discharge operation. The sewage discharge operation is mainly achieved by the user opening the sealing cover at the bottom of the sewage tank. In this step, the preset time is adjusted by the control system. By setting the preset time, the duration of bubble cleaning of the sewage tank is controlled, effectively avoiding the waste of electricity caused by excessive cleaning time and extending the service life of the air pump assembly. The preferred range of the preset time is 30s to 60s, and it can be any value between 30s, 40s, 50s or 60s and 30s to 60s.

[0033] Further, in a preferred embodiment of the present invention, the sewage tank self-cleaning method further includes step S600.The removable filter screen inside the wastewater tank is disassembled and rinsed clean to ensure it is unobstructed. This step is mainly for post-maintenance of the wastewater tank. If there are still a few stubborn stains on the inner wall of the wastewater tank, a short-term bubble cleaning can be performed by restarting the air pump without disassembling the wastewater tank, thus reducing maintenance difficulty.

[0034] Referring to Figures 1 to 3, the present invention also provides a cleaning device, including an air pump 2 installed outside a sewage tank 1 and an aeration head 5 and a liquid level sensor 6 installed inside the sewage tank 1. The air outlet of the air pump 2 is connected to the aeration head 5 through an air guide pipe 3. An air pressure regulating valve is connected in series on the air guide pipe 3. The air pump 2, the air pressure regulating valve and the liquid level sensor 6 are all electrically connected to a controller and are configured as follows: when the real-time liquid level in the sewage tank 1 detected by the liquid level sensor 6 is lower than the preset minimum liquid level, the air pump 2 is controlled to stop working; when the real-time liquid level in the sewage tank 1 detected by the liquid level sensor 6 is between the preset minimum liquid level and the preset maximum liquid level, the gas pressure at the outlet of the air pump 2 is adjusted by the air pressure regulating valve and discharged at the standard pressure; when the real-time liquid level in the sewage tank 1 detected by the liquid level sensor 6 is higher than the preset maximum liquid level, the gas at the outlet of the air pump 2 is adjusted by the air pressure regulating valve to reduce the pressure and discharged.

[0035] In the above embodiment, the air pump 2 can be a low-power DC micro air pump, which is fixedly installed in the empty area inside the main unit of the cleaning robot, preferably on the outer shell of the sewage tank 1. The air pump 2 is electrically connected to the control system and can be automatically started and stopped by the program set by the control system (such as when the cleaning robot completes a cleaning task or when the liquid level in the sewage tank 1 reaches a preset cleaning threshold), or by remote control by the user. Micro air pumps are classified according to their working principle, including diaphragm type, magnetic type, impeller type, piston type, etc. Miniature air pumps have the following advantages: their design minimizes space requirements, facilitating installation and use in various environments; they generate low noise during operation, making them suitable for applications requiring a quiet environment; they consume less energy, helping to save energy and reduce operating costs; their simple design and easy operation require no complex training; their small size and light weight make them highly portable and suitable for mobile operations; their simple structure typically requires less frequent maintenance, reducing subsequent maintenance costs; they can operate continuously for 24 hours, meeting the demands of high-intensity use; their dry, oil-free design prevents contamination of the working medium and does not interfere with media analysis, ensuring the purity of the work; compared to large vacuum pumps, miniature air pumps are more affordable, reducing user procurement costs. Furthermore, the use of miniature air pumps results in low energy consumption during the bubble cleaning process (energy consumption per cleaning cycle is only 1 / 3 to 1 / 2 of that of traditional agitator solutions), without significantly increasing the overall energy consumption of the cleaning robot, ensuring its endurance remains unaffected.

[0036] In the above embodiment, the aeration head 5 is a structure for dispersing bubbles, and is set on the air outlet end of the air guide pipe 3 extending into the sewage tank 1. The aeration head 5 adopts a porous aeration head (such as a ceramic aeration head or a plastic porous aeration head) or a tubular aeration nozzle with dense and fine air outlet holes. Among them, the ceramic aeration head has the characteristics of high temperature resistance, corrosion resistance, and long service life. Its air holes are not easily blocked, which can ensure a long-term stable aeration effect. The plastic porous aeration head has the advantages of low cost, light weight, and easy installation, and is suitable for scenarios with high cost control requirements. The material selection and air hole design of the aeration head 5 have been optimized to ensure uniform distribution of bubbles and good oxygen utilization, thereby effectively improving the treatment efficiency and operational stability of the sewage treatment system. The multiple air outlet holes set on the aeration head 5 are evenly arrayed. For example, there is one air outlet hole at the center of the aeration head 5, and the remaining air outlet holes are distributed in a ring at equal intervals around the central air outlet hole. When there are many air outlet holes, they can also be distributed in multiple rings. The diameter of the air outlet of the aeration head 5 is preferably 0.1mm-0.5mm, for example, 0.1mm, 0.2mm, 0.3mm, 0.4mm, or 0.5mm. When compressed air or aeration gas enters the interior of the aeration head 5 through the air guide pipe 3, it is uniformly released from these tiny pores in the form of fine bubbles, forming a large number of microbubbles with a diameter between 0.1-2mm. As these microbubbles rise in the wastewater, they can fully contact pollutants such as organic matter and suspended particles in the wastewater, efficiently transferring dissolved oxygen to the wastewater through gas-liquid mass transfer, promoting the metabolic activities of aerobic microorganisms, and accelerating the degradation of pollutants. The uniform distribution of the air outlet of the aeration head 5 allows the gas output from the air pump 2 to be dispersed into a large number of microbubbles, increasing the contact area between the gas and the wastewater and stains, and improving the agitation effect.

[0037] In the above embodiment, the air pump 2 is further connected to the power interface of the controller via a power cord, the air pressure regulating valve is connected to the analog input port of the controller via a signal line, and the liquid level sensor 6 is connected to the digital input module of the controller via a signal line and a power line (including power positive and negative, signal output). The controller receives liquid level data from the liquid level sensor in real time and controls the start and stop of the air pump and the opening of the air pressure regulating valve according to a preset program, thereby realizing the regulation of system air pressure and automatic monitoring of liquid level.

[0038] In a preferred embodiment of the present invention, a one-way valve 4 is also connected in series on the air guide pipe 3 to prevent sewage and stains in the sewage tank 1 from flowing back to the air pump 2, thereby avoiding damage to the air pump 2. In order to avoid the one-way valve 4 occupying the internal space of the sewage tank 1, the one-way valve 4 is set on the outside of the sewage tank 1 near the air pump 2. Optionally, the air guide pipe 3 is a corrosion-resistant and flexible silicone hose or plastic hose. In use, one end of the air guide pipe 3 is connected to the air outlet of the air pump 2 through a sealing joint.The other end extends through the air passage interface reserved in the sewage tank 1 into the interior of the sewage tank 1, and the air outlet of the air duct 3 is located near the bottom of the sewage tank 1.

[0039] In a preferred embodiment of the present invention, a sewage discharge auxiliary structure is provided at the bottom of the sewage tank 1. Specifically, a guide plate inclined towards the sewage discharge port is also provided at the bottom of the sewage tank 1. The inclination angle of the guide plate is 5°-15°, for example, the inclination angle is set to 5°, 10°, 15° or any angle between 5° and 15°. By setting this inclination angle, the deposited stains can be smoothly discharged from the sewage discharge port along the guide plate after being agitated by the air bubbles, thereby reducing stain residue. Instruction manual, pages 5 / 6, CN 121445266 A. Further, a filter screen is also provided inside the sewage discharge port of the sewage tank 1. The pore size of the filter screen is 1mm-2mm. For example, the pore size of the filter screen is set to 1mm, 1.5mm, 2mm or any pore size between 1mm and 2mm. The filter screen is designed to filter larger particles of dirt to prevent clogging of the sewage discharge port. The filter screen is detachable for easy cleaning by the user.

[0040] The present invention also provides a cleaning robot, including a robot body, a sewage tank 1 and the above-mentioned cleaning device of the present invention. The sewage tank 1 is installed in the robot body, and the cleaning device is installed on the sewage tank 1 and is used to clean the sewage tank 1. In addition, the cleaning robot also includes a walking mechanism with walking function, a vacuuming device with vacuuming function, and a control system for controlling the cleaning robot. The system integrates a control unit for realizing the self-cleaning method of the sewage tank.

[0041] In the description of the present invention, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified. The preferred embodiments of the present invention have been described in detail above with reference to the accompanying drawings. However, the present invention is not limited thereto. Within the scope of the technical concept of the present invention, various simple modifications can be made to the technical solution of the present invention, including the combination of various specific technical features in any suitable manner. To avoid unnecessary repetition, the present invention will not describe the various possible combinations separately. However, these simple modifications and combinations should also be regarded as the content disclosed in the present invention and all fall within the protection scope of the present invention. Specification 6 / 6 pages 9 CN 121445266 A Figure 1 Figure 2 Specification Drawings 1 / 2 pages 10 CN 121445266 A Figure 3 Specification Drawings 2 / 2 pages 11 CN 121445266 A SEWAGE TANK SELF-CLEANING METHOD, CLEANING DEVICE AND CLEANING ROBOT Abstract The present invention relates to the field of cleaningmachines, and discloses a sewage tank self-cleaning method, a cleaning device and a cleaning robot. The sewage tank self-cleaning method is applied to a cleaning robot and includes the following steps: setting a start trigger condition; when a preset start trigger condition is satisfied, controlling an air pump assembly to pump gas into a sewage tank, so as to clean the sewage tank by generating bubbles in liquid inside the sewage tank; monitoring the real-time liquid level in the sewage tank; stopping the operation of the air pump assembly when the real-time liquid level is lower than a preset minimum liquid level; and controlling the air pump assembly to discharge gas at a standard pressure when the real-time liquid level is between the preset minimum liquid level and a preset maximum liquid level. The solution has the advantages of simple structure, low cost, favorable cleaning effect and realization of sewage tank cleaning without frequent manual intervention. 1 2 3 45

Claims

1. A self-cleaning method for a wastewater tank in a cleaning robot, characterized in that, Includes the following steps: Step S100. Set the startup trigger conditions; Step S200. When the preset start-up trigger condition is met, control the air pump assembly to pump gas into the sewage tank so as to clean the sewage tank by generating bubbles in the liquid in the sewage tank. Step S300. Monitor the real-time liquid level in the wastewater tank; Step S400. When the real-time liquid level is lower than the preset minimum liquid level, control the air pump assembly to stop working; when the real-time liquid level is between the preset minimum liquid level and the preset maximum liquid level, control the air pump assembly to discharge gas at the standard pressure.

2. The self-cleaning method for a sewage tank according to claim 1, characterized in that, Step S400 also includes controlling the air pump assembly to reduce the pressure of the gas it discharges when the real-time liquid level is higher than the preset maximum liquid level.

3. The self-cleaning method for a sewage tank according to claim 1, characterized in that, The activation trigger conditions are: when the cleaning robot completes a cleaning task; or when the user sends a sewage tank cleaning command through the control terminal; or when the liquid level in the sewage tank is detected to have reached the cleaning threshold.

4. The self-cleaning method for a sewage tank according to claim 1, characterized in that, It also includes step S500. When the duration of cleaning the sewage tank with bubbles exceeds a preset time, the cleaning robot is controlled to automatically stop working and perform sewage discharge operation.

5. The self-cleaning method for a sewage tank according to claim 4, characterized in that, The preset time in step S500 is 30s-60s.

6. The self-cleaning method for a sewage tank according to claim 1, characterized in that, In step S400, the preset minimum liquid level is 1 / 5 of the sewage tank volume, and the preset maximum liquid level is 4 / 5 of the sewage tank volume.

7. A cleaning device, characterized in that, The system includes an air pump (2) installed outside the sewage tank (1) and an aeration head (5) and a liquid level sensor (6) installed inside the sewage tank (1). The air outlet of the air pump (2) is connected to the aeration head (5) through an air guide pipe (3). A pressure regulating valve is connected in series on the air guide pipe (3). The air pump (2), the pressure regulating valve, and the liquid level sensor (6) are all electrically connected to the controller and are configured as follows: When the real-time liquid level in the sewage tank (1) detected by the liquid level sensor (6) is lower than the preset minimum liquid level, the air pump (2) is controlled to stop working. When the real-time liquid level in the sewage tank (1) monitored by the liquid level sensor (6) is between the preset minimum liquid level and the preset maximum liquid level, the gas pressure at the outlet of the air pump (2) is adjusted by the air pressure regulating valve and discharged at the standard pressure. When the real-time liquid level in the sewage tank (1) detected by the liquid level sensor (6) is higher than the preset maximum liquid level, the gas outlet of the air pump (2) is discharged at a reduced pressure through the air pressure regulating valve.

8. The cleaning device according to claim 7, characterized in that, A one-way valve (4) is also connected in series on the air duct (3) to prevent sewage and stains in the sewage tank (1) from flowing back to the air pump (2).

9. The cleaning device according to claim 7, characterized in that, The aeration head (5) has at least one air outlet with a circular tube structure, and the diameter of the air outlet is 0.1mm-0.5mm.

10. The cleaning device according to claim 7, characterized in that, The aeration head (5) has multiple air outlets with a circular tube structure, and the multiple air outlets are arranged in a uniform array.

11. The cleaning device according to claim 7, characterized in that, The air duct (3) is a silicone hose or a plastic hose.

12. The cleaning device according to claim 7, characterized in that, The bottom of the sewage tank (1) is also provided with a guide plate that is inclined toward the sewage discharge outlet.

13. The cleaning device according to claim 12, characterized in that, The tilt angle of the guide plate is 5°-15°.

14. The cleaning device according to claim 7, characterized in that, A filter screen is also installed inside the sewage discharge port of the sewage tank (1).

15. The cleaning apparatus according to claim 14, characterized in that, The filter screen has a pore size of 1mm-2mm.

16. A cleaning robot, characterized in that, The system includes a robot body, a wastewater tank (1), and a cleaning device according to any one of claims 7 to 15, wherein the wastewater tank (1) is installed in the robot body, and the cleaning device is installed on the wastewater tank (1) and is used to clean the wastewater tank (1).

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