Cleaning device, robotic system and base station

Abstract

The embodiment of the present application provides a cleaning device, a robot system and a base station. Wherein, the cleaning device comprises: a pattern structure and a water outlet are arranged on the table top of the cleaning table; a first water tank is used for storing cleaning liquid, and the first water tank is connected with the water outlet through at least one liquid channel; a trigger assembly is used for triggering at least part of the at least one liquid channel to be conducted after the robot travels to the cleaning table and stops at the parking position on the cleaning table, so that the cleaning liquid in the first water tank flows through the conducted fluid channel and the water outlet to the cleaning table. The cleaning object on the robot is in contact and friction with the pattern structure, and under the action of the cleaning liquid on the cleaning table, the cleaning of the cleaning object is realized. The technical scheme provided by the embodiment of the present application does not need to set a relatively complex structure on the cleaning table, reduces the cost of the cleaning device, and can also well complete the cleaning task of the cleaning object on the robot.

Description

Technical Field

[0001] This application relates to the field of robotics technology, and in particular to a cleaning device, a robot system, and a base station. Background Technology

[0002] With the continuous development and mature application of intelligent technology, traditional homes are gradually transforming into smart homes. Robotic vacuum cleaners are one type of smart home appliance, also known as automatic cleaning machines, intelligent vacuum cleaners, robotic vacuum cleaners, or sweeping machines. They can automatically clean floors in a room using a certain level of artificial intelligence. Most robotic vacuum cleaners on the market currently have a mopping function, typically performing mopping after sweeping, achieving a combined sweeping and mopping function.

[0003] However, most robotic vacuum cleaners on the market currently require manual cleaning of the mop cloths used for mopping. Users must remove the cloths before washing them, which is inconvenient and reduces the ease of use of the robot. Summary of the Invention

[0004] In view of the above problems, this application provides a technical solution that can solve or improve the existing problems, namely, a cleaning device, a robot system and a base station.

[0005] In one embodiment of this application, a cleaning apparatus is provided. The cleaning apparatus includes:

[0006] The washing station has a patterned surface and a water outlet.

[0007] A first water tank is used to store cleaning fluid, and there is at least one liquid channel between the first water tank and the water outlet.

[0008] A triggering component is used to trigger at least a portion of the at least one liquid channel to open after the robot moves to the cleaning table and stops at the parking position on the cleaning table, so that the cleaning fluid in the first water tank flows through the opened fluid channel and the outlet to the cleaning table.

[0009] The robot moves to contact and rub against the patterned structure, and the cleaning fluid on the cleaning table cleans the part being cleaned.

[0010] In another embodiment of this application, a robot system is provided. The robot system includes a robot and a cleaning device; the robot has a cleaning component located at its base.

[0011] The cleaning device includes:

[0012] The washing station has a patterned surface and a water outlet.

[0013] A first water tank is used to store cleaning fluid, and there is at least one liquid channel between the first water tank and the water outlet.

[0014] A triggering component is used to trigger at least a portion of the at least one liquid channel to open after the robot moves to the cleaning table and stops at the parking position on the cleaning table, so that the cleaning fluid in the first water tank flows through the opened fluid channel and the outlet to the cleaning table.

[0015] The cleaning component operates by contacting and rubbing against the patterned structure, and is cleaned by the cleaning liquid on the cleaning table.

[0016] Another embodiment of this application provides a base station for providing services to robots. The base station includes:

[0017] The base station body is equipped with a robot docking platform, which has a patterned structure and a water outlet.

[0018] A water inlet is provided on the base station body for receiving cleaning fluid; there is at least one liquid channel between the water inlet and the water outlet.

[0019] A triggering component is used to trigger at least a portion of the at least one liquid channel to open after the robot travels to the docking platform and stops at the parking position on the docking platform, so that the cleaning fluid flows through the opened fluid channel and the outlet to the docking platform;

[0020] The robot moves to clean the part being cleaned, which comes into contact with and rubs against the patterned structure. Under the action of the cleaning fluid on the docking platform, the part is cleaned.

[0021] Another embodiment of this application provides a cleaning apparatus, comprising:

[0022] The washing station has a patterned surface.

[0023] The water outlet is located on the cleaning platform;

[0024] A triggering component is used to trigger the opening of the water outlet after the robot moves to the cleaning table and stops at the parking position on the cleaning table, so that the cleaning fluid flows to the cleaning table through the water outlet;

[0025] In this process, the movement of either the part to be cleaned on the robot or the patterned structure causes the part to be cleaned to come into contact and rub against the patterned structure, and the cleaning fluid on the docking platform cleans the part to be cleaned.

[0026] The technical solution provided in this application embodiment involves setting a patterned structure on the cleaning table. The robot initiates the movement of either the component to be cleaned (i.e., the part to be cleaned) or the patterned structure, causing continuous contact and friction between the part to be cleaned and the patterned structure. Simultaneously, under the action of the cleaning fluid on the cleaning table, the component to be cleaned on the robot is cleaned. Therefore, the technical solution provided in this application embodiment eliminates the need for a complex structure on the cleaning table, reducing the cost of the cleaning device, while still effectively completing the cleaning task of the part to be cleaned on the robot.

[0027] In another embodiment of this application, a patterned structure is provided on the robot docking platform of the base station. After the robot docks on the platform, it can initiate the action of either the part to be cleaned (i.e., the part to be cleaned) or the patterned structure, causing the part to be cleaned to come into contact and rub against the patterned structure. Simultaneously, under the action of cleaning fluid on the docking platform, the part to be cleaned on the robot is cleaned. It is evident that the technical solution provided by this application only requires adding some simple structures to the base station to add cleaning services. Attached Figure Description

[0028] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0029] Figure 1 This is a schematic diagram of the structure of a cleaning device provided in one embodiment of this application;

[0030] Figure 2 A schematic diagram of a first implementation of the patterned structure in a cleaning apparatus provided in an embodiment of this application;

[0031] Figure 3 A schematic diagram illustrating a second implementation of the patterned structure in a cleaning apparatus provided in an embodiment of this application;

[0032] Figure 4 A schematic diagram illustrating a third implementation of the patterned structure in a cleaning apparatus provided in an embodiment of this application;

[0033] Figure 5 A schematic diagram illustrating a fourth implementation of the pattern structure in a cleaning apparatus provided in an embodiment of this application;

[0034] Figure 6 A schematic diagram illustrating a fifth implementation of the patterned structure in a cleaning apparatus provided in an embodiment of this application;

[0035] Figure 7 A schematic diagram illustrating a sixth implementation of the patterned structure in a cleaning apparatus provided in an embodiment of this application;

[0036] Figure 8a This is a schematic diagram of a cleaning device provided in another embodiment of this application;

[0037] Figure 8b for Figure 8a A schematic diagram showing the robot touching the trigger component.

[0038] Figure 9 A schematic diagram of a cleaning device provided in another embodiment of this application;

[0039] Figure 10 A schematic diagram of a cleaning device provided in an embodiment of this application, in which a patterned structure protrudes above the cleaning table surface and squeezes the workpiece to be cleaned by the robot.

[0040] Figure 11a A schematic diagram showing a groove provided on the cleaning table surface of a cleaning device provided in an embodiment of this application;

[0041] Figure 11b for Figure 11a A magnified view of a portion of the image;

[0042] Figure 12 A schematic diagram of a cleaning device with a movable door on the cleaning table provided in an embodiment of this application. Detailed Implementation

[0043] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings. The terms "first," "second," etc., used below are used to distinguish different components, elements, devices, etc., and do not represent a sequential order, nor do they limit "first" and "second" to different types. Furthermore, the embodiments described below are merely some embodiments of the present application, not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present application without creative effort are within the scope of protection of the present application.

[0044] Figure 1 and Figure 2 A schematic diagram of the cleaning apparatus provided in one embodiment of this application is shown. Figure 1 and Figure 2 As shown, the cleaning device includes: a cleaning platform 1, a water outlet 2, and a triggering component (not shown in the figure). Figure 2As shown, the cleaning table 1 has a patterned structure 3. A water outlet 2 is located on the cleaning table 1. A triggering component is used to open the water outlet 2 after the robot 4 moves to the cleaning table and stops at its designated parking position on the cleaning table 1, allowing the cleaning fluid to flow through the water outlet 2 onto the cleaning table 1. During this process, the part 41 to be cleaned on the robot 4 moves, comes into contact with and rubs against the patterned structure 3, and is cleaned by the cleaning fluid on the cleaning table.

[0045] In practical implementation, the water outlet 2 can be connected to a water supply system, such as a tap water line, via a water pipe 5. For example, if a user's home has the cleaning device provided in this embodiment installed, the water outlet 2 can be connected to a tap in the home via a water pipe 5. Alternatively, the water outlet 2 can be connected to a water tank via a water pipe 5. The water tank can be a component of the cleaning device or an external optional accessory. The water tank is detachably connected to the cleaning device.

[0046] The robot 4 described above can be a sweeping and mopping robot or a mopping robot, equipped with mopping components (such as a cloth, sponge, mopping roller, etc.). These mopping components can move relative to the robot body, such as rotating or reciprocating in a straight line. Specifically, the mopping component can rotate around a rotation axis (perpendicular to the axis of the surface being cleaned), or it can reciprocate back and forth in a straight line along the robot's direction of travel, or it can reciprocate left and right in a straight line perpendicular to the robot's direction of travel, etc. This embodiment does not specifically limit these possibilities. The component being cleaned by the robot can be the aforementioned mopping component.

[0047] The specific form of the patterned structure 3 on the cleaning station 1 is related to the movement mode of the part 41 being cleaned by the robot 4. For example, if the robot 4 has two rotating wiping parts arranged side by side, the patterned structure 3 can adopt a shape such as... Figure 2 and Figure 3 The structure shown. See also Figure 2 and 3 As shown, the pattern structure 3 includes multiple protrusions 31, which radiate outwards radially from a point on the cleaning table 1. Two pattern structures 3 can be respectively installed on the cleaning table 1 corresponding to the two rotating wiping components on the robot 4. If the robot has one or more wiping components that reciprocate linearly, the pattern structure 3 can be... Figure 4 , Figure 5 and Figure 6 The structure shown. See also Figure 4 , 5 As shown in Figure 6, multiple protrusions 31 in the pattern structure 3 are arranged in an array, and the extension direction Y of each protrusion 31 is perpendicular to the front-to-back linear reciprocating direction X. If the robot has one or more dragging parts that move left and right linearly, the pattern structure 3 can be adopted. Figure 7 The structure shown. See also Figure 7 As shown, multiple protrusions 31 in the pattern structure 3 are arranged in an array, and the extension direction Y of each protrusion 31 is perpendicular to the reciprocating direction X of the left and right straight lines.

[0048] Multiple bumps 31 include, but are not limited to, at least one of the following shapes: wavy (e.g.) Figure 4 ), linear (such as) Figure 3 and Figure 5 ), curved (such as) Figure 2 ), broken line shape (such as) Figure 6 ) etc. The length and shape of each protrusion in pattern structure 3 can be equal (e.g., Figure 2 , 3 4 and 6); or the lengths of the bumps are not the same (e.g. Figure 5 Alternatively, the shapes of the bumps may differ (not shown in the accompanying drawings); etc. This embodiment does not impose specific limitations on these aspects.

[0049] Figure 8a This application illustrates another embodiment of a cleaning device. In this embodiment, the cleaning device includes a first water tank 6. The cleaning device with the first water tank 6 can be placed anywhere, without needing to be placed near a water supply system, such as a bathroom, kitchen, or water room; it can be placed arbitrarily according to actual needs. The first water tank 6 can be detachable, allowing it to be removed for replenishment when the water level is low. Specifically, as shown... Figure 8a and 8b As shown, the cleaning device includes: a cleaning platform 1, a first water tank 6, and a triggering component 7. The cleaning platform 1 has a patterned structure 3 on its surface (see [reference needed]). Figures 2 to 7 The robot 4 has a first water tank 6 for storing cleaning fluid. At least one liquid channel 61 exists between the first water tank 6 and the water outlet 2. A triggering component 7 is used to activate at least a portion of the liquid channel 61 after the robot 4 moves to the cleaning table 1 and stops at its designated parking position. This allows the cleaning fluid in the first water tank 6 to flow through the activated liquid channel 61 and the water outlet 2 onto the cleaning table 1. The movement of either the part to be cleaned 41 or the patterned structure 3 on the robot 4 causes the part to be cleaned 41 to come into contact with and rub against the patterned structure 3, and under the action of the cleaning fluid on the cleaning table 1, the part to be cleaned 41 is cleaned.

[0050] Figure 8a In the illustrated structure, the first water tank 6 is located above the cleaning platform 1, with sufficient space between them to accommodate the robot 4. By positioning the first water tank 6 at the top, when the fluid channel is open, the cleaning fluid within the first water tank 6 can flow down under gravity and be sprayed out through the outlet 2, eliminating the need for components such as a water pump, thus simplifying the structure of the cleaning device and reducing costs. Of course, this embodiment can also employ… Figure 9 The structure shown places the first water tank 6 at the rear end 102 of the washing platform 1. See also... Figure 9 As shown, the cleaning station 1 has a front end 101 and a rear end 102, and the entrance end for the robot 4 to enter the cleaning station 1 is the front end 101. The first water tank 6 can be inserted into the cleaning station 1 by means of a slot. When the user needs to remove the first water tank 6, he / she can simply pull the first water tank 6 out of the cleaning station.

[0051] Figure 8a and Figure 9 The state shown is a schematic diagram of a state before robot 4 has moved to the parking position, that is, before the triggering component 7 has been triggered. Figure 8b The diagram shows the triggering component 7 being triggered after the robot moves to the parking position on the cleaning station 1.

[0052] As mentioned above, the triggering component can be implemented in various ways, and the appropriate method depends on the structure of the cleaning device in practical applications. The various implementation methods will be explained below.

[0053] First implementation method

[0054] See Figure 8a and Figure 9 As shown, the triggering assembly 7 includes a trigger element 71 and a valve 72. The trigger element 71 can be disposed on the cleaning table 1 or extend towards the cleaning table 1. The trigger element 71 is used to generate a triggering action or a triggering signal after the robot 4 stops at its parking position on the cleaning table 1. The valve 72 is disposed at the water tank opening of the first water tank 6 and is used to open under the action of the triggering action or after receiving the triggering signal.

[0055] Figure 8a In the illustrated structure, valve 72 is located at the bottom of the first water tank 6, and trigger 71 extends downwards from the bottom of the first water tank toward the cleaning platform. More specifically, the trigger 71 includes a push rod 711 and an elastic element 712. The push rod 711 is connected to the elastic element 712. The push rod 711 is located at the rear end 102 of the cleaning platform 1. The push rod 711 is located above the rear end 102 of the cleaning platform 1. Valve 712 is linked to the push rod 711. Figure 8a The triggering component 7 shown can be a mechanical push rod valve assembly. The robot 4 moves from the front end 101 to the rear end 102. The robot 4 stops after detecting contact with the push rod 711, and the push rod 711 actuates under the pushing force of the robot 4 (e.g., ...). Figure 8bAs shown, when force is applied to the elastic element 712, it deforms and drives the valve 72 to open; the robot 4 retracts from the rear end 102 to the front end 101, and the push rod 711 resets under the action of the elastic element 712 and drives the valve 72 to close.

[0056] use Figure 8a The triggering components shown (such as mechanical push rod valve assemblies) allow the cleaning device to operate without a power source, relying entirely on mechanical mechanisms to open the valves, further reducing the cost of the cleaning device and ensuring high operational stability.

[0057] Figure 9 The scheme shown can also be adopted using the same Figure 8a The triggering component shown has the same structural implementation as the one in principle, for example, Figure 9 In the illustrated scheme, the triggering component is a mechanical push-rod valve assembly. The triggering component 7 includes a trigger element 71 that can be mounted on the outer wall of the first water tank 6, extending towards the washing platform. Alternatively, the trigger element 71 faces the robot, awaiting activation by the robot 4.

[0058] certainly, Figure 8a and Figure 9 In the illustrated scheme, the triggering component 7 can also be implemented using an electric valve and a trigger element. Simply put, an electric valve is a valve controlled by an electric actuator, thereby opening and closing the valve. For example, the trigger element 71 is used to generate a trigger signal after the robot 4 stops at its parking position on the cleaning table 1. Electric valve (i.e....) Figure 9 The valve (number 72) opens upon receiving the trigger signal.

[0059] The second implementation method

[0060] The trigger component 7 is an automatic nozzle, which is located at the water outlet 2. When the robot 4 is stationary at the parking position, the automatic nozzle opens under the gravity of the robot 4, or under the action of the moving part 41 being cleaned. After the robot 4 leaves the parking position, the automatic nozzle closes.

[0061] One feasible solution involves using a push-button nozzle, positioned at the water outlet 2. When the robot 4 moves onto the cleaning platform 1, the push-button nozzle is pressed down by gravity, opening and allowing cleaning fluid to flow from the water outlet 2 into the cleaning platform 1. After the robot 4 leaves, the push-button nozzle springs back, closing the water outlet 2.

[0062] Another feasible solution is to use a rubber valve as the automatic nozzle. The rubber valve is located at the outlet 2. When the part 41 to be cleaned by the robot 4 moves (e.g., rotates), the rubber valve loosens, and the cleaning fluid flows from the outlet to the cleaning table surface; when the part 41 to be cleaned stops moving (e.g., rotates), the rubber valve resets and closes the outlet. This embodiment does not limit the specific structure of the rubber valve; any rubber valve that can achieve the above functions is acceptable.

[0063] The cleaning robot generates cleaning wastewater during the cleaning process, which needs to be discharged. Therefore, the cleaning table provided in this embodiment is also equipped with at least one drain outlet 8, such as... Figure 2 As shown. In practical implementation, the height of the drain outlet 8 can be lower than the height of the outlet 2. See also... Figure 2 The washing table 1 has at least one drain outlet 8 along its edge. The tabletop is higher in the middle and lower at the edges. The drain outlet 8 can be connected to a second water tank (not shown in the attached diagram) for storing wastewater, or it can be connected to an external drain pipe. For example, the user can use a water pipe to guide the wastewater discharged from the drain outlet 8 to the drain pipe. Furthermore, the edge of the washing table 1 may also be provided with a drainage channel 9. The drainage channel 9 connects multiple drain outlets 8 together.

[0064] If the cleaning device has a second water tank for storing wastewater, this second water tank can be a transparent tank to allow viewing of the liquid level. For example, a "drawer-type" structure can be used to place the second water tank under the countertop of the cleaning table and connect it to a drain outlet 8 on the countertop. When the second water tank is full, it can be pulled out to empty the wastewater.

[0065] In this embodiment, the height of the patterned structure 3 can be flush with the surface of the cleaning table 1. After the robot moves to the cleaning table 1 and stops at its designated position, the robot can initiate the rotation or linear reciprocating motion of the item to be cleaned 41 (such as a rag, sponge, etc.). The item to be cleaned 41 comes into contact with and rubs against the patterned structure 3. At the same time, the cleaning liquid sprayed from the water outlet 2 on the cleaning table 1 wets the item to be cleaned 41 (such as a rag, sponge, etc.). The patterned structure 3, like a "washboard," rubs the item to be cleaned 41, squeezing out cleaning wastewater during the rubbing process. The item to be cleaned 41 is thus continuously wetted by the cleaning liquid sprayed from the water outlet 2 and continuously rubbed by the patterned structure 3, achieving the cleaning of the item to be cleaned 41. Of course, when the robot is working in self-cleaning mode, in order to improve the cleaning effect, while initiating the action of the item to be cleaned 41 (such as rotation or reciprocating linear motion), a downward force can also be applied to the item to be cleaned 41 so that the item to be cleaned 41 comes into contact with the patterned structure 3, increasing the squeezing force of the patterned structure 3 on the item to be cleaned 41. Alternatively, another design approach can be adopted, where the patterned structure 3 protrudes above the surface of the cleaning table 1 to compress the workpiece during contact and friction with the robot. The height of the protruding patterned structure 3 is not specifically limited in this embodiment and should be designed in conjunction with the material and thickness of the workpiece.

[0066] The technical solutions provided in the various embodiments of this application involve making the surface of the cleaning table into a pattern, that is, setting a patterned structure on the table surface; the parts to be cleaned, which are moistened by the cleaning liquid sprayed from the water outlet, rotate or reciprocate in a straight line on the cleaning table, and the patterned structure is similar to a "washboard" rubbing the parts to be cleaned in order to remove the stains from the parts to be cleaned.

[0067] like Figure 1 , Figure 8a , 8b In the schemes shown in 9 and 10, the cleaning table 1 has a flat cleaning surface, or the center of the surface is higher than the edges. The cleaning liquid sprayed from the outlet of the cleaning table 1 is enough to wet the cloth, and then the robot starts the workpiece to be cleaned to rotate or reciprocate in a straight line to contact and rub against the patterned structure on the cleaning table; the workpiece requires little water throughout the cleaning process.

[0068] This application can also provide a countertop design for a cleaning table, which differs from the above design in that a groove 103 is provided on the cleaning table 1 at the area corresponding to the part 41 to be cleaned by the robot 4, such as... Figure 11a and 11b As shown. The bottom of the groove 103 is provided with a patterned structure 3 (similar to...). Figures 2 to 7 (The pattern structure shown). The groove 103 is used to store cleaning fluid; after the robot 4 stops at its parking position on the cleaning table 1, the robot 4 lowers the part to be cleaned 41 into the groove 103 and abuts against the pattern structure 3; the cleaning fluid in the groove 103 at least partially submerges the part to be cleaned 41. Figure 11a and 11b In the illustrated embodiment, the part 41 to be cleaned is at least partially immersed in the cleaning fluid within the groove 103. The movement of either the part 41 or the patterned structure 3 at the bottom of the groove 103 causes the part 41 to come into contact with and rub against the patterned structure 3, thus achieving the rinsing of the part 41. Furthermore, a drain outlet 8 can be provided at the bottom of the groove 103 of the cleaning platform 1. This drain outlet 8 can be kept open, with water continuously spraying from the outlet 2 and continuously leaking from the drain outlet 8, ensuring continuous flow and renewal of the cleaning fluid within the groove 103, which helps improve the cleaning effect. Drain outlets 8 can also be provided on the surface of the cleaning platform 1, excluding the groove 103, to allow cleaning fluid splashed out during rinsing to leak out.

[0069] To improve cleaning effectiveness, a corresponding self-cleaning program can be configured for the robot. For example, after the robot starts the self-cleaning mode, according to the self-cleaning program, it first drives the part to be cleaned to contact and rub against the patterned structure; after the part to be cleaned moves for a first preset time (e.g., 3 minutes, 5 minutes, etc.), the movement of the part to be cleaned stops; the part to be cleaned is raised to create a certain distance between the part to be cleaned and the patterned structure, and then the part to be cleaned is driven to rotate (e.g., rotate at a set speed) to use centrifugal force to shake off some water (i.e., dehydration), reducing the moisture content of the part to be cleaned. The above cleaning and dehydration process can be repeated 2 or 3 times, etc., to complete the self-cleaning, and then the robot can be removed from the cleaning table. If the cleaning table 1 is provided with a groove 103 (e.g. Figure 11a After robot 4 activates its self-cleaning mode, according to the self-cleaning program, it first lowers the workpiece to be cleaned until it is against the patterned structure at the bottom of the tank, and then drives the workpiece to move. After the workpiece moves for a first preset time, it stops moving. The workpiece is then raised to create a certain distance between it and the patterned structure, and then driven to rotate (e.g., at a set speed) to use centrifugal force to remove some water (i.e., dehydration), reducing the moisture content of the workpiece. Similarly, the above cleaning and dehydration process can be repeated 2 or 3 times to complete the self-cleaning process. It should be noted that after completing self-cleaning, when the robot has no cleaning task, it can dock on the cleaning table of the cleaning device. When docked, the robot can maintain the raised height of the workpiece, which can accelerate the drying speed of the workpiece.

[0070] Furthermore, in this embodiment, a ramp may be provided at the entrance of the cleaning platform 1 (i.e., the front end 101 shown in the figure) to facilitate the robot to travel to the cleaning platform via the ramp.

[0071] An feasible solution, such as Figure 12 As shown, the ramp can be implemented by a movable door. Specifically, a movable door 10 is provided at the entrance of the washing platform 1 (front end 101 shown in the figure); a control mechanism is provided on the platform of the washing platform 1. Figure 12(Not shown in the image), the control mechanism is used to control the opening and closing of the movable door 10; when the movable door 10 is in the open state, it is inclined at the entrance of the cleaning table 1 to form the ramp; after the robot 4 moves to the cleaning table 1 and stops at the parking position on the cleaning table 1, the control mechanism is triggered by the robot 4 to generate a control action to control the movable door 10 to rotate upward to stand upright and be in the closed state, so as to block the splashed droplets from reaching the outside of the cleaning device.

[0072] This embodiment does not specify a control mechanism; any structure that can mechanically drive the door to close is acceptable.

[0073] In summary, the embodiments of this application provide a cleaning device that is simple in structure, requires no power supply, is energy-saving and environmentally friendly, and has low manufacturing costs. The water spraying from the outlet of the cleaning device requires no electrical components; it is achieved through a mechanical structure (such as a mechanical push-rod valve assembly, a press-type nozzle, or a rubber valve). The cleaning effect is achieved through the frictional contact between the workpiece being cleaned on the robot and the patterned structure on the cleaning device. Furthermore, the cleaning device provided in this application may not include a first water tank or a second water tank. The water inlet of the cleaning device can be directly connected to a tap water supply line, and the drain outlet can be connected to a sewer line via a water pipe; this simplifies the structure of the cleaning device and reduces costs. Alternatively, the first and second water tanks can be optional components, allowing users to choose to install them on the cleaning device. Both the first and second water tanks can be detachably connected to the cleaning table. Both the first and second water tanks can be transparent and have water level markings for easy observation of the water level.

[0074] The technical solutions provided in the above embodiments can also be applied to existing robot base stations. The base station provides corresponding services to the robot, such as charging, water filling, sewage discharge, and ash removal. Existing robot base stations can retain their existing structure; only simple modifications are needed to add robot cleaning services. Specifically, a patterned structure can be added to the docking platform of the base station, along with a water outlet circuit and a sewage discharge circuit. The base station providing services to the robot includes: a base station body, a water inlet, and a triggering component. The schematic diagram of the base station body's external structure is similar to... Figure 8aThe structure is shown. A robot 4 docking station (similar to the cleaning station 1 in the above embodiment) is provided on the base station body. The docking station has a patterned structure 3 and a water outlet 2. A water inlet is provided on the base station body for receiving cleaning fluid; there is at least one liquid channel between the water inlet and the water outlet. A triggering component is used to trigger at least a portion of the at least one liquid channel to open after the robot moves to the docking station and stops at its designated parking position, allowing the cleaning fluid to flow through the opened fluid channel and the water outlet to the docking station. The movement of either the part to be cleaned on the robot or the patterned structure causes the patterned structure to come into contact and rub against the part to be cleaned, and under the action of the cleaning fluid on the docking station, the part to be cleaned is cleaned.

[0075] The inlet can be connected to a water tank (such as...) Figure 8a and 9 The first water tank 6 shown can also be connected to a water supply pipeline (such as a tap water pipeline).

[0076] The specific implementation of the patterned structure on the base station docking platform, trigger components, water outlet arrangement, water leakage outlet, second water tank, movable door, etc., can be found in the relevant content above, and will not be repeated here.

[0077] For example, consider a robot that combines sweeping and mopping. After completing its mopping task or detecting dirt on the mop parts requiring cleaning, the robot automatically locates the cleaning device according to its system settings and ascends the cleaning platform along its ramp. Upon contact with the trigger component, the robot automatically recognizes the collision and stops moving forward. This trigger activates the fluid channel between the inlet and outlet, allowing cleaning fluid to spray out from the outlet on the cleaning platform. The robot then initiates the rotation of the mop parts, which rub against the textured surface of the cleaning platform, similar to a washboard. Wastewater generated during the cleaning process flows into the drainage trough and collects in the drain outlet, eventually flowing into the second water tank or the drain pipe. After completing the cleaning task, the robot retreats away from the cleaning device, the trigger component resets, the fluid channel disconnects, and the cleaning process ends.

[0078] The technical solutions provided in the embodiments of this application will be described below in conjunction with specific application scenarios.

[0079] Application Scenario 1

[0080] The robot mop mops the floor at home. After completing its mopping task, it moves to the cleaning device located in the corner of the bathroom. It climbs the ramp of the cleaning device onto the cleaning surface and proceeds deeper into the space. During its movement, the robot stops upon detecting a collision. A trigger component is activated by the collision, opening a valve on the first water tank of the cleaning device, spraying water from the outlet on the cleaning surface to wet the mop cloth. The robot then enters self-cleaning mode and begins rotating the mop cloth. The rotating cloth rubs against the textured structure on the cleaning surface, similar to a washboard, causing the wastewater to flow into a drain on the cleaning surface and into a second water tank below. The mop cloth, having squeezed out water, continuously absorbs cleaning fluid, undergoing repeated rubbing and squeezing out of wastewater through the textured structure, thus cleaning the cloth. After the robot enters self-cleaning mode for a preset time, it completes the cleaning of the cloth, stops rotating, and either exits the cleaning surface or remains there to await its next mopping task.

[0081] Application Scenario 2

[0082] After completing the cleaning of the designated area, the robot vacuum and mop needs to be charged and / or have its dust emptied. The robot travels to the base station and docks on its platform, connecting to the charging port for charging and connecting to the dust emptying bin. The base station then activates the dust emptying function to empty the robot's dustbin. During or after charging and dust emptying, the robot can enter self-cleaning mode. The robot lowers the mop into a groove on the dock (the cleaning platform mentioned above) and abuts against the patterned structure within the groove. As the mop abuts against the patterned structure, the press-type nozzle is pressed, opening the outlet at the bottom of the groove to release cleaning fluid. The mop is soaked in the cleaning fluid and rotates under the robot's drive, rubbing against the patterned structure to achieve a rubbing effect. After rubbing for 10 minutes, the robot stops rotating the cloth and raises it to a certain distance from the patterned structure. Then, it rotates the cloth at high speed to use centrifugal force to shake off excess water. The robot then holds the cloth at this height at the base station to accelerate the drying process and effectively reduce bacterial growth.

[0083] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application.

Claims

1. A cleaning device, characterized in that, include: The washing station has a patterned surface and a water outlet. A first water tank is used to store cleaning fluid, and there is at least one liquid channel between the first water tank and the water outlet. A triggering component is used to trigger at least a portion of the at least one liquid channel to open after the robot moves to the cleaning table and stops at the parking position on the cleaning table, so that the cleaning fluid in the first water tank flows through the opened fluid channel and the outlet to the cleaning table. as well as An active door is provided at the entrance of the cleaning station. A control mechanism is provided on the surface of the cleaning station to control the opening and closing of the active door. The robot moves to contact and rub against the patterned structure, and the cleaning fluid on the cleaning table cleans the part being cleaned. When the movable door is in the open state, it forms a ramp at the entrance of the washing table; The robot travels up the ramp to the cleaning platform; After the robot moves to the cleaning table and stops at its designated position, the control mechanism is triggered by the robot to perform a control action, thereby controlling the movable door to rotate upwards to a vertical position and be in a closed state, so as to prevent splashed droplets from reaching the outside of the cleaning device.

2. The cleaning device according to claim 1, characterized in that, The triggering component includes: A trigger element, disposed on or extending toward the cleaning table, is used to generate a triggering action or triggering signal after the robot stops at its parking position on the cleaning table. A valve is installed at the water inlet of the first water tank and is used to open under the action of the triggering action or after receiving the triggering signal.

3. The cleaning device according to claim 2, characterized in that, The triggering element includes a push rod and an elastic element, wherein the push rod is connected to the elastic element; The cleaning station has a front end and a rear end, and the entrance end through which the robot enters the cleaning station is the front end; The push rod is located at the rear end of the cleaning table; the valve is linked to the push rod. The robot moves from the front end to the rear end. After detecting contact with the push rod, the robot stops. The push rod moves under the push force of the robot, causing the elastic element to deform and opening the valve. The robot then retracts from the rear end to the front end. Under the action of the elastic element, the push rod resets and closes the valve.

4. The cleaning device according to claim 3, characterized in that, The first water tank is positioned above the cleaning platform and has space between it and the cleaning platform sufficient to accommodate the robot; The push rod extends downwards from the bottom of the first water tank toward the washing platform.

5. The cleaning device according to claim 1, characterized in that, The triggering component is an automatic nozzle, which is located at the water outlet. When the robot is stationary at the parking position, the automatic nozzle opens under the gravity of the robot or under the action of the moving part being cleaned; After the robot leaves the parking position, the automatic nozzle shuts off.

6. The cleaning apparatus according to any one of claims 1 to 5, characterized in that, It also includes a second water tank; the second water tank is located below the washing platform and is used to store wastewater; The edge of the cleaning table surface is provided with at least one drain outlet, and the at least one drain outlet is connected to the second water tank.

7. The cleaning apparatus according to claim 6, characterized in that, The edge of the cleaning table is also provided with a drainage channel, which is connected to the at least one drain outlet.

8. The cleaning apparatus according to any one of claims 1 to 5, characterized in that, The pattern structure includes multiple bumps; The plurality of bumps include at least one of the following shapes: Wavy, straight, arc, and broken line.

9. The cleaning apparatus according to claim 8, characterized in that, The arrangement of the multiple protrusions in the pattern structure is related to the movement of the part being cleaned by the robot.

10. The cleaning apparatus according to claim 9, characterized in that, The robot rotates to clean the workpiece, and the multiple protrusions in the patterned structure radiate radially outwards from a point on the cleaning table; or The robot moves the workpiece being cleaned in a linear reciprocating motion. The patterned structure has multiple protrusions arranged in an array, and the extension direction of each protrusion is perpendicular to the linear reciprocating direction.

11. The cleaning apparatus according to any one of claims 1 to 5, characterized in that, The patterned structure protrudes above the surface of the cleaning table to compress the workpiece being cleaned when it comes into contact with and rubs against the workpiece being cleaned by the robot.

12. The cleaning apparatus according to claim 1, characterized in that, The cleaning table has a groove in the area corresponding to the part to be cleaned by the robot, and the bottom of the groove has the patterned structure. The groove is used to store cleaning fluid; After the robot stops at its designated position on the cleaning table, the robot lowers the part to be cleaned into the groove and abuts against the patterned structure; the cleaning liquid in the groove at least partially submerges the part to be cleaned.

13. A robot system, characterized in that, Includes a robot and a cleaning device; the robot is equipped with a cleaning component at its bottom; The cleaning device includes: The washing station has a patterned surface and a water outlet. A first water tank is used to store cleaning fluid, and there is at least one liquid channel between the first water tank and the water outlet. A triggering component is configured to, after the robot travels to the cleaning table and stops at its designated parking position on the cleaning table, activate at least a portion of one of the at least one liquid channels, allowing cleaning fluid in the first water tank to flow through the activated fluid channels and the outlet to the cleaning table; and An active door is provided at the entrance of the cleaning station. A control mechanism is provided on the surface of the cleaning station to control the opening and closing of the active door. The cleaning component is activated by contacting and rubbing against the patterned structure, and is cleaned by the cleaning liquid on the cleaning table. When the movable door is in the open state, it forms a ramp at the entrance of the washing table; The robot travels up the ramp to the cleaning platform; After the robot moves to the cleaning table and stops at its designated position, the control mechanism is triggered by the robot to perform a control action, thereby controlling the movable door to rotate upwards to a vertical position and be in a closed state, so as to prevent splashed droplets from reaching the outside of the cleaning device.

14. The robot system according to claim 13, characterized in that, The cleaning component includes a mopping element that rotates or reciprocates linearly.

15. A base station providing services to robots, characterized in that, include: The base station body is equipped with a robot docking platform, which has a patterned structure and a water outlet. A water inlet is provided on the base station body for receiving cleaning fluid; there is at least one liquid channel between the water inlet and the water outlet. A triggering component is used to trigger at least a portion of the at least one liquid channel to open after the robot travels to the docking platform and stops at the parking position on the docking platform, so that the cleaning fluid flows through the opened fluid channel and the outlet to the docking platform; as well as An active door is installed at the entrance of the dock, and a control mechanism is provided on the surface of the dock for controlling the opening and closing of the active door; The robot moves to contact and rub against the patterned structure, and the cleaning fluid on the docking platform cleans the part being cleaned. When the movable door is in the open state, it forms a ramp at the entrance of the docking platform; The robot travels up the ramp to the docking platform; After the robot travels to the docking platform and stops at its designated parking position, the control mechanism is triggered by the robot to perform a control action, thereby controlling the movable door to rotate upwards to an upright position and be in a closed state, so as to prevent splashed droplets from reaching the outside of the base station body.

16. A cleaning device, characterized in that, include: The washing station has a patterned surface. The water outlet is located on the cleaning platform; A triggering component is used to trigger the opening of the water outlet after the robot moves to the cleaning table and stops at the parking position on the cleaning table, so that the cleaning fluid flows to the cleaning table through the water outlet; as well as An active door is located at the entrance of the cleaning platform. A control mechanism is provided on the surface of the cleaning platform to control the opening and closing of the active door. When one of the parts to be cleaned on the robot and the patterned structure moves, the parts to be cleaned come into contact with and rub against the patterned structure. Under the action of the cleaning liquid on the cleaning platform, the parts to be cleaned are cleaned. When the movable door is in the open state, it forms a ramp at the entrance of the washing table; The robot travels up the ramp to the cleaning platform; After the robot moves to the cleaning table and stops at its designated position, the control mechanism is triggered by the robot to perform a control action, thereby controlling the movable door to rotate upwards to a vertical position and be in a closed state, so as to prevent splashed droplets from reaching the outside of the cleaning device.

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