Cleaning system

Abstract

The cleaning system comprises a cleaning robot, a base station and a docking device. The base station comprises a main body and a first liquid tank. The cleaning robot comprises a robot body and a robot second liquid tank. The docking device comprises a first connector and a second connector matched with the first connector. The first connector is connected to the first liquid tank and comprises a liquid outlet end and a first attachment element mounted on the liquid outlet end. The second connector is connected to the robot second liquid tank and comprises a second attachment element. Magnetic attraction can be generated between the first attachment element and the second attachment element. The liquid outlet end has at least one degree of freedom of movement in a plane perpendicular to the axial direction of the first connector. In the embodiment of the present application, the magnetic attraction between the first attachment element and the second attachment element is used to realize the docking of the first connector and the second connector, so that the second connector can actively search for the docking with the first connector during the return of the cleaning robot to the base station.

Description

Technical Field

[0001] This invention relates to the field of cleaning equipment technology, and more particularly to a cleaning system. Background Technology

[0002] Cleaning robots continuously consume cleaning solution during the cleaning process. For user convenience, known embodiments such as those published in CN1927549A and CN105149155A provide a solution where a base station replenishes the cleaning solution for the robot. However, these patented technologies have not been widely adopted in actual products, and cleaning robots capable of automatically adding fresh cleaning solution are currently rare on the market.

[0003] The main reason hindering the application of the aforementioned patented technology in actual products is the complexity and difficulty of the docking process between the cleaning robot and the base station. When the cleaning robot approaches the base station, its position changes significantly, making it impossible to achieve a sealed pipe connection, thus preventing the replenishment of the cleaning solution. Summary of the Invention

[0004] In view of this, embodiments of the present invention provide a cleaning system that can solve the above problems.

[0005] To achieve the above objectives, the present invention provides the following technical solution.

[0006] A cleaning system includes: a cleaning robot, a base station for the cleaning robot to dock and refill its fluids, and a docking device for connecting the cleaning robot to the base station;

[0007] The base station includes: a main body and a first liquid tank disposed on the main body, the first liquid tank being used to provide liquid to the cleaning robot;

[0008] The cleaning robot includes: a body, a moving module located at the bottom of the body for driving the cleaning robot to move, a working module located on the body for performing work tasks, and a second liquid tank located on the body, the second liquid tank obtaining liquid from the first liquid tank;

[0009] The docking device includes: a first connector and a second connector mating with the first connector; the first connector is connected to the first liquid tank, and the first connector includes a liquid outlet end and a first attachment element installed on the liquid outlet end; the second connector is connected to the robot's second liquid tank, and the second connector includes a second attachment element; wherein, one of the first attachment element and the second attachment element is a magnetic element, and the other is a magnetic element or a magnetizable element; the first attachment element and the second attachment element can generate a magnetic attraction force, so that the first connector and the second connector can be connected together by the magnetic attraction force;

[0010] The liquid outlet end has at least one degree of freedom of movement in a plane perpendicular to the axial direction of the first connector.

[0011] Preferably, the first connector has a working state extending outside the main body of the base station to mate with the second connector, and a non-working state;

[0012] The base station body is also provided with a drive mechanism that cooperates with the first connector. The drive mechanism is used to drive the first connector to move so as to achieve mating with the second connector.

[0013] The driving mechanism can at least drive the first connector to switch from the non-working state to the working state, and maintain the first connector in the working state; wherein, the working state is that the first connector and the second connector are mated.

[0014] Preferably, the base station includes:

[0015] A detection device is used to detect whether the cleaning robot has reached the predetermined position;

[0016] A control device is used to control the drive mechanism to move the first connector based on the signal sent by the detection device so as to achieve mating with the second connector.

[0017] Preferably, the driving mechanism includes a push rod and a transmission component fixedly connected to the push rod. The transmission component swings in response to external thrust to drive the push rod to move the first joint axially.

[0018] Preferably, the first connector further includes a guide member for guiding the push rod to move in a predetermined direction.

[0019] Preferably, the first connector further includes at least: an inlet end for connecting to the first liquid tank; the inlet end and the outlet end are connected by a flexible tube, the outlet end is used for insertion and mating with the second connector, and the inlet end is connected to the first liquid tank through an inlet pipe.

[0020] Preferably, the first joint further includes an axial tensile member to enhance the flexibility of the tube to withstand tension.

[0021] Preferably, the axial tensile member is a braided structure wrapped around the outer wall of the flexible tube; or, the axial tensile member is connected between the inlet end and the outlet end.

[0022] Preferably, the main body is provided with a horizontal guide sleeve, and the side wall of the horizontal guide sleeve is provided with a horizontal clearance hole; the first connector is movably inserted into the horizontal clearance hole; the first connector is provided with a horizontal guide part, and the horizontal guide part is slidably disposed in the horizontal guide sleeve.

[0023] Preferably, a return spring is provided between at least one end of the horizontal guide portion along its movable direction and the inner wall of the horizontal guide cavity.

[0024] Preferably, the first connector is movably disposed on the main body of the base station in a vertical direction and communicates with the first liquid tank;

[0025] The second connector is movably disposed at the bottom of the body of the cleaning robot in a horizontal direction and communicates with the robot's second liquid tank;

[0026] The base station body is also provided with a drive mechanism that cooperates with the first connector. The drive mechanism is used to drive the first connector to move in the vertical direction to achieve mating with the second connector.

[0027] Preferably, a guide is installed at the bottom of the second connector, and a guide hole is formed on the guide; the cross-sectional area of ​​the guide hole gradually decreases from bottom to top; the guide hole is used to guide the insertion of the first connector into the second connector.

[0028] Preferably, the first connector includes: a generally vertically arranged plug for insertion and mating with the second connector, and a generally horizontally arranged adapter connected to the plug;

[0029] The adapter is connected to the first liquid tank via a flexible tube.

[0030] Preferably, the first or second connector is provided with a sealing element, which seals the joint between the first and second connectors when they are in a mating state.

[0031] Preferably, the first connector includes a first connecting portion, the second connector includes a second connecting portion that mates with the first connecting portion, and the seal seals the gap between the first connecting portion and the second connecting portion.

[0032] Preferably, the first or second connecting part is provided with water-absorbing material; when the first connector and the second connector are in a mating state, the water-absorbing material is squeezed and is in a compressed state; when the first connector and the second connector are in a separated state, the water-absorbing material returns to its original state.

[0033] Preferably, the base station further includes: a base station controller;

[0034] The first or second connector is equipped with a docking detection element to detect whether the first connector and the second connector are successfully docked;

[0035] When the detection result of the docking detection element is yes, the base station controller controls the base station to replenish the second liquid tank of the cleaning robot.

[0036] Preferably, the docking device is provided with a one-way flow limiting structure, which allows liquid to flow from the first connector to the second connector, while inhibiting liquid from flowing from the second connector to the first connector.

[0037] A cleaning system, characterized in that it comprises: a cleaning robot, a base station for the cleaning robot to dock and replenish its fluids, and a docking device for connecting the cleaning robot to the base station;

[0038] The base station includes: a main body and a first liquid tank disposed on the main body;

[0039] The cleaning robot includes: a body, a moving module located at the bottom of the body for driving the cleaning robot to move, a working module located on the body for performing work tasks, and a second liquid tank for the robot located on the body.

[0040] The docking device includes: a first connector and a second connector mating with the first connector; the first connector is connected to the first liquid tank via a flexible tube, and the first connector includes a liquid outlet end and a first attachment element installed on the liquid outlet end; the second connector is connected to the robot's second liquid tank via a flexible tube, and the second connector includes a second attachment element; wherein, one of the first attachment element and the second attachment element is a magnetic element, and the other is a magnetic element or a magnetizable element; the first attachment element and the second attachment element can generate a magnetic attraction force, so that the first connector and the second connector can be connected together by the magnetic attraction force;

[0041] The liquid outlet or the second connector has at least one degree of freedom of movement in a plane perpendicular to the axial direction of the first connector.

[0042] The first and second connectors are docked using magnetic attraction between the first and second attachment elements. The liquid outlet end has at least one degree of freedom of movement in a plane perpendicular to the axial direction of the first connector, allowing the second connector to actively seek docking with the first connector during the cleaning robot's return to the base station. This not only achieves sealing of the liquid flow channel but also improves docking efficiency and results in a superior docking effect. Attached Figure Description

[0043] Figure 1A side view of a cleaning system according to a first non-limiting embodiment of the present invention;

[0044] Figure 2 This is a top view of a cleaning system according to a second non-limiting embodiment of the present invention;

[0045] Figure 3 This is a three-dimensional structural diagram of a cleaning robot according to a first non-limiting embodiment of the present invention;

[0046] Figure 4 for Figure 3 The diagram shows the exploded structure of the cleaning robot.

[0047] Figures 5 to 6 According to Figures 1 to 2 The diagram shows the water circuit of the cleaning system.

[0048] Figure 7 for Figures 1 to 2 A schematic diagram of the structure of the docking device in the cleaning system shown in the disengaged state;

[0049] Figure 8 for Figure 2 A partially enlarged structural diagram of the docking device in the diagram;

[0050] Figure 9 This is a flowchart of the cleaning system according to an embodiment of the present invention;

[0051] Figure 10 This is a schematic diagram of the structure of a cleaning robot according to a second non-limiting embodiment of the present invention;

[0052] Figure 11 To and Figure 10 The diagram shows the structure of the base station that the cleaning robot is matched with.

[0053] Figure 12 for Figure 10 The cleaning robot shown Figure 11 A schematic diagram of the structure of a cleaning system according to a third non-limiting embodiment of the base stations shown;

[0054] Figure 13 for Figure 12 A three-dimensional sectional view of the docking device;

[0055] Figure 14 for Figure 12 The diagram shows the assembly structure of the first connector and the drive mechanism in the cleaning system.

[0056] Figure 15 for Figure 14 A cross-sectional view of the docking device shown when the first and second joints are not docked;

[0057] Figure 16 for Figure 14 A cross-sectional view of the first and second joints in the docking device shown.

[0058] Figure 17 This is a schematic diagram of the docking mechanism for the cleaning robot. Detailed Implementation

[0059] This invention provides a base station 200 for a cleaning robot 100 to dock and for refilling the cleaning robot 100 with liquid, and a cleaning system that uses or configures the base station 200. For example... Figure 1 , Figure 3 , Figure 4 , Figure 10 and Figure 12 As shown, the cleaning robot 100 includes a body 101, a moving module located at the bottom of the body 101 for moving the cleaning robot 100 on a working surface, a cleaning module 102 located at the bottom of the body 101 for performing cleaning tasks, a second liquid tank 103 located on the body 101 for containing liquid to wet the cleaning medium held by the cleaning module 102, a power supply unit 117 (e.g., a battery pack) located on the body 101, and a robot controller (not shown) located on the body 101 and connected to the power supply unit 117.

[0060] In an optional embodiment, the moving module may include a drive wheel 104 located at the rear bottom of the body 101 and a caster wheel 105 located at the front bottom of the body 101. The drive wheel 104 acts as a power wheel, driven to rotate by a motor connected to the robot controller. The caster wheel 105 is connected to the robot controller and is controlled by the robot controller to retract or extend. The body 101 is provided with a lifting mechanism for raising or lowering the cleaning module 102, which may employ a known cam structure. The cleaning module 102 may be a wiping module for performing mopping / wiping work on a work surface, including a mop plate and a cleaning medium (e.g., mop cloth, mop paper, etc.) mounted on the mop plate. The top of the body 101 may be provided with a detection element, such as a laser scanning module, connected to the robot controller, for detecting whether there are obstacles in front of the cleaning robot 100 in its walking direction. When an obstacle is detected in front of the cleaning robot 100 in its walking direction, the robot controller controls the lifting mechanism to raise the cleaning module 102 and lower the caster wheel 105. At this time, the cleaning robot 100 is in obstacle-crossing mode. After the cleaning robot 100 passes the obstacle, the robot controller then controls the lifting mechanism to lower the cleaning module 102, and the casters 105 retract. At this point, the cleaning robot 100 is in working mode and can begin cleaning operations. Further, such as Figure 7 and Figure 4As shown, the cleaning robot 100 may have a bumper 119 on its body 101. The bumper 119 is U-shaped and located at the front end of the body 101. An elastic element is provided between the bumper 119 and the body 101, allowing it to move reversibly relative to the body 101. The bumper 119 serves to buffer the cleaning robot 100 and prevent rigid collisions. During the movement of the cleaning robot 100, if there are hard objects such as tables, chairs, doors, or walls in front of it and the cleaning robot 100 fails to avoid them in time, the bumper 119 will impact these hard objects and move between itself and the body 101, compressing and storing energy in the elastic element. When the cleaning robot 100 adjusts its direction of movement and disengages the bumper 119 from the hard object, the elastic element is released, and the bumper 119 returns to its original position. To achieve the basic functions of the cleaning robot 100, the cleaning robot 100 in this embodiment may also include other necessary modules or components, such as a roller brush, side brush, suction port, and dust box. It should be noted that other necessary modules or components included in the cleaning robot 100 can be selected from any suitable existing structures. To clearly and concisely illustrate the technical solution provided by this invention, the above-mentioned parts will not be repeated here, and the accompanying drawings have also been simplified accordingly. However, it should be understood that the scope of this invention is not limited thereto.

[0061] The cleaning robot 100 of this invention can be applied to cleaning scenarios including but not limited to mopping and window wiping. In a specific scenario, the cleaning robot 100 of this invention can be a mopping robot, which can drive the cleaning module 102 to contact the ground and wipe the ground. It should be noted that the above-mentioned scenario for mopping is only one feasible cleaning scenario for the cleaning robot 100 of this invention. Within the foreseeable scope, those skilled in the art can extend the application of the cleaning robot 100 of this invention to any suitable cleaning scenario, and this invention does not limit this. This article uses a mopping robot as the main scenario for description. However, based on the above description, the scope of protection of this invention is not limited thereto.

[0062] The cleaning robot 100 is equipped with a second liquid tank 103 for containing liquids, such as... Figure 4As shown, liquid is supplied to the cleaning medium through the outlet pipe 109. In some embodiments, the liquid contained in the robot's second liquid tank 103 can be water, used to wet the cleaning medium for wet mopping. In other embodiments, the liquid contained in the robot's second liquid tank 103 can be a cleaning solution, used to improve cleaning effectiveness and add fragrance to the floor. In still other embodiments, the liquid contained in the robot's second liquid tank 103 can be a disinfectant, used to sterilize and disinfect the work surface. Similarly, this article describes the scenario where the liquid contained in the robot's second liquid tank 103 is a cleaning solution. However, as can be seen from the above description, the scope of protection of the embodiments of the present invention is not limited thereto.

[0063] Existing technology requires users to manually prepare cleaning solutions of different concentrations and then add the prepared solutions to the second liquid tank 103 of the cleaning robot 100. This replenishment method is very inconvenient and results in a poor user experience. Therefore, in some embodiments of the present invention, the base station 200 can automatically prepare the required concentration of cleaning solution and automatically replenish the cleaning robot 100, eliminating the need for users to manually prepare cleaning solutions of different concentrations and pour them into the robot's second liquid tank 103, thereby improving the user experience.

[0064] The technical solutions of the embodiments of the present invention will now be described in detail with reference to the accompanying drawings.

[0065] Combination Figure 1 , Figures 5 to 6 As shown, in one embodiment, the base station 200 includes: a main body 203 and two cavities disposed on the main body 203: a first liquid tank 201 and a second cavity 202. The main body 203 has a parking position 204 for the cleaning robot 100 to park, and the first liquid tank 201 and the second cavity 202 are located above the parking position 204. Specifically, the main body 203 includes a storage structure 2033 located above the parking position 204. The storage structure 2033 is generally hollow and has a first mounting position for installing the first liquid tank 201 and a second mounting position for installing the second cavity 202, for mounting the first liquid tank 201 and the second cavity 202. The first mounting position and the second mounting position are specifically mounting slots. The storage structure 2033 is connected to the parking position 204 through a supporting rear plate 2031, that is, the storage structure 2033 is supported above the parking position 204 by the supporting rear plate 2031.

[0066] The first liquid tank 201 is used to hold cleaning solutes, such as liquid cleaning solutions or disinfectants. The second cavity 202 is used to hold solvents, such as water. In an optional embodiment, the first liquid tank 201 and / or the second cavity 202 can be integrally formed with the main body 203. That is, the first liquid tank 201 and / or the second cavity 202 are fixedly mounted on the main body 203 and cannot be separated from the main body 203. Of course, in another optional embodiment, for the convenience of holding liquids, the first liquid tank 201 and / or the second cavity 202 can also be detachably formed from the main body 203. Specifically, the upper end of the storage structure 2033 is open, and the first liquid tank 201 and / or the second cavity 202 are box or shell structures that can be inserted into or removed from the upper end opening of the storage structure 2033.

[0067] Furthermore, the first mounting position and the second mounting position are respectively provided with a first in-situ detection element and a second in-situ detection element for detecting whether the first liquid tank 201 and the second cavity 202 are installed. The first in-situ detection element and the second in-situ detection element are connected to the base station controller. When the first in-situ detection element and the second in-situ detection element do not detect the installation of the first liquid tank 201 and the second cavity 202, the base station controller controls the alarm unit connected to it to operate.

[0068] In this embodiment, the first and second in-situ detection elements can employ any suitable existing construction, such as various sensors, optical, acoustic, mechanical, or electromagnetic detection elements, etc., and this embodiment is not limited in this regard. For example, in a specific embodiment, the in-situ detection element can be an optical detection element, located at the bottom of the mounting position, including a light emitting unit and a light receiving unit. The light emitting unit emits detection light (upward emission) towards the mounting position. If a cavity is provided on the mounting position, the detection light is reflected back by the bottom wall of the cavity and received by the light receiving unit. If no cavity is provided on the mounting position, the detection light is emitted through the upper opening of the receiving structure 2033, and the light receiving unit does not receive the reflected detection light. Thus, whether a cavity is provided at the current mounting position can be identified based on whether the light receiving unit receives the reflected detection light. When the first liquid tank 201 and the second cavity 202 are respectively installed on the first and second mounting positions, the first and second in-situ detection elements can detect that the first liquid tank 201 and the second cavity 202 are in the in-situ state. Furthermore, the first and second in-situ detection elements can be in a silent state. Once the first and second presence detection elements detect that the first liquid tank 201 and / or the second cavity 202 are in an off-position state, they send a corresponding trigger command to the base station controller. The base station controller then controls the operation of the warning unit based on this trigger command. The warning unit includes an audible / visual alarm device, such as a buzzer or speaker, mounted on the main body 203, which can emit audible / visual alarm signals. Alternatively, the warning unit can include a user's client, such as a mobile smartphone or software (APP) installed on the mobile smartphone. The base station controller can communicate with the client. When the first and second presence detection elements detect that the first liquid tank 201 and / or the second cavity 202 are in an off-position state, the base station controller establishes a communication connection with the client based on the trigger command provided by the first and second presence detection elements. Subsequently, the client can invoke its own hardware and software operations to generate corresponding warning signals, such as displaying a prompt message on the screen, vibrating the vibration module, flashing the supplementary light, or emitting a sound from the speaker. The first liquid tank 201 and the second cavity 202 may be equipped with liquid level detection elements connected to the base station controller. The base station controller controls the operation of the warning unit when the liquid level detection elements detect that the liquid level in the corresponding cavity is lower than a set threshold. By setting up a liquid level detection element, the user can be notified in a timely manner to replenish the liquid when the remaining amount or the amount of liquid in the first liquid tank 201 and / or the second cavity 202 is low, thereby ensuring that the cleaning robot 100 has sufficient liquid reserves and supply when liquid replenishment is required.

[0069] like Figure 5As shown, in some optional embodiments, the liquid level detection element includes a liquid level sensor 205, located near the bottom of the first liquid tank 201 and the second cavity 202, for real-time detection of the liquid level in the first liquid tank 201 and the second cavity 202. When the liquid level is lower than a set threshold, a trigger command is sent to the base station controller. Alternatively, in other optional embodiments, the liquid level detection element may also include a liquid presence / absence sensor 206, which may be located at the outlet of the first liquid tank 201 and the second cavity 202 (e.g., the first pipe 2071 and the second pipe 2072 described below), for detecting whether there is liquid in the first liquid tank 201 and the second cavity 202. When the detection result is no liquid (corresponding to a liquid level of 0), a trigger command is sent to the base station controller. In this embodiment, the set threshold can be set according to actual conditions, for example, 5% of the cavity height; this embodiment does not limit this. Furthermore, embodiments of the base station controller controlling the operation of the warning unit can be referred to the above description and will not be repeated here.

[0070] like Figures 5 to 6 As shown, the base station 200 also includes a liquid supply assembly 207, which has an input terminal 2074 communicating with the first liquid tank 201 and the second cavity 202, and an output terminal 2075 communicating with the input terminal 2074. The input terminal 2074 is used to receive cleaning solute and solvent discharged from the first liquid tank 201 and the second cavity 202, respectively. The output terminal 2075 is used to communicate with the robot's second liquid tank 103 of the cleaning robot 100 to provide the cleaning solute and solvent to the cleaning robot 100.

[0071] In one feasible embodiment, the output terminal 2075 can directly provide the cleaning solute and solvent to the cleaning robot 100, which are not pre-mixed. That is, the cleaning solute and solvent are not mixed in the base station 200, but are mixed and proportioned in the robot's second liquid tank 103 to form a cleaning solution. Figure 5 As shown, to achieve the above objective, the liquid supply assembly 207 includes: a first conduit 2071 communicating with the first liquid tank 201 and a second conduit 2072 communicating with the second cavity 202. The ends of the first conduit 2071 and the second conduit 2072 connected to the first liquid tank 201 and the second cavity 202 form the input end 2074, and the ends of the first conduit 2071 and the second conduit 2072 opposite to the input end 2074 form the output end 2075.

[0072] To achieve automatic mixing of cleaning solutions of the required concentration or ratio, a proportional control component 208 is provided on the liquid supply assembly 207 to control the amount of cleaning solute and solvent discharged from the first liquid tank 201 and the second chamber 202. The base station controller is connected to the proportional control component 208 and controls its operation. In this embodiment, the proportional control component 208 includes a flow control element, and the base station controller controls the flow rate of the flow control element. In an optional embodiment, the flow control element includes a first pump 2081 and a second pump 2082, respectively installed on the first pipeline 2071 and the second pipeline 2072.

[0073] In contrast to the above embodiment, in another feasible embodiment, the cleaning solute and solvent supplied to the cleaning robot 100 by the output terminal 2075 are pre-mixed. That is, after the cleaning solute and solvent are mixed and proportioned in the base station 200 to form a cleaning solution, they are provided to the cleaning robot 100 by the output terminal 2075. To achieve the above objective, the liquid supply assembly 207 further includes a mixing region located between the input terminal 2074 and the output terminal 2075. The mixing region is used to mix the cleaning solute and solvent input by the input terminal 2074 to obtain a cleaning solution. The output terminal 2075 is connected to the input terminal 2074 through the mixing region to provide the cleaning solution to the cleaning robot 100.

[0074] Specifically, such as Figure 6As shown, the liquid supply assembly 207 includes: a first pipe 2071 communicating with a first liquid tank 201, a second pipe 2072 communicating with a second cavity 202, and a manifold 2073 communicating with the first pipe 2071 and the second pipe 2072. The first pipe 2071 and the second pipe 2072 are respectively connected to the bottom of the first liquid tank 201 and the second cavity 202 to fully utilize the liquid in the first liquid tank 201 and the second cavity 202. The first pipe 2071 and the second pipe 2072 can be connected to the manifold 2073 through a T-junction. In this embodiment, the connection between the manifold 2073, the first pipe 2071, and the second pipe 2072 forms the input end 2074, the end of the manifold 2073 opposite to the input end 2074 forms the output end 2075, and the internal flow channel of the manifold 2073 forms a mixing region. That is, the cleaning solute and solvent contained in the first liquid tank 201 and the second chamber 202 are output through the first pipeline 2071 and the second pipeline 2072 respectively, and converge at the input end 2074 into the manifold 2073. They are then mixed in the manifold 2073 to obtain a cleaning solution of the desired concentration or proportion. As described above, in this embodiment, the liquid supply assembly 207 is equipped with a proportional control assembly 208 to control the amount of cleaning solute and solvent discharged from the first liquid tank 201 and the second chamber 202. The base station controller is connected to the proportional control assembly 208 to control its operation.

[0075] In an optional embodiment, the proportional control component 208 includes a first pump 2081 and a second pump 2082. The first pump 2081 is disposed on a first conduit 2071 or a second conduit 2072, and the second pump 2082 is disposed on a manifold 2073. Alternatively, the first pump 2081 and the second pump 2082 are disposed on the first conduit 2071 and the second conduit 2072, respectively. The base station controller controls the flow rates of the first pump 2081 and the second pump 2082, thereby controlling the flow rates of the cleaning solute and solvent, and thus obtaining a cleaning solution with a set ratio or concentration.

[0076] For example, if the first pump 2081 and the second pump 2082 are respectively installed on the first pipeline 2071 and the manifold 2073, when a 10% concentration cleaning solution is needed, the base station controller controls the first pump 2081 to output a cumulative 1 part (e.g., 50 mL) of cleaning solute, and controls the second pump 2082 to output a cumulative 10 parts (500 mL) of mixed solution. Then, according to the principle of flow conservation, the second chamber 202 will output a cumulative 9 parts (450 mL) of solvent. The resulting 10 parts of mixed solution are thoroughly mixed in the manifold 2073 (mixing area) to obtain a 10% concentration cleaning solution. Alternatively, if the first pump 2081 and the second pump 2082 are respectively installed on the second pipeline 2072 and the manifold 2073. When a 10% cleaning solution is needed, the base station controller controls the first pump 2081 to output a cumulative total of 9 portions (e.g., 450 mL) of solvent and the second pump 2082 to output a cumulative total of 10 portions (500 mL) of the mixture. Therefore, according to flow conservation, the first liquid tank 201 outputs 1 portion (50 mL) of cleaning solute. These 10 portions of the mixture are then thoroughly mixed in the manifold 2073 (mixing area) to obtain a 10% cleaning solution. Alternatively, if the first pump 2081 and the second pump 2082 are respectively located on the first pipe 2071 and the second pipe 2072, when a 10% cleaning solution is needed, the base station controller controls the first pump 2081 to output a cumulative total of 1 portion (e.g., 50 mL) of cleaning solute and the second pump 2082 to output a cumulative total of 9 portions (450 mL) of the mixture. Therefore, according to flow conservation, the cumulative amount of the mixture input into the manifold 2073 is 10 portions (500 mL). After the 10 portions of the mixture are thoroughly mixed in the manifold 2073 (mixing zone), a cleaning solution with a concentration of 10% can be prepared.

[0077] In the above embodiments, the base station controller can adjust the output flow rate by controlling the output power, output speed, and working time of the first pump 2081 and the second pump 2082, or select the first pump 2081 and the second pump 2082 with different flow rates to achieve the preset output flow rate. Since the amounts of cleaning solute and solvent are generally different (generally, the amount of cleaning solute is less than the amount of solvent), in order to ensure that the cleaning solute and solvent are fully mixed, the base station controller can control the speed of the two pumps so that the cleaning solute and solvent can be output within the same time period.

[0078] In the embodiment where the second pump 2082 is located on the manifold 2073, the second pump 2082 can stir the mixed cleaning solute and solvent, thereby ensuring that the cleaning solute and solvent are fully mixed and the resulting cleaning solution has better uniformity.

[0079] In the embodiment where the first pump 2081 is located on the first pipeline 2071 or the second pipeline 2072, and the second pump 2082 is located on the manifold 2073, the start-up and shutdown timing of the two pumps needs to be controlled to prevent cross-flow of liquid between the two chambers. Specifically, when the base station 200 starts supplying cleaning solution to the cleaning robot 100, the base station controller controls the first pump 2081 to start no earlier than the second pump 2082. And when the base station 200 stops supplying cleaning solution to the cleaning robot 100, the base station controller controls the first pump 2081 to shut down no later than the second pump 2082. In other words, when the base station 200 begins replenishing the cleaning robot 100 with liquid, the second pump 2082 should be activated first, followed by the first pump 2081, or both pumps can be activated simultaneously. However, the first pump 2081 must not be activated before the second pump 2082 to avoid pumping the cleaning solution from the first liquid tank 201 into the second chamber 202, or pumping the solvent from the second chamber 202 into the first liquid tank 201. Similarly, after the base station 200 has finished replenishing the cleaning robot 100 with liquid, when shutting down, the second pump 2082 should be shut down first, followed by the first pump 2081, or both pumps can be shut down simultaneously.

[0080] The above describes how control logic can be used to prevent liquid cross-flow between the two chambers. Of course, this problem can also be avoided through structural improvements. Specifically, when the first pump 2081 and the second pump 2082 are respectively located on the first pipeline 2071 and the manifold 2073, a second check valve can be installed on the second pipeline 2072 to inhibit the flow of liquid from the input end 2074 to the second chamber 202. Alternatively, when the first pump 2081 and the second pump 2082 are respectively located on the second pipeline 2072 and the manifold 2073, a first check valve can be installed on the first pipeline 2071 to inhibit the flow of liquid from the input end 2074 to the first liquid tank 201. In this way, the opening or closing sequence of the first pump 2081 and the second pump 2082 can be relatively flexible when starting or stopping operation. Due to the presence of the check valve, there will be no liquid cross-flow between the two chambers.

[0081] like Figure 10 As shown, in another optional embodiment, the proportional control component 208 may be additionally equipped with a pump, including a first pump 2081, a second pump 2082, and a third pump 2083, respectively installed on the first pipeline 2071, the second pipeline 2072, and the manifold 2073. The base station controller controls the flow rate of the cleaning solute and solvent by controlling the flow rate of at least two of the first pump 2081, the second pump 2082, and the third pump 2083, thereby obtaining a cleaning solution with a set ratio or concentration.

[0082] The specific method by which the base station controller controls the flow rates of at least two of the first pump 2081, the second pump 2082, and the third pump 2083 can be referred to the description above and will not be repeated here. In practice, from the perspective of simplifying the control logic, the base station controller may only control the flow rates of the first pump 2081 and the second pump 2082, while the third pump 2083 serves to stir to ensure that the cleaning solute and solvent are fully mixed.

[0083] The concentration of the cleaning solution can be set by the user as needed. Specifically, the base station controller is connected to an input device, which can provide the base station controller with the mixing ratio parameters of the cleaning solute and solvent based on user operation. In some embodiments, the input device may include a touch panel on the main body 203 of the base station 200, or the touch panel may also be located on the body 101 of the cleaning robot 100. The touch panel may display predetermined concentration option controls, such as a series of free or discontinuous concentration option controls such as 5%, 10%, 15%, 20%; or a continuous scrolling concentration option control in the range of 1% to 50%. The user clicks the touch panel to set the desired concentration. Subsequently, the base station controller receives the concentration parameter input from the touch panel and controls the operation of the ratio control component 208. Alternatively, in other embodiments, the input device may be a user client, such as a mobile smartphone, or software (APP) installed on the mobile smartphone. As described above, the base station controller communicates with the client. The user can set the required concentration on the client's display interface. The base station controller receives the concentration parameters sent by the client and controls the proportional control component 208 to operate.

[0084] To prevent foreign matter from entering and contaminating the liquid, the first liquid tank 201 and the second cavity 202 are generally kept closed when in place. When the base station 200 replenishes liquid to the cleaning robot 100, the air pressure inside the first liquid tank 201 and the second cavity 202 will decrease due to the reduction in liquid volume and the increase in air volume. Therefore, to balance the pressure difference between the inside and outside of the cavity caused by the reduction in liquid volume, the first liquid tank 201 is equipped with a first waterproof and breathable device; and / or, the second cavity 202 is equipped with a second waterproof and breathable device. In this way, when the liquid volume inside the cavity decreases, outside air can enter the cavity through the corresponding waterproof and breathable devices to compensate for the space released due to the reduction in liquid volume, maintaining pressure balance inside and outside the cavity.

[0085] In some optional embodiments, the first waterproof and breathable device and / or the second waterproof and breathable device can be a hole penetrating the top wall of the first liquid tank 201 and the second cavity 202, with a waterproof and breathable membrane disposed in the hole. Of course, in other optional embodiments, the first waterproof and breathable device and / or the second waterproof and breathable device can be a waterproof and breathable valve, disposed at any position on the wall of the first liquid tank 201 and the second cavity 202.

[0086] As described above, generally, the amount of cleaning solute used is less than the amount of solvent used, meaning the consumption rate of the cleaning solute is less than the consumption rate of the solvent. Therefore, in practice, the volume of the first liquid tank 201 used to hold the cleaning solute is smaller than the volume of the second chamber 202 used to hold the solvent. When different types of cleaning solutes are needed (for example, cleaning fluid is needed in some scenarios, and disinfectant is needed in others), the first liquid tank 201 needs to be replaced frequently. In this case, if a waterproof and breathable valve is installed on the first liquid tank 201, then each first liquid tank 201 would need to be equipped with a waterproof and breathable valve, which would increase costs.

[0087] In view of this, in the embodiment where the first waterproof and breathable device is a waterproof and breathable valve, the waterproof and breathable valve is located at the interface between the first liquid tank 201 and the liquid supply component 207. Specifically, a plug-in seat is formed at the first mounting position on the housing structure 2033, and a corresponding mating hole is provided at the bottom of the first liquid tank 201. The first pipeline 2071 is connected to the plug-in seat. When the plug-in seat is inserted into the mating hole, the first liquid tank 201 and the first pipeline 2071 can be connected simultaneously when the first liquid tank 201 is positioned and installed. The waterproof and breathable valve, as the first waterproof and breathable device, can be located in the plug-in seat. In this way, the first liquid tank 201 does not need to be equipped with an additional first waterproof and breathable device, but only one waterproof and breathable valve is set in the base station 200 to realize the installation of different first liquid tanks 201, thereby reducing costs. Similarly, the second waterproof and breathable device can also be located at the interface between the second cavity 202 and the liquid supply component 207, as described above. Of course, since the volume of the second cavity 202 is larger than that of the first liquid tank 201, its holding capacity is greater, and since the solvent it holds is generally water, it does not need to be replaced frequently. Therefore, in practice, the base station 200 only needs to be equipped with one second cavity 202, and the second waterproof and breathable device can also be set on the side wall of the second cavity 202. In some embodiments, for cost reduction considerations, the second waterproof and breathable device can adopt the structure design of holes and waterproof and breathable membranes described above.

[0088] As can be seen from the above, the base station 200 of this embodiment of the invention, by setting a proportional control component 208, can adjust the flow rate of the cleaning container and solvent output from the first liquid tank 201 and the second chamber 202, thereby obtaining a cleaning solution of the required proportion or concentration, and can provide the obtained cleaning solution to the cleaning robot 100. In this way, the user is eliminated from the need to manually mix cleaning solutions of different concentrations and pour the cleaning solution into the cleaning robot 100's tank; the mixing and replenishment of the cleaning solution can be completed automatically, resulting in a better user experience.

[0089] like Figure 6As shown, to receive the cleaning solution supplied by the base station 200, the second liquid tank 103 of the cleaning robot 100 is equipped with a liquid outlet 106. The liquid outlet 106 is connected to a three-way connector 108 via a liquid pipe 107. One end of the three-way connector 108 is connected to an outlet pipe 109, and the other end is used to connect to the liquid supply component 207. Since existing cleaning robots require manual liquid replenishment, their tanks generally have only one outlet. This outlet is connected to the cleaning module 102 via the outlet pipe 109 to wet the cleaning medium. Although this invention requires replenishment of the second liquid tank 103, it does not change the structure of the second liquid tank 103. That is, the second liquid tank 103 is only equipped with one liquid outlet 106, which serves as an inlet when the base station 200 replenishes the cleaning robot 100 and as an outlet when the cleaning robot 100 is working. Specifically, the tee connector 108 is connected to the inlet end of the liquid pump 110 via the liquid pipe 120, and the liquid outlet pipe 109 is connected to the outlet end of the liquid pump 110. For example... Figure 4 As shown, the liquid outlet pipe 109 includes a pipe body connected to the outlet end of the liquid outlet pump 110, and a water distribution strip connected to the pipe body. When the cleaning robot 100 is working, the liquid outlet pump 110 operates, pumping the liquid in the robot's second liquid tank 103 to the cleaning module 102 via the liquid outlet pipe 109. The water distribution strip of the liquid outlet pipe 109 can uniformly wet the cleaning medium installed on the cleaning module 102. By setting a three-way connector 108, the liquid pipe 107 can be connected to the liquid outlet pipe 109 and the liquid supply component 207, thereby simplifying the water circuit design and achieving a high degree of structural integration. Of course, the liquid addition and dispensing of the robot's second liquid tank 103 can be limited to the shared liquid port 106 mentioned above. In other embodiments, considering factors such as space and overall machine layout, a separate liquid addition port can also be added to the robot's second liquid tank 103 to facilitate liquid addition. That is, the liquid addition port is used to add liquid to the robot's second liquid tank 103, and the liquid port 106 is used for liquid dispensing.

[0090] The docking process between the cleaning robot 100 and the base station 200 is complex and difficult. Specifically, when the cleaning robot 100 approaches the base station 200, its position changes significantly, making it difficult to achieve a sealed pipe connection. Therefore, how to achieve accurate docking between the cleaning robot 100 and the base station 200, and how to prevent leakage during the liquid replenishment process, are urgent technical problems to be solved. In view of this, the present invention uses a docking device 300 to achieve the connection between the cleaning robot 100 and the base station 200.

[0091] like Figure 7As shown, in one feasible embodiment, the docking device 300 includes: a first connector 301 and a second connector 302 that plugs into the first connector 301. The first connector 301 is disposed on the base station 200 and communicates with the first liquid tank 201 and the second cavity 202. The second connector 302 is disposed on the cleaning robot 100 and communicates with the robot's second liquid tank 103. The first connector 301 is connected to the output end 2075 of the liquid supply assembly 207, that is, connected to the end of the manifold 2073.

[0092] like Figure 1 As shown, in one embodiment, the first connector 301 may be disposed on the supporting rear plate 2031 of the main body 203, and the second connector 302 may be disposed at the front end of the body 101 of the cleaning robot 100. This embodiment allows for liquid addition from the front end. Alternatively, in one embodiment, the first connector 301 may be disposed on the parking position 204 of the main body 203, and the second connector 302 may be disposed at the bottom of the body 101 of the cleaning robot 100. This embodiment allows for liquid addition from the bottom. Or, in another embodiment, the first connector 301 may be disposed on the storage structure 2033 of the main body 203, and the second connector 302 may be disposed at the rear end of the body 101 of the cleaning robot 100. This embodiment allows for liquid addition from the rear end.

[0093] The second connector 302 is located on the body 101 of the cleaning robot 100 and is connected to the other end of the robot's second liquid tank 103 via a replenishment pipe 111. Specifically, as follows... Figure 4 As shown, the second connector 302 can be installed on the impact plate 119 and connected to the replenishment tube 111 via the hose 118 and the tee connector 112 described below. More specifically, the hose 118 is connected to the second connector 302, one end of the tee connector 112 is connected to the hose 118, the other end is connected to the replenishment tube 111, and the third end is connected to the third waterproof and breathable device 113 described below.

[0094] like Figure 1 and Figure 3 As shown, in an optional embodiment, the second connector 302 is located on the circumferential surface of the fuselage 101, and more preferably at the front end of the fuselage 101 in the direction of entering the base station 200. Correspondingly, the first connector 301 is located on the supporting rear plate 2031 of the base station 200. The advantage of this design is that the position of the fuselage 101 can be actively adjusted by the drive wheel 104 to ensure the connection of the connectors. Of course, the positions of the first connector 301 and the second connector 302 are not limited to the above embodiments. In other embodiments, the second connector 302 can also be located at other positions such as the top, bottom, and rear circumferential surface of the fuselage 101, and the position of the first connector 301 in the base station 200 will also change accordingly.

[0095] Similarly, this article uses the scenario of the first connector 301 being located on the supporting rear plate 2031 of the base station 200 and the second connector 302 being located on the front end of the cleaning robot 100, i.e., front-end liquid addition, as the main description. However, as can be seen from the above description, the scope of protection of the embodiments of the present invention is not limited thereto.

[0096] To improve the docking efficiency between the second connector 302 and the first connector 301, the first connector 301 and the second connector 302 are respectively provided with a first attachment element 3011 and a second attachment element 3022. One of the first attachment element 3011 and the second attachment element 3022 is a magnetic element, and the other is a magnetic element or a magnetizable element. A magnetic attraction force can be generated between the first attachment element 3011 and the second attachment element 3022, allowing the first connector 301 and the second connector 302 to be connected together by magnetic attraction.

[0097] In this embodiment, the magnetic element can be a magnetic element capable of generating a magnetic field, such as a magnet that is itself magnetic (e.g., a permanent magnet or a hard magnet), or an electromagnetic element that generates magnetism when energized (e.g., an electromagnet). The magnetizable element can be made of magnetizable materials such as iron, cobalt, nickel, etc., and can be attracted by magnetic force.

[0098] like Figure 1 As shown, when liquid replenishment is needed, the cleaning robot 100 drives into the base station 200. After the cleaning robot 100 drives into the base station 200 and docks in the parking position 204, under the magnetic attraction between the first attachment element 3011 and the second attachment element 3022, the second connector 302 actively seeks the first connector 301, so that the first connector 301 and the second connector 302 are aligned and naturally attracted to each other, and the first connector 301 and the second connector 302 achieve plug-in mating, thereby achieving docking quickly and efficiently.

[0099] Although the return of the cleaning robot 100 to the base station 200 is a relatively mature existing technology, it is difficult to ensure that the direction and position of the cleaning robot 100 when entering the base station 200 are strictly consistent each time. If the docking of the first connector 301 and the second connector 302 is achieved solely by adjusting the direction of travel of the cleaning robot 100 and utilizing the magnetic attraction between the first attachment element 3011 and the second attachment element 3022, then even a slight difference in the direction or position of the cleaning robot 100 when entering the base station 200 may lead to docking failure of the first connector 301 and the second connector 302. Therefore, the tolerance for error in docking of the first connector 301 and the second connector 302 is small, and the docking is quite difficult.

[0100] In view of this, the present invention incorporates a redundant design for the mating of the first connector 301 and the second connector 302. To achieve the above objective, in an optional embodiment, the first connector 301 may employ a structure with flexible connections at both ends. Please refer to... Figure 7 The first connector 301 includes: an inlet end 3012 disposed on the main body 203 (specifically, the supporting rear plate 2031) and an outlet end 3013 that is inserted and mated with the second connector 302. A first attachment element 3011 is disposed on the outlet end 3013. The inlet end 3012 is connected to the liquid supply assembly 207 via a manifold 2073, and the outlet end 3013 is connected to the inlet end 3012 via a flexible tube 303.

[0101] In this embodiment, the liquid inlet end 3012 can be fixedly inserted into the mounting hole of the support rear plate 2031 of the main body 203. For example... Figure 1 As shown, one end (upper end) of the manifold 2073 is connected to the cavity, and the other end (lower end) is fitted with the inlet end 3012. The flexible tube 303 can be made of silicone tubing, which has better flexibility and deformability. One end of it is fitted with the inlet end 3012, and the other end is fitted with the outlet end 3013, so as to realize the connection between the inlet end 3012 and the outlet end 3013.

[0102] By utilizing the flexible connection structure at both ends of the first connector 301, when the cleaning robot 100 enters the base station 200, even if the second connector 302 is not perfectly aligned with the first connector 301, the flexible tube 303 can be bent under the magnetic attraction between the first attachment element 3011 and the second attachment element 3022, thereby achieving docking between the liquid outlet end 3013 and the second connector 302. In this way, the second connector 302 can dock with the first connector 301 within a predetermined directional range, greatly improving the tolerance and efficiency of docking between the first connector 301 and the second connector 302, and reducing the difficulty of docking.

[0103] Compared to rigid tubes, flexible tube 303 is weaker. After the cleaning robot 100 completes the fluid replenishment, it needs to leave the base station 200. However, since the first connector 301 and the second connector 302 are still tightly connected by the magnetic attraction of the first attachment element 3011 and the second attachment element 3022, the cleaning robot 100 can only forcibly pull the second connector 302 away from the first connector 301 by dragging. This causes the flexible tube 303 to be subjected to axial tension. Over time, the flexible tube 303 is prone to stress damage and fatigue, resulting in a reduced service life.

[0104] In view of this, in some embodiments, the first connector 301 is further provided with an axial tensile member for enhancing the tensile strength of the flexible tube 303. Thus, when the first connector 301 needs to be separated from the second connector 302, the axial force used to overcome the magnetic attraction between the first attachment element 3011 and the second attachment element 3022 acts on the axial tensile member, and acts little or no on the flexible tube 303. This protects the flexible tube 303 and reduces damage and fatigue to it.

[0105] like Figure 7 As shown, in an optional embodiment, the axial tensile member can be a braided structure wrapped around the outer wall of the flexible tube 303. This braided structure can be a fabric mesh or a wire mesh, covering the flexible tube 303. The braided structure not only provides axial tensile strength to the flexible tube 303 without compromising its flexibility, but also provides better support for the liquid outlet end 3013, preventing it from sagging and causing it to fail to connect with the first connector 301.

[0106] Even with axial tensile members in place, for safety reasons, the flexible tube 303 still needs to be fixedly connected to the inlet end 3012 and the outlet end 3013 at least axially to prevent it from detaching from these ends when subjected to axial tensile force. Figure 7 As shown, in some optional embodiments, the axial fixing method between the flexible tube 303 and the liquid inlet end 3012 can be as follows: the outer wall of the liquid inlet end 3012 is provided with a groove, the flexible tube 303 is sleeved on the outside of the liquid inlet end 3012, and then a sleeve fastener is provided on the outside of the flexible tube 303, the sleeve fastener being embedded in the groove. In this embodiment, the sleeve fastener can be a collar or a metal wire. Of course, the axial fixing method between the flexible tube 303 and the liquid inlet end 3012 is not limited to the above embodiments. In other embodiments, it is also feasible to achieve only the axial fixing of the two. For example, in some other optional embodiments, the liquid inlet end 3012 and the flexible tube 303 are made of the same material, both being silicone, and the ends of the two are melted together by hot melting to achieve axial fixing. Alternatively, in some further optional embodiments, the end of the flexible tube 303 is provided with a metal end, and the metal end is threadedly connected to the liquid outlet end 3013. Alternatively, in some other alternative embodiments, the flexible tube 303 may be connected to the liquid inlet 3012 via a snap-fit ​​connection.

[0107] Similarly, the axial fixing method between the flexible tube 303 and the liquid outlet end 3013 can also be referred to the description above. For example... Figure 7As shown, this section focuses on an embodiment where the flexible tube 303 and the liquid outlet 3013 are connected by a snap-fit. Specifically, the flexible tube 303 is fitted with a connector snap-fit ​​305, the outer wall of which has a notch 3051, and the liquid outlet 3013 has a hook 3014. When the end of the flexible tube 303 is fitted onto the liquid outlet 3013, the connector snap-fit ​​305 moves to the connection point between the flexible tube 303 and the liquid outlet 3013, fixing the flexible tube 303 onto the liquid outlet 3013. The hook 3014 then engages with the notch 3051, thus securing the connector snap-fit ​​305.

[0108] The above describes an embodiment that uses axial tensile members to overcome the magnetic attraction between the first attachment element 3011 and the second attachment element 3022. This is based on the premise that the magnetic attraction between the first attachment element 3011 and the second attachment element 3022 always exists. Therefore, if the magnetic attraction between the first attachment element 3011 and the second attachment element 3022 is controllable—that is, if the magnetic attraction between the two attachment elements can be generated or eliminated according to actual needs—then, while maintaining the high docking efficiency and good connection stability of the first connector 301 and the second connector 302 in the above embodiment, the separation of the first connector 301 and the second connector 302 is also relatively easy after liquid replenishment is completed.

[0109] Specifically, the magnetic element is an electromagnet that generates a magnetic field when energized. The electromagnet is energized during the process of the cleaning robot 100 entering the base station 200 and during the process of the base station 200 replenishing the cleaning robot 100 with liquid. Once the base station 200 has finished replenishing the cleaning robot 100 with liquid, the electromagnet is de-energized. The electromagnet, as a magnetic element, can be located on the first connector 301, i.e., on the base station 200; or it can be located on the second connector 302, i.e., on the cleaning robot 100. The electromagnet is electrically connected to a power supply unit (e.g., a battery pack), and the electrical connection between the electromagnet and the power supply unit is an on / off connection. Specifically, in an optional embodiment, an on / off switch is provided on the wire connecting the electromagnet and the power supply unit, and this on / off switch is connected to the base station controller and / or the robot controller. When liquid replenishment is required, the robot controller issues a control command to return to the base station 200, and the cleaning robot 100 begins to return to find the base station 200 along a predetermined route. Simultaneously, the base station controller and / or robot controller control the on / off switch (which controller controls this depends on whether the electromagnet is located on the base station 200 or the cleaning robot 100). The electromagnet is energized, generating a magnetic field. When the cleaning robot 100 enters the base station 200, the energized electromagnet attracts another magnetic or magnetizable element until the first attachment element 3011 and the second attachment element 3022 are attracted together by the magnetic force. After the liquid replenishment is completed (described below, the liquid level sensor 116 detects the liquid level in the robot's second liquid tank 103 to determine whether the replenishment is complete), the base station controller and / or robot controller control the on / off switch to open, the electromagnet is de-energized, the magnetic field disappears, and the magnetic attraction between the first attachment element 3011 and the second attachment element 3022 disappears. At this point, the first connector 301 and the second connector 302 can be easily separated. Thus, when it is necessary for the first connector 301 and the second connector 302 to be connected, the electromagnet is energized, thereby achieving a better connection between the first connector 301 and the second connector 302. When separation is required, the electromagnet is de-energized, allowing the first connector 301 and the second connector 302 to be easily separated.

[0110] The above structural design not only achieves axial fixation between the flexible tube 303 and the inlet end 3012 and outlet end 3013, but also circumferential fixation, as well as a sealed connection between the flexible tube 303 and the inlet end 3012 and outlet end 3013. This creates a superior seal at the joint between the flexible tube 303 and the inlet end 3012 and outlet end 3013, preventing liquid leakage.

[0111] The above describes an embodiment of improving the docking redundancy of the first connector 301 and the second connector 302 by utilizing the flexible connection structure at both ends of the first connector 301. Of course, the methods for improving the docking redundancy of the first connector 301 and the second connector 302 are not limited to this. As can be seen from the above, during the docking process, the second connector 302 and the first connector 301 are prone to deviation, mainly in the horizontal direction. Therefore, if the docking range of the first connector 301 and the second connector 302 in the horizontal direction can be expanded, the purpose of improving docking redundancy can also be achieved.

[0112] Specifically, such as Figure 2 and Figure 8 As shown, in another optional embodiment, the first connector 301 has a degree of freedom to move horizontally relative to the main body 203. That is, the first connector 301 can move left and right horizontally on the supporting rear plate 2031 of the main body 203. In this way, when the cleaning robot 100 enters the base station 200 and is positioned slightly to the left or right, the magnetic attraction between the first attachment element 3011 and the second attachment element 3022 drives the first connector 301 to move horizontally to the left or right on the main body 203, which can also effectively achieve the docking of the second connector 302 and the first connector 301.

[0113] The specific implementation is as follows: A horizontal guide sleeve 306 is provided on the main body 203 (supporting rear plate 2031), and a horizontal clearance hole 3061 is provided on the side wall of the horizontal guide sleeve 306. The first connector 301 is movably inserted into the horizontal clearance hole 3061. The first connector 301 is provided with a horizontal guide part 3015, which is slidably disposed in the horizontal guide sleeve 306. The supporting rear plate 2031 may have a horizontal opening 2032 extending from the horizontal clearance hole 3061, and the horizontal guide sleeve 306 is embedded in the horizontal opening 2032. The horizontal guide sleeve 306 has a long strip-shaped hollow shell structure, and the horizontal clearance hole 3061 is provided through its front and rear side walls. The horizontal clearance hole 3061 is provided to allow the first connector 301 to move smoothly horizontally. The horizontal guide part 3015 is set approximately perpendicular to the body of the first connector 301, so that the first connector 301 has a "+" shaped structure. By providing a horizontal guide 3015, the horizontal movement of the first connector 301 can be guided and limited. With this structural design, the first connector 301 can move horizontally to the left or right relative to the main body 203. The first connector 301 has a central position. To ensure that the first connector 301 returns to this central position after the cleaning robot 100 completes liquid replenishment, as follows... Figure 8As shown, further, a return spring 307 is provided between at least one end of the horizontal guide portion 3015 along its movable direction and the inner wall of the horizontal guide sleeve 306, and the return spring 307 applies a return force to the first connector 301 through the horizontal guide portion 3015. In an optional embodiment, return springs 307 are respectively provided between both ends of the horizontal guide portion 3015 and the inner wall of the horizontal guide sleeve 306.

[0114] To limit and maintain the shape of the return spring 307, a protrusion 3062 is formed on the inner wall of the horizontal guide sleeve 306, and a groove 3016 is formed by the inward recess of the end of the horizontal guide portion 3015. One end of the return spring 307 is sleeved on the protrusion 3062, and the other end is housed in the groove 3016. In this way, the outer end of the return spring 307 is restricted by the protrusion 3062 and its position is stable, while the inner end is housed in the groove 3016. When the horizontal guide portion 3015 moves and causes the return spring 307 to be compressed, the inner wall of the groove 3016 can straighten the return spring 307 and prevent the return spring 307 from bending.

[0115] In an embodiment where there is one return spring 307, both ends of the return spring 307 are fixedly connected to the end of the horizontal guide portion 3015 and the inner wall of the horizontal guide sleeve 306, respectively. When the return spring 307 is in its naturally extended state, the first connector 301 is in the centered position. When the first connector 301 moves toward or away from the side where the return spring 307 is located, the return spring 307 is compressed or stretched, thus storing energy. After the fluid replenishment is completed, the second connector 302 disengages from the first connector 301, the elastic potential energy stored in the return spring 307 is released, and the first connector 301 is pushed or pulled back to the centered position. In an embodiment where there are two return springs 307, the specifications and elastic coefficients of the two return springs 307 are the same. When the first connector 301 is in the centered position, both return springs 307 are either in a compressed state or both are in a stretched state. When the first connector 301 moves toward the side where one of the return springs 307 (e.g., the right-side return spring 307) is located, that return spring 307 is compressed, while the other return spring 307 (the left-side return spring 307) is stretched, and both return springs 307 store energy. After the fluid replenishment is completed, the second connector 302 disengages from the first connector 301, and the elastic potential energy stored in the two return springs 307 is released, jointly pushing or pulling the first connector 301 back to the centered position.

[0116] In the embodiment where the first connector 301 is horizontally movable, the first connector 301 may be designed as a rigid tube. In both embodiments, the end of the first connector 301 that is inserted into the second connector 302 may be designed as a tapered structure to cooperate with the second connecting portion 3023 (described below) of the second connector 302.

[0117] Thus, the magnetic attraction between the first attachment element 3011 and the second attachment element 3022 is used to achieve the docking of the first connector 301 and the second connector 302, allowing the second connector 302 to actively seek docking with the first connector 301 during the cleaning robot 100's return to the base station 200. This not only achieves sealing of the fluid flow channel but also improves docking efficiency and results in a better docking effect.

[0118] Since the cleaning robot 100 needs to move on the work surface to perform cleaning tasks, the second connector 302 provided on the cleaning robot 100 preferably does not protrude from the outer wall of the body 101, so as to minimize interference with surrounding obstacles. Figure 7 As shown, the second connector 302 includes a striking plate 3021, which is disposed on the body 101 of the cleaning robot 100 and preferably flush with the outer wall of the body 101. The striking plate 3021 is recessed inward to form a second connecting portion 3023, and a plug 3024 is formed at its rear end to facilitate connection with the hose 118. Specifically, the hose 118 can be sleeved over the plug 3024 and axially fixed to the plug 3024 in the manner described above.

[0119] Of course, the arrangement of the second connecting part 3023 and the plug 3024 is not limited to the above embodiments. In another feasible embodiment, the positions of the second connecting part 3023 and the plug 3024 can be interchanged. That is, the second connecting part 3023 is provided on the first connector 301, and the plug 3024 is provided on the second connector 302. In short, the first connector 301 is provided with one of the second connecting part 3023 and the plug 3024, and the second connector 302 is provided with the other of the second connecting part 3023 and the plug 3024.

[0120] The second attachment element 3022 can be fixedly disposed on the side of the impact plate 3021 opposite to the first connector 301, i.e., the back side. The fixing method can be: the back side of the impact plate 3021 has a receiving groove, and the second attachment element 3022 is fixed in the receiving groove. In some optional embodiments, the second attachment element 3022 can be annular, and the receiving groove is correspondingly an annular groove, with the second attachment element 3022 embedded in the receiving groove. Alternatively, in other optional embodiments, the second attachment element 3022 is a plurality of free block structures, with multiple receiving grooves arranged circumferentially at intervals, and the plurality of second attachment elements 3022 are respectively embedded in corresponding receiving grooves. Or, in still some optional embodiments, the second attachment element 3022 is a magnetic element, and the impact plate 3021 is made of a magnetizable material such as iron, cobalt, or nickel, so the second attachment element 3022 can be magnetically attracted to the impact plate 3021. Similarly, the first attachment element 3011 is fixedly disposed on the side of the liquid outlet end 3013 opposite to the second connector 302, i.e., the back side. The fixing method can be the same as or similar to the fixing method of the second attachment element 3022 and the impact plate 3021 described above. In some embodiments, to prevent the first attachment element 3011 from detaching from the liquid outlet end 3013, the back end of the liquid outlet end 3013 is provided with a stop hook 3017 to limit the first attachment element 3011.

[0121] In a preferred embodiment, for automatic alignment, the first attachment element 3011 and the second attachment element 3022 are preferably annular, and their inner and outer diameters are equal. The front end of the liquid outlet 3013 forms a first connecting portion 3018, which is adapted to the second connecting portion 3023. The first connecting portion 3018 is inserted into the second connecting portion 3023, thus connecting the first connector 301 and the second connector 302. To improve the sealing at the mating point of the first connector 301 and the second connector 302 and prevent liquid leakage, a sealing element 308 is provided on either the first connector 301 or the second connector 302. The sealing element 308 seals the joint between the two connectors when they are in the mating state. Specifically, the sealing element 308 may include, but is not limited to, an O-ring, a K-ring, or an F-ring, and is fitted over the first connecting portion 3018. When the first connecting part 3018 is inserted into the second connecting part 3023, under the magnetic attraction between the first attaching element 3011 and the second attaching element 3022, the sealing element 308 is compressed and expanded, thereby sealing the gap between the first connecting part 3018 and the second connecting part 3023. Further, the second connecting part 3023 is provided with absorbent material 3019, which may include any flexible porous medium, such as a sponge. When the first connector 301 and the second connector 302 are in a mating state, under the magnetic attraction between the first attaching element 3011 and the second attaching element 3022, the absorbent material 3019 is compressed by the first connecting part 3018. When the first connector 301 and the second connector 302 are in a mating state... Figure 7 When separated as shown, the absorbent material 3019 returns to its original state, completely absorbing the very small amount of cleaning solution remaining in the second connector 3023, ensuring that there are no droplets in the first connector 301 and the second connector 302. This prevents water from flowing out of the first connector 301 when the cleaning robot 100 is separated from the base station 200, which could lead to a short circuit in the circuit of the base station 200 or rusting of the metal parts in the base station 200. It also prevents the liquid remaining in the second connector 302 from dripping onto the working surface during the cleaning operation of the cleaning robot 100.

[0122] To further remove the liquid remaining in the docking device 300 after replenishment, the base station controller controls the second pump 2082 to rotate in reverse for a predetermined time after replenishment. Specifically, after the cleaning robot 100 returns to the base station 200, the base station 200 adds liquid to the robot's second liquid tank 103. When the liquid level sensor 116 detects that the liquid level in the robot's second liquid tank 103 has reached a certain threshold, the cleaning robot 100 sends a stop-addition signal to the base station 200 via sensors such as infrared or Bluetooth. Upon receiving the signal, the base station 200 controls the first pump 2081 to shut down, and the second pump 2082 to start reversing for a certain period of time to empty the liquid remaining in the docking device 300.

[0123] As is known, the base station controller controls the second pump 2082 to rotate forward for replenishing the cleaning robot 100 with liquid. After replenishment, the second pump 2082 is controlled to rotate in reverse for a predetermined time to draw back the residual liquid in the docking device 300, preventing leakage and avoiding dripping of liquid from the docking device 300 onto the base station 200 or the working surface. The predetermined time can be set according to actual conditions, aiming to at least partially draw back the liquid in the docking device 300, for example, 1 to 5 seconds. This embodiment does not limit this.

[0124] In one embodiment, a third waterproof and breathable device 113 and a third one-way valve 114 are provided between the docking device 300 and the robot's second liquid tank 103. Specifically, in conjunction with... Figure 4 As shown, another T-connector 112 is installed on the hose 118, and a third waterproof and breathable device 113 is installed on this T-connector 112. The third waterproof and breathable device 113 can be a waterproof and breathable valve, located between the docking device 300 and the third one-way valve 114. The third one-way valve 114 inhibits the flow of cleaning solution from the robot's second liquid tank 103 to the docking device 300. Due to the presence of the third one-way valve 114, during the back-pull process of the second pump 2082, the liquid will not be drawn out from the robot's second liquid tank 103, but air will be drawn in from the outside by the third waterproof and breathable device 113 to balance the pressure difference brought about by the back-pull. After the back-pull action is completed, the cleaning solution replenishment process is completely completed. At this time, the cleaning robot 100 drives out of the base station 200 and returns to the interrupted position to continue working.

[0125] In an embodiment where the base station 200 has two cavities, the liquid remaining in the docking device 300 is a mixed solution. To prevent this mixed solution from being drawn back into either or both cavities, thus contaminating the liquids (cleaning solution, water) originally contained in the two cavities, such as... Figure 6As shown, in an optional embodiment, the liquid supply assembly 207 further includes a buffer tank 2076, disposed on the manifold 2073, located between the input end 2074 and the second pump 2082. Further, the manifold 2073 is also provided with a fourth check valve 2077 located between the buffer tank 2076 and the input end 2074, the fourth check valve 2077 inhibiting the flow of liquid from the buffer tank 2076 to the input end 2074. Thus, when the second pump 2082 reverses, the liquid (mixed solution) in the docking device 300 is back-drawn into the buffer tank 2076. Furthermore, due to the flow-limiting effect of the fourth check valve 2077, the liquid back-drawn into the buffer tank 2076 will not be further back-drawn into the first liquid tank 201 and / or the second cavity 202, thereby ensuring the purity of the liquid in the first liquid tank 201 and the second cavity 202. Similarly, to balance the internal and external pressure difference, the buffer box 2076 may be equipped with a balancing device, including a hole on the top wall of the buffer box 2076 and a waterproof and breathable valve at any position on the wall of the buffer box 2076.

[0126] To ensure that the first connector 301 and the second connector 302 are fully aligned before liquid replenishment is performed, either the first connector 301 or the second connector 302 is equipped with a mating detection element 309 to detect whether the mating of the first connector 301 and the second connector 302 has been successful. Figure 7As shown, in one specific embodiment, the docking detection element 309 is disposed on the second connector 302, specifically on the impact plate 3021, and moves together with the cleaning robot 100. Alternatively, in another optional embodiment, the docking detection element 309 can also be disposed on the base station 200. In this embodiment, "successful docking" includes: the first connector 301 and the second connector 302 completing docking, and a seal being formed between the first connector 301 and the second connector 302. Whether the first connector 301 and the second connector 302 have completed docking can be determined by the docking detection element 309 detecting whether the distance between the first connector 301 and the second connector 302 reaches a set threshold after docking. When the first connector 301 and the second connector 302 successfully dock, the sealing element 308 is compressed and deformed, achieving a seal between the first connector 301 and the second connector 302. Referring to the above description, the docking detection element 309 can adopt any suitable existing structure, such as various sensors, optical, acoustic, mechanical, or electromagnetic detection elements, etc., and this embodiment is not limited to this. The docking detection element 309 is communicatively connected to the base station controller. In some embodiments, when the docking detection element 309 is located on the first connector 301, that is, on the cleaning robot 100, the docking detection element 309 can be communicatively connected to the robot controller, and the robot controller is in turn communicatively connected to the base station controller. In other embodiments, however, the docking detection element 309 is located on the second connector 302, that is, on the base station 200, and the docking detection element 309 can be directly communicatively connected to the base station controller. The docking detection element 309 can provide the detection result to the base station controller. Based on the detection result of the docking detection element 309, the base station controller controls whether the base station 200 supplies liquid to the cleaning robot 100. When the detection result of the docking detection element 309 is yes, it indicates that the first connector 301 and the second connector 302 have successfully docked, and the base station controller controls the proportional control component 208 to operate to replenish the second liquid tank of the cleaning robot 100. Conversely, if the detection result of the docking detection element 309 is negative, it indicates that the first connector 301 and the second connector 302 have not docked successfully, and the base station 200 does not supply liquid to the cleaning robot 100.

[0127] In some embodiments, the main body 203 is provided with a third presence detection element for detecting whether the cleaning robot 100 is docked on the base station 200. Specifically, the third presence detection element is located on the parking position 204 or the supporting rear plate 2031, and the specific structure can be referred to the description above, which will not be repeated here. The third presence detection element can communicate with the base station controller, or it can communicate with the base station controller through the robot controller. When the detection result of the third presence detection element is yes, the base station controller controls the proportional control component 208 to operate to replenish the cleaning solution to the cleaning robot 100. Further, the cleaning robot 100 is replenished only when both conditions are met simultaneously: the third presence detection element detects that the cleaning robot 100 is in a docked water / charging state, and the docking detection element 309 detects that the first connector 301 and the second connector 302 have successfully docked. When the detection result of the third presence detection element is no, the base station controller controls the proportional control component 208 to stop replenishing the cleaning solution to the cleaning robot 100. The applicable scenarios for this embodiment include: after the cleaning robot 100 finishes its work, it returns to the base station 200, and the base station 200 promptly replenishes the cleaning solution to the cleaning robot 100. The advantage of this is that the second liquid tank 103 of the robot is always full of cleaning solution when the cleaning robot 100 works next time.

[0128] Furthermore, the base station controller and / or robot controller are connected to the reminder unit. When the detection result of the third presence detection element is positive, the base station controller and / or robot controller control the operation of the reminder unit. Thus, throughout the entire process of replenishing the cleaning solution, the user can be informed via an app, robot panel, base station panel, voice prompts, etc., not to forcibly remove the cleaning robot 100 from the base station 200. If the user forcibly removes the cleaning robot 100 from the base station 200 for some reason, the second pump 2082 will stop working and back-pump for a short period to prevent liquid from dripping onto the base station 200.

[0129] Following the description above, the robot's second liquid tank 103 is equipped with a liquid level sensor 116 connected to the robot controller. When the liquid level sensor 116 detects that the liquid level of the cleaning solution in the robot's second liquid tank 103 is below the lower threshold, the robot controller controls the cleaning robot 100 to return to the base station 200 to replenish the cleaning solution. Correspondingly, when the liquid level sensor 116 detects that the liquid level of the cleaning solution in the robot's second liquid tank 103 is above the upper threshold, the base station controller controls the proportional control component 208 to stop working based on the control command to stop replenishing liquid sent by the robot controller.

[0130] In this embodiment, the upper and lower thresholds can be set according to the actual situation. For example, the upper threshold can be 95% of the height of the robot's second liquid tank 103, and the lower threshold can be 5% of the height of the robot's second liquid tank 103. This embodiment does not limit this to a single value.

[0131] The following is combined with Figure 9 The working process of the cleaning system according to an embodiment of the present invention is described below:

[0132] Cleaning robot 100 starts working.

[0133] The cleaning robot 100 can be turned on by user-triggered operation or by the cleaning robot 100 itself operating automatically.

[0134] User-triggered operations include: A power button is located on the robot's control panel on the robot body 101; clicking this button activates the cleaning robot 100, initiating its operation. Alternatively, the user can remotely control the cleaning robot 100 via a client application (e.g., a mobile smartphone or an app installed on the smartphone) that is connected to the cleaning robot 100. Or, the user can remotely control the cleaning robot 100 via a remote control device. The cleaning robot 100's own automatic operations include: being set to start operating at a set time, such as starting work at 10:00 AM daily; or starting work at 10:00 AM every Saturday, etc.

[0135] The cleaning robot 100 starts a self-test program to check whether the liquid level in the robot's second liquid tank 103 is lower than a preset threshold.

[0136] The self-test program of the cleaning robot 100 can be triggered by the robot controller based on the aforementioned work start command. The liquid level in the robot's second liquid tank 103 is detected by the liquid level sensor 116. The liquid level sensor 116 detects the liquid level in the robot's second liquid tank 103 in real time and provides the detection result to the cleaning robot controller in real time. When the cleaning robot controller determines, based on the real-time detection result provided by the liquid level sensor 116, that the current liquid level in the robot's second liquid tank 103 is higher than the lower limit threshold (i.e., the detection result is negative), it indicates that the cleaning robot 100 has sufficient liquid reserves, and the cleaning robot 100 is controlled to continue working. Conversely, when the cleaning robot controller determines, based on the real-time detection result provided by the liquid level sensor 116, that the current liquid level in the robot's second liquid tank 103 is lower than the lower limit threshold (i.e., the detection result is positive), it indicates that the cleaning robot 100 has insufficient liquid reserves, and the cleaning robot 100 is controlled to return to the base station 200 along the shortest path. After arriving at the base station 200, the cleaning robot 100 establishes a communication connection with the base station 200 through any existing known means such as infrared, Bluetooth, or wireless, and sends a signal to the base station 200 requesting liquid replenishment.

[0137] After receiving a request for refilling from the cleaning robot 100, the base station 200 initiates a self-test program to check whether the first liquid tank 201 for holding the cleaning fluid is installed. If the test result is negative, meaning the first liquid tank 201 is not installed in the base station 200, an alarm signal indicating the absence of the first liquid tank 201 is sent out. Specifically, the base station controller controls the warning unit connected to it to send an alarm signal to notify the user to install the first liquid tank 201. If the test result is positive, meaning the first liquid tank 201 is installed in the base station 200, the base station 200 continues to self-test whether the second cavity 202 is installed. If the test result is negative, meaning the second cavity 202 is not installed in the base station 200, an alarm signal indicating the absence of the second cavity 202 is sent out to notify the user to install the second cavity 202. If the test result is positive, meaning the second cavity 202 is installed in the base station 200, the base station 200 continues to self-test whether there is water in the second cavity 202. Specifically, the liquid level sensor 205 detects the liquid level in the second chamber 202 to determine if there is water. If the detection result is negative, meaning there is no water in the second chamber 202, an alarm signal indicating no water in the second chamber 202 is sent out, notifying the user to add water to the second chamber 202. During this period, the cleaning robot 100 returns to the base station 200 for standby. If the detection result is positive, meaning there is water in the second chamber 202, the cleaning robot 100 enters the base station 200 and parks in parking position 204. The docking detection element 309 detects whether the docking is successful. Specifically, the docking detection element 309, located on the base station 200, activates to detect whether the first connector 301 and the second connector 302 are successfully docked. The docking detection element 309 provides the detection results to the base station controller in real time.

[0138] When the base station controller determines, based on the detection results provided by the docking detection element 309, that the first connector 301 and the second connector 302 have not successfully docked, the cleaning robot 100 retreats and performs multiple re-docking operations. During this period, the base station controller controls the proportional control component 208 to temporarily suspend the liquid replenishment operation. During the multiple re-docking operations, for example, three times, the docking detection element 309 continuously monitors whether the first connector 301 and the second connector 302 have successfully docked. If the docking fails again, the liquid replenishment process is interrupted, the cleaning robot 100 stops and alarms, and the user intervenes to check. If the detection results show that the first connector 301 and the second connector 302 have successfully docked, the cleaning robot 100 sends a successful docking signal to the base station 200.

[0139] Upon receiving a successful docking signal, base station 200 begins adding liquid to the robot's second liquid tank 103 according to the set ratio. Before adding liquid, the user can adjust or modify the cleaning solution ratio parameters via an input device. Based on the input ratio parameters, base station 200 controls the proportional control component 208 to output the corresponding flow rate of cleaning solute and solvent. During the process of base station 200 adding liquid to the cleaning robot 100, the reminder unit, which is communicatively connected to the base station controller and / or the robot controller, is controlled to issue prompt signals through voice broadcast, text display, and flashing lights to remind the user not to pull out the first liquid tank 201 and the second chamber 202.

[0140] Different measures are taken to deal with different abnormal situations during the liquid addition process.

[0141] For example, if the user disconnects the cleaning robot 100 from the base station 200, the docking detection element 309 will detect the disconnection between the first connector 301 and the second connector 302. The cleaning robot 100 then sends a disconnection signal to the base station 200. The base station controller then stops the first pump 2081 and reverses the flow of the second pump 2082 for a period of time to empty the residual liquid in the docking device 300, and issues an alarm signal. If the robot's second liquid tank 103 is pulled out, the cleaning robot 100 sends a signal to the base station 200, which stops the liquid supply, issues an alarm signal, and prompts the user to reinstall the robot's second liquid tank 103. The base station 200 also has a presence detection element on its body 101 to detect whether the robot's second liquid tank 103 is in place, and this element is communicatively connected to the robot controller. When the presence detection element detects that the robot's second liquid tank 103 has been pulled out, it communicates with the robot controller, thereby informing the base station 200 that the robot's second liquid tank 103 has been pulled out. If any one or both cavities in base station 200 are removed, base station 200 stops adding liquid and issues an alarm to prompt the user to reinstall the cavities. Specifically, the first and second presence detection elements detect in real time whether the first liquid tank 201 and the second cavity 202 are in place and provide the detection results to the base station controller. If the power supply to base station 200 is unplugged and then plugged back in, the base station controller first starts the second pump 2082 to reverse and pump back, checks the cavity and docking status, and then checks whether to start adding liquid. Specific steps are described above regarding whether the cavities are in place, whether there is water in the cavities, and whether docking is successful; they will not be repeated here. During the liquid adding process, the liquid in the first liquid tank 201 and the second cavity 202 is consumed and gradually decreases, while the liquid in the robot's second liquid tank 103 gradually increases. Before the robot's second liquid tank 103 is full, base station 200 performs a real-time self-check to detect whether there is liquid in the first liquid tank 201 and the second cavity 202. When the second chamber 202 is found to be empty or the water level is below a set threshold, the base station 200 stops adding water to the cleaning robot 100 and sends a signal to the cleaning robot 100 indicating that the base station 200 is empty and water addition is complete. The cleaning robot 100 then leaves the base station to continue working. When the first liquid tank 201 is found to be empty or the liquid level is below a set threshold, the base station controller operates through the connected warning unit to remind the user that the first liquid tank 201 is empty or the amount of cleaning liquid is low. At the same time, the cleaning liquid pump, i.e., the first pump 2081, stops working, while the water pump, i.e., the second pump 2082, continues to work to add water to the cleaning robot.

[0142] In other words, during the process of adding liquid to the cleaning robot 100 by the base station 200, the base station 200 continuously checks the liquid levels in the first liquid tank 201 and the second chamber 202. As long as there is water in the second chamber 202, the base station 200 will continue to add water to the cleaning robot 100 even if there is no cleaning liquid in the first liquid tank 201. Conversely, if there is no water in the second chamber 202, the base station 200 will stop adding liquid to the cleaning robot 100 even if there is still cleaning liquid in the first liquid tank 201.

[0143] During the process of adding liquid to the cleaning robot 100 from the base station 200, the cleaning robot 100 uses the liquid level sensor 116 to detect and monitor the liquid level in its second liquid tank 103 in real time. When the liquid level sensor 116 detects that the liquid level in the second liquid tank 103 has not yet reached the upper limit threshold, the base station 200 continues to add liquid to the cleaning robot 100. Once the liquid level sensor 116 detects that the liquid level in the second liquid tank 103 has reached the upper limit threshold, the cleaning robot 100 sends a signal to the base station 200 indicating that it is full or full, and the base station controller controls the proportional control component 208 to stop adding liquid.

[0144] In the proportional control component 208, as follows Figures 5 to 6 In the illustrated embodiment employing at least two pumps, as described above, to prevent cross-contamination of liquid in the first liquid tank 201 and the second chamber 202, the base station controller first stops the first pump 2081, then stops the second pump 2082, and subsequently reverses the second pump 2082 for a period of time to perform reverse pumping, emptying the residual liquid in the docking device 300. Afterwards, the base station 200 sends a signal to the cleaning robot 100 indicating that liquid addition is complete. Upon receiving the signal, the cleaning robot 100 exits the base station 200 and returns to its breakpoint to continue its work. After completing the cleaning operation, the cleaning robot 100 returns to the base station 200, automatically changes the cleaning medium (mop), replenishes the liquid, recharges, and prepares for the next operation.

[0145] In the embodiment where the docking device 300 includes only the first attachment element 3011 and the second attachment element 3022, the magnetic attraction between the first attachment element 3011 and the second attachment element 3022 provides the docking power for the first connector 301 and the second connector 302, as well as the clamping force for the sealing element 308 to be compressed and deformed. However, this magnetic attraction is generally small, and there is resistance during the docking process of the first connector 301 and the second connector 302 (generally by insertion), and the sealing effect of the sealing element 308 is related to the degree of compression and deformation. Therefore, practice has shown that using magnetic attraction to dock the two connectors 301 and 302, while simultaneously requiring a large degree of compression and deformation of the sealing element 308, is not very effective in practical applications.

[0146] Furthermore, in the above embodiment, the second attachment element 3022 is disposed on the second connector 302. During the operation of the cleaning robot 100, dirt on the working surface may adhere to the second attachment element 3022, and the second attachment element 3022 may also attract scattered metal materials on the working surface. This weakens the magnetic attraction between its first attachment elements 3011, affecting the sealing performance of the connectors 301 and 302.

[0147] In view of this, embodiments of the present invention provide another docking device 300, which can better solve the above-mentioned problems.

[0148] It should be noted that the similarities between this embodiment and the above embodiments can be referred to the above description, and will not be repeated here. The following focuses on the differences between this embodiment and the above embodiments.

[0149] like Figures 10 to 12 As shown, compared to the above embodiment where the first connector 301 is fixed relative to the base station 200 and the second connector 302 is located on the outer periphery (front end or rear end) of the cleaning robot 100, in this embodiment, the first connector 301 is movably located on the body 203 of the base station 200 in the vertical direction, and the second connector 302 is movably located on the bottom of the body 101 of the cleaning robot 100 in the horizontal direction.

[0150] In this embodiment, the first connector 301 has a working state extending outside the main body 203 of the base station 200 to mate with the second connector 302, and a non-working state housed inside the main body 203 of the base station 200. The drive mechanism 310 can at least drive the first connector 301 from the non-working state to the working state and maintain the first connector 301 in the working state. The working state is that the first connector 301 mates with the second connector 302 in the vertical direction, and the drive mechanism 310 applies a clamping force to the first connector 301 to maintain the compression deformation of the seal 308. The drive mechanism 310 can drive the first connector 301 from a non-working state to a working state, including: the first connector 301 switching from a non-working state to a working state and switching from a working state to a non-working state are both driven by the drive mechanism 310. Alternatively, the drive mechanism 310 can only drive the first connector 301 from a non-working state to a working state. As for the first connector 301 switching from a working state to a non-working state, it does not need to be driven by the drive mechanism 310. Specifically, the first connector 301 can switch from a working state to a non-working state under its own gravity, which will be described in detail below.

[0151] The parking space 204 is provided with a first receiving cavity 2041. When in a non-working state, the first connector 301 is housed in the first receiving cavity 2041. When in a working state, the first connector 301 extends at least partially out of the first receiving cavity 2041. In this way, after the cleaning robot 100 enters the parking space 204, the second connector 302 located at its bottom can easily dock with the first connector 301. The docking operation of the cleaning robot 100 with the base station 200 and the action of the cleaning robot 100 entering the base station 200 can be seamlessly connected and unified, simplifying the entire liquid filling process.

[0152] In a further embodiment, the top wall of the first receiving cavity 2041 is provided with an opening corresponding to the first connector 301, and the parking position 204 is provided with a cover that can open or close the opening. When the first connector 301 is in a non-working state, the cover covers the opening to prevent dust from falling onto the first connector 301. When the first connector 301 is in a working state, the cover at least partially opens the opening to allow the first connector 301 to extend. In this embodiment, the cover can adopt any existing construction, and this embodiment is not limited thereto.

[0153] For example, the cover may include a thin plate-like structure made of a rigid material such as plastic or metal, slidably disposed on the lower surface of the top wall of the first receiving cavity 2041, and driven horizontally by a power source such as a motor 3101 or a telescopic rod structure to block or open the opening. Alternatively, the cover may be made of a flexible material such as rubber, fixed to the inner wall of the opening, and have cutting lines including but not limited to those in the shape of a cross or a star, thereby dividing the cover into multiple sheet-like units. When the first connector 301 is housed in the first receiving cavity 2041, the multiple sheet-like units are assembled to form a complete cover, sealing the opening. When the drive mechanism 310 drives the first connector 301 to move upward, the first connector 301 can push open the multiple sheet-like units and then extend out.

[0154] Since the first connector 301 is movably mounted on the base station 200, it can be hidden inside the base station 200 when not in use, thus achieving dust prevention. Similarly, since the second connector 302 is located at the bottom of the body 101 of the cleaning robot 100, it prevents foreign objects from falling into the cleaning robot 100 during operation. Therefore, the first connector 301 and the second connector 302 will not experience poor sealing after docking due to foreign objects between them.

[0155] like Figures 11 to 16As shown, in an optional embodiment, the drive mechanism 310 is also housed in the first receiving cavity 2041 and located on one side of the first connector 301, including a motor 3101 and a transmission member 3102 driven to rotate by the motor 3101. Due to the thinness of the parking space 204, the drive mechanism 310 is generally horizontal or flat. The output shaft of the motor 3101 extends approximately horizontally, the transmission member 3102 is connected to the output shaft of the motor 3101, and the first connector 301 is rotatably connected to the transmission member 3102. Along the axial direction of the output shaft of the motor 3101, the connection point between the first connector 301 and the transmission member 3102 (hereinafter referred to as the first connection point) does not coincide with the connection point between the output shaft of the motor 3101 and the transmission member 3102 (hereinafter referred to as the second connection point). Through the above-described eccentric structural design, the rotational motion output by the horizontally positioned motor 3101 can be converted into the vertical motion of the first connector 301, thereby allowing the first connector 301 to switch between a working state and a non-working state. When the transmission component 3102 is driven to rotate, causing the first connection point to be at its highest point, or when the first connection point is higher than the second connection point at a certain position, the first connector 301 and the second connector 302 are fully engaged or the engagement is completed. When the transmission component 3102 is locked by the motor 3101 and stably positioned, pressure can be continuously and stably applied to the first connector 301, keeping the seal 308 in a compressed and deformed state.

[0156] In this embodiment, the transmission component 3102 can generally be a block-shaped structure, but it is not limited to this. In fact, it is acceptable as long as the two connection points mentioned above do not coincide in the output shaft direction of the motor 3101. The transmission component 3102 is fixedly mounted on the output shaft of the motor 3101, and the connection method between the transmission component 3102 and the first connector 301 depends on different situations.

[0157] Specifically, as described above, if the first connector 301 needs to be driven by the drive mechanism 310 to switch from a non-working state to a working state and from a working state to a non-working state, then the transmission member 3102 is rotatably connected to the first connector 301. In a specific embodiment, the side of the first connector 301 facing the transmission member 3102 has a first mating part, and the side of the transmission member 3102 facing away from the motor 3101 has a second mating part. One of the first mating part and the second mating part is a groove, and the other is a protrusion, with the protrusion rotatably inserted into the groove. Thus, when the transmission member 3102 is driven to rotate by the motor 3101, the first connector 301 can be driven to move vertically upward or downward through the engagement of the protrusion and the groove. The position of the protrusion and the groove is the first connection point.

[0158] If the first connector 301 is driven by the drive mechanism 310 from the non-working state to the working state, and not driven by the drive mechanism 310 from the working state to the non-working state, then the transmission member 3102 can simply contact and connect with the first connector 301. Specifically, in another optional embodiment, the transmission member 3102 includes a cam, and the lower surface of the first connector 301 contacts the outer cam surface of the cam. Thus, when the cam is driven to rotate by the motor 3101 until the potential energy at its contact point with the lower surface of the first connector 301 gradually increases, the first connector 301 is driven to move upward. When the cam is driven to rotate by the motor 3101 until the potential energy at its contact point with the lower surface of the first connector 301 gradually decreases, the first connector 301 falls downward under its own gravity. The point where the lower surface of the first connector 301 contacts the cam is the first connection point.

[0159] Of course, the drive mechanism 310 is not limited to the above embodiment. In other feasible embodiments, any structure that can drive the first joint 301 to move vertically upward and enable the seal 308 to obtain a clamping force that maintains the compression deformation after docking should be covered within the protection scope of this embodiment.

[0160] For example, the aforementioned transmission component 3102 can be replaced by a linkage mechanism, with the motor 3101 driving the linkage mechanism to move the first connector 301 up and down. When the dimensions of the parking position 204 and the first receiving cavity 2041 are not limited or required, the drive mechanism 310 can use a linear motion module such as a pneumatic rod, hydraulic rod, or electric telescopic rod to directly drive the first connector 301 up and down. Alternatively, the transmission component 3102 can be replaced by a meshing gear and rack, lead screw and thread, etc., thereby converting the rotational motion of the motor 3101 into the linear motion of the first connector 301.

[0161] To ensure smooth docking of the first connector 301 and the second connector 302, and to prevent damage to the connectors by stopping promptly if obstruction occurs during docking, the cleaning system also includes a control module for controlling the operation of the motor 3101 and a detection element communicatively connected to the control module. In this embodiment, the control module can be either the base station 200 controller described above or the robot controller described above. The detection element is used to detect the operating parameters of the motor 3101, including at least one of current and torque.

[0162] If the operating parameters remain unchanged during the process of motor 3101 driving the first connector 301 to switch from the hidden state to the working state, it indicates that the first connector 301 has not been inserted into the second connector 302, nor has any other obstruction been activated. In this case, the control module controls motor 3101 to operate in the reverse direction, causing the first connector 301 to switch back to the hidden state. The docking operation will then proceed after the cleaning robot 100 adjusts its position.

[0163] Since the first connector 301 needs to overcome sealing resistance after being inserted into the second connector 302, if the operating parameters increase to the first threshold during the process of the motor 3101 driving the first connector 301 to switch from the hidden state to the working state, it indicates that the first connector 301 has been properly inserted into the second connector 302. The control module then controls the motor 3101 to continue driving the first connector 301 to switch to the working state. When the detection result of the docking detection element 309 is positive, it indicates that the first connector 301 has moved to the bottom and docking is complete. The control module then controls the motor 3101 to stop operating. The docking detection element 309 in this embodiment can be referred to the above description. It should be noted that, adapted to the drive mechanism 310 of this embodiment, the docking detection element 309 may include a limit switch that cooperates with the transmission member 3102. When the transmission member 3102 rotates and triggers the limit switch to close, the first connector 301 and the second connector 302 are successfully docked.

[0164] If the operating parameters increase to a second threshold greater than the first threshold during the process of the motor 3101 driving the first connector 301 to switch from a hidden state to an operating state, it indicates that the extension of the first connector 301 has encountered a jam, for example, it may be hitting the lower surface of the cleaning robot 100. In this case, the control module controls the motor 3101 to reverse its operation, causing the first connector 301 to switch back to the hidden state. After the cleaning robot 100 adjusts its position, the docking operation can then proceed. In this embodiment, the first threshold is slightly larger than the value of the operating parameters during normal operation. The first and second thresholds can be set according to actual conditions, and this embodiment does not limit this.

[0165] like Figures 14 to 16 As shown, to accommodate the flat structure of the parking space 204 and the first receiving cavity 2041, the first connector 301 includes a generally vertically arranged plug connector 311 for insertion and mating with the second connector 302, and a generally horizontally arranged adapter connector 312 connected to the plug connector 311. Since the first connector 301 needs to have the freedom to move up and down, the adapter connector 312 is connected to the first liquid tank 201 via a first flexible tube 313. In a scenario where the base station 200 can supply the cleaning fluid of the required ratio to the cleaning robot 100, the base station 200 also includes a second cavity 202; in this case, the adapter connector 312 needs to be connected to the manifold 2073 via the first flexible tube 313.

[0166] like Figure 13As shown, the main body 203 of the base station 200 is provided with multiple limiting seats 211 surrounding the connector 311. These limiting seats 211 are located at the bottom of the first receiving cavity 2041 of the parking position 204, and the adapter 312 is sandwiched between adjacent limiting seats 211. In this way, the multiple limiting seats 211 can limit the horizontal movement of the first connector 301, preventing large-scale horizontal displacement of the first connector 301 within the first receiving cavity 2041. Furthermore, the limiting seats 211 provide a mounting position for the first attachment element 3011, and one or more first attachment elements 3011 are mounted on the limiting seats 211. Specifically, the upper end of the limiting seat 211 is recessed downwards to form a receiving groove adapted to the shape of the first attachment element 3011, in which the first attachment element 3011 is embedded and fixed.

[0167] In this embodiment, there are one or more second attachment elements 3022, which are associated with the first attachment element 3011. The second attachment elements 3022 are fixedly disposed on the outer wall of the second connector 302. Specifically, the outer wall of the second connector 302 has multiple slots, in which the first attachment element 3011 is embedded and fixed. The second connector 302 has a degree of freedom to move horizontally on the body 101 of the cleaning robot 100. Specifically, the body 101 of the cleaning robot 100 has a second receiving cavity 122, and a base plate 123 is slidably disposed at the bottom of the second receiving cavity 122. The second connector 302 is fixedly disposed on the base plate 123. The base plate 123 can replace the lower end of the second connector 302 in contact with the bottom of the second receiving cavity 122, thereby providing wear protection for the second connector 302. In this way, the base plate 123 can support the second connector 302 to move horizontally within the second receiving cavity 122.

[0168] The top of the second receiving cavity 122 can provide a limit for the vertical movement of the second connector 302. In a specific embodiment, the vertical movement allowance of the second connector 302 in the second receiving cavity 122 does not exceed 5mm, preferably not more than 3mm, and more preferably about 1mm. In this way, a small gap is left between the top of the second connector 302 and the top of the second receiving cavity 122. On the one hand, this ensures the vertical limiting effect of the second connector 302 and avoids large vertical bouncing of the second connector 302 inside the cleaning robot 100. On the other hand, the top of the second receiving cavity 122 does not contact the top of the second connector 302, so that the horizontal movement of the second connector 302 is unimpeded, ensuring a smooth docking process.

[0169] Similarly, since the second connector 302 needs to have the freedom of horizontal movement, the second connector 302 also needs to be connected to the robot's second liquid tank 103 through the second flexible tube 314.

[0170] In this embodiment, the seal 308 is provided on the first connector 301 and / or the second connector 302. For example... Figure 15 and Figure 16 As shown, in an optional embodiment, the seal 308 is housed in the second connecting portion 3023 of the second connector 302. In this embodiment, the seal 308 is cylindrical with a channel 3081 in the middle, which wraps around its outer wall when the first connector 301 is inserted therein, achieving a seal. The lower end of the second connecting portion 3023 is provided with a guide 315 for pressing against the seal 308 and fixing the seal 308 in the second connecting portion 3023. Figure 15 As shown, the guide member 315 is provided with a guide hole 3151 corresponding to the channel 3081. Along the direction from bottom to top, the cross-sectional area of ​​the guide hole 3151 gradually decreases, which is used to guide the first connector 301 when it is inserted into the second connector 302.

[0171] Of course, the arrangement of the sealing element 308 is not limited to the above-described embodiments. In other feasible embodiments, the sealing element 308 can be fixedly sleeved on the outer wall of the first connector 301. When the first connector 301 extends from the main body 203 of the base station 200, it can drive the sealing element 308 to move together and insert into the second connector 302. Alternatively, the outer wall of the first connector 301 and the interior of the second connector 302 are provided with sealing elements 308. When the first connector 301 is inserted into the second connector 302, the two sealing elements 308 are interference-fitted to achieve a seal.

[0172] In this embodiment, the main body 203 of the base station 200 is also provided with a driving mechanism 310 that cooperates with the first connector 301. This mechanism drives the first connector 301 to move vertically to achieve mating with the second connector 302. When the first connector 301 and the second connector 302 are in mating state, a clamping force is applied to the first connector 301 to maintain the compression deformation of the sealing element 308. Compared to the above embodiment which uses magnetic attraction to achieve the docking of the two connectors and the application and maintenance of the clamping force, this embodiment uses a mechanical driving mechanism 310, which can significantly improve the driving force and clamping force, ensuring that the first connector 301 and the second connector 302 can successfully dock, and that the sealing element 308 can obtain a larger clamping force, allowing the sealing element 308 to be fully compressed and deformed, ensuring the sealing performance after docking.

[0173] In addition, compared to the above, such as Figure 1The first connector 301 and the second connector 302 shown are in a horizontal docking embodiment. In this embodiment, the first connector 301 and the second connector 302 are docked in a vertical direction, so the side wall of the sealing element 308 does not need to bear the weight of the liquid. Therefore, compared with the horizontal docking method, the vertical docking has lower requirements for sealing performance. In addition, the mechanical drive mechanism 310 applies a greater clamping force to the sealing element 308, and the sealing element 308 is squeezed and deformed more fully. Therefore, after the first connector 301 and the second connector 302 are docked in this embodiment, the sealing effect is significantly better than that of the above embodiment, thereby ensuring that no liquid leakage occurs during the liquid addition process.

[0174] The docking device 300 also includes an alignment component for aligning the two joints vertically during the docking process of the first joint 301 and the second joint 302, ensuring smooth docking. In an optional embodiment, the alignment component can employ magnetic alignment, which is largely the same as in the above embodiment, including at least one first attachment element 3011 and at least one second attachment element 3022 associated with the first attachment element 3011. One of the first attachment element 3011 and the second attachment element 3022 is a magnetic element, and the other is a magnetic element or a magnetizable element. A magnetic attraction force can be generated between the first attachment element 3011 and the second attachment element 3022, and the first joint 301 and the second joint 302 are aligned by the magnetic attraction force; the first attachment element 3011 and the second attachment element 3022 are aligned by mutual attraction through the magnetic attraction force. In this embodiment, the magnetic attraction not only has an alignment function but also assists in docking and enhances the docking force.

[0175] As described above, the differences between this embodiment and the embodiments described above are further explained:

[0176] In the above embodiments, the magnetic attraction generated between the first attachment element 3011 and the second attachment element 3022 provides the docking power for the first connector 301 and the second connector 302, as well as the clamping force caused by the compression deformation of the seal 308. This requires the attachment elements to have a large magnetic force. At the same time, since the second attachment element 3022 and the second connector 302 have the same axis, during the operation of the cleaning robot 100, the second attachment element 3022 may attract magnetic materials scattered on the working surface to the surface of the second connector 302, affecting the sealing performance of the docking of connectors 301 and 302.

[0177] In this embodiment, the first attachment element 3011 and the second attachment element 3022 only need to be aligned with each other by magnetic attraction, and the magnetic force requirement is relatively small. At the same time, the relative offset distance between the axes of the second attachment element 3022 and the second connector 302 is about 15mm, so as to avoid the situation where magnetic materials are adsorbed on the surface of the second connector 302, which would affect the sealing performance of the connection.

[0178] In another optional embodiment, the alignment component also includes the guide hole 3151 mentioned above. Since the guide hole 3151 is funnel-shaped, wider at the bottom and narrower at the top, when the first connector 301 attempts to mate with the second connector, the upper end of the plug 311 of the first connector 301 can abut against the inner wall of the guide hole 3151 and slide on the inner wall of the guide hole 3151, pushing the second connector 302 to move horizontally for fine adjustment, so that the second connector 302 is aligned with the first connector 301, so that the first connector 301 and the second connector can be accurately mated and the mating can be successfully completed.

[0179] The cleaning system also includes an alignment detection element that communicates with the control module to detect whether the first connector 301 and the second connector 302 are aligned. The alignment detection element is similar to the docking detection element 309 described above and will not be repeated here. If the first connector 301 and the second connector 302 are aligned, the docking detection element 309 sends an alignment signal to the base station 200. Based on the received alignment signal, the control module controls the transport pump within the base station 200 to operate, supplying the liquid in the first liquid tank 201 to the robot's second liquid tank 103 through the connector device 300.

[0180] Furthermore, the cleaning system also includes a liquid level detection element communicatively connected to the control module to detect whether the liquid volume in the robot's second liquid tank 103 has reached a preset threshold during the process of replenishing liquid to the cleaning robot 100 from the base station 200. If it has, a stop replenishment signal is sent to the base station 200. Based on the received stop replenishment signal, the control module controls the motor 3101 to operate, causing the first connector 301 to switch from an operating state to a non-operating state, and causing the transport pump of the base station 200 to reverse, pumping the residual liquid in the first connector 301 back into the first liquid tank 201. The residual liquid return scheme for this part can be referred to the above description and will not be repeated here.

[0181] In one embodiment, the docking device 300 is provided with a one-way flow-limiting structure, which allows liquid to flow from the first connector 301 to the second connector 302, while inhibiting liquid from flowing from the second connector 302 to the first connector 301. That is, only the base station 200 is allowed to replenish liquid into the cleaning robot 100, while liquid in the cleaning robot 100 is not allowed to flow back into the base station 200. The one-way flow-limiting structure can adopt any suitable construction, and this embodiment is not limited to one. Figure 15 and Figure 16As shown, in an optional embodiment, the unidirectional flow-limiting structure can be a ball valve structure. Specifically, the upper end of the seal 308 is recessed downward to form a roughly arc-shaped ball seat 317, and the second connecting portion 3023 is provided with a ball 316 that mates with the ball seat 317. Thus, when the liquid flows from bottom to top, it can push open the ball 316, opening the connection between the first connector 301 and the second connector 302. When pumping stops, the ball 316 falls back onto the ball seat 317 under gravity, blocking the connection between the first connector 301 and the second connector 302 and preventing backflow.

[0182] In one embodiment, refer to Figure 17 As shown, when not in operation, the first connector 301 is housed within the main body 203. In other embodiments, it may also partially extend. The base station 200 further includes a detection device and a control device for detecting whether the cleaning robot has reached a predetermined position. When the cleaning robot reaches the predetermined position, the detection device sends a signal to the control device, which controls the drive mechanism to move the first connector 301 to dock with the second connector 302. The drive mechanism 310 specifically includes a transmission member 321, which is movably mounted on the main body 203 via an elastic member. The first end of the transmission member 321 is fixedly connected to the push rod 320, and the second end can swing in response to external thrust. One end of the flexible tube 303 is sleeved on the push rod 320, and the other end is connected to the liquid outlet 3013. The first connector 301 also includes a guide member 322. In one embodiment, the guide member 322 may be disposed on both sides of the flexible tube 303 and at a predetermined distance from the flexible tube 303. The guide 322 may be a guide rail for guiding the push rod 320 to move in a predetermined direction. In one embodiment, the push rod 320 moves axially along the flexible tube 303. In one embodiment, when the cleaning robot reaches the predetermined position, the detection device sends a signal to the control device, which controls the drive mechanism 310 to apply a thrust to the second end of the transmission member 321. The transmission member 321 swings, thereby pushing the first connector 301 to extend out of the body 203 to a predetermined position. The first attachment element 3011 and the second attachment element 3022 are docked together due to mutual attraction, thereby realizing the docking of the first connector 301 and the second connector 302.

[0183] Because the flexible tube 303 has good flexibility and has the freedom to move in a plane perpendicular to the axial direction of the first connector 301, even if the position of the cleaning robot 100 is slightly deviated, the flexible tube 303 will not be damaged due to the pulling force when the first connector 301 and the second connector 302 are magnetically connected together.

[0184] The above descriptions are merely a few embodiments of the present invention. Those skilled in the art can make various modifications or variations to the embodiments of the present invention based on the content disclosed in the application documents without departing from the spirit and scope of the present invention.

Claims

1. A cleaning system, characterized in that, include: A cleaning robot, a base station for the cleaning robot to dock and refill its fluids, and a docking device for connecting the cleaning robot to the base station; The base station includes: a main body and a first liquid tank disposed on the main body, the first liquid tank being used to provide liquid to the cleaning robot; The cleaning robot includes: a body, a moving module located at the bottom of the body for driving the cleaning robot to move, a working module located on the body for performing work tasks, and a second liquid tank located on the body, the second liquid tank obtaining liquid from the first liquid tank; The docking device includes: a first connector and a second connector mating with the first connector; the first connector is connected to the first liquid tank, and the first connector includes a liquid outlet end and a first attachment element mounted on the liquid outlet end. The first connector has a working state extending outside the main body of the base station to mate with the second connector, and a non-working state; the second connector is connected to the robot's second liquid tank, and the second connector includes a second attachment element; wherein, one of the first attachment element and the second attachment element is a magnetic element, and the other is a magnetic element or a magnetizable element; the first attachment element and the second attachment element can generate a magnetic attraction force, so that the first connector and the second connector can be connected together by the magnetic attraction force; the liquid outlet end has at least one degree of freedom of movement in a plane perpendicular to the axial direction of the first connector. The base station body is also provided with a drive mechanism that cooperates with the first connector. The drive mechanism is used to drive the first connector to move so as to achieve mating with the second connector. The drive mechanism can at least drive the first connector to switch from the non-working state to the working state and keep the first connector in the working state. The working state is when the first connector and the second connector are mated.

2. The cleaning system as described in claim 1, characterized in that, The base station includes: A detection device is used to detect whether the cleaning robot has reached the predetermined position; A control device is used to control the drive mechanism to move the first connector based on the signal sent by the detection device so as to achieve mating with the second connector.

3. The cleaning system as described in claim 1, characterized in that, The driving mechanism includes a push rod and a transmission component fixedly connected to the push rod. The transmission component swings in response to external thrust to drive the push rod to move the first joint axially.

4. The cleaning system as described in claim 3, characterized in that, The first connector further includes a guide member for guiding the push rod to move in a predetermined direction.

5. The cleaning system as described in claim 1, characterized in that, The first connector further includes at least: an inlet end for connecting to the first liquid tank; the inlet end and the outlet end are connected by a flexible tube, the outlet end is used for insertion and mating with the second connector, and the inlet end is connected to the first liquid tank through an inlet pipe.

6. The cleaning system as described in claim 5, characterized in that, The first joint also includes an axial tensile member to enhance the flexibility of the tube to withstand tension.

7. The cleaning system as described in claim 6, characterized in that, The axial tensile member is a braided structure wrapped around the outer wall of the flexible tube; or, the axial tensile member is connected between the inlet end and the outlet end.

8. The cleaning system as claimed in claim 1, characterized in that, The main body is provided with a horizontal guide sleeve, and the side wall of the horizontal guide sleeve is provided with a horizontal clearance hole; the first connector is movably inserted into the horizontal clearance hole; the first connector is provided with a horizontal guide part, and the horizontal guide part is slidably disposed in the horizontal guide sleeve.

9. The cleaning system as described in claim 8, characterized in that, A return spring is provided between at least one end of the horizontal guide portion along its movable direction and the inner wall of the horizontal guide sleeve.

10. The cleaning system as claimed in claim 1, characterized in that, The first connector is movably mounted on the main body of the base station in a vertical direction and is connected to the first liquid tank; The second connector is movably disposed at the bottom of the body of the cleaning robot in a horizontal direction and communicates with the robot's second liquid tank; The base station body is also provided with a drive mechanism that cooperates with the first connector. The drive mechanism is used to drive the first connector to move in the vertical direction to achieve mating with the second connector.

11. The cleaning system as claimed in claim 10, characterized in that, A guide is installed at the bottom of the second connector, and a guide hole is formed on the guide; the cross-sectional area of ​​the guide hole gradually decreases from bottom to top; the guide hole is used to guide the insertion of the first connector into the second connector.

12. The cleaning system as claimed in claim 10, characterized in that, The first connector includes: a generally vertically arranged plug for insertion and mating with the second connector, and a generally horizontally arranged adapter connected to the plug; The adapter is connected to the first liquid tank via a flexible tube.

13. The cleaning system as claimed in claim 1, characterized in that, The first or second connector is provided with a seal, which seals the joint between the first and second connectors when they are in a mating state.

14. The cleaning system as claimed in claim 13, characterized in that, The first connector includes a first connecting portion, the second connector includes a second connecting portion that mates with the first connecting portion, and the seal seals the gap between the first connecting portion and the second connecting portion.

15. The cleaning system as claimed in claim 14, characterized in that, The first or second connecting part is provided with water-absorbing material; when the first connector and the second connector are in a mating state, the water-absorbing material is squeezed and is in a compressed state; when the first connector and the second connector are in a separated state, the water-absorbing material returns to its original state.

16. The cleaning system as claimed in claim 1, characterized in that, The base station also includes: a base station controller; The first or second connector is equipped with a docking detection element to detect whether the first connector and the second connector are successfully docked; When the detection result of the docking detection element is yes, the base station controller controls the base station to replenish the second liquid tank of the cleaning robot.

17. The cleaning system as claimed in claim 1, characterized in that, The docking device is provided with a one-way flow limiting structure, which allows liquid to flow from the first connector to the second connector, while inhibiting liquid from flowing from the second connector to the first connector.

18. A cleaning system, characterized in that, include: A cleaning robot, a base station for the cleaning robot to dock and refill its fluids, and a docking device for connecting the cleaning robot to the base station; The base station includes: a main body and a first liquid tank disposed on the main body; The cleaning robot includes: a body, a moving module located at the bottom of the body for driving the cleaning robot to move, a working module located on the body for performing work tasks, and a second liquid tank for the robot located on the body. The docking device includes: a first connector and a second connector mating with the first connector; the first connector is connected to the first liquid tank via a flexible tube, and the first connector includes a liquid outlet end and a first attachment element installed on the liquid outlet end. The first connector has a working state extending outside the main body of the base station to mate with the second connector, and a non-working state; the second connector is connected to the robot's second liquid tank via a flexible tube, and the second connector includes a second attachment element; wherein, one of the first attachment element and the second attachment element is a magnetic element, and the other is a magnetic element or a magnetizable element; the first attachment element and the second attachment element can generate a magnetic attraction force, so that the first connector and the second connector can be connected together by the magnetic attraction force. The liquid outlet or the second connector has at least one degree of freedom of movement in a plane perpendicular to the axial direction of the first connector. The base station body is also provided with a drive mechanism that cooperates with the first connector. The drive mechanism is used to drive the first connector to move so as to achieve mating with the second connector. The drive mechanism can at least drive the first connector to switch from the non-working state to the working state and keep the first connector in the working state. The working state is when the first connector and the second connector are mated.

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