Workstation and robot system

Abstract

The invention discloses a workstation and a robot system. The work station comprises a work station body which is provided with a containing space, and a first interface assembly is transversely arranged in the containing space; the liquid storage tank is used for recycling sewage or providing purified water for the robot, the liquid storage tank is detachably arranged in the containing space, and the liquid storage tank transversely moves in the containing space so as to be separated from or in butt joint with the first connector assembly.

Description

Technical Field

[0001] The present application relates to the field of robotics technology, and in particular to a workstation and a robotic system. Background Art

[0002] In areas such as commercial, industrial, institutional, and public buildings where high-volume water use or large areas need to be cleaned, keeping floor surfaces clean is a continuous and time-consuming process. With the development of automation technology and artificial intelligence, robots are widely used in such occasions to replace manual cleaning of floor surfaces, including tiles, stones, bricks, wood, concrete, carpets, and other common surfaces.

[0003] In order to ensure that the robot can continuously and efficiently perform large-area cleaning of the surface to be cleaned without supervision, a workstation is usually used to add water to the robot or collect sewage in the robot. For example, when the robot needs to be added with water, after it is docked with the workstation, the workstation can transport clean water in the water tank to the robot.

[0004] At present, based on the robot's requirements for water volume, the water tank of the workstation is usually designed to be larger, the height of the workstation is also often designed to be higher, and the workstation in the prior art often requires the user to separate the water tank from the workstation in the vertical direction and install the water tank to the workstation in the vertical direction. For example, when the user needs to add water to the water tank or clean the sewage in the water tank, it is necessary to separate the water tank from the workstation in the vertical direction to add water or clean the sewage, and then install the water tank to the workstation. The process of installing and removing the water tank in the vertical direction is laborious and inconvenient for the user to operate. For example, it is not convenient for users with shorter height to separate the water tank from the workstation in the vertical direction. It is therefore inconvenient for the user to add water to the water tank and clean the sewage. Summary of the invention

[0005] In view of the shortcomings of the above-mentioned related technologies, the purpose of the present application is to provide a workstation and a robot system to overcome the technical problem in the above-mentioned related technologies that the water tank needs to be vertically separated and installed from the workstation, which makes it inconvenient for users to operate.

[0006] To achieve the above-mentioned purpose and other related purposes, the first aspect disclosed in the present application provides a workstation, which includes: a workstation body, on which a storage space is provided, and a first interface component is horizontally arranged in the storage space; a liquid storage tank, which is used to recover sewage or provide clean water to the robot, and is detachably arranged in the storage space, and the liquid storage tank moves horizontally in the storage space to separate from or dock with the first interface component.

[0007] The second aspect disclosed in the present application provides a workstation, comprising: a workstation body, a base for a robot to dock is provided at the bottom, and a sewage holding area is provided on the base; a filtering mechanism, which is detachably arranged in the sewage holding area, comprising a first filter disc, and a first filtering structure is provided on the first filter disc, and the sewage discharged by the robot enters the sewage holding area through the first filtering structure, so that the garbage in the sewage is deposited on the first filter disc.

[0008] The third aspect disclosed in the present application provides a workstation, comprising: a workstation body, a back of which is provided with a separated circuit configuration area and a water channel configuration area, the circuit configuration area is used to configure circuit components, and the water channel configuration area is used to configure a pumping mechanism and a water supply mechanism; wherein the circuit components are used to control the operation of the pumping mechanism and the water supply mechanism; a base, which is extended and arranged at the bottom of the workstation body, and is provided with a sewage holding area; a liquid storage tank, which is detachably arranged on the workstation body, the liquid storage tank is connected to the water supply mechanism to provide clean water for the robot, and the liquid storage tank is also connected to the pumping mechanism to recover the sewage in the sewage holding area under the suction of the pumping mechanism.

[0009] The fourth aspect disclosed in the present application provides a robot system, comprising: a robot, comprising: a moving device, comprising a driving wheel arranged at the bottom of the robot; a cleaning device, arranged at the bottom of the robot, for performing cleaning operations; a control device, for controlling the moving device and the cleaning device to work together; a workstation as described in any one of the first to third aspects of the present application, for docking with the robot to provide clean water to the robot and recover sewage discharged by the robot.

[0010] In summary, the workstation and robot system disclosed in the present application are provided with a first interface component transversely in the storage space of the workstation, so that the liquid storage tank used for recovering sewage or providing clean water to the robot can be moved transversely in the storage space to separate or dock with the first interface component for user operation; further, by providing a limit assembly on the workstation, the position of the liquid storage tank in the storage space can be limited to maintain the tight fit between the liquid storage tank and the first interface component; further, by providing an elastic mechanism in the storage space, it is helpful to separate the liquid storage tank from the first interface component. By providing a filtering mechanism including a first filter disc in the workstation, the sewage discharged by the robot can be filtered to deposit garbage in the sewage on the filtering mechanism to prevent garbage from clogging the pumping structure of the workstation; further, by providing a second filtering structure in the water flow direction from the cleaning area to the sewage storage area, the sewage flowing from the cleaning area to the sewage storage area can be filtered to further prevent the pumping mechanism from being blocked. By providing a circuit configuration area and a waterway configuration area separated from each other on the back of the workstation body, liquid can be prevented from entering the circuit configuration area to ensure the safety of the circuit components in the circuit configuration area.

[0011] Those skilled in the art can easily perceive other aspects and advantages of the present application from the detailed description below. In the detailed description below, only exemplary embodiments of the present application are shown and described. As will be appreciated by those skilled in the art, the content of the present application enables those skilled in the art to modify the disclosed specific embodiments without departing from the spirit and scope of the invention to which the present application relates. Accordingly, the description in the drawings and specification of the present application is merely exemplary and not restrictive. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] The specific features of the invention involved in this application are shown in the attached claims. The features and advantages of the invention involved in this application can be better understood by referring to the exemplary embodiments and drawings described in detail below. The drawings are briefly described as follows:

[0013] Figure 1 Shown is a schematic diagram of a three-dimensional structure of a workstation in one embodiment of the present application at a certain viewing angle.

[0014] Figure 2 Shown is a schematic diagram of the three-dimensional structure of a base in one embodiment of the present application.

[0015] Figure 3 Shown is a schematic diagram of the three-dimensional structure of a workstation in one embodiment of the present application from another viewing angle.

[0016] Figure 4 Shown is a three-dimensional structural schematic diagram of a filtering mechanism in one embodiment of the present application.

[0017] Figure 5 It is a schematic diagram showing that part of the liquid storage tank is separated from the workstation body in one embodiment of the present application.

[0018] Figure 6 It is a schematic diagram showing that all the liquid storage tanks in one embodiment of the present application are separated from the workstation body.

[0019] Figure 7 This application is displayed in Figure 4 A partial enlarged view of the workstation body in the illustrated embodiment.

[0020] Figures 8 to 10 They are schematic diagrams of the structure of the liquid storage tank in one embodiment of the present application at different viewing angles.

[0021] Fig.11 Shown is a schematic diagram of the structure of the liquid storage tank after the second cover is removed in one embodiment of the present application.

[0022] Fig.12 and Fig.13 They are schematic diagrams of the structure of the limit assembly in one embodiment of the present application at different viewing angles.

[0023] Fig.14 The figure is a schematic structural diagram of a workstation in one embodiment of the present application from its back perspective.

[0024] Fig.15 Shown is a schematic diagram of the structure of a workstation after removing the back cover in one embodiment of the present application.

[0025] Fig.16 Shown is a schematic diagram of the structure of a robot in one embodiment of the present application.

[0026] Fig.17 Shown is a schematic diagram of the disassembled structure of a robot in one embodiment of the present application.

[0027] Fig.18 Shown is a schematic structural diagram of a chassis in one embodiment of the present application.

[0028] Fig.19 Shown is a schematic diagram of the structure of a workstation in one embodiment of the present application from a front perspective.

[0029] Fig. 20 It is a schematic diagram showing the structure of a filter mechanism disposed on a base in one embodiment of the present application.

[0030] Fig.21 It is a schematic diagram showing that the base and the filter mechanism are in a separated state in one embodiment of the present application.

[0031] Fig. 22 Show this application Fig. 20 A schematic cross-sectional view of the structure of the embodiment shown.

[0032] Fig.23 Shown is a schematic diagram of the split structure of a workstation in one embodiment of the present application.

[0033] Fig.24 It is a schematic diagram showing that the base of a workstation in one embodiment of the present application is arranged on the workstation body.

[0034] Fig.25 Shown is a state diagram of the separation process of the base and the workstation body in one embodiment of the present application.

[0035] Fig.26 This application is displayed in Fig.24 A partial enlarged view of point F in the illustrated embodiment.

[0036] Fig. 27 Shown is a schematic cross-sectional structure diagram of a workstation in one embodiment of the present application.

[0037] Fig.28 This application is displayed in Fig. 27 A local enlarged view of location M in the illustrated embodiment.

[0038] Fig.29 Shown is a schematic structural diagram of a water supply interface assembly in one embodiment of the present application. DETAILED DESCRIPTION

[0039] The following is an explanation of the implementation of the present application by means of specific embodiments. People familiar with the art can easily understand other advantages and effects of the present application from the contents disclosed in this specification.

[0040] In the following description, reference is made to the accompanying drawings, which describe several embodiments of the present application. It should be understood that other embodiments may also be used, and that changes in module or unit composition, electrical and operational aspects may be made without departing from the spirit and scope of the present disclosure. The following detailed description should not be considered restrictive, and the scope of the embodiments of the present application is limited only by the claims of the published patents. The terms used herein are only for the purpose of describing specific embodiments and are not intended to limit the present application.

[0041] Although the terms first, second, etc. are used to describe various elements or parameters in this article in some instances, these elements or parameters should not be limited by these terms. These terms are only used to distinguish an element or parameter from another element or parameter. For example, the first interface component can be referred to as the second interface component, and similarly, the second interface component can be referred to as the first interface component, without departing from the scope of the various described embodiments. The first interface component and the second interface component are both describing an interface component, but unless the context clearly indicates otherwise, they are not the same interface component.

[0042] Furthermore, as used in this article, the singular forms "one", "an" and "the" are intended to include plural forms as well, unless there is an indication to the contrary in the context. It should be further understood that the terms "comprise", "include" indicate the presence of the described features, steps, operations, elements, components, projects, kinds, and / or groups, but do not exclude the presence, occurrence or addition of one or more other features, steps, operations, elements, components, projects, kinds, and / or groups. The terms "or" and "and / or" used herein are interpreted as inclusive, or mean any one or any combination. Therefore, "A, B or C" or "A, B and / or C" means "any of the following: A; B; C; A and B; A and C; B and C; A, B and C". Exceptions to this definition will only occur when the combination of elements, functions, steps or operations is inherently mutually exclusive in some way.

[0043] As described in the background technology, the prior art usually uses a workstation to add water to the robot or collect sewage in the robot, for example, the clean water in the water tank (or liquid storage tank) of the workstation is delivered to the robot or the sewage discharged by the robot is recovered into the liquid storage tank of the workstation. However, when the user needs to add water to the liquid storage tank in the workstation or needs to clean the sewage in the liquid storage tank, the vertical separation and installation of the liquid storage tank and the workstation will cause inconvenience for the user to operate.

[0044] In view of this, the present application proposes a workstation and a robot system, by laterally setting a first interface component in a storage space of the workstation that accommodates a liquid storage tank, so that the liquid storage tank of the robot can move laterally in the storage space to separate or dock with the first interface component, thereby facilitating user operation.

[0045] It should be noted that the robot described in the present application includes a clean water tank and a sewage tank to complete the cleaning operation of the surface to be cleaned. The robot may also be referred to as a mobile robot, a floor washing robot, a floor washing machine, an automatic floor scrubber, a cleaning robot, etc. in some application scenarios. It is a robot device suitable for performing floor surface cleaning operations in areas with high-volume water use or large areas of cleaning. The robot can accept user commands, such as an operator pushing, pulling, or driving the robot to complete the cleaning operation on the floor surface; for example, the operator controls the robot to perform work through a handheld remote control or an application loaded on a smart terminal. The robot can also complete the cleaning operation of the floor surface by itself, such as by running a pre-arranged program or rule to complete the work by itself. In the following embodiments of the present application, a robot that can autonomously perform positioning and navigation and autonomously complete cleaning operations will be used as an example for explanation.

[0046] The workstation described in this application is a device or apparatus for the robot to dock in order to provide robot services. Depending on the functions and application scenarios it provides, the workstation may also be referred to as a base station, a charging station, a charging pile, a recycling station, a water exchange station, etc. The workstation can complete various service tasks for the robot by running pre-arranged programs or rules, and also allows operators to intervene to operate the workstation.

[0047] The robot system described in the present application is a combination of a robot and a workstation. In some application instances, the robot system may also include a remote controller for operating or interacting with the robot, a smart terminal equipped with an application, and / or a cloud server / cluster that performs data storage and processing in the cloud.

[0048] The surface to be cleaned refers to the floor surface, including tiles, stones, bricks, wood, concrete, carpets and other common surfaces. The surface to be cleaned may also be referred to as a cleaning surface, a floor, a surface, a walking surface, etc. It should be noted that in this application, for the convenience of description and understanding, the plane parallel to the surface to be cleaned, i.e., the floor surface, is referred to as a horizontal plane or a horizontal direction, and the plane perpendicular to the surface to be cleaned, i.e., the floor surface, is referred to as a vertical plane or a vertical direction.

[0049] Further, for the convenience of description and understanding, in the present application, the side of the workstation docking with the robot is defined as the front side of the workstation, and correspondingly, the end corresponding to the front side of the workstation is the front end (or front part) of the workstation, and the direction corresponding to the front side is the forward direction of the workstation (such as Figure 1In the embodiment of the present invention, the robot is used as the control unit, and the robot is controlled by the control unit. The control unit is a robot that is controlled by the control unit, and the control unit is a robot that is controlled by the control unit. The control unit is a robot that is controlled by the control unit, and the control unit is a robot that is controlled by the control unit. The control unit is a robot that is controlled by the control unit, and the control unit is a robot that is controlled by the control unit. The control unit is a robot that is controlled by the control unit, and the control unit is a robot that is controlled by the control unit. The control unit is a robot that is controlled by the control unit, and the control unit is a robot that is controlled by the control unit. The control unit is a robot that is controlled by the control unit, and the control unit is a robot that is controlled by the control unit. The control unit is a robot that is controlled by the control unit, and the control unit is a robot that is controlled by the control unit.

[0050] In some embodiments, the present application discloses a workstation, which is used to dock with a robot including a sewage tank and a clean water tank. The workstation can provide robot services to the robot after docking with the robot, and the robot services provided by the workstation include at least one of recycling sewage, providing clean water, and charging. In one embodiment, the robot services provided by the workstation to the robot include the above three. However, it is not limited to this. In another embodiment, in order to reduce the complexity of the workstation, for example, in order to reduce the complexity of the water flow pipeline, the robot service provided by the workstation to the robot may also only include recycling sewage or providing clean water. In the following embodiments, the workstation provides the robot with recycled sewage, clean water, and charging services as an example. It should be noted that in the process of the workstation providing clean water to the robot, the cleaning liquid can also be mixed with the clean water and provided to the robot together.

[0051] See also Figure 1 , which is a schematic diagram of a three-dimensional structure of a workstation in one embodiment of the present application at a certain viewing angle, as shown in the figure, the workstation includes a workstation body 1, a base 2, and a liquid storage tank 3. Specifically, the workstation body 1 is provided with a storage space, and the liquid storage tank 3 is detachably arranged in the storage space. The liquid storage tank 3 is used to recycle sewage or provide clean water to the robot. In other words, the liquid storage tank 3 can be used to store sewage or clean water.

[0052] The back of the workstation body 1 is provided with a circuit assembly, a pumping mechanism, and a water supply mechanism, wherein the circuit assembly is used to control the operation of the pumping mechanism and the water supply mechanism, and the pumping mechanism and the water supply mechanism are used to communicate with the liquid storage tank 3 to provide the clean water in the liquid storage tank 3 to the robot through the water supply mechanism or to recycle the sewage to the liquid storage tank 3 through the pumping mechanism. The base 2 is provided at the bottom of the workstation body 1, and the base 2 is used for the robot to dock, for example, the robot moves along Figure 1The robot moves in the direction indicated by the arrow Q and stops on the base 2 to achieve docking between the robot and the workstation. Figure 1 In the illustrated embodiment, the workstation body 1 is further provided with a docking space 10 located above the base 2, and the docking space 10 allows all or part of the robot to enter the workstation.

[0053] In one embodiment, the base 2 can be detachably connected to the workstation body 1, or can be an integrally formed structure with the workstation body 1. The base 2 is detachably connected to the workstation body 1, which can facilitate the operation of the base, such as cleaning the base, replacing parts, etc. In the following embodiments, the base 2 is detachably arranged at the bottom of the workstation body 1 as an example for description.

[0054] In some embodiments, the base 2 can be integrally formed or assembled from a material such as plastic, and is configured to be compatible with the workstation body 1 so that it can be disposed at the bottom of the workstation body 1, such as the base 2 being extendedly disposed at the bottom of the workstation body 1. Figure 1 and Figure 2 , Figure 2 Shown is a schematic diagram of the three-dimensional structure of the base in one embodiment of the present application. As shown in the figure, the side of the base 2 has a recessed structure 20, and the recessed structure 20 is adapted to the structure at the bottom of the workstation body 1, so that the recessed structure 20 can be stuck at the bottom of the workstation body 1.

[0055] In one embodiment, see Figure 24 to Figure 26 , Fig.24 It is a schematic diagram showing that the base of a workstation in one embodiment of the present application is arranged on the workstation body, Fig.25 It is a schematic diagram showing the state of the base and the workstation body being separated in one embodiment of the present application. Fig.26 This application is displayed in Fig.24 In the partially enlarged view of point F in the illustrated embodiment, as shown in the figure, the base 2 is detachably disposed on the workstation body 1 through a limiting assembly 12. The limiting assembly 12 is movably disposed on the side wall of the workstation body 1, and correspondingly, the base 2 includes a coupling position 23 that cooperates with the limiting assembly 12. Among them, after the limiting assembly 12 enters the coupling position 23, the base 2 can be locked to the bottom of the workstation body 1, and after the limiting assembly 12 moves away from the coupling position 23, the base 2 is allowed to be pulled out of the workstation body 1. In other words, when the lock on the base 2 is released, the base 2 can move at the bottom of the workstation body 1 to separate from the workstation body 1. Although Figure 24 to Figure 26In the illustrated embodiment, a limiting assembly 12 is provided on the workstation body 1, but the present invention is not limited thereto. In other embodiments, more than two limiting assemblies may be provided, for example, two limiting assemblies are respectively provided on the side walls on opposite sides of the workstation body.

[0056] In one embodiment, if Fig.25 As shown, the combining position 23 is a groove arranged on the base 2, and the groove is located on the side of the base 2 facing the workstation body 1 where the limiting component 12 is configured. However, this is not limited to the above, and in other embodiments, the combining position may also be a raised structure arranged on the base. In other words, the combining position only needs to meet the requirement that the base can be locked to the bottom of the workstation body after being engaged with the limiting component and the base can be pulled out of the workstation body after the limiting component and the combining position are separated. In the following embodiments, the combining position is taken as a groove for explanation. The number and position of the combining positions match the number and position of the limiting components.

[0057] In one embodiment, please continue to refer to Figure 24 to Figure 26 The limiting assembly 12 includes a limiting mechanism 120 and a connecting portion 121 .

[0058] The limiting mechanism 120 includes a main body 1200 and a limiting portion 1201. The limiting portion 1201 is formed on a side of the main body 1200 facing the base 2 to cooperate with the combination position 23 to lock the base 2. For example, the limiting portion 1201 is a protruding structure, and when the limiting portion 1201 is located in the combination position 23, the limiting portion 1201 locks the base 2, and when the limiting portion 1201 leaves the combination position 23, the base 2 can be pulled out from the bottom of the workstation body 1.

[0059] The connecting portion 121 is used to connect the limiting mechanism 120 to the workstation body 1. In one embodiment, the connecting portion 121 is connected to the main body 1200, and the connecting portion 121 is arranged on the workstation body 1. Specifically, the limiting mechanism 120 is spaced apart from the side wall of the workstation body 1 by a preset movement distance, and the main body 1200 of the limiting mechanism 120 can rotate around the connecting portion 121 so that the limiting portion 1201 enters or leaves the combining position 23. For example, the main body 1200 can rotate around the connecting portion 1202 in a direction away from or close to the combining position 23. In another embodiment, a track is arranged on the workstation body 1, and the connecting portion 121 is slidably arranged on the track, and the connecting portion 121 drives the limiting mechanism 120 to enter or leave the combining position 23 when sliding up and down in the track.

[0060] It should be noted that, although the present application describes the limit assembly 12 using the embodiment described above as an example, it is not limited thereto. In other embodiments, the limit assembly 12 may also be an electrically driven assembly or an assembly of other mechanical structures. The limit assembly only needs to be able to lock the base at the bottom of the workstation body and move away from the combination position to allow the base to be withdrawn from the workstation body. In other embodiments, the combination position on the base may also be provided on the workstation body, and correspondingly, the limit mechanism may also be provided on the base.

[0061] In one embodiment, see Figure 3 Combined with Figure 2 , Figure 3 Shown is a schematic diagram of the three-dimensional structure of a workstation in one embodiment of the present application from another perspective. As shown in the figure, a sewage holding area 21 is also provided on the base 2. The sewage holding area 21 is used to cache / temporarily store sewage. For example, the sewage holding area 21 can be used to cache / temporarily store sewage discharged by the robot. In other words, the sewage holding area 21 is used to provide a temporary storage space for sewage. The temporary storage space refers to an area that allows water to flow in and out. According to the difference in the flow rate of the inflow and outflow of the temporary storage space, the sewage holding area may or may not have water flow gathering. For example, when the sewage discharged by the robot enters the sewage holding area 21 and the pumping mechanism does not extract the sewage in the sewage holding area 21, that is, only water flows into the temporary storage space but no water flows out, then the sewage holding area has water flow gathering.

[0062] In one embodiment, the sewage receiving area is configured as a recessed area with an opening facing upward on the base, and when the robot is docked to the workstation, the sewage can be discharged into the sewage receiving area through the opening facing upward. The recessed area is, for example, preformed on the base, or a groove structure arranged on the base.

[0063] It should be noted that the present application does not limit the formation method of the sewage holding area, as long as the sewage can be cached / temporarily stored in the sewage holding area and does not flow from the base to the floor surface. In other embodiments, the base of the workstation may not be provided with a sewage holding area. In this case, it is only necessary for the sewage outlet of the robot to be directly connected to the pumping mechanism of the workstation, for example, the sewage outlet is directly connected to the pumping mechanism to extract the sewage discharged by the robot.

[0064] In one embodiment, the workstation is further provided with a sewage level measuring device, and the sewage level measuring device is used to determine the liquid level of the sewage in the sewage holding area. For example, the sewage level measuring device is arranged in the sewage holding area. When the liquid level in the sewage holding area reaches the set extraction level, the pumping mechanism starts to extract the sewage in the sewage holding area by using the sewage suction port connected thereto and arranged in the sewage holding area, and when the liquid level in the sewage holding area reaches the set stop extraction level, the pumping mechanism stops extracting the sewage in the sewage holding area. The extraction level is the level at which sewage extraction needs to be started, and the stop extraction level is the level at which sewage extraction is stopped, and the extraction level is higher than the stop extraction level. It should be noted that, in other embodiments, the pumping mechanism can also recycle the sewage while the robot is discharging sewage into the sewage holding area.

[0065] Among them, the sewage level measuring device can be a float level gauge, a float ball level gauge, an electrode level gauge, etc.

[0066] Since the sewage discharged by the robot into the sewage storage area is usually mixed with garbage (including small particles such as impurities and debris), it may cause blockage to the pumping mechanism or related components of the workstation. In view of this, the workstation also includes a filtering mechanism, which is detachably arranged in the sewage storage area. The sewage discharged by the robot enters the sewage storage area through the filtering mechanism, so that the garbage in the sewage is deposited on the filtering mechanism to prevent the garbage from clogging the pumping mechanism and its related components.

[0067] In one embodiment, see Figure 1 and Figure 4 , Figure 4 The three-dimensional structure diagram of the filtering mechanism in one embodiment of the present application is shown. As shown in the figure, the filtering mechanism 24 includes a first filter disc 240, and a first filtering structure 2400 is arranged on the first filter disc 240. The sewage discharged by the robot enters the sewage receiving area through the first filtering structure 2400, so that the garbage in the sewage is deposited on the first filter disc 240. In other words, the robot discharges the sewage to the first filter disc 240, and the filtering structure on the first filter disc 240 filters the sewage, so that the garbage in the sewage remains in the first filter disc 240. The filtered sewage passes through the filtering structure 2400 and enters the sewage receiving area. It should be noted that Figure 4 The first filter structure 2400 shown in the figure at multiple positions of the first filter disc 240 is only a schematic diagram, and any structure located on the first filter disc 240 and having the function of filtering sewage from the robot can be understood as the first filter structure.

[0068] In one embodiment, if Figure 4 As shown, the first filter disc 240 can be a groove-like structure with a preset height on the side, and the opening of the groove-like structure receives the sewage discharged by the robot. Specifically, the groove-like structure can be directly placed on the sewage holding area, and supported on the opening of the sewage holding area by the side of the groove-like structure. In one example, the preset height is 1 cm to 10 cm. For example, the preset height is 1 cm, 2 cm, 3 cm, 4 cm, 5 cm, 6 cm, 7 cm, 8 cm, 9 cm, or 10 cm, but is not limited to this. In other examples, the preset height can also be determined based on other factors such as the instantaneous drainage volume of the robot or based on experiments. In this embodiment, the first filter structure 2400 can be set on the side and / or bottom of the first filter disc 240. For example, as Figure 4 As shown, the first filter structure 2400 is disposed on the side and bottom of the first filter disc 240 .

[0069] In other embodiments, the first filter disc 240 may also be configured as a flat plate structure, and a first filter structure is formed on the flat plate structure. The flat plate structure is arranged to cover the upper part of the sewage receiving area and to cover the opening of the sewage receiving area. The robot discharges sewage onto the flat plate structure, and the garbage is filtered out by the first filter structure and deposited on the flat plate structure, and the filtered sewage enters the sewage receiving area. The shape of the flat plate structure needs to be adapted to the sewage receiving area, and may be, for example, set to a polygonal, circular, or other shape.

[0070] In one embodiment, the first filter structure 2400 is a structure including a plurality of tiny holes or gaps. Further, in order to better improve the filtering effect of the sewage discharged by the robot, the first filter structure 2400 can also be set as a filter, for example, the filter is an activated carbon filter.

[0071] In one embodiment, the filter mechanism 24 further includes a hand-held portion 2401 disposed on the first filter disc 2400. The hand-held portion 2401 is used for a user to hold the filter mechanism 24. In one example, the hand-held portion 2401 may be formed by being recessed and / or protruding on the side of the first filter disc 2400. The hand-held portion 2401 may be, for example, disposed symmetrically to the first filter disc 2400. Figure 4 As shown, two hand-held parts 2401 are formed on the front and rear sides of the first filter disc 2400. The hand-held parts provided on the filter mechanism can facilitate the user to take the filter mechanism for timely cleaning and maintenance, and after taking out the filter mechanism, the user can also clean the sewage receiving area.

[0072] In one embodiment, see Figures 19 to 22 , Fig.19 The figure shows a schematic diagram of the structure of a workstation in one embodiment of the present application from a front side perspective. Fig. 20 It is a schematic diagram showing a structure in which a filter mechanism is arranged on a base in one embodiment of the present application. Fig.21 It is a schematic diagram showing that the base and the filter mechanism are separated in one embodiment of the present application. Fig. 22 Show this application Fig. 20 The cross-sectional structure diagram of the embodiment shown in the figure, as shown in the figure, the sewage receiving area 21 provided on the base 2 includes a first receiving area 210 and a second receiving area 211. The first receiving area 210 is provided with the filtering mechanism, and the first receiving area 210 is used to receive the sewage filtered by the first filtering structure 2400 in the filtering mechanism. The second receiving area 211 is connected to the first receiving area 210, and specifically, the second receiving area 211 has a water inlet 2110 connected to the first receiving area 210 to allow the sewage in the first receiving area 210 to flow into the second receiving area 211.

[0073] The first accommodating area 210 and the second accommodating area 211 are two recessed areas connected by the water inlet 2110. Fig.21 , part of the first accommodating area 210 is located in front of the second accommodating area 211. However, this is not limited to this, in other embodiments, the first accommodating area may also be entirely located in front of the second accommodating area, or arranged side by side with the second accommodating area.

[0074] In one embodiment, if Fig.21 and Fig. 22 As shown, there is a height difference at one end of the second accommodating area 211 close to the water inlet 2110. For example, the height difference can be formed by setting the bottom of the second accommodating area 211 as a slope surface, or by setting the bottom of the second accommodating area 211 as a step. In this way, the sewage in the first accommodating area 210 can naturally flow toward the second accommodating area 211. However, this is not limited to this. In other embodiments, the height difference can also exist in the first accommodating area 210.

[0075] In one embodiment, a snap-fit ​​portion 2402 is formed on one side edge of the first filter disc 240, and the snap-fit ​​portion 2402 is snap-fitted to the water inlet 2110 so that the first filter disc is placed on the first accommodating area 210. The snap-fit ​​portion 2402 can be formed by fully or partially turning one side edge of the first filter disc 240. Fig.21 and Fig. 22As shown, the engaging portion 2402 is formed by turning outward an edge portion of one side of the first filter plate 240 toward the second accommodating area 211 . The engaging portion 2402 is engaged in the grooves on both sides of the water inlet 2110 .

[0076] In one embodiment, the filtering mechanism further includes a third filtering structure 241 disposed at the water inlet 2110, and the sewage in the first receiving area 210 flows into the second receiving area 211 through the third filtering structure 241. By providing the third filtering structure, secondary filtering of the sewage filtered by the first filtering structure is achieved, and impurities or garbage in the sewage flowing into the second receiving area 211 are further reduced.

[0077] In one example, the third filter structure 241 is disposed on the engaging portion 2402 of the first filter disc 240. In other examples, the third filter structure 241 may also be independently disposed at the water inlet 2110 to perform secondary filtration on the sewage filtered by the first filter structure. In other words, the third filter structure 241 may not be disposed on the first filter disc 240.

[0078] In one embodiment, the third filter structure 241 is a structure including a plurality of tiny holes or gaps. Furthermore, in order to better improve the filtering effect of the sewage discharged by the robot, the third filter structure 241 can also be set as a filter, for example, the filter is an activated carbon filter, etc. In one example, the filtering accuracy of the third filter structure is greater than the filtering accuracy of the first filter structure, so that the third filter structure can filter the sewage more finely. In one embodiment, the sewage filtered by the filter mechanism can be pumped into the liquid storage tank by the pumping mechanism. For example, the sewage that passes through the first filter structure 2400 and the third filter structure 241 in sequence flows into the second containing area 211 for extraction by the pumping mechanism. Please refer to Fig. 22 and Fig. 27 , Fig. 27 Shown is a schematic diagram of the cross-sectional structure of a workstation in one embodiment of the present application. As shown in the figure, a first connecting portion is provided on the workstation body 1, and the first connecting portion includes at least one first connecting pipe 100. A second connecting portion is provided on the base 2, and the second connecting portion includes at least one second connecting pipe 25. The second connecting pipe 25 includes a sewage suction port 250, and the sewage suction port 250 is located in the sewage storage. For example, the sewage suction port 250 is located in the second storage area 211. When the second connecting pipe 25 is docked with the first connecting pipe 100, the pumping mechanism can suck the sewage in the sewage storage area through the sewage suction port 250.

[0079] In one example, see Fig. 27 Combined with Fig.24 The second connecting part includes three second connecting pipes 25, and correspondingly, the first connecting part includes three first connecting pipes 100. The second connecting pipe 25 is an L-shaped pipe, one end of the L-shaped pipe is the sewage suction port 250, and the other end of the L-shaped pipe is connected to the first connecting pipe 100.

[0080] In one embodiment, please continue to refer to Figure 3 The base 2 is also provided with a cleaning area 22 that can be connected to the sewage holding area 21. The robot cleans its cleaning device in the cleaning area 22, and the sewage after cleaning flows to the sewage holding area 21 for recycling by the workstation. In addition, since the cleaning area 22 is connected to the sewage holding area 21, the water flow in the sewage holding area 21 is also allowed to overflow to the cleaning area 22 so as to use the sewage to clean the cleaning device. In view of this, in this embodiment, the water used by the robot to clean the cleaning device is the water in the robot's clean water tank and / or the sewage in the sewage holding area 21.

[0081] In one embodiment, the cleaning area 22 is configured as a recessed area on the base with an opening facing upward, and when the robot is docked to the workstation, its cleaning device is located in the cleaning area 22 or on the upper side of the cleaning area 22. The recessed area may be, for example, a groove structure preformed on the base or arranged on the base.

[0082] In one embodiment, the cleaning area 22 and the sewage receiving area 21 may be connected via a connecting structure, and the connecting structure may be, for example, a connecting pipe, a connecting hole, etc.

[0083] In another embodiment, if Figure 2 and Figure 3 As shown, the cleaning area 22 and the sewage holding area 21 are directly connected when they are formed on the base 2. For example, a recessed area that can correspond to the robot sewage outlet and the cleaning device is formed on the base 2, and the recessed area is divided into the cleaning area 22 and the sewage holding area 21 according to the position distribution. In one example, there is a height difference in the direction from the cleaning area 22 to the sewage holding area 21 in the recessed area, and the height difference can be formed by setting the bottom of the recessed area to a slope surface, and also by setting the bottom of the recessed area to a step shape. Among them, the cleaning area 22 is higher than the sewage holding area 21, so that the water flow in the cleaning area 22 can naturally flow toward the sewage holding area 21.

[0084] It should be noted that the present application does not impose any restrictions on the relative position, structure and connection method of the cleaning area 22 and the sewage holding area 21, as long as the two can be connected to each other. In other words, it is necessary to ensure that the sewage in the cleaning area can flow to the sewage holding area (for example, the sewage in the cleaning area is first filtered through the second filtering structure described below before entering the sewage holding area) or flow to the filtering mechanism on the sewage holding area.

[0085] In one embodiment, a cleaning component 220 is provided on the cleaning area 22, and the cleaning component 220 is used to contact the cleaning device of the robot to clean the cleaning device when the robot is docked on the base 2. For example, when the cleaning device (such as the first roller brush and the second roller brush described below) contacts the cleaning component 220, the robot controls the cleaning device to rotate so that each position on the surface of the cleaning device can contact the cleaning component 220 during the rotation process, thereby achieving comprehensive cleaning of the cleaning device.

[0086] In one embodiment, the cleaning component 220 includes scrubbing bars corresponding to the number of roller brushes in the cleaning device. In one example, the cleaning device includes two roller brushes, such as the front roller brush and the rear roller brush described below, and correspondingly, the cleaning component 220 includes two scrubbing bars, such as Figure 3 As shown in the figure, when the robot is docked on the base 2, the front and rear brushes are in contact with the first and second scrubbing bars 2200 and 2201, respectively, that is, the first scrubbing bar 2200 is located at the rear side of the second scrubbing bar 2201. In order to avoid the scrubbing bar from wearing or even damaging the roller brush during the process of cleaning / scrubbing the roller brush by the scrubbing bar in contact with the roller brush, in one example, the scrubbing bar is made of a flexible material.

[0087] It should be noted that, in other embodiments, the cleaning component 220 may also be movably disposed on the base 2. For example, the cleaning component 220 may be rotatably disposed on the base 2. For another example, the cleaning component 220 may be movably disposed on the base 2.

[0088] In an embodiment in which a cleaning area 22 that can be communicated with the sewage holding area 21 is also provided on the base 2, when the robot cleans its cleaning device in the cleaning area 22, garbage attached to the cleaning device will be washed into the cleaning area 22, and then there will be garbage in the sewage in the cleaning area 22. The garbage will enter the sewage holding area 21 through the area connected to the sewage holding area 21, and then may cause blockage to the pumping mechanism.

[0089] In view of this, the filtering mechanism further includes a second filtering structure arranged in the water flow direction from the cleaning area to the sewage holding area to filter the sewage flowing from the cleaning area to the sewage holding area.

[0090] In one embodiment, the second filtering structure is arranged at the connection between the cleaning area and the sewage holding area vertically or at a preset angle relative to the base, so that the sewage in the cleaning area can flow into the sewage holding area only after passing through the second filtering structure, thereby filtering the sewage flowing into the sewage holding area.

[0091] In one embodiment, the second filter structure may be disposed on the first filter disc. For example, the first filter disc is configured as a groove-shaped structure, and the second filter structure is disposed on the side of the groove-shaped structure facing the cleaning area. Alternatively, the second filter structure reuses the first filter structure, that is, part of the first filter structure on the first filter disc may also have the function of filtering the sewage flowing from the cleaning area to the sewage receiving area.

[0092] In one embodiment, the filtering mechanism further comprises a second filter disc located at the bottom of the first filter disc, for collecting garbage filtered out by the second filter structure. In an embodiment where the second filter structure is disposed on the first filter disc, the second filter disc is disposed at a position corresponding to the second filter structure to collect garbage filtered out by the second filter structure. Of course, the second filter structure may also be disposed on the second filter disc. In this embodiment, the second filter structure may be, for example, a hole or gap structure disposed on the second filter disc, or a filter.

[0093] In this way, the filtering mechanism can not only filter the sewage and collect garbage discharged by the robot, but also filter and collect garbage from the sewage flowing into the sewage holding area in the cleaning area, making it convenient for users to directly remove the garbage for cleaning by removing the filtering mechanism.

[0094] In order to reduce the size of the workstation and facilitate user operations, such as Figure 1 In one embodiment, the liquid storage tank 3 of the workstation can be used as a clean water tank to contain clean water, and the clean water can be provided to the clean water tank of the robot. Further, after the clean water in the liquid storage tank 3 is released, the liquid storage tank 3 can be used as a sewage tank to contain sewage from the sewage receiving area extracted by the pumping mechanism. In view of this, when conveying sewage into the liquid storage tank, there needs to be no clean water or the content of clean water in the liquid storage tank is low, for example, sewage can be conveyed into the liquid storage tank only when the liquid level of clean water in the liquid storage tank is lower than the preset water supply level.

[0095] See also Figure 5 and Figure 6 , Figure 5 It is a schematic diagram showing that part of the liquid storage tank is separated from the workstation body in one embodiment of the present application. Figure 6 The schematic diagram shows that all the liquid storage tanks in one embodiment of the present application are separated from the workstation body. As shown in the figure, a receiving space 11 is provided on the workstation body 1, and the receiving space 11 is used to receive / install the liquid storage tank 3. The receiving space 11 is a groove, depression or similar structure pre-formed on the workstation body 1 to receive the liquid storage tank, and the receiving space 11 has an opening, and the opening of the receiving space 11 allows the liquid storage tank to enter and exit. Figure 6 In the illustrated embodiment, the accommodating space 11 opens toward the front and upper side (top direction) of the workstation, but is not limited thereto. In other embodiments, the accommodating space may also have an opening toward the left and / or right side.

[0096] The storage space may be provided with only one liquid storage tank or at least two liquid storage tanks. In one embodiment, the storage tanks are provided with at least two liquid storage tanks, and the storage space is provided with storage areas corresponding to the number of liquid storage tanks to place at least two liquid storage tanks. Figure 5 and Figure 6 As shown, three liquid storage tanks are arranged in the accommodation space 11, and three accommodation areas 110 are arranged on the accommodation space 11. In one example, a partition 12 is arranged in the accommodation space 11, and the partition 12 is used to divide the accommodation space into accommodation areas 110 corresponding to the number of liquid storage tanks.

[0097] In one embodiment, the sizes of the liquid storage tanks arranged in the accommodating space may be the same or different. When the sizes of the liquid storage tanks are different, the sizes of the accommodating areas are also different. Furthermore, the partitions are also arranged at non-equidistant intervals in the accommodating space.

[0098] In one embodiment, a first interface component is horizontally arranged in the accommodating space, and the first interface component is an interface for connecting the pumping mechanism and the water supply mechanism to the liquid storage tank. In other words, the pumping mechanism and the water supply mechanism are connected to the liquid storage tank through the first interface component.

[0099] Please continue reading Figure 5 and Figure 6 , a first interface component 15 is correspondingly arranged in each accommodation area 110 in the accommodation space 11, and the first interface component 15 is horizontally penetrated from the back of the workstation body 1 to the accommodation space 11, so that the pumping mechanism and the water supply mechanism on the back of the workstation body 1 are connected with the liquid storage tank 3 through the first interface component 15. The horizontal direction refers to a direction parallel or approximately parallel to a horizontal plane (for example, the surface on which the workstation is placed). It should be understood that the horizontal arrangement of the first interface component means that each interface included therein is arranged horizontally, and it is not necessary for each interface to be on the same horizontal plane.

[0100] See also Figures 5 to 7 , Figure 7 This application is displayed in Figure 4 The partial enlarged view of the workstation body in the illustrated embodiment, as shown in the figure, the first interface assembly 15 includes a first air extraction interface 150, a first sewage interface 151, and a first water purification interface 152, the first air extraction interface 150 and the first sewage interface 151 are respectively connected to the water pumping mechanism, the water pumping mechanism can use the air extraction interface 150 to first form a negative pressure in the liquid storage tank and then allow the sewage to be recovered into the liquid storage tank 3 through the first sewage interface 151. The first water purification interface 152 is connected to the water supply mechanism to provide purified water to the robot under the action of the water supply mechanism. Figure 7 In the illustrated embodiment, the arrangement positions of the first air extraction interface 150, the first sewage interface 151, and the first water purification interface 152 are only for example purposes. In other embodiments, the first sewage interface 151 may be adjacent to the first water purification interface 152, or the three interfaces may be arranged up and down, etc.

[0101] It should be noted that the first air extraction interface, the first sewage interface, and the first water purification interface are the air extraction interface, sewage interface, and water purification interface in the first interface component. In order to distinguish them from the second air extraction interface, the second sewage interface, and the second water purification interface of the subsequent liquid storage tank, the air extraction interface, sewage interface, and water purification interface in the first interface component are referred to as the first air extraction interface, the first sewage interface, and the first water purification interface.

[0102] Although a liquid storage tank in the present application can store both sewage and clean water. However, in other embodiments, the liquid storage tank can be used only to store sewage or only to store clean water. Here, the first interface assembly connected to each liquid storage tank can be different. For example, the first interface assembly connected to a liquid storage tank used only to store sewage can only include a first air extraction interface and a first sewage interface, and the first interface assembly connected to a liquid storage tank used only to store clean water can only include a first clean water interface. In the following embodiments, it is explained by taking the example that a liquid storage tank can store both clean water and clean water.

[0103] In some embodiments, the present application also provides a liquid storage tank, which is used to recycle sewage or provide clean water to the robot. The liquid storage tank moves laterally in the accommodating space to separate or dock with the first interface component arranged laterally, which can facilitate user operation.

[0104] See also Figures 5 to 11 Combined with Figure 1 , Figures 8 to 10 They are schematic diagrams showing the structure of the liquid storage tank in one embodiment of the present application at different viewing angles. Fig.11 The figure shows a schematic diagram of the structure of a liquid storage tank in one embodiment of the present application after removing the second cover body. As shown in the figure, the liquid storage tank 3 includes a tank body 30, a first cover body 31, and a second cover body 32.

[0105] The box 30 is used to store sewage or purified water. Specifically, the box 30 has a liquid storage space for storing liquid, such as a space inside the box 30. In one embodiment, the box 30 is a trough-shaped structure, the opening of the trough-shaped structure is on the upper side of the box 30, and a second interface component 300 for matching the first interface component 15 is transversely arranged on the box 30. In actual use, the liquid storage tank moves transversely in the accommodating space so that the second interface component 300 is separated from or docked with the first interface component 15. After the second interface component 300 is docked with the first interface component 15, that is, after the second interface component 300 is connected with the first interface component 15, the pumping mechanism and the water supply mechanism can be connected with the liquid storage tank 3.

[0106] The box body 30 may also be integrally formed of plastic, metal or other materials used in the art.

[0107] In one embodiment, the first interface assembly 15 includes a first air extraction interface 150, a first sewage interface 151, and a first water purification interface 152, and correspondingly, the second interface assembly 300 includes a second air extraction interface 3000 communicating with the first air extraction interface 150, a second sewage interface 3001 communicating with the first sewage interface 151, and a second water purification interface 3002 communicating with the first water purification interface 152. The sizes of the first interface assembly 15 and the second interface assembly 300 need to ensure that the two can be separated or docked, and the tightness of the docking after docking, that is, the first interface assembly 15 and the second interface assembly 300 are in a tight fit state after docking.

[0108] The first cover 31 is used to cover the box 30, that is, to cover the opening of the box 30, and a water outlet 310 is provided on the first cover 31. In one embodiment, the water outlet 310 is provided on the front side of the first cover 31. The first cover 31 can be connected to the box 30 by a screw locking structure, but it is not limited thereto. The first cover 31 and the box 30 can be connected by a snap-fit ​​structure or the like. After the first cover 31 is connected to the box 30, the four sides of the box 30 can be sealed, that is, the sides of the box 30 can be sealed, and then when the second cover 32 closes the water outlet 310, the entire box 30 can be sealed, so that a negative pressure is formed in the box 30 after the pumping mechanism evacuates air from the box 30.

[0109] In one embodiment, if Fig.11 As shown, the liquid storage tank further includes a grip portion 311 disposed on the first cover body 31 , so that a user can move the liquid storage tank conveniently by gripping the grip portion 311 .

[0110] The second cover body 32 is flippably disposed on the front side of the first cover body 31 to close or open the water outlet 310. The size of the second cover body 32 is larger than the size of the water outlet 310 to achieve the closure of the water outlet 310. In one embodiment, the second cover body 32 is flippably disposed on the front side of the first cover body 31 by means of a rotating shaft connection. For example, a rotating shaft is disposed on the second cover body 32, and a connecting portion for installing the rotating shaft is disposed on the first cover body 31, and the connecting portion is exemplified by a through-hole structure. After the user takes out the box body 3 and opens the second cover body 32, clean water can be injected into the box body 30 from the water outlet 310, or sewage in the box body 30 can be discharged from the water outlet 310.

[0111] After pouring out the sewage in the box, the sewage or impurities in the sewage may remain in the liquid storage tank. When the liquid storage tank is used to provide clean water to the robot, the sewage or impurities in the sewage may contaminate the clean water, thereby affecting the cleaning effect of the robot.

[0112] In view of this, in one embodiment, the liquid storage tank further includes a filtering device located in the tank body, and the filtering device is connected to the second interface assembly. Specifically, the filtering device is connected to the second clean water interface 3002 in the second interface assembly, and is used to filter the clean water in the liquid storage tank to provide it to the robot. Among them, the filtering device includes a pipe and a filter, one end of the pipe is connected to the second clean water interface 3002, and the other end is connected to the filter. The filter can be a mesh filter, an activated carbon filter or other forms of filter. The present application does not limit the form of the filter, as long as it can filter the clean water in the liquid storage tank, that is, as long as the impurities in the clean water will not enter the pipe.

[0113] In one embodiment, a liquid level detection device is further provided in the liquid storage tank, and the liquid level detection device is used to detect the liquid level of the liquid in the liquid storage tank. For example, when the liquid storage tank contains sewage, the liquid level detection device detects the liquid level of the sewage in the liquid storage tank, and stops pumping sewage into the liquid storage tank when the liquid level of the sewage in the liquid storage tank is higher than a preset pumping level. For another example, when the liquid storage tank contains clean water, the liquid level detection device detects the liquid level of the clean water in the liquid storage tank, and stops supplying clean water to the robot when the liquid level of the clean water in the liquid storage tank is lower than a preset water supply level. Among them, the liquid level detection device can be a float level gauge, a float ball level gauge, an electrode level gauge, etc.

[0114] In areas to be cleaned with high water consumption, such as areas to be cleaned with a large surface area, in order to meet the robot's water demand, it is usually necessary to manually change the water in the workstation's liquid storage tank frequently. This requires the operator to always pay attention to the robot's water status, and the more frequent water changes increase the manual burden, which loses the meaning of the workstation replacing manual water changes.

[0115] In view of this, in one embodiment, at least two liquid storage tanks are provided in the workstation, such as Figure 1 As shown, three liquid storage tanks are provided in the workstation. In some examples, the water capacity of each liquid storage tank is equal, and is set to be consistent with or less than the water capacity of the clean water tank of the robot. For example, the water capacity of each liquid storage tank is set to any value between 8L and 12L (for example, it can be 8L, 9L, 10L, 11L, or 12L). Among them, the numerical range set for the number of liquid storage tanks and the water capacity is sufficient to support the robot to run for a certain working time and meet the physical strength of the operator. In this way, the operator only needs to change the water in the liquid storage tank of the workstation in a relatively low frequency manner, without the need to modify the water channel structure, and without the need to manually push the robot to change water at a higher frequency. Among them, the water capacity refers to the volume of liquid allowed to be stored in the liquid storage space that is predefined. It should be understood that the predefined volume of the allowed stored liquid is not necessarily equal to the liquid storage space, and is usually smaller than the liquid storage space. For example, a liquid volume threshold is set for the liquid storage tank in advance, and the standard volume of liquid allowed to be stored in the liquid storage space should be consistent with the threshold. The liquid volume threshold set in advance for the liquid storage tank can be reflected, for example, in the form of a capacity scale line. The present application does not impose any restrictions on this, and the water capacity mentioned subsequently is also understood in this regard and will not be repeated.

[0116] Take the example of a robot working in an area of ​​2,000 square meters or less with high-volume water use or large-area cleaning. For example, two liquid storage tanks can be set in the workstation, and the water capacity of each liquid storage tank is any value between 8L and 12L, that is, the total water capacity is 16L to 24 liters. When the water in the robot's clean water tank is used up, the robot can automatically return to the workstation to add clean water. The total water capacity of the workstation at this time can meet the robot's water consumption for half a day's work, and the large amount of water of 16L to 24 liters is separated into two liquid storage tanks, so that a single liquid storage tank can meet the physical requirements of the operator. That is, during the robot's work for a day, the operator only needs to change the water in the liquid storage tank of the workstation twice.

[0117] Then Figure 1 Taking the embodiment shown as an example for explanation, the workstation is provided with three liquid storage tanks 3. Furthermore, the water capacity of each liquid storage tank 3 is equal and can be set to any value between 8L and 12L. In this embodiment, the setting is 10L as an example, that is, the total water capacity is 30L. The water capacity of a single liquid storage tank 3 is consistent with or less than the water capacity of the robot's clean water tank. When the water in the robot's clean water tank is used up, the robot can automatically return to the workstation to add water. The total water capacity of the workstation at this time can meet the water consumption of the robot for one day's work, and the water capacity of a single tank can also meet the physical requirements of the operator, that is, during the robot's work for a day, the operator only needs to change the water in the workstation's liquid storage tank once. It should be understood that Figure 1 The number of liquid storage tanks shown is only an example and does not represent a limitation to the present application. Depending on the actual application scenario, the number of the liquid storage tanks 3 may also be four, five, six, etc.

[0118] After the user laterally docks the liquid storage tank with the first interface assembly on the workstation body, due to the heavy weight of the liquid storage tank, when the workstation is in a shaking state (for example, when the user collides with the workstation and causes the workstation to shake back and forth), the liquid storage tank may shake in the accommodating space due to its own inertia, and may even separate from the first interface assembly, thereby affecting the tight fit between the liquid storage tank and the first interface assembly.

[0119] To this end, in one embodiment, Figure 5 and Figure 6As shown, the workstation body 1 is further provided with a limit assembly 16, and the limit assembly 16 is used to lock or unlock the liquid storage tank 3. After the liquid storage tank 3 is locked by the limit assembly 16, the liquid storage tank 3 is positioned in the accommodation space 11 by the limit assembly 16. After the liquid storage tank 3 is unlocked, the liquid storage tank 3 can be allowed to separate from the first interface assembly 15. In other words, after the limit assembly 16 is revoked to lock the liquid storage tank 3, the liquid storage tank 3 can be moved laterally in the accommodation space 11 to separate from the first interface assembly 15.

[0120] In one embodiment, the limiting assembly is used to limit the position of the liquid storage tank 3 in the front-to-back direction in the accommodating space 11. In another embodiment, the limiting assembly is used to limit the position of the liquid storage tank 3 in the left-to-right direction in the accommodating space 11. In the following embodiments, the limiting assembly is used to limit the position of the liquid storage tank 3 in the front-to-back direction as an example for description.

[0121] like Figure 5 and Figure 6 As shown, the limiting assembly 16 is arranged on the workstation body, for example, the limiting assembly 16 is located at the bottom of the accommodation space 11. However, this is not limited to this, in order to limit the position of the liquid storage tank 3 in the front-to-back direction of the accommodation space 11, the limiting assembly 16 can also protrude laterally on the left and right sides of the accommodation space 11.

[0122] In one embodiment, see Fig.12 and Fig.13 Combined with Figure 5 , Fig.12 and Fig.13 The schematic diagrams respectively show the structure of the limit assembly in one embodiment of the present application at different viewing angles. As shown in the figure, the limit assembly 16 includes a locking member 161 and a starting member 160 .

[0123] The engaging member 161 is used to protrude from the accommodation space to lock the liquid storage tank. Specifically, when the starter 160 is not triggered, the engaging member 161 protrudes from the accommodation space to lock the liquid storage tank in the accommodation space by engaging the liquid storage tank, etc., to prevent the liquid storage tank from moving forward and backward in the accommodation space. For example, the engaging member 161 protrudes from the accommodation space and engages with the front side or bottom of the liquid storage tank. In the following embodiments, the engaging member 161 is engaged with the bottom of the liquid storage tank as an example for description.

[0124] In one embodiment, if Fig.10As shown, the liquid storage tank 3 is provided with a groove 301 corresponding to the limiting assembly 16, so as to cooperate with the limiting assembly 16 so that the liquid storage tank 3 is positioned in the accommodating space. Specifically, the liquid storage tank 3 is provided with a groove 301 engaged with the engaging member 161, and the shape of the groove 301 matches the shape of the engaging member 161. For example, the engaging member 161 protrudes from the bottom of the accommodating space and is located at the front side of the accommodating space, and the corresponding groove 301 is provided at the bottom of the liquid storage tank 3 and is located at the front side of the liquid storage tank 3.

[0125] Please continue reading Fig.12 and Fig.13 , the upper end surface of the engaging member 161 is an inclined surface, and correspondingly, the upper side of the groove 301 is also an inclined surface. Specifically, in the direction from front to back, the inclined surfaces of the two are upward inclined surfaces, that is, the height of the inclined surface from the bottom of the accommodating space gradually increases from front to back. In actual use, when the liquid storage tank 3 moves laterally at the bottom of the accommodating space to dock with the first interface component, the engaging member 161 is compressed by the liquid storage tank 3 and then falls back. When the groove 301 moves to the position of the engaging member 161, the engaging member 161 protrudes from the accommodating space and conforms to the groove 301 at the bottom of the liquid storage tank 3 and engages with the groove 301; after the engaging member 161 engages with the liquid storage tank 3, the liquid storage tank 3 is locked. For example, if the engaging member 161 does not fall back, the liquid storage tank 3 cannot be taken out laterally from the accommodating space.

[0126] The starter 160 is connected to the engaging member 161. When the starter 160 is triggered, the starter 160 drives the engaging member 161 to fall back and unlock the liquid storage tank. In actual use, when the starter 160 is triggered by the user, the engaging member 161 falls back. When the starter 160 is triggered, that is, when the engaging member 161 falls back, the user moves the liquid storage tank 3 laterally so that the groove 301 of the liquid storage tank 3 leaves the position of the engaging member 161. At this time, the user can stop triggering the starter 160 and continue to move the liquid storage tank 3 laterally to separate the liquid storage tank 3 from the first interface component or to separate the liquid storage tank 3 from the accommodating space.

[0127] In a specific embodiment, please continue to refer to Fig.12 and Fig.13 Combined with Figure 5 and 6As shown in the figure, the engaging member 161 is vertically arranged at the bottom of the accommodating space 11, and the starting member 160 is perpendicular to the engaging member. The limiting assembly 16 also includes an elastic member (not shown) arranged at the bottom of the engaging member 161. For example, elastic members are arranged on both the left and right sides of the bottom of the engaging member 161. The elastic member is, for example, a spring. The engaging member 161 includes a cavity 1610 with an opening, and the surface of the cavity 1610 facing the starting member 160 is arranged as an inclined surface 16100. Correspondingly, the driving part of the starting member 160 is also arranged to have an inclined surface 1600. During actual use, after the starter 160 is triggered, the driving portion of the starter 160 enters the cavity 1610 and further makes its inclined surface 1600 contact with the inclined surface 16100 of the cavity 1610, so as to push the engaging member 161 to gradually fall back from the accommodating space. The engaging member 161 compresses the elastic member while falling back. After the user releases the starter 160, the engaging member 161 protrudes from the accommodating space under the action of the rebound force of the elastic member.

[0128] It should be noted that although this application is based on Fig.12 and Fig.13 The embodiment described is used as an example to illustrate the limit assembly 16, but is not limited thereto. In other embodiments, the limit assembly 16 may also be an electrically driven assembly or an assembly of other mechanical structures, and the limit assembly only needs to be able to lock and unlock the liquid storage tank.

[0129] It should be noted that, in order to facilitate the display of the detailed structure of the limit assembly 16, Fig.13 The part of the starter of the limiting assembly 16 is illustrated in a perspective manner, that is, the figure shows the internal part of the starter, which is not a limitation to the limiting assembly 16 provided in the present application.

[0130] When the liquid storage tank is assembled in the accommodating space, the docking state of the liquid storage tank and the first interface assembly is a tight fit to ensure the sealing between the liquid storage tank and the first interface assembly. In this way, the user needs to spend a lot of effort to directly move the liquid storage tank horizontally, which is not conducive to operation.

[0131] In order to facilitate the user to separate the liquid storage tank from the first interface component, in one embodiment, refer to Figures 5 to 7, an elastic mechanism 17 is also provided in the accommodating space, and the elastic mechanism 17 is used to push the liquid storage tank 3 to move laterally in the direction of separation from the first interface component 15 when the limit assembly 16 unlocks the liquid storage tank 3. For example, under the push of the elastic mechanism 17, the liquid storage tank 3 and the first interface component 15 are changed from a tight fit state to a loose fit state. For another example, under the push of the elastic mechanism 17, the liquid storage tank 3 is separated from the first interface component 15. In one example, the elastic mechanism 17 is arranged in the accommodating space and is located on the same side as the first interface component 15, for example, the elastic mechanism 17 is arranged on the lower side of the first interface component 15. Among them, the elastic mechanism 17 includes a mechanical elastic mechanism, and the mechanical elastic mechanism includes, for example, a spring, a spring, etc., but is not limited thereto. The elastic mechanism 17 can also be other mechanisms such as an electrically controlled telescopic mechanism that can push the liquid storage tank 3 to move laterally. It should be noted that, although the diagram shows the elastic mechanism pushing the liquid storage tank to move horizontally as an example, it is not limited to this. When the first interface assembly in the workstation is vertically docked with the liquid storage tank, the elastic mechanism can also push the liquid storage tank to move vertically in the direction of separation from the first interface assembly.

[0132] In one embodiment, please continue to refer to Figure 6 The workstation body 1 is also provided with a cover plate 13, and the cover plate 13 at least partially covers the opening 111 of the accommodation space 11 toward the top, for example, Figure 6 The cover 13 shown covers the rear portion of the top opening 111, and human-machine interaction buttons such as buttons or display screens can be set on the cover 13, and the cover 13 can also serve to shield the connection position between the liquid storage tank and the workstation body 1 to prevent dust from entering the first interface component.

[0133] In one embodiment, see Figure 27 to Figure 29 , Fig.28 This application is displayed in Fig. 27 A partial enlarged view of the M position in the embodiment shown, Fig.29 Shown is a structural schematic diagram of a water supply interface component in an embodiment of the present application. As shown in the figure, the workstation includes a water supply interface component 27, and an assembly port 26 is provided on the workstation body 1. The first end of the water supply interface component 27 is connected to the assembly port 26 and communicates with the water supply mechanism, so that the liquid provided by the water supply mechanism is delivered to the robot through the water supply interface component 27, wherein the water supply interface component 27 can rotate relative to the assembly port 26 to enable the water adding component 96 of the robot to be docked with the water supply interface component within the rotation range of the water supply interface component.

[0134] In one embodiment, the assembly port 26 is a through-hole structure on the workstation body 1, and the water supply interface assembly 27 is disposed in the through-hole structure. The first end of the water supply interface assembly 27 is the end away from the robot when the robot docks with the water supply interface assembly, and conversely, the end close to the robot is the second end of the water supply interface assembly 27.

[0135] In one embodiment, please continue to refer to Fig.28 and Fig.29 The water supply interface assembly 27 includes a tubular body 270, an interface structure 271, and a positioning structure 272.

[0136] The tubular body 270 has a hollow cavity, which is used to communicate with the water supply mechanism. When the water adding component of the robot is connected with the water supply interface component, liquid is provided to the robot through the tubular body 270.

[0137] The positioning structure 272 is arranged on the first end of the water supply interface assembly 27, for example, the positioning structure 272 is arranged on the first end of the tubular body 270. After the assembly port 26 is positioned in the positioning structure 272, the assembly port 26 has a movable gap relative to the water supply interface assembly 27. The movable gap includes the gap between the positioning structure 272 and the assembly port 26 in the front-back direction, and the gap between the outer periphery of the tubular body 270 and the inner wall of the assembly port 26. The movable gap between the assembly port 26 and the water supply interface assembly 27 allows the water supply interface assembly 27 to rotate conically relative to the assembly port 26. Specifically, the conical rotation of the water supply interface assembly 27 relative to the assembly port 26 means that the water supply interface assembly 27 can rotate within a preset angle range relative to the assembly port 26 in different directions, and at the preset angle, the rotation trajectory of the water supply interface assembly 27 relative to the assembly port 26 in different directions is approximately conical. Among them, the preset angle is the maximum angle that the water supply interface assembly 27 can rotate in different directions. For example, if the preset angle is 30 degrees, the water supply interface assembly can be rotated 30 degrees upward, downward, to the left, or to the right relative to the assembly port.

[0138] In one embodiment, the positioning structure 272 includes a first fixing portion 2720 and a second fixing portion 2721. When the assembly opening 26 is positioned in the positioning structure 272, the first fixing portion 2720 and the second fixing portion 2721 are respectively located at the front and rear sides of the assembly opening 26. For example, see Fig.29 Combined with Fig. 27 The first fixing portion 2720 is located at the front side of the assembly opening 26 , and the second fixing portion 2721 is located at the rear side of the assembly opening 26 .

[0139] The first fixing portion 2720 is configured as a protruding structure formed on the outer circumference of the first end of the tubular body 270. The protruding structure ensures that the water supply interface assembly 27 cannot slide backward from the assembly opening 26.

[0140] The second fixing portion 2721 is arranged on the outer circumferential surface of the first end of the tubular body 270 and is located on the side of the first fixing portion 2720 facing the workstation body 1. The second fixing portion 2721 cooperates with the first fixing portion 2720 to form a clamping space for clamping the assembly port 26 and forming a gap between the positioning structure 272 and the assembly port 26 in the front-to-back direction. In one embodiment, a groove is arranged on the outer circumferential surface of the first end of the tubular body 270, and the second fixing portion 2721 is fixed on the groove. The second fixing portion is exemplified as a retaining spring, but is not limited thereto. In other embodiments, the second fixing portion may also have the same structure as the first fixing portion.

[0141] like Fig.28 and Fig.29 As shown, the interface structure 271 is disposed at the second end of the tubular body 270, and the interface structure 271 includes a connecting portion 2710 and a guide portion 2711 formed around the connecting portion 2710. When the robot docks with the workstation, the water supply assembly 96 of the robot abuts against the guide portion 2711 to cause the water supply interface assembly 27 to be adjusted through a conical rotation until the water supply assembly 96 enters the connecting portion 2710. In one embodiment, the connecting portion 2710 and the guide portion 2711 are integrally formed, for example, the connecting portion 2710 and the guide portion 271 are horn-shaped as a whole.

[0142] Although the above embodiments are described using the water supply interface assembly 27 including the interface structure 271 as an example, it is not limited to this. In other embodiments, the water supply interface assembly 27 may only include the tubular body and the positioning structure, the positioning structure is provided on the first end of the tubular body, and the second end of the tubular body is directly connected to the water adding assembly of the robot.

[0143] The present application sets the water supply interface component 27 to be rotatable relative to the assembly port 26, so that the water adding component 96 of the robot can dock with the water supply interface component within the rotation range of the water supply interface component, thereby ensuring the success rate of docking between the robot and the water supply interface component.

[0144] See also Fig.14 and Fig.15 , Fig.14 The figure shows a schematic diagram of the structure of a workstation in one embodiment of the present application from its back perspective. Fig.15 The figure shows a schematic diagram of the structure of a workstation in one embodiment of the present application after removing the back cover. As shown in the figure, the back of the workstation body 1 is provided with a circuit configuration area 18 and a water channel configuration area 19 separated from each other. The circuit configuration area 18 is used to configure the circuit components, and the water channel configuration area 19 is used to configure the pumping mechanism and the water supply mechanism. Fig.15 In the illustrated embodiment, the water channel configuration area 19 is arranged on the upper side of the back of the workstation body 1, and the circuit configuration area 18 is arranged on the lower side of the back of the workstation body 1, but it is not limited thereto, and the water channel configuration area 19 may also be arranged on the left side of the back of the workstation body 1, and the circuit configuration area 18 may be arranged on the right side of the back of the workstation body 1, etc. In the following embodiments, unless otherwise specified, the water channel configuration area 19 is arranged on the upper side of the workstation, and the circuit configuration area 18 is arranged on the lower side of the workstation.

[0145] In one embodiment, if Fig.14 and Fig.15 As shown, the back of the workstation body 1 is provided with a first partition 4 and a back cover 14, the first partition 4 is used to separate the back area of ​​the workstation body 1 to form the circuit configuration area 18 and the water channel configuration area 19, and the back cover 14 is covered on the back of the workstation body 1 to close the circuit configuration area 18 and the water channel configuration area 19. In one example, a sealing strip (not shown) or a sealing ring is provided on the first partition 4, or the first partition 4 is set as a waterproof structure to ensure the airtightness of the circuit configuration area 18 and the water channel configuration area 19 and prevent liquid from entering the circuit configuration area 18.

[0146] In other embodiments, in order to further ensure that liquid does not enter the circuit configuration area 18, a spacing area can be further provided between the circuit configuration area 18 and the water channel configuration area 19. When liquid in the water channel configuration area 19 leaks, the spacing area can first block the liquid to prevent the liquid from entering the circuit configuration area 18.

[0147] In one embodiment, the circuit assembly includes an electronic system and a power supply system, wherein the electronic system is electrically connected to the power supply system, and the power supply system includes an input terminal connected to an external power supply and an output terminal (not shown) connected to the electronic system. The external power supply is, for example, a mains supply, and the power supply system is used to convert the external power supply to output power suitable for the electronic system. The electronic system is used to control the coordinated work of various components, assemblies, etc.

[0148] The electronic system may include at least a memory, a processor, and an input / output (I / O) interface, wherein the memory, the processor, and the input / output (I / O) interface are electrically connected directly or indirectly to achieve data transmission or interaction. For example, the memory and the processor may be electrically connected to each other via one or more communication buses or signal lines.

[0149] In some embodiments, the memory may include a random access memory (RAM), a read only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), etc. The memory is used to store programs (such as a path planning program, a cleaning program, etc.), and the processor executes the program after receiving an execution instruction.

[0150] In some embodiments, the processor includes an integrated circuit chip with signal processing capabilities; or a general-purpose processor, for example, a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a discrete gate or transistor logic device, a discrete hardware component, which can implement or execute the methods, steps and logic block diagrams disclosed in the embodiments of the present application. The general-purpose processor can be a microprocessor or any conventional processor, etc.

[0151] In some embodiments, the memory as described above stores instructions to cause the processor to execute modules, processes, and / or functions associated with controlling one or more mechanical and / or electrical systems included in the workstation. The processor of the electronic system can be configured to run or execute a set of instructions or codes stored in the memory associated with the operation of one or more mechanical and / or electrical systems included in the workstation. The I / O interface can be, for example, a Universal Serial Bus (USB) interface; Institute of Electrical and Electronics Engineers (IEEE) 1394 interface (FireWire); Thunderbolt TMinterface; a serial ATA (SATA) interface or an external serial ATA (eSATA) interface; a network interface card (which includes one or more Ethernet ports and / or radio waves, such as WIFI, Bluetooth, or the like). The I / O interface is configured to send signals to the processor and / or receive signals from the processor. Similarly, the I / O interface can be configured to receive data from and / or send data to any suitable electrical and / or electronic device included in the workstation.

[0152] In one embodiment, the workstation further comprises an electrode assembly connected to the power supply system, and the electrode assembly is used to dock with the charging electrode of the robot to charge the robot. The electrode assembly can be directly arranged in the circuit configuration area, or in an independent electrode configuration area. In a specific embodiment, the waterway configuration area is arranged on the left side of the back of the workstation body, the circuit configuration area is arranged on the right side of the back of the workstation body, and the electrode configuration area is arranged on the lower side of the back of the workstation body and is located between the waterway configuration area and the circuit configuration area, and a sealing strip is arranged on the first partition adjacent to the electrode configuration area and the circuit configuration area.

[0153] Specifically, the electrode assembly may include a retractable and movable insulating protective shell and a metal electrode arranged in the protective shell. When the robot is docked with the workstation, the peripheral portion of the charging electrode on the front side of the robot squeezes the protective shell to cause it to shrink backward to expose the metal electrode therein and achieve electrical contact with the charging electrode on the front side of the robot to achieve charging operation.

[0154] The circuit component generates a control signal based on the power supply of an external power source to control the operation of the water pumping mechanism and the water supply mechanism.

[0155] In one embodiment, the water supply mechanism comprises: a water supply pump assembly and a water outlet pipeline assembly, wherein the water supply pump assembly comprises at least one water supply pump. In one example, the number of the water supply pumps is the same as the number of the liquid storage tanks. Fig.15 As shown, the water supply pump assembly includes three water supply pumps 6. The water outlet pipeline assembly includes at least one water outlet pipeline, and the number of the water outlet pipelines is the same as the number of the liquid storage tanks, for example, the same as the number of the first interface assemblies. One end of the water outlet pipeline is connected to the first clean water interface of the first interface assembly, and the other end of the water outlet pipeline is connected to the water supply pump. The water supply pump is connected to the water injection port of the workstation to inject the clean water pumped from the liquid storage tank by the water supply pump into the clean water tank of the robot through the water injection port.

[0156] It should be noted that, although the embodiment of the present application is described by taking the number of the water supply pumps and the number of the water outlet pipes as equal to the number of the liquid storage tanks, in other embodiments, the number of the water supply pumps or the number of the water outlet pipes may be less than the number of the liquid storage tanks. For example, when the liquid storage tank is only used to hold sewage or only used to hold clean water, the number of the water supply pumps and the number of the water outlet pipes are the same as the number of the liquid storage tanks used to hold clean water.

[0157] In one embodiment, a water injection pipeline for connecting the water supply pump and the water injection port may be provided between one or at least two water supply pumps and the water injection port of the workstation, so that the clean water pumped by the water supply pump can be transported to the water injection port via the water injection pipeline.

[0158] In one embodiment, the water supply mechanism also includes a three-way valve (not shown) and a peristaltic pump 7, the peristaltic pump is connected to the cleaning liquid tank on the back of the workstation body, and is used to pump the cleaning liquid in the cleaning liquid tank to the first input end of the three-way valve, and the second input end of the three-way valve is connected to the water supply pump. For example, the second input end of the three-way valve is connected to all water supply pumps in the workstation, and the output end of the three-way valve is connected to the water inlet of the workstation to inject clean water mixed with cleaning liquid into the clean water tank of the robot.

[0159] In one embodiment, the pumping mechanism includes: a vacuum pump assembly, a sewage suction pipeline assembly, and an air extraction pipeline assembly. The vacuum pump assembly includes at least one vacuum pump. In one example, the number of vacuum pumps in the vacuum pump assembly is equal to the number of liquid storage tanks. Fig.15 As shown, the vacuum pump assembly includes three vacuum pumps 8. The air suction pipeline assembly includes at least one air suction pipeline. In one example, the number of air suction pipelines in the air suction pipeline assembly is the same as the number of the liquid storage tanks. One end of the air suction pipeline is connected to the first air suction interface of the first interface assembly, and the other end is connected to the vacuum pump 8, so as to form a negative pressure in the liquid storage tank by using the vacuum pump 8. The sewage suction pipeline assembly includes at least one sewage suction pipeline. In one example, the number of sewage suction pipelines in the sewage suction pipeline assembly is the same as the number of the liquid storage tanks, one end of the sewage suction pipeline is connected to the first sewage interface of the first interface assembly, and the other end is connected to the sewage suction port of the sewage holding area for extracting sewage in the sewage holding area when negative pressure is formed in the liquid storage tank.

[0160] It should be noted that, in other embodiments, the number of the water supply pumps, the number of the air exhaust pipelines, or the number of the sewage suction pipelines may also be less than the number of the liquid storage tanks. The reasons are similar to the reasons why the number of the water supply pumps and the number of the water outlet pipelines may be less than the number of the liquid storage tanks as mentioned above, and will not be repeated here.

[0161] In one embodiment, please continue to refer to Fig.15 , the water circuit configuration area 19 includes a pumping component configuration area 191 and a pipeline component configuration area 190, the pumping component configuration area 191 is arranged between the circuit configuration area 18 and the pipeline component configuration area 190, the pipeline component configuration area 190 is used to configure the pipeline component docking with the liquid storage tank, and the pumping component configuration area 191 is used to configure the pumping component. Specifically, in this embodiment, the back of the workstation body is sequentially provided with a circuit configuration area 18, a pumping component configuration area 191, and a pipeline component configuration area 190 spaced from each other from bottom to top. Among them, the pumping component includes the vacuum pump assembly and the water supply pump assembly. Further, the pumping assembly also includes a peristaltic pump 7 for pumping the cleaning liquid. The pipeline assembly includes the water outlet pipeline assembly, the sewage suction pipe assembly, and the air extraction pipeline assembly.

[0162] In a specific embodiment, please refer to Fig.15 A second partition plate 5 is provided between the pumping component configuration area 191 and the pipeline component configuration area 190, and a connection assembly (not shown) between the pumping component and the pipeline component is provided on the second partition plate 5. The connection assembly includes a connection joint. The connection joint is used to connect the sewage suction pipeline, the air exhaust pipeline, and the water outlet pipeline with their respective corresponding pumps, for example, the water outlet pipeline is connected with its corresponding water supply pump through the connection assembly. Furthermore, in order to ensure the sealing at the connection position, the connection assembly also includes a sealing member, which is used to achieve the sealing between the connection assembly and the second partition plate, wherein the sealing member is exemplified by a sealing ring or a sealing strip. By providing the sealing member, water in the liquid storage tank is prevented from entering the pumping component configuration area 191.

[0163] In one embodiment, see Fig.23 , which is a schematic diagram of the disassembled structure of a workstation in one embodiment of the present application. As shown in the figure, the pipeline assembly configuration area 190 is provided with an installation box 1900. For example, the installation box 1900 is located on the upper side of the second partition 5. The pipeline assembly is arranged in the installation box 1900. Specifically, the installation box 1900 has a accommodating space on the side facing the pipeline assembly. When the installation box 1900 is covered on the back of the workstation body, the pipeline assembly is located in the accommodating space. Furthermore, the first interface assembly described above is also arranged in the accommodating space. In one embodiment, the outer side of the installation box 1900 also has a recessed area 1901, and the cleaning liquid tank 1902 is arranged in the recessed area 1901 of the installation box 1900.

[0164] In one embodiment, the interface component (e.g., the first interface component, the adapter component, etc.) docked with the pipeline component has a vertical docking pipe, and the pipeline component is vertically docked with the docking pipe. For example, the air extraction interface, the sewage interface, and the water purification interface in the first interface component are interfaces with a vertical docking pipe. For example, the air extraction interface, the sewage interface, and the water purification interface are L-shaped docking pipes, and one end of the L-shaped docking pipe docking with the liquid storage tank is parallel to the floor surface, and one end of the L-shaped docking pipe docking with the pipeline component is perpendicular to the floor surface.

[0165] The workstation disclosed in the present application is characterized in that the first interface component is transversely arranged in the receiving space of the workstation body, so that the liquid storage tank can be transversely moved in the receiving space to dock or separate with the first interface component, so as to facilitate user operation; further, by arranging a limit assembly on the workstation, the position of the liquid storage tank in the receiving space can be limited to maintain the tight fit between the liquid storage tank and the first interface component; further, by arranging an elastic mechanism in the receiving space, it is helpful to separate the liquid storage tank from the first interface component. By arranging a filtering mechanism including a first filter disc in the workstation, the sewage discharged by the robot can be filtered to deposit garbage in the sewage on the filtering mechanism to prevent the garbage from clogging the pumping structure of the workstation; further, by arranging a second filtering structure in the water flow direction from the cleaning area to the sewage receiving area, the sewage flowing from the cleaning area to the sewage receiving area can be filtered to further prevent the pumping mechanism from being blocked. By arranging a circuit configuration area and a waterway configuration area separated from each other at the back of the workstation body, liquid can be prevented from entering the circuit configuration area to ensure the safety of the circuit components in the circuit configuration area.

[0166] In some embodiments, the present application also provides a robot system, which includes a workstation and a robot.

[0167] In one embodiment, see Fig.16 and Fig.18 , Fig.16 Shown is a schematic diagram of the structure of a robot in one embodiment of the present application, Fig.17 The figure shows a schematic diagram of the disassembled structure of the robot in one embodiment of the present application. Fig.18The schematic diagram of the structure of the chassis in one embodiment of the present application is shown. As shown in the figure, the robot 9 includes a body 90, the body 90 includes a chassis 91 and a sewage tank 92, the chassis 91 located at the bottom of the robot includes a clean water tank 910 integrally formed on the top thereof, the sewage tank 92 is nested on the clean water tank 910 to be combined with the chassis 91, and the sewage tank 92 includes a built-in accommodation space 920 for recycling the sewage collected by the robot, and the built-in accommodation space 920 and the accommodation space 9100 of the clean water tank 910 have an overlapping area in the vertical direction. The overlapping area in the vertical direction means that the projections of two areas or spaces on the vertical plane have overlapping parts.

[0168] The chassis may be integrally formed of materials such as plastic, metal or other materials used in the art, and may include a plurality of preformed grooves, recesses, snap-in locations or similar structures for mounting or integrating related devices, components, assemblies, or mechanisms on the chassis.

[0169] The following combination Figures 16 to 18 The various parts constituting the robot are described in detail.

[0170] In one embodiment, the mobile device 93 includes drive wheels 931 disposed on opposite sides of the bottom of the chassis 91, and the drive wheels 931 are driven by the first drive assembly 930 to drive the robot 9 to move. Specifically, the drive wheels are driven to drive the robot 9 to perform reciprocating motion, rotational motion, or curvilinear motion, etc., in accordance with a planned moving trajectory (e.g., a planned path for a cleaning task), or to drive the robot 9 to adjust its posture, and provide two contact points between the robot 9 and the surface to be cleaned, for example, the drive wheels are driven to drive the robot to move to dock with the workstation. In other embodiments, the mobile device 93 also includes a driven wheel 932, which is located in front of the drive wheel 931, and the driven wheel 932 and the drive wheel 931 together maintain the balance of the robot 9 in motion.

[0171] In some embodiments, the cleaning device 95 is disposed at the bottom of the chassis 91. For example, it is disposed on a mounting seat at the bottom of the chassis. The cleaning device 95 includes a double roller brush structure, which includes a first roller brush 952 (or a front roller brush) and a second roller brush 954 (or a rear roller brush). The first roller brush 952 is rotatably disposed at the bottom of the chassis 91, and the first roller brush 952 is used to clean the surface to be cleaned when rotating to roll the garbage into the garbage box of the robot. The second roller brush 954 is rotatably disposed at the bottom of the chassis 91, and the second roller brush 954 is used to be wetted with clean water to wash the surface to be cleaned when rotating. The first roller brush 952 is disposed in the front, and the second roller brush 954 is disposed behind the first roller brush 952. The axial distance between the first roller brush 952 and the second roller brush 954 is greater than the sum of the radius of the first roller brush 952 and the radius of the second roller brush 954, so that the first roller brush 952 and the second roller brush 954 do not contact each other when rotating.

[0172] In one embodiment, the brush body of the first roller brush is configured as a hair brush body, and the hair brush body is used to clean the garbage on the surface to be cleaned. In another embodiment, the brush body of the first roller brush is configured as a rubber brush body, and the rubber brush body is used to clean the garbage on the surface to be cleaned. Of course, in other embodiments, the brush body of the first roller brush can also be composed of a hair brush body and a rubber brush body arranged alternately at intervals. The present application does not limit the material of the brush body, as long as it can clean the garbage on the surface to be cleaned.

[0173] In one embodiment, the brush body of the second roller brush is configured as a bristle brush body or a cloth brush body so as to be wetted by clean water to perform scrubbing of the surface to be cleaned.

[0174] In one embodiment, a driving assembly is provided at one end of the mounting seat, and the driving assembly includes a first driving module and a second driving module, wherein the first driving module is used to electrically connect the first roller brush to drive the first roller brush to rotate, and the second driving module is electrically connected to the second roller brush to drive the second roller brush to rotate. For example, after the robot is docked with the workstation described above, the cleaning device contacts the cleaning components of the workstation (for example, the first roller brush 952 and the second roller brush 954 contact the first scrubbing bar 2200 and the second scrubbing bar 2201, respectively), and then the robot controls the rotation of the cleaning device 95 through the driving assembly, so that each position on the surface of the robot cleaning device 95 can contact the cleaning components in the workstation to clean the cleaning device 95.

[0175] In one embodiment, the robot also includes a water spray structure, which is arranged on a mounting seat at the bottom of the robot. The water spray structure is connected to the clean water tank 910 of the robot, and is used to spray water to wet the second roller brush 954, so that the second roller brush 954 can wash the surface to be cleaned while rotating, or is used to spray water when the robot is docked with the workstation, so that the second roller brush 954 can use the sprayed water to clean the second roller brush 954 while rotating.

[0176] In one embodiment, the robot further includes a dirt collection component 955, which is disposed at the bottom of the chassis 91 of the robot and behind the second roller brush 954, and is used to collect sewage on the surface to be cleaned. For example, the sewage is the liquid left by the second roller brush 954 of the cleaning device 95 mentioned in any of the above embodiments when washing the surface to be cleaned. The dirt collection component 955 can be connected to the built-in storage space of the robot's sewage tank 92, thereby allowing the sewage to be collected and transported to the built-in storage space. In one embodiment, the dirt collection component 955 can be disposed on the mounting seat.

[0177] Wherein, the sewage collection component includes a sewage inlet and a scraper structure, and the scraper structure includes a first scraper located at the front side of the sewage inlet and a second scraper located at the rear side of the sewage inlet, and the first scraper and the second scraper are respectively located at the front side and the rear side of the sewage inlet to alternately collect sewage when the robot moves forward and backward. Specifically, the main parts of the first scraper and the second scraper are arranged in parallel and contact the surface to be cleaned. When the robot moves forward, the first scraper allows the sewage to pass into the sewage inlet, and the second scraper forms a blocking effect on the sewage on the rear side, so that the sewage is gathered at the sewage inlet. When the robot moves backward, the second scraper allows the sewage on the rear side to enter the sewage inlet, and the first scraper forms a blocking effect on the sewage on the front side, so that the sewage can also be gathered at the sewage inlet. The sewage gathered at the sewage inlet is sucked into the built-in accommodation space of the sewage tank 92 by the suction component of the robot.

[0178] In one embodiment, if Fig.18 Combined with Fig.17As shown, a groove surrounded by a side wall 9101 is formed on the top surface of the chassis 91, and the groove is an integrally formed clean water tank 910. A first positioning structure 9102 is provided on the clean water tank 910, and the first positioning structure 9102 is in accordance with a second positioning structure (not shown) provided on the sewage tank 92, and is used to limit the relative movement between the sewage tank 92 and the clean water tank 910. Specifically, the first positioning structure 9102 is, for example, a groove structure provided on the side wall 9101 of the clean water tank 910, and the second positioning structure is a convex structure provided on the sewage tank 92 and complementary to the groove structure. Of course, the first positioning structure 9102 can also be set as a convex structure, and the second positioning structure can be set as a convex structure. The specific form of the positioning structure is not limited in this application. It should be understood that in some other embodiments, a water supply component can also be installed on the top of the chassis, and the water supply component is connected to the clean water tank to help deliver the water in the clean water tank to the cleaning device.

[0179] In one embodiment, if Fig.18 Combined with Fig.17 As shown, a first pipe structure 9103 connected to the sewage collecting component 955 is provided in the clean water tank 910. When the sewage tank 92 is combined with the chassis 91, the first pipe structure 9103 is connected to the built-in accommodating space 920 to provide a water flow path from the sewage collecting component 955 to the built-in accommodating space 920. The sewage gathered at the sewage inlet of the sewage collecting component 955 enters the built-in accommodating space 920 of the sewage tank 92 through the first pipe structure 9103.

[0180] In one embodiment, if Fig.18 Combined with Fig.17 As shown, the outer edge of the top of the chassis 91 at least partially extends upward to form a groove area 913 together with the side wall 9101 of the clean water tank 910, and the groove area 913 is used to install the suction component of the robot. When the sewage tank 92 is combined with the chassis 91, the suction component is connected to the built-in accommodation space 920 of the sewage tank 92 to form a negative pressure in the built-in accommodation space 920, so that the sewage collected by the sewage collection component 955 is transported to the built-in accommodation space 920 through the first pipe structure 9103.

[0181] Specifically, in one embodiment, the sewage tank may also be integrally formed of plastic, metal or other materials used in the art, and is configured to be complementary to the chassis. When combined with the chassis, the sewage tank can enclose the clean water tank and provide protection for related devices, components, assemblies, or mechanisms / structures installed or integrated on the chassis. In some examples, the sewage tank and the chassis may be detachably combined together by various suitable means (e.g., screws, buckles, etc.).

[0182] In one embodiment, when the sewage tank 92 is nested in the clean water tank 910 to be combined with the bottom plate 91, it can have an overlapping area with the receiving space 9100 of the clean water tank 910 in the vertical direction. For example, at least a portion of the outer shell 921 that constitutes the built-in receiving space 920 wraps the clean water tank 910.

[0183] In one embodiment, as shown in Figure 16, a water inlet 923 is provided on the outer shell 921, and a second pipeline structure connected to the water inlet 923 is provided in the built-in accommodation space 920. When the sewage tank 92 is combined with the chassis 91, the second pipeline structure is connected to the clean water tank 910 to provide a water flow path from the water inlet 923 to the clean water tank 910. For example, the water inlet 923 is used to dock with the workstation (for example, dock with the water supply mechanism of the workstation), so as to add water to the clean water tank 910 of the robot with the help of the workstation, and the water flows from the workstation through the second pipeline structure into the clean water tank 910. The workstation can be, for example, the workstation disclosed in any embodiment of the present application or other workstations.

[0184] In one embodiment, the robot further includes a drainage component (not shown), which is connected to a sewage outlet of the robot and is used to discharge the sewage in the sewage tank 92 from the sewage outlet.

[0185] Specifically, the drainage component is arranged on the robot body 90, and the drainage component includes a first water inlet section, a second water inlet section, and a main body. The first water inlet section is used to connect the storage space 9100 of the clean water tank 910. The second water inlet section is used to connect the built-in storage space 920 of the sewage tank 92. A drain port and a channel structure (not marked) are provided on the main body, and the channel structure of the main body is connected with the first water inlet section, the second water inlet section, and the drain port, so that the liquid in the storage space 9100 of the clean water tank 910 and the built-in storage space 920 of the sewage tank 92 enters the channel structure through the first water inlet section and the second water inlet section respectively, and is discharged through the drain port when the drain port is opened.

[0186] In some embodiments, the drainage assembly further includes a first water outlet section disposed on the main body, the first water outlet section being connected to the drain port, and the clean water in the receiving space 9100 of the clean water tank 910 can flow out of the first water outlet section through the first water inlet section and the channel structure. When the drainage assembly is configured on the robot, the first water outlet section is connected to the water spraying structure of the robot 9, so that the water spraying structure of the robot 9 sprays the liquid in the receiving space 9100 of the clean water tank 910.

[0187] In some embodiments, the drainage component further includes a second water outlet section disposed on the main body, the second water outlet section is connected to the drainage port, and the liquid in the built-in storage space 920 of the sewage tank 92 can flow out from the second water inlet section through the second water outlet section. When the drainage component is configured on the robot 9, the second water outlet section is connected to the sewage outlet of the robot 9, so that the sewage flowing out of the second water outlet section is discharged through the sewage outlet. For example, when the robot is docked with the workstation and the robot's suction component is used to discharge sewage, the suction component can use a pumping method to transport the liquid in the built-in storage space 920 from the second water inlet section through the second water outlet section to the sewage outlet for discharge. Of course, the robot docking workstation can also use the gravity of the liquid flow to flow the liquid in the built-in storage space 920 from the second water inlet section through the second water outlet section to the sewage outlet for discharge.

[0188] In one embodiment, the control device 94 is provided on the robot 9 and is used to control the operation of various components on the robot body. For example, the control device 94 can be used to control the mobile device 93 and the cleaning device 95 to work together to perform cleaning operations, and to use navigation technology for positioning, mapping and navigation, or to control the robot to dock with the workstation to discharge sewage or add purified water, etc.

[0189] In some embodiments, the control device 94 includes a memory and a processor.

[0190] The processor can be used to read and execute computer-readable instructions. In a specific implementation, the processor may mainly include a controller, an operator and a register. Among them, the controller is mainly responsible for decoding instructions and issuing control signals for operations corresponding to the instructions. The operator is mainly responsible for performing fixed-point or floating-point arithmetic operations, shift operations, and logical operations, etc., and may also perform address operations and conversions. The register is mainly responsible for storing register operands and intermediate operation results temporarily stored during the execution of instructions. In a specific implementation, the hardware architecture of the processor may be an application-specific integrated circuit (ASIC) architecture, a MIPS architecture, an ARM architecture, or an NP architecture, etc. The number of the processors may be one or more, for example: the processor may include an application processor (AP), a modem processor, a graphics processor (GPU), an image signal processor (ISP), a controller, a video codec, a digital signal processor (DSP), a baseband processor, and / or a neural-network processing unit (NPU), etc. Among them, different processors may be independent devices or integrated in one or more processors.

[0191] The memory is coupled to the processor and is used to store various software programs and / or multiple sets of instructions (for example, a software program for controlling the robot to perform a preset number of backward and forward reciprocating motions). In a specific implementation, the memory may include a high-speed random access memory, and may also include a non-volatile memory, such as one or more disk storage devices, flash memory devices, or other non-volatile solid-state storage devices. The memory can store an operating system, such as an embedded operating system such as uCOS, VxWorks, RTLinux, etc. The memory can also store a communication program, which can be used to communicate with an intelligent terminal, an electronic device, one or more servers, or an additional device.

[0192] In some embodiments, the control device 94 further includes at least one interface unit, each interface unit being used to output a visual interface, receive a human-computer interaction event generated according to the operation of a technician, etc. For example, the interface unit includes but is not limited to: a serial interface such as an HDMI interface or a USB interface, or a parallel interface, etc. In one embodiment, the interface unit further includes a network communication unit, which is a device for transmitting data using a wired or wireless network, examples of which include but are not limited to: an integrated circuit including a network card, a local area network module such as a WiFi module or a Bluetooth module, a wide area network module such as a mobile network, etc.

[0193] It should be noted that the robot of the present application may be, for example, the robot disclosed in any embodiment of the present application or other robots, and the robot can perform cleaning operations and can dock with the workstation.

[0194] The workstation is used to dock with the robot to provide clean water to the robot and recycle sewage discharged by the robot. Furthermore, the workstation can also charge the robot after docking with the robot.

[0195] In some embodiments, the workstation may be, for example, Figures 1 to 29 Any embodiment and its related description are shown and will not be repeated here.

[0196] In summary, the workstation and robot system disclosed in the present application, by arranging the first interface component transversely in the accommodation space of the workstation body, the liquid storage tank can be moved transversely in the accommodation space to dock or separate with the first interface component, so as to facilitate user operation; further, by arranging a limit assembly on the workstation, the position of the liquid storage tank in the accommodation space can be limited to maintain the tight fit between the liquid storage tank and the first interface component; further, by arranging an elastic mechanism in the accommodation space, it is helpful to separate the liquid storage tank from the first interface component. By arranging a filtering mechanism including a first filter disc in the workstation, the sewage discharged by the robot can be filtered to deposit the garbage in the sewage on the filtering mechanism to prevent the garbage from clogging the pumping structure of the workstation; further, by arranging a second filtering structure in the water flow direction from the cleaning area to the sewage accommodation area, the sewage flowing from the cleaning area to the sewage accommodation area can be filtered to further prevent the pumping mechanism from being blocked. By arranging a circuit configuration area and a waterway configuration area separated from each other on the back of the workstation body, liquid can be prevented from entering the circuit configuration area to ensure the safety of the circuit components in the circuit configuration area.

[0197] According to the above examples, the present application provides multiple embodiments, which are as follows:

[0198] 1. A workstation, comprising:

[0199] The workstation body has a base for the robot to dock at its bottom, and a sewage receiving area is provided on the base;

[0200] The filtering mechanism is detachably arranged in the sewage receiving area, and includes a first filter disc, on which a first filtering structure is arranged. The sewage discharged by the robot enters the sewage receiving area through the first filtering structure, so that the garbage in the sewage is deposited on the first filter disc.

[0201] 2. According to the workstation described in Example 1, a cleaning area that can be connected to the sewage holding area is also provided on the base, and the filtering mechanism also includes a second filtering structure arranged in the water flow direction from the cleaning area to the sewage holding area to filter the sewage flowing from the cleaning area to the sewage holding area.

[0202] 3 According to the workstation described in embodiment 2, wherein the filtering mechanism further includes a second filter disc located at the bottom of the first filter disc, which is used to collect garbage filtered out by the second filtering structure.

[0203] The workstation according to embodiment 1, wherein the filtering mechanism further comprises a hand-held portion disposed on the first filter disc.

[0204] 5. A workstation according to embodiment 2, wherein a cleaning component is provided on the cleaning area for contacting with a cleaning device of the robot to clean the cleaning device when the robot is docked on the base.

[0205] 6. A workstation according to embodiment 5, wherein the cleaning component includes scrubbing bars corresponding to the number of roller brushes in the cleaning device, and the scrubbing bars are made of a flexible material.

[0206] 7. According to the workstation described in Example 1, a sewage level measuring device is also provided on the workstation body, and the sewage level measuring device is used to measure the liquid level in the sewage containing area.

[0207] 8. The workstation of embodiment 1, wherein the sewage receiving area comprises:

[0208] a first containing area, on which the filtering mechanism is arranged, and used to contain sewage filtered by the first filtering structure;

[0209] A second accommodating area, connected to the first accommodating area, having a water inlet connected to the first accommodating area to allow sewage from the first accommodating area to flow into the second accommodating area;

[0210] Wherein, the filtering mechanism further comprises a third filtering structure arranged at the water inlet, and the sewage in the first containing area flows into the second containing area through the third filtering structure.

[0211] 9. A workstation according to Example 8, wherein a snap-fitting portion is turned outward on one side edge of the first filter disc, which snaps into place at the water inlet so that the filter mechanism is placed on the first accommodating area; wherein the third filter structure is arranged on the snap-fitting portion.

[0212] 10. The workstation according to embodiment 8 or 9, wherein the filtering accuracy of the third filtering structure is greater than the filtering accuracy of the first filtering structure.

[0213] 11. A workstation, comprising:

[0214] The workstation body has a circuit configuration area and a water channel configuration area separated from each other on its back, wherein the circuit configuration area is used to configure the circuit components, and the water channel configuration area is used to configure the pumping mechanism and the water supply mechanism; wherein the circuit components are used to control the operation of the pumping mechanism and the water supply mechanism;

[0215] A base, which is extended and arranged at the bottom of the workstation body and has a sewage receiving area arranged thereon;

[0216] A liquid storage tank is detachably arranged on the workstation body, the liquid storage tank is connected to the water supply mechanism to provide clean water for the robot, and the liquid storage tank is also connected to the pumping mechanism to recover the sewage in the sewage holding area under the suction of the pumping mechanism.

[0217] 12. A workstation according to embodiment 11, wherein a first partition and a back cover are provided on the back of the workstation body, the first partition is used to separate the back area of ​​the workstation body to form the circuit configuration area and the water channel configuration area, and the back cover is covered on the back of the workstation body to close the circuit configuration area and the water channel configuration area.

[0218] 13. A workstation according to embodiment 12, wherein a sealing strip is provided on the first partition to ensure the airtightness of the circuit configuration area and the water channel configuration area.

[0219] 14. The workstation according to embodiment 11, wherein the circuit component generates a control signal based on power supply from an external power source to control the operation of the water pumping mechanism and the water supply mechanism.

[0220] 15. The workstation according to embodiment 11, wherein an electrode configuration area is further separated at the back of the workstation body, and the electrode configuration area is configured with an electrode assembly.

[0221] 16. A workstation according to Example 11, wherein the water circuit configuration area also includes a pumping component configuration area and a pipeline component configuration area, the pumping component configuration area is arranged between the circuit configuration area and the pipeline component configuration area, the pipeline component configuration area is used to configure the pipeline component docking with the liquid storage tank, and the pumping component configuration area is used to configure the pumping component.

[0222] 17. A workstation according to embodiment 16, wherein a second partition is provided between the pumping component configuration area and the pipeline component configuration area, and a connecting component between the pumping component and the pipeline component is provided on the second partition.

[0223] 18. The workstation according to embodiment 16, wherein the pipeline assembly configuration area is provided with an installation box, and the pipeline assembly is arranged in the installation box.

[0224] 19. A workstation according to embodiment 16, wherein the interface assembly docked with the pipeline assembly has a docking pipe in a vertical direction, and the pipeline assembly is vertically docked with the docking pipe.

[0225] 20A workstation, comprising:

[0226] The workstation body has a movable limiting component disposed on its side wall;

[0227] The base is arranged at the bottom of the workstation body and includes a coupling position matched with the limiting assembly. The limiting assembly enters the coupling position to lock the base at the bottom of the workstation body, and the limiting assembly moves away from the coupling position to allow the base to be pulled out of the workstation body.

[0228] 21. A workstation according to embodiment 20, wherein the combining position is configured as a groove or a protruding structure on the base, the combining position is located on the side of the base where the limiting component is configured toward the workstation body, and the limiting component is engaged with the combining position to lock the base.

[0229] 22. The workstation according to embodiment 20, wherein the limit assembly comprises:

[0230] A limiting mechanism, comprising a main body and a limiting portion, wherein the limiting portion is formed on a side of the main body facing the base to cooperate with the combining position to lock the base;

[0231] The connecting portion is used to connect the limiting mechanism to the workstation body, and the body can rotate around the connecting portion so that the limiting portion enters or leaves the combining position.

[0232] 23. A workstation, comprising:

[0233] The workstation body is provided with a water supply mechanism and an assembly port;

[0234] a water supply interface assembly, a first end of which is connected to the assembly port and communicated with the water supply mechanism, so that the liquid provided by the water supply mechanism is delivered to the robot through the water supply interface assembly;

[0235] Wherein, a positioning structure is arranged on the first end, the assembly port is positioned in the positioning structure and has a movable gap relative to the water supply interface component to allow the water supply interface component to rotate conically relative to the assembly port.

[0236] 24. A workstation according to embodiment 23, wherein the second end of the water supply interface assembly is provided with an interface structure, and the interface structure includes a connecting portion and a guide portion formed around the connecting portion; when the robot docks with the workstation, its water adding assembly abuts against the guide portion to prompt the water supply interface assembly to be adjusted through conical rotation until the water adding assembly enters the connecting portion.

[0237] 25. A workstation according to embodiment 24, wherein the connecting portion and the guiding portion are integrally formed and are trumpet-shaped as a whole.

[0238] 26. The workstation of embodiment 23, wherein the positioning structure comprises:

[0239] A first fixing portion, configured as a protruding structure formed on the outer peripheral surface of the first end;

[0240] The second fixing portion is arranged on the outer peripheral surface of the first end and is located on the side of the first fixing portion facing the workstation body. The second fixing portion cooperates with the first fixing portion to form a clamping space for clamping the assembly port.

[0241] 27. The workstation according to embodiment 26, wherein a groove is provided on the outer peripheral surface of the first end, and the second fixing portion is fixed on the groove.

[0242] 28. The workstation according to embodiment 27, wherein the second fixing portion is configured as a clip spring.

[0243] 29. A robot system, comprising:

[0244] Robots, including:

[0245] A moving device, comprising a driving wheel disposed at the bottom of the robot;

[0246] A cleaning device, disposed at the bottom of the robot, for performing cleaning operations;

[0247] A control device, used to control the moving device and the cleaning device to work in coordination;

[0248] A workstation as described in any one of Examples 1 to 28 is used to dock with the robot to provide clean water to the robot and recover sewage discharged by the robot.

[0249] The above embodiments are merely illustrative of the principles and effects of the present application and are not intended to limit the present application. Anyone familiar with the technology may modify or change the above embodiments without violating the spirit and scope of the present application. Therefore, all equivalent modifications or changes made by a person of ordinary skill in the art without departing from the spirit and technical ideas disclosed in the present application shall still be covered by the claims of the present application.

Claims

1. A workstation, characterized in that: include: The workstation body is provided with a receiving space, and a first interface component is transversely arranged in the receiving space; A liquid storage tank is used to recycle sewage or provide clean water to the robot. The liquid storage tank is detachably arranged in the accommodating space. The liquid storage tank moves laterally in the accommodating space to separate from or dock with the first interface component.

2. The workstation according to claim 1, characterized in that The number of the liquid storage tanks is at least two, and the accommodating space is provided with accommodating areas corresponding to the number of the liquid storage tanks to accommodate the at least two liquid storage tanks.

3. The workstation according to claim 2, characterized in that A partition is provided in the accommodation space to divide the accommodation space into accommodation areas corresponding to the number of liquid storage tanks.

4. The workstation according to claim 1, characterized in that A cover plate is also arranged on the workstation body, and the cover plate at least partially covers the opening of the accommodating space toward the top.

5. The workstation according to claim 1, characterized in that: The back of the workstation body is provided with a water supply mechanism and a water pumping mechanism, and the first interface component includes: The air extraction interface and the sewage interface are respectively connected to the pumping mechanism, and the pumping mechanism uses the air extraction interface to form a negative pressure in the liquid storage tank so that the sewage is recovered through the sewage interface; A clean water interface is connected to the water supply mechanism to provide clean water to the robot under the action of the water supply mechanism.

6. The workstation according to claim 1, characterized in that: The workstation body is also provided with a limit assembly, which is used to lock the liquid storage tank to position the liquid storage tank in the accommodating space, or unlock the liquid storage tank to allow the liquid storage tank to be separated from the first interface assembly.

7. The workstation according to claim 6, characterized in that The limiting component comprises: A locking member protruding from the accommodating space to lock the liquid storage tank; A starting member is connected to the engaging member and is triggered to drive the engaging member to fall back and unlock the liquid storage tank.

8. The workstation according to claim 6, characterized in that An elastic mechanism is also provided in the accommodating space, and the elastic mechanism is used for pushing the liquid storage tank to move in a direction of being separated from the first interface assembly when the limiting assembly unlocks the liquid storage tank.

9. The workstation according to claim 8, characterized in that Under the push of the elastic mechanism, the liquid storage tank and the first interface assembly are transformed from a tight fit state to a loose fit state.

10. The workstation according to claim 8, characterized in that Under the push of the elastic mechanism, the liquid storage tank is separated from the first interface assembly.

11. The workstation according to claim 6, characterized in that The liquid storage tank is provided with a groove corresponding to the limiting assembly to cooperate with the limiting assembly to position the liquid storage tank.

12. The workstation according to claim 1, characterized in that The liquid storage tank comprises: A box body, used for storing sewage or clean water, on which a second interface component for matching with the first interface component is arranged; A first cover body, covering the box body, and provided with a water outlet; The second cover body is flippably arranged on the front side of the first cover body to close or open the water outlet.

13. The workstation according to claim 12, characterized in that The liquid storage tank also includes a hand grip portion arranged on the first cover body.

14. The workstation according to claim 12, characterized in that The liquid storage tank also includes a filtering device located in the tank body, and the filtering device is connected to the second interface assembly and is used to filter the clean water in the liquid storage tank to provide it to the robot.

15. The workstation according to claim 12, characterized in that The liquid storage tank is also provided with a liquid level detection device for detecting the liquid level in the liquid storage tank.

16. The workstation according to claim 1, characterized in that The number of the liquid storage tanks is at least two, and the water capacity of the liquid storage tanks is set to 8L to 12L.

17. A robot system, characterized in that: include: Robots, including: A moving device, comprising a driving wheel disposed at the bottom of the robot; A cleaning device, disposed at the bottom of the robot, for performing cleaning operations; A control device, used to control the moving device and the cleaning device to work in coordination; The workstation as described in any one of claims 1 to 16 is used to dock with the robot to provide clean water to the robot and recover sewage discharged by the robot.

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