Cleaning and mopping robot intelligent base station and control method thereof

Abstract

The invention relates to an intelligent base station of a washing and mopping robot. The intelligent base station comprises a base body. The water tank is arranged in the base main body; the water pumping mechanism is arranged in the base main body; the nozzle is arranged in the water tank and is connected with the water pumping mechanism through a deformable water pipe; the detector is arranged in the nozzle; the driving mechanism is arranged in the base main body, is in driving connection with the nozzle and is used for driving the nozzle to lift and rotate; the driving mechanism comprises a telescopic rod connected with the nozzle, and the telescopic rod is arranged in a hollow mode and arranged outside the water pipe in a sleeving mode; the air inflation mechanism is connected with the telescopic rod and used for inflating air between the telescopic rod and the water pipe; the first detection assembly is vertically arranged in the water tank and is used for detecting turbidity data of sewage in the water tank; the second detection assembly is vertically arranged in the water tank and used for detecting the concentration of green algae on the inner wall of the water tank. The intelligent base station of the washing and mopping robot can solve the problem of pipeline blockage and can clean green algae at the same time. The invention further relates to a control method of the intelligent base station of the washing and mopping robot.

Description

Technical Field

[0001] The present invention relates to the technical field of washing and mopping robots, and in particular to an intelligent base station of a washing and mopping robot and a control method thereof. Background Art

[0002] As we all know, the current washing and mopping robot base station generally uses a water pump to suck out the sewage in the washing and mopping robot and stores it in a sewage tank when the washing and mopping robot is self-cleaning. Green algae may appear over time and can only be solved by manual cleaning.

[0003] The specific problems include: 1. It is impossible to determine whether the sewage is stratified; 2. It is impossible to determine the concentration of green algae and perform flushing of corresponding intensity accordingly; 3. There is no supporting control method to ensure the long-term cleanliness of the equipment to ensure the stability of its use; 4. In addition, blockage may occur during self-cleaning, and the blockage cannot be used for more effective inner wall cleaning. Summary of the invention

[0004] The first technical problem to be solved by the present invention is to provide a smart base station for a washing and mopping robot that can solve the pipe blockage and clean green algae at the same time, in view of the above-mentioned prior art.

[0005] The second technical problem to be solved by the present invention is to provide a control method for the aforementioned intelligent base station of the washing and mopping robot in view of the above-mentioned prior art.

[0006] The technical solution adopted by the present invention to solve the above-mentioned first technical problem is: an intelligent base station for a washing and mopping robot, comprising

[0007] Base body;

[0008] A water tank is arranged in the base body;

[0009] A water pumping mechanism is arranged in the base body;

[0010] It is characterized by: it also includes

[0011] A nozzle is arranged in the water tank and connected to the water pump mechanism through a deformable water pipe;

[0012] A detector, disposed in the nozzle, for detecting the turbidity of sewage passing through the nozzle;

[0013] A driving mechanism is arranged in the base body and is connected to the nozzle driving, and is used to drive the nozzle to move up and down and rotate; the driving mechanism includes a telescopic rod connected to the nozzle, the telescopic rod is hollow and sleeved outside the water pipe;

[0014] An inflation mechanism, connected to the telescopic rod, for inflating air between the telescopic rod and the water pipe;

[0015] A first detection component is vertically arranged in the water tank and is used to detect sewage turbidity data in the vertical direction of the water tank;

[0016] The second detection component is vertically arranged in the water tank and is used to detect the concentration of green algae in the vertical direction of the inner wall of the water tank.

[0017] In order to simultaneously realize the lifting and rotating drive of the nozzle, the nozzle is connected to the top of the telescopic rod through a connecting seat, and the connecting seat includes a seat body and a rotating member rotationally limited in the middle of the seat body, and the rotating member is connected between the telescopic rod and the nozzle;

[0018] The driving mechanism also includes a lifting driving unit connected to the seat body and a first motor for driving the telescopic rod to rotate.

[0019] The structure is simple. The lifting drive unit comprises a second motor and a lifting push rod connected to the driving end of the second motor. The top of the push rod is connected to the seat body.

[0020] Preferably, the nozzle comprises a nozzle body which penetrates from top to bottom and an upper cover which is arranged on the top of the nozzle body, a water spraying port is opened on the side wall of the nozzle body, and the detector is arranged on the lower surface of the upper cover.

[0021] Preferably, the first detection assembly includes at least two groups of first detection units arranged vertically.

[0022] Preferably, each group of first detection units includes an infrared transmitter and an infrared receiver arranged on inner walls on two opposite sides of the water tank.

[0023] Preferably, the second detection assembly includes at least two groups of second detection units arranged vertically.

[0024] Preferably, each group of second detection units includes an infrared transmitter and an infrared receiver arranged on the same inner wall of the water tank.

[0025] In order to facilitate the docking of the washing and mopping robot with the water pumping mechanism, the water pumping mechanism is arranged below the water tank, and an entrance for the washing and mopping robot to enter is opened on the front side wall of the base body corresponding to the position of the water pumping mechanism.

[0026] In order to facilitate the washing and mopping robot to enter the base body, a cover plate that can be folded down to support the ground is rotatably connected to the entrance, and anti-slip grooves are provided on the inner wall of the cover plate.

[0027] In order to facilitate the taking and placing of the water tank, an opening is provided on the top of the base body to match the position of the water tank, and a cover which can open and close the opening is rotatably connected to the base body.

[0028] In order to facilitate the operation of taking and placing the water tank, a handle is provided on the top of the water tank.

[0029] The technical solution adopted by the present invention to solve the second technical problem is: a method for controlling an intelligent base station of a washing and mopping robot, characterized in that: the intelligent base station of the washing and mopping robot as described above is adopted;

[0030] When it is necessary to clean the green algae on the inner wall of the water tank, detect and obtain the sewage turbidity data within different height ranges in the vertical direction of the water tank; detect and obtain the green algae concentration data within different height ranges in the vertical direction of the inner wall of the water tank;

[0031] The driving mechanism is controlled to drive the nozzle to move to each height range position of the green algae to be cleaned in the water tank, and the output power of the driving mechanism is adjusted according to the sewage turbidity data and the green algae concentration data in the corresponding height range, so that the rotation speed of the nozzle matches the concentration of the green algae to be cleaned in the corresponding height range.

[0032] As an improvement, if the green algae on the inner wall of the water tank is cleaned while the pump mechanism is working, the turbidity of the sewage passing through the nozzle can be detected in real time;

[0033] When cleaning the green algae on the inner wall of the water tank, the driving mechanism is controlled to drive the nozzle to move to each height range position of the green algae to be cleaned in the water tank. According to the sewage turbidity data and green algae concentration data in the corresponding height range and the real-time sewage turbidity in the nozzle, the output power of the driving mechanism is adjusted so that the rotation speed of the nozzle matches the concentration of the green algae to be cleaned in the corresponding height range.

[0034] In order to facilitate the judgment of sewage blockage, when the pump mechanism is working, the turbidity of sewage passing through the nozzle is detected in real time. If the change value of sewage turbidity per unit time exceeds the set turbidity change threshold, it is judged that blockage occurs;

[0035] The inflation mechanism is controlled to inflate air between the telescopic rod and the water pipe, thereby reducing the diameter of the water pipe to achieve water inlet pressure increase.

[0036] Preferably, the inflation amount of the inflation mechanism is adjusted based on the change value of sewage turbidity per unit time.

[0037] In order to make full use of the dirt flushed into the water tank based on the boost to achieve the cleaning of the green algae, when blockage occurs while the green algae on the inner wall of the water tank is being cleaned, the driving mechanism is controlled to drive the nozzle to move to the height range position where the green algae concentration in the water tank is the highest.

[0038] Simply, the green algae concentration data in different vertical height ranges on the inner wall of the water tank is detected and acquired. When the green algae concentration in at least one height range exceeds the set green algae concentration threshold, the green algae cleaning operation on the inner wall of the water tank is controlled.

[0039] Compared with the prior art, the advantages of the present invention are: the intelligent base station of the washing and mopping robot in the present invention can realize the cleaning of green algae generated at different heights in the water tank based on the driving mechanism of the nozzle. And the green algae can be cleaned in the process of sucking the sewage in the washing and mopping robot as needed, and the friction of the debris in the sewage on the green algae can be fully utilized to realize the cleaning of the green algae, so as to realize the full utilization of the sewage. At the same time, the inflation mechanism can be controlled to work based on the blockage of the water pipe, so as to realize the diameter change of the water pipe and realize the pressurized self-conduction.

[0040] The intelligent base station control method of the washing and mopping robot in the present invention can realize the self-cleaning of green algae, and can also judge the blockage situation of the pipeline and automatically increase the pressure to solve the blockage problem. While solving the blockage problem, the blockage is fully utilized to enhance the cleaning effect of the green algae. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] Figure 1 It is a three-dimensional diagram of the intelligent base station of the washing and mopping robot in an embodiment of the present invention.

[0042] Figure 2 1 is a diagram showing the internal structure of the intelligent base station of the washing and mopping robot in an embodiment of the present invention.

[0043] Figure 3 It is a cross-sectional view of the cooperation between the driving mechanism and the nozzle in an embodiment of the present invention.

[0044] Figure 4 It is a cross-sectional view of the intelligent base station of the washing and mopping robot in an embodiment of the present invention. DETAILED DESCRIPTION

[0045] The present invention is further described in detail below with reference to the accompanying drawings.

[0046] like Figures 1 to 4 As shown, the intelligent base station of the washing and mopping robot in this embodiment includes a base body 1, a water tank 2, a water pumping mechanism 3, a nozzle 4, a detector 5, a driving mechanism 6, an inflation mechanism 7, a first detection component 8, and a second detection component 9.

[0047] The base body 1 has a cavity inside, and the water tank 2 is arranged inside the cavity of the base body 1. The water tank 2 is mainly used to collect sewage in the sewage tank 2 of the washing and mopping robot. That is, when the sewage tank 2 of the washing and mopping robot is full, it will automatically move to the base body 1, and then dock with the water tank 2, so that the water in the sewage tank 2 is sucked into the water tank 2. The water tank 2 can store a relatively large amount of sewage, so the frequency of dumping the sewage in the water tank 2 is relatively low. Based on this application environment, green algae are easy to breed on the inner wall of the water tank 2.

[0048] The water pump mechanism 3 is disposed in the base body 1 and is used to pump sewage into the water tank 2 .

[0049] Based on the fact that green algae are easily bred on the inner wall of the water tank 2, in this embodiment, a nozzle is provided in the water tank 2, and water is sprayed onto the inner wall of the water tank 2 by the nozzle 4, thereby cleaning the green algae. The nozzle 4 is connected to the water pump mechanism 3 through a deformable water pipe 41, that is, the water pump mechanism 3 pumps the water in the sewage tank 2 of the washing and mopping robot into the water tank 2 through the nozzle 4 through the water pipe 41, thereby collecting the sewage. The deformable water pipe 41 can adjust the water pump pressure. When in use, the water pressure in the water pipe 41 can be increased by reducing the diameter of the water pipe 41. In this way, when a blockage occurs, the water pipe 41 can be unblocked by increasing the water pressure, thereby solving the blockage.

[0050] The detector 5 is arranged in the nozzle 4, and is used to detect the turbidity of the sewage passing through the nozzle 4. The detector 5 is selected in the prior art according to the needs, and a sensor capable of realizing turbidity detection can be selected. In order to facilitate the installation of the detector 5 and the subsequent disassembly and maintenance, the nozzle 4 in this embodiment includes a nozzle body 42 that passes through from top to bottom and a cover arranged on the top of the nozzle body 42. A water spray port 421 is opened on the side wall of the nozzle body 42, and the detector 5 is arranged on the lower surface of the upper cover 43.

[0051] The driving mechanism 6 is disposed in the base body 1 and is drivingly connected to the nozzle 4, and is used to drive the nozzle 4 to move up and down and rotate. Specifically, the driving mechanism 6 includes a telescopic rod 61 connected to the nozzle 4, a lifting driving unit 62 connected to the base body 101, and a first motor 63 driving the telescopic rod 61 to rotate.

[0052] The telescopic rod 61 is hollow and is mounted outside the water pipe 41. The inflation mechanism 7 is connected to the telescopic rod 61. The inflation mechanism 7 can inflate air between the telescopic rod 61 and the water pipe 41, and adjust the diameter of the water pipe 41 based on the difference in the inflation amount, thereby being able to adjust the water pressure of the water passing through the water pipe 41.

[0053] In order to realize the lifting and rotating drive of the nozzle 4 at the same time, the nozzle 4 is connected to the top of the telescopic rod 61 through the connecting seat 100, and the connecting seat 100 includes a seat body 101 and a rotating member 102 that is rotationally limited in the middle of the seat body 101, and the rotating member 102 is connected between the telescopic rod 61 and the nozzle 4. The lifting drive unit 62 includes a second motor 621 and a lifting push rod 622 connected to the driving end of the second motor 621, and the top of the push rod is connected to the seat body 101.

[0054] When the lifting drive is performed, the second motor 621 works, thereby driving the lifting push rod 622 to move up and down, and based on the up and down movement of the lifting push rod 622, based on the up and down driving of the seat body 101, the connecting seat 100 is driven to move up and down as a whole, and the telescopic rod 61 is correspondingly extended up and down to achieve the up and down driving of the nozzle 4. When the rotation drive is performed, the first motor 63 works, and the first motor 63 drives the telescopic rod 61 to rotate, and the telescopic rod 61 drives the rotating member 102 to rotate in the seat body 101. Under the limiting action of the seat body 101, the rotating member 102 is always located in the seat body 101, and based on the rotation of the rotating member 102, the nozzle 4 is driven to rotate, so that the nozzle 4 can face the various sides of the inner wall of the water tank 2, and the water sprayed from the nozzle 4 can be sprayed on the various sides of the inner wall of the water tank 2.

[0055] The first detection component 8 is vertically arranged in the water tank 2, and is used to detect the sewage turbidity data in the vertical direction in the water tank 2. The first detection component 8 includes at least two groups of first detection units 81 arranged vertically, and the number of groups of the first detection units 81 is specifically set according to the height of the water tank 2 and the accuracy required for detection. In this embodiment, four groups of first detection units 81 are set, and each group of first detection units 81 includes an infrared transmitter and an infrared receiver arranged on the inner walls of the two opposite sides of the water tank 2. Based on the cooperation of the infrared transmitter and the infrared receiver, the sewage turbidity information within different height ranges in the water tank 2 can be detected. The lower the light intensity signal received by the infrared receiver, the greater the sewage turbidity.

[0056] The second detection component 9 is vertically arranged in the water tank 2, and is used to detect the concentration of green algae on the vertical direction of the inner wall of the water tank 2. The second detection component 9 includes at least two groups of second detection units 91 arranged vertically. The number of groups of the second detection components 9 is preferably the same as the number of groups of the first detection components 8, so that the cleaning of green algae can be matched. Based on this, four groups of the second detection components 9 are arranged in this embodiment. Each group of second detection units 91 includes an infrared transmitter and an infrared receiver arranged on the same inner wall of the water tank 2. The infrared transmitter cooperates with the infrared receiver to detect the concentration of green algae. The lower the light intensity signal received by the infrared receiver, the greater the concentration of green algae.

[0057] In addition, in order to facilitate the docking of the washing and mopping robot with the water pumping mechanism 3, the water pumping mechanism 3 is usually arranged below the water tank 2, and an entrance 11 for the washing and mopping robot to enter is opened on the front side wall of the base body 1 corresponding to the position of the water pumping mechanism 3. When in use, the washing and mopping robot enters the base body 1 from the entrance 11 and automatically docks with the water pumping mechanism 3, and the water pumping mechanism 3 can suck the sewage in the sewage tank 2 of the washing and mopping robot into the water tank 2 through the water pipe 41 and the nozzle 4.

[0058] The height of the entrance 11 is specifically set according to the specific model. For example, the entrance 11 can directly reach the ground at the bottom of the base body 1, so that the washing and mopping robot can enter the base body 1 without obstacles. When the lower edge of the entrance 11 is higher than the ground, in order to facilitate the washing and mopping robot to enter the base body 1, a cover plate 12 that can be turned down and supported by the ground is rotatably connected to the entrance 11. After the cover plate 12 is lowered, the cover plate 12 forms a slope for the washing and mopping robot to enter the base body 1 from the cover plate 12. In order to avoid slipping on the slope, anti-slip grooves 121 are provided on the inner wall of the cover plate 12.

[0059] In addition, in order to facilitate the taking and placing of the water tank 2, an opening is provided at the top of the base body 1 in a manner matching the position of the water tank 2, and a cover 13 that can be opened and closed is rotatably connected to the base body 1. When the cover 13 is closed, the aesthetic requirements are met, and when the cover 13 is opened, the water tank 2 can be taken and placed from the opening. In order to facilitate the taking and placing of the water tank 2, a handle 21 is provided at the top of the water tank 2, and in order to save space, the handle 21 can be rotatably connected to the water tank 2.

[0060] The control method of the aforementioned washing and mopping robot intelligent base station specifically includes the following contents.

[0061] When it is necessary to clean the green algae on the inner wall of the water tank 2, the sewage turbidity data within different height ranges in the vertical direction of the water tank 2 is detected and obtained; the green algae concentration data within different height ranges in the vertical direction on the inner wall of the water tank 2 is detected and obtained. The driving mechanism 6 is controlled to drive the nozzle 4 to move to each height range position of the green algae to be cleaned in the water tank 2, and the output power of the driving mechanism 6 is adjusted according to the sewage turbidity data and the green algae concentration data in the corresponding height range, so that the rotation speed of the nozzle 4 matches the concentration of the green algae to be cleaned in the corresponding height range. The calculation relationship based on the sewage turbidity data, the green algae concentration data, and the output power of the driving mechanism 6 can be obtained by testing during the equipment development stage.

[0062] When the nozzle 4 rotates in the sewage, the rotation resistance of the nozzle 4 is different due to different sewage concentrations. Therefore, the sewage turbidity data in the corresponding height range is used as an influencing factor for controlling the output power of the driving mechanism 6, so that the spraying speed can be adjusted to the required speed more accurately.

[0063] In this embodiment, the following method can be used to determine whether to perform the green algae cleaning operation on the inner wall of the water tank 2: detect and obtain the green algae concentration data in different height ranges in the vertical direction on the inner wall of the water tank 2, and when the green algae concentration in at least one height range exceeds the set green algae concentration threshold, control the green algae cleaning operation on the inner wall of the water tank 2. When cleaning, only the green algae in the height range where the green algae concentration exceeds the set green algae concentration threshold needs to be cleaned.

[0064] Based on different equipment, the conditions for starting the cleaning of the green algae on the inner wall of the water tank 2 are also different. For example, if the timing of cleaning the green algae is determined only based on the green algae concentration data, since water needs to be pumped for cleaning during cleaning, and impurities need to be contained in the cleaning water to achieve the purpose of cleaning the green algae stuck on the inner wall of the water tank 2. In this case, the water pumping mechanism 3 needs to be connected to a structure that can provide cleaning water at the same time, and the structure can be set as needed. However, based on the characteristics of the intelligent base station of the washing and mopping robot itself, the water pumped into the water tank 2 is originally sewage, and sewage usually includes a large amount of solid matter, which can meet the cleaning requirements of the green algae. Therefore, the sewage pumped into the water tank 2 by the self-washing and mopping robot can be directly used to clean the green algae in the water tank 2, which also realizes the utilization of sewage.

[0065] Based on this, the green algae on the inner wall of the water tank 2 is cleaned when the pump mechanism 3 cooperates with the washing and mopping robot to pump sewage into the washing and mopping robot. That is, as an improvement, if the green algae on the inner wall of the water tank 2 is cleaned when the pump mechanism 3 is working, the turbidity of the sewage passing through the nozzle 4 is detected in real time. Since the degree of dirt in the sewage has different effects on the cleaning effect of the green algae, the turbidity of the pumped sewage is also used as a factor affecting the speed of the nozzle 4.

[0066] Correspondingly, when the pump mechanism 3 is working and the green algae on the inner wall of the water tank 2 is being cleaned, the driving mechanism 6 is controlled to drive the nozzle 4 to move to each height range position of the green algae to be cleaned in the water tank 2, and the output power of the driving mechanism 6 is adjusted according to the sewage turbidity data and green algae concentration data of the corresponding height range, and the real-time sewage turbidity in the nozzle 4, so that the rotation speed of the nozzle 4 matches the concentration of the green algae to be cleaned in the corresponding height range. The calculation relationship between the sewage turbidity data, the green algae concentration data in the water tank 2, and the sewage turbidity in the nozzle 4 can be obtained by testing during the equipment development stage.

[0067] When the pump mechanism 3 pumps the sewage in the washing and mopping robot into the water tank 2, it is inevitable that the water pipe 41 will be blocked by dirt. In order to facilitate the judgment of dirt blockage, when the pump mechanism 3 is working, the turbidity of the sewage passing through the nozzle 4 is detected in real time. If the change value of the sewage turbidity per unit time exceeds the set turbidity change threshold, it is judged that blockage occurs. The size of the change value of the sewage turbidity also directly reflects the degree of blockage. In the case of blockage, the inflation mechanism 7 is controlled to inflate between the telescopic rod 61 and the water pipe 41, thereby reducing the diameter of the water pipe 41 to achieve water inlet pressure increase. The inflation amount of the inflation mechanism 7 is adjusted based on the change value of the sewage turbidity per unit time. The adjusted diameter of the water pipe 41 is matched with the degree of blockage. After the water pipe 41 is pressurized, the dirt is flushed away based on the high water pressure, so that the water pipe 41 is conductive. However, there is also a situation where it cannot be flushed away. When it is judged that the blockage has reached the set time threshold, a blockage alarm is issued.

[0068] If the blocked dirt can be flushed into the water tank 2 based on the pressure increase of the water pipe 41, the dirt can be used to clean the green algae. In order to make full use of the dirt flushed into the water tank 2 based on the pressure increase to achieve the cleaning of the green algae, when blockage occurs while the green algae on the inner wall of the water tank 2 is being cleaned, the driving mechanism 6 is controlled to drive the nozzle 4 to move to the height range position with the highest green algae concentration in the water tank 2, so as to achieve the cleaning of the green algae at the highest concentration position.

[0069] The intelligent base station of the washing and mopping robot in the present invention can clean the green algae generated at different heights in the water tank 2 based on the driving mechanism 6 to drive the nozzle 4. And according to the needs, the green algae can be cleaned in the process of sucking the sewage in the washing and mopping robot, and the friction of the debris in the sewage on the green algae can be fully utilized to clean the green algae, so as to fully utilize the sewage. At the same time, the inflation mechanism 7 can be controlled to work based on the blockage of the water pipe 41 to achieve the diameter change of the water pipe 41, so as to achieve the boosted self-conduction.

[0070] The intelligent base station control method of the washing and mopping robot in the present invention can realize the self-cleaning of green algae, and can also judge the blockage situation of the pipeline and automatically increase the pressure to solve the blockage problem. While solving the blockage problem, the blockage is fully utilized to enhance the cleaning effect of the green algae.

[0071] In the specification and claims of the present invention, terms indicating directions, such as "front", "rear", "up", "down", "left", "right", "side", "top", "bottom", etc., are used to describe various exemplary structural parts and elements of the present invention, but these terms are used here only for the purpose of convenience of description and are determined based on the exemplary orientations shown in the accompanying drawings. Since the embodiments disclosed in the present invention can be arranged in different directions, these terms indicating directions are only used as explanations and should not be regarded as limitations. For example, "up" and "down" are not necessarily limited to directions opposite to or consistent with the direction of gravity.

Claims

1. A smart base station for a washing and mopping robot, comprising Base body (1); A water tank (2) is arranged inside the base body (1); A water pump mechanism (3) is arranged in the base body (1); Features: Also includes A nozzle (4) is arranged in the water tank (2) and connected to the water pump mechanism (3) via a deformable water pipe (41); A detector (5) is arranged in the nozzle (4) and is used to detect the turbidity of the sewage passing through the nozzle (4); A driving mechanism (6) is arranged in the base body (1) and is drivingly connected to the nozzle (4), and is used to drive the nozzle (4) to move up and down and rotate; the driving mechanism (6) comprises a telescopic rod (61) connected to the nozzle (4), and the telescopic rod (61) is hollow and sleeved outside the water pipe (41); An air-inflating mechanism (7) connected to the telescopic rod (61) and used for inflating air between the telescopic rod (61) and the water pipe (41); A first detection component (8) is arranged vertically in the water tank (2) and is used to detect sewage turbidity data in the vertical direction in the water tank (2); The second detection component (9) is arranged vertically in the water tank (2) and is used to detect the concentration of green algae in the vertical direction of the inner wall of the water tank (2).

2. The intelligent base station of the washing and mopping robot according to claim 1, characterized in that: The nozzle (4) is connected to the top of the telescopic rod (61) via a connecting seat (100); the connecting seat (100) comprises a seat body (101) and a rotating member (102) rotatably limited in the middle of the seat body (101); the rotating member (102) is connected between the telescopic rod (61) and the nozzle (4); The driving mechanism (6) also includes a lifting driving unit (62) connected to the seat body (101) and a first motor (63) for driving the telescopic rod (61) to rotate.

3. The intelligent base station of the washing and mopping robot according to claim 2, characterized in that: The lifting drive unit (62) comprises a second motor (621) and a lifting push rod (622) connected to the driving end of the second motor (621), and the top of the lifting push rod (622) is connected to the seat body (101).

4. The intelligent base station of the washing and mopping robot according to any one of claims 1 to 3, characterized in that: The nozzle (4) comprises a nozzle body (42) which is through-through from top to bottom and an upper cover (43) which is arranged on the top of the nozzle body (42); a water spraying port (421) is provided on the side wall of the nozzle body (42); and the detector (5) is arranged on the lower surface of the upper cover (43).

5. The intelligent base station of the washing and mopping robot according to any one of claims 1 to 3, characterized in that: The first detection assembly (8) comprises at least two groups of first detection units (81) arranged vertically.

6. The intelligent base station of the washing and mopping robot according to claim 5, characterized in that: Each group of first detection units (81) comprises an infrared transmitter and an infrared receiver which are arranged on inner walls on two opposite sides of the water tank (2).

7. The intelligent base station of the washing and mopping robot according to any one of claims 1 to 3, characterized in that: The second detection assembly (9) comprises at least two groups of second detection units (91) arranged vertically.

8. The intelligent base station of the washing and mopping robot according to claim 7, characterized in that: Each group of second detection units (91) comprises an infrared transmitter and an infrared receiver which are arranged on the same inner wall of the water tank (2).

9. The intelligent base station of the washing and mopping robot according to any one of claims 1 to 3, characterized in that: The water pump mechanism (3) is arranged below the water tank (2), and an entrance (11) for the washing and mopping robot to enter is provided on the front side wall of the base body (1) corresponding to the position of the water pump mechanism (3).

10. The intelligent base station of the washing and mopping robot according to claim 9, characterized in that: The inlet (11) is rotatably connected to a cover plate (12) that can be flipped down to contact the ground, and the inner wall of the cover plate (12) is provided with anti-slip grooves (121).

11. The intelligent base station of a washing and mopping robot according to any one of claims 1 to 3, characterized in that: The top of the base body (1) is provided with an opening matching the position of the water tank (2), and a cover (13) is rotatably connected to the base body (1) and capable of opening and closing the opening.

12. The intelligent base station of the washing and mopping robot according to claim 11, characterized in that: A handle (21) is provided on the top of the water tank (2).

13. A method for controlling an intelligent base station of a washing and mopping robot, characterized in that: Using the intelligent base station of the washing and mopping robot as described in any one of claims 1 to 12; When it is necessary to clean the green algae on the inner wall of the water tank (2), detect and obtain sewage turbidity data within different height ranges in the vertical direction of the water tank (2); detect and obtain green algae concentration data within different height ranges in the vertical direction of the inner wall of the water tank (2); The driving mechanism (6) is controlled to drive the nozzle (4) to move to each height range position of the green algae to be cleaned in the water tank (2), and the output power of the driving mechanism (6) is adjusted according to the sewage turbidity data and the green algae concentration data in the corresponding height range, so that the rotation speed of the nozzle (4) matches the concentration of the green algae to be cleaned in the corresponding height range.

14. The control method of the intelligent base station of the washing and mopping robot according to claim 13, characterized in that: If the green algae on the inner wall of the water tank (2) is cleaned while the water pump mechanism (3) is in operation, the turbidity of the sewage passing through the nozzle (4) is detected and obtained in real time; When cleaning the green algae on the inner wall of the water tank (2), the driving mechanism (6) is controlled to drive the nozzle (4) to move to each height range position of the green algae to be cleaned in the water tank (2), and the output power of the driving mechanism (6) is adjusted according to the sewage turbidity data and the green algae concentration data in the corresponding height range, and the real-time sewage turbidity in the nozzle (4), so that the rotation speed of the nozzle (4) matches the concentration of the green algae to be cleaned in the corresponding height range.

15. The control method of the intelligent base station of the washing and mopping robot according to claim 14, characterized in that: When the water pump mechanism (3) is working, the turbidity of the sewage passing through the nozzle (4) is detected in real time, and if the change value of the sewage turbidity within a unit time exceeds a set turbidity change threshold, it is determined that a blockage has occurred; The air-inflating mechanism (7) is controlled to inflate air between the telescopic rod (61) and the water pipe (41), thereby reducing the diameter of the water pipe (41) to achieve water inlet pressure increase.

16. The control method of the intelligent base station of the washing and mopping robot according to claim 15, characterized in that: The inflation volume of the inflation mechanism (7) is adjusted based on the change value of sewage turbidity within a unit time.

17. The control method of the intelligent base station of the washing and mopping robot according to claim 13, characterized in that: When a blockage occurs while the green algae on the inner wall of the water tank (2) is being cleaned, the driving mechanism (6) is controlled to drive the nozzle (4) to move to a height range position where the concentration of green algae in the water tank (2) is the highest.

18. The control method of the intelligent base station of the washing and mopping robot according to claim 13, characterized in that: The green algae concentration data within different height ranges in the vertical direction on the inner wall of the water tank (2) are detected and acquired, and when the green algae concentration within at least one height range exceeds a set green algae concentration threshold, the green algae cleaning operation on the inner wall of the water tank (2) is controlled.

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