Base station, cleaning robot, cleaning system and mop cleaning method

Abstract

The embodiment of the invention relates to the technical field of cleaning equipment, in particular to a base station, a cleaning robot, a cleaning system and a mop cleaning method. The base station comprises a base station body, wherein the base station body comprises a guide part and a containing bin; the containing bin is used for containing the cleaning robot; the cleaning disc is installed in the containing bin and used for bearing the plane mop cloth doing reciprocating motion on the cleaning robot, and the cleaning disc is matched with the cleaning robot to clean the plane mop cloth. Wherein the guide part is arranged in the containing bin, and the guide part is used for being connected with and matched with a guide matching part of the cleaning robot so as to guide the cleaning robot when the cleaning robot enters the containing bin and limit the cleaning robot when the plane mop is cleaned. The cleaning robot drives the plane mop to move, the base station provides a fixed cleaning disc and assists in cleaning the plane mop so as to reduce the space occupied by a cleaning assembly on the base station, and the vibration of the cleaning robot in the cleaning process is reduced by arranging a guide part and a guide matching part which are matched with each other.

Description

Technical Field

[0001] The embodiments of the present application relate to the technical field of cleaning equipment, and in particular to a base station, a cleaning robot, a cleaning system, and a mop cleaning method. Background Art

[0002] Common cleaning robots on the market, such as sweeping and mopping robots, usually include a sweeping brush and a mop. The mop is used to scrub floor stains. As a type of mop, a flat mop is usually very dirty after use and needs to be manually cleaned or directly replaced with a new flat mop, which is inconvenient to use. Some base stations are equipped with a movable cleaning component to actively clean the flat mop of the sweeping and mopping robot. At the same time, a liquid discharge device is configured to provide cleaning liquid for the flat mop. However, the cleaning component configured on the base station, due to its movable travel and size, not only occupies a large amount of base station space, affecting the layout, but also has relatively high manufacturing, assembly, and after-sales costs. Summary of the Invention

[0003] One purpose of the embodiments of the present application is to provide a base station, a cleaning robot, a cleaning system and a mop cleaning method to solve the technical problem that the movable cleaning components on the base station result in less available space in the base station.

[0004] In a first aspect, an embodiment of the present application provides a base station, including:

[0005] A base station body, the base station body comprising a guide portion and a receiving compartment, the receiving compartment being used to receive the cleaning robot; and

[0006] A cleaning tray, which is installed in the receiving compartment and is used to support the reciprocating flat mop on the cleaning robot and cooperate with the cleaning robot to clean the flat mop;

[0007] Wherein, the guide portion is arranged in the receiving bin, and the guide portion is used to connect and cooperate with the guide matching portion of the cleaning robot to guide the cleaning robot when the cleaning robot enters the receiving bin, and to limit the cleaning robot when cleaning the flat mop.

[0008] Optionally, the base station body also includes an entrance ramp, the top of the entrance ramp is connected to the bottom of the warehouse door of the storage bin and is located outside the storage bin, the entrance ramp is provided with a berth groove, the berth groove is located on the slope surface of the entrance ramp, and the berth groove is used to partially accommodate the driving wheel of the cleaning robot.

[0009] Optionally, the entrance ramp includes a plurality of ribs, which are arranged at intervals in the berth groove, and the length direction of each rib intersects with and is not perpendicular to the plane where the door of the storage bin is located, and all or part of the plurality of ribs abut the wheel surface of the driving wheel when the driving wheel is accommodated in the berth groove.

[0010] Optionally, the cleaning tray includes a shower head, which is a hollow structure. The shower head is provided with a water inlet and multiple water outlet holes. The water outlet holes are used to output cleaning liquid or clean water to the working surface of the cleaning tray. The water inlet and each of the water outlet holes are respectively connected to the interior of the shower head.

[0011] Optionally, the shower head includes a partition portion, which is provided inside the shower head and is used to separate the inside of the shower head into a water inlet chamber and a plurality of water outlet chambers, wherein the water inlet chamber is connected to the water inlet, and each of the water outlet chambers is connected to at least one corresponding water outlet hole;

[0012] Wherein, the partition portion is provided with a plurality of water openings, each of the water openings is located between the water inlet cavity and a corresponding one of the water outlet cavities, and is connected to the water inlet cavity and the corresponding one of the water outlet cavities respectively.

[0013] Optionally, the base station body further includes a water injection portion and a positioning portion, the water injection portion includes a water injection port, and the water injection portion is used to output cleaning liquid or clean water;

[0014] The cleaning tray also includes a positioning fitting portion, which is connected to the positioning portion in a coordinated manner. The positioning portion is used to align the water inlet and the water injection port with each other when the positioning fitting portion is connected. The water inlet is sleeved on the water injection portion and connected to the water injection port. The water inlet and the water injection portion have an interference fit.

[0015] Optionally, the base station body further comprises a sewage collecting platform, and the sewage collecting platform is arranged below the cleaning tray;

[0016] The cleaning tray also includes a plurality of support parts, at least two of the support parts are spaced apart from each other, a hollow part is formed between each two of the spaced apart support parts, and at least one of the support parts adjacent to the hollow part is connected to the shower part and is configured with at least one corresponding water outlet hole.

[0017] Optionally, the sewage collecting platform includes a sinking platform and a sewage outlet, the sinking platform and the sewage outlet are located in a low-lying area of ​​the sewage collecting platform, and the sewage outlet is connected to the sinking platform.

[0018] Optionally, the support portion includes a liquid collecting trough and a guide portion, and all or part of at least one of the water outlet holes is arranged in a corresponding liquid collecting trough, and each of the guide portions is located between a corresponding hollow portion and a corresponding liquid collecting trough, and the guide portion is used to guide the liquid overflowing from the liquid collecting trough to the hollow portion.

[0019] Optionally, the cleaning disc further includes a scraping brush portion, which is disposed on the working surface of the cleaning disc. The length direction of the scraping brush portion intersects with the reciprocating motion direction of the flat mop, and the scraping brush portion is used to scrape the flat mop.

[0020] Optionally, there are a plurality of scraping parts, each of which is disposed on a corresponding one of the supporting parts, and each of the scraping parts is provided with the liquid collecting grooves on two opposite sides in the width direction.

[0021] Optionally, the cleaning tray is configured to be inclined at a specified acute angle relative to a horizontal plane, and the working surface of the cleaning tray includes a lowest position and a highest position in the vertical direction, the lowest position is closer to the door of the storage bin than the highest position, and the water outlet is closer to the highest position than the lowest position.

[0022] Optionally, the cleaning tray further includes a comb-tooth portion, which is arranged on the working surface of the cleaning tray and is used to comb the flat mop.

[0023] Optionally, there are multiple comb-tooth portions, and each of the guide portions is provided with at least one comb-tooth portion.

[0024] In a second aspect, an embodiment of the present application provides a cleaning robot, comprising:

[0025] a robot body, the robot body including a guide mating portion; and

[0026] a mop drive mechanism, the mop drive mechanism being mounted on the robot body and being equipped with a flat mop, the mop drive mechanism being configured to drive the flat mop to reciprocate relative to the cleaning disk on the working surface of the base station, thereby cooperating with the cleaning disk to clean the flat mop;

[0027] The guide matching portion is used to connect and match the guide portion of the base station to guide the cleaning robot when the cleaning robot enters the receiving compartment of the base station, and to limit the cleaning robot when cleaning the flat mop.

[0028] In a third aspect, an embodiment of the present application provides a cleaning system, comprising:

[0029] A base station as described in any one of the above items; and

[0030] As described above, the cleaning robot, wherein the base station and the cleaning robot can be connected and cooperate with each other to clean the flat mop.

[0031] In a fourth aspect, an embodiment of the present application provides a mop cleaning method, which is applied to a base station, wherein the base station is used to cooperate with a cleaning robot to clean a flat mop on the cleaning robot. The base station includes a cleaning plate and a guide portion, wherein the cleaning plate is used to support the flat mop, and the guide portion is used to connect to and cooperate with a guide matching portion of the cleaning robot to guide the cleaning robot when the cleaning robot enters a storage bin of the base station, and to limit the cleaning robot when cleaning the flat mop. The method includes:

[0032] receiving a cleaning instruction, wherein the cleaning instruction is used to instruct to perform a cleaning operation on the flat mop;

[0033] determining, in response to the cleaning instruction, whether the guide portion is connected to the guide mating portion;

[0034] If yes, perform a cleaning operation on the flat mop and send a mop driving instruction, wherein the mop driving instruction is used to instruct the cleaning robot to drive the flat mop to perform a reciprocating motion;

[0035] If not, a berth instruction is sent, wherein the berth instruction is used to instruct the cleaning robot to return and complete the operation of connecting the guide matching part with the guide part.

[0036] In a fourth aspect, an embodiment of the present application provides a mop cleaning method, which is applied to a cleaning robot. The cleaning robot includes a mop drive structure and a guide mating portion. The mop drive mechanism is installed with a flat mop. The mop drive mechanism is used to drive the flat mop to reciprocate relative to the cleaning disk on the working surface of the cleaning disk of the base station. The guide mating portion is used to connect and cooperate with the guide portion of the base station to guide the cleaning robot when the cleaning robot enters the storage bin of the base station, and to limit the cleaning robot when cleaning the flat mop. The method includes:

[0037] receiving a control instruction sent by the base station;

[0038] determining whether the control instruction is one of a berth instruction and a mop cleaning instruction;

[0039] If the control instruction is the berth instruction, returning and completing the operation of connecting the guide matching portion to the guide portion according to the berth instruction;

[0040] If the control instruction is the mop driving instruction, the operation of driving the flat mop to perform reciprocating motion is executed according to the mop driving instruction, so as to cooperate with the cleaning plate to clean the flat mop.

[0041] In the fifth aspect, an embodiment of the present application provides a base station, comprising a memory and a processor, wherein the memory is connected to the processor, and the processor is used to execute one or more computer programs stored in the memory. When the processor executes the one or more computer programs, the base station implements the method described in the third aspect above.

[0042] In the sixth aspect, an embodiment of the present application provides a cleaning robot, comprising a memory and a processor, wherein the memory is connected to the processor, and the processor is used to execute one or more computer programs stored in the memory. When the processor executes the one or more computer programs, the cleaning robot implements the method described in the fourth aspect above.

[0043] In a seventh aspect, an embodiment of the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, wherein the computer program includes program instructions, and when the program instructions are executed by a processor, the processor executes any of the methods described above.

[0044] The embodiments of the present application can achieve the following technical effects: During a flat mop cleaning task, the cleaning robot drives the flat mop, while the base station provides a stationary cleaning disc and assists the cleaning robot in cleaning the flat mop. Compared to the prior art, the cleaning assembly of base station 10 has fewer moving parts, which reduces the space occupied by the cleaning assembly on base station 10. Consequently, the spatial layout of the base station can be further optimized, reducing the manufacturing, assembly, and after-sales costs of the entire cleaning system. Furthermore, when scrubbing the floor, the cleaning robot can drive the flat mop to reciprocate, thereby improving the cleaning robot's ability to clean the surrounding environment.

[0045] Furthermore, the base station and the cleaning robot also realize the mutual alignment and fit of the flat mop and the cleaning plate through the matching guide parts and guide matching parts, and reduce the vibration of the cleaning robot during the cleaning process, thereby improving the working stability of the cleaning robot and its cleaning ability for the flat mop. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following briefly introduces the drawings required for use in the description of the embodiments of the present application. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0047] Figure 1 A schematic structural diagram of a cleaning system provided in an embodiment of the present application;

[0048] Figure 2 A schematic structural diagram of a cleaning robot provided in an embodiment of the present application;

[0049] Figure 3 A schematic diagram of the reciprocating motion of a flat mop relative to a cleaning plate in a cleaning system provided by an embodiment of the present application;

[0050] Figure 4 for Figure 1 A magnified view of the detail in middle A;

[0051] Figure 5 A first structural diagram of a cleaning tray of a base station provided in an embodiment of the present application;

[0052] Figure 6 for Figure 5 A magnified view of the detail in middle B;

[0053] Figure 7 A first structural diagram of a base station body of a base station provided in an embodiment of the present application;

[0054] Figure 8 A second structural diagram of a cleaning tray of a base station provided in an embodiment of the present application;

[0055] Figure 9 A first structural diagram showing the relative positioning of the cleaning tray and the base station body provided in an embodiment of the present application;

[0056] Figure 10 A schematic diagram of the structure of the water inlet of the cleaning tray and the water injection part of the base station body cooperating with each other provided in an embodiment of the present application;

[0057] Figure 11 A schematic diagram of the structure of the cleaning tray and the base station body provided in an embodiment of the present application being separated from each other;

[0058] Figure 12 A third structural diagram of a cleaning tray of a base station provided in an embodiment of the present application;

[0059] Figure 13 A fourth structural diagram of a cleaning tray of a base station provided in an embodiment of the present application;

[0060] Figure 14 A fifth structural diagram of a cleaning tray of a base station provided in an embodiment of the present application;

[0061] Figure 15 A second structural diagram of a base station body of a base station provided in an embodiment of the present application;

[0062] Figure 16 A sixth structural diagram of a cleaning tray of a base station provided in an embodiment of the present application;

[0063] Figure 17 A seventh structural diagram of a cleaning tray of a base station provided in an embodiment of the present application;

[0064] Figure 18 A second structural diagram showing the relative positioning of the cleaning tray and the base station body provided in an embodiment of the present application;

[0065] Figure 19 A schematic diagram of the system architecture of a cleaning system provided in an embodiment of the present application;

[0066] Figure 20 A first flow chart of a mop cleaning method provided in an embodiment of the present application, applied to a base station;

[0067] Figure 21 A second flow chart of a mop cleaning method provided in an embodiment of the present application, which is applied to a cleaning robot;

[0068] Figure 22 This is a schematic structural diagram of a base station control device provided in an embodiment of the present application;

[0069] Figure 23 This is a schematic structural diagram of a control device for a cleaning robot provided in an embodiment of the present application;

[0070] Figure 24 It is a structural diagram of a computer device provided in an embodiment of the present application.

[0071] Description of labels:

[0072] 100, cleaning system; 10, base station; 11, base station body; 111, guide part; 112, storage compartment; 113, entrance slope; 1131, berth slot; 1132, rib; 114, water injection part; 1141, water injection port; 1142, soft rubber part; 115, positioning part; 116, sewage collection platform; 1161, sinking platform; 1162, sewage outlet; 1163, low-lying area; 12, cleaning tray; 121, shower part; 1211, water inlet; 1212, water outlet; 1213, partition; 12 131. Water inlet; 1214. Water inlet chamber; 1215. Water outlet chamber; 122. Positioning and fitting portion; 123. Protrusion; 121a. Shower body; 121b. Shower cover; 124. Window; 125. Support portion; 1251. Liquid collecting tank; 1252. Diversion portion; 126. Hollow portion; 127. Scraping and brushing portion; 128. Comb portion; 20. Cleaning robot; 21. Robot body; 211. Guide fitting portion; 22. Mop drive mechanism; 23. Flat mop; 30. Server; 40. Terminal. DETAILED DESCRIPTION

[0073] In order to make the purpose, technical solutions and advantages of this application more clearly understood, the present application is further described in detail below with reference to the accompanying drawings and examples. It should be understood that the specific embodiments described herein are only used to explain this application and are not intended to limit this application. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0074] It should be noted that, if there is no conflict, the various features in the embodiments of the present application can be combined with each other and are all within the scope of protection of the present application. In addition, although the functional modules are divided in the device schematic and the logical order is shown in the flow chart, in some cases, the steps shown or described can be performed in a different order than the module division in the device or the order in the flow chart. Furthermore, the words "first", "second", "third", etc. used in this application do not limit the data and execution order, but only distinguish between the same items or similar items with basically the same functions and effects.

[0075] See also Figures 1 to 2 ,In the cleaning system, the cleaning robot 20 and the base station 10 are two key components, which work together to complete the cleaning task.

[0076] The cleaning robot 20 is an automated cleaning device, typically designed for cleaning homes, offices, or other locations, and capable of operating autonomously or semi-autonomously to perform various cleaning tasks, such as sweeping, mopping, and vacuuming. The cleaning robot 20 is typically equipped with sensors and control systems to avoid obstacles, plan cleaning paths, and adjust cleaning behavior.

[0077] The base station 10 is an auxiliary device for the cleaning robot 20. Compared to the cleaning robot 20, which is typically fixed in a certain location, the base station 10 provides a berth, charging, and maintenance for the cleaning robot 20. The base station 10 and the cleaning robot 20 can communicate and interact with each other, and work together to complete pre-configured tasks, which in some embodiments include at least cleaning the mop used by the cleaning robot 20.

[0078] See also Figures 1 to 3 In a first aspect, an embodiment of the present application provides a base station 10, which is applied to a cleaning system 100 and cooperates with a cleaning robot 20 in the cleaning system 100 to implement a cleaning operation on a flat mop 23 on the cleaning robot 20.

[0079] In some embodiments, the base station 10 includes a base station body 11 and a cleaning tray 12. The base station body 11 includes a guide portion 111 and a storage compartment 112 for accommodating a cleaning robot 20. The cleaning tray 12 is installed within the storage compartment 112 and is used to support a flat mop 23 that reciprocates on the cleaning robot 20 and cooperates with the cleaning robot 20 to clean the flat mop 23.

[0080] Among them, the guide part 111 is arranged in the receiving bin 112, and the guide part 111 is used to connect and cooperate with the guide cooperation part 211 of the cleaning robot 20 to guide the cleaning robot 20 when the cleaning robot 20 enters the receiving bin 112, and to limit the cleaning robot 20 when cleaning the flat mop 23.

[0081] The operating principle of the base station 10 of the present embodiment is as follows: When the cleaning robot 20 docks at the base station 10, it is accommodated in the accommodation compartment 112 of the base station 10. During this docking process, the guide portion 111 of the base station 10 connects with the guide mating portion 211 of the cleaning robot 20, allowing the cleaning robot 20 to smoothly enter the accommodation compartment 112 and align the flat mop 23 with the cleaning tray 12 and place it above the cleaning tray 12. At this point, the flat mop 23 abuts and is parallel to the working surface of the cleaning tray 12. Furthermore, during the subsequent cleaning process of the flat mop 23, the cleaning robot 20 drives the flat mop 23 to reciprocate relative to the cleaning tray 12, causing the flat mop 23 to contact and rub against the cleaning tray 12 back and forth. The cleaning tray 12 cooperates with the cleaning robot 20 to clean the flat mop 23. The connected guide portion 111 and the guide mating portion 211 restrain the cleaning robot 20 during the cleaning process, reducing the shaking of the cleaning robot 20 caused by the vibration generated by the reciprocating motion of the flat mop 23.

[0082] As can be understood, the beneficial effect of the embodiments of the present application lies in that, during the cleaning task of the flat mop 23, the cleaning robot 20 drives the flat mop 23 to move, while the base station 10 provides a fixed cleaning disc 12 and assists the cleaning robot 20 in cleaning the flat mop 23. Compared to the prior art, the cleaning assembly of the base station 10 has a reduced number of moving parts, which reduces the space occupied by the cleaning assembly on the base station 10. Accordingly, the spatial layout of the base station 10 can be further optimized, thereby reducing the manufacturing, assembly, and after-sales costs of the entire cleaning system 100. Furthermore, when scrubbing the floor, the cleaning robot 20 can drive the flat mop 23 to reciprocate, thereby improving the cleaning ability of the cleaning robot 20 to the surrounding environment. Furthermore, the base station 10 and the cleaning robot 20 also use the matching guide portion 111 and the guide matching portion 211 to ensure that the flat mop 23 and the cleaning disc 12 are aligned and fit together, reducing the vibration of the cleaning robot 20 during the cleaning process, and improving the working stability of the cleaning robot 20 and the cleaning ability of the flat mop 23.

[0083] In some embodiments, the base station body 11 refers to the majority of the mechanical structure of the base station 10 and the multiple functional modules arranged thereon. The mechanical structure includes at least the body of the base station 10. The space of the storage compartment 112 of the base station body 11 can be configured according to actual needs and can be configured to fully or partially accommodate the cleaning robot 20. In addition, the reciprocating motion of the flat mop 23 referred to in the embodiments of the present application refers to the fact that, under the action of the guide portion 111 and the guide mating portion 211, the robot body 21 is limited, but the flat mop 23 can be driven to reciprocate relative to the cleaning disc 12 in at least one direction or at least one designated motion path on the working surface of the cleaning disc 12, so that the flat mop 23 scrapes back and forth on the cleaning disc 12, thereby improving cleaning performance. The working surface of the cleaning disc 12 referred to in the embodiments of the present application refers to the surface of the cleaning disc 12 that contacts the flat mop 23, which can be considered as the surface of the cleaning disc 12 disposed opposite the bottom surface of the cleaning disc 12. For example, in the embodiment of the present application, the cleaning robot 20 can drive the flat mop 23 to reciprocate relative to the cleaning tray 12 in the width direction X of the cleaning tray 12, wherein the width direction of the cleaning tray 12 is a direction parallel to the plane of the door of the receiving bin 112.

[0084] In some embodiments, one of the guide portion 111 and the guide fitting is a guide column, and the other is a guide groove. When the cleaning robot 20 enters the receiving bin 112, the guide groove is sleeved on the guide column to achieve guidance and limitation.

[0085] Please review Figure 1 and Figure 2, exemplarily, in one embodiment, the guide portion 111 is a guide post, the guide matching portion 211 is a guide groove, the number of the guide post and the guide matching portion 211 are both two, and each guide post can be plugged into a corresponding guide groove. The two guide posts are spaced apart on the inner wall of the storage bin 112 and are located at the same height, and the end of each guide post faces the door of the storage bin 112. The two guide grooves are spaced apart on the robot body 21 and are located at the same height. When the cleaning robot 20 enters the storage bin 112 of the base station 10, each guide groove is plugged into a corresponding guide post, so that the cleaning robot 20 is restricted in movement in all directions except the direction of exiting the storage bin 112. Exemplarily, the extension direction of the guide post is perpendicular to the reciprocating motion direction of the flat mop 23.

[0086] It can be understood that the embodiment of the present application adopts two pairs of matching guide columns and guide grooves to further improve the guiding and limiting functions. When the cleaning robot 20 is limited by the matching of one pair of guide columns and guide grooves, it will not deflect or shake relative to the base station 10 around the central axis of the other guide column.

[0087] See also Figure 1 、 Figure 2 and Figure 4 In some embodiments, the base station body 11 further includes an entrance ramp 113, the top of the entrance ramp 113 is connected to the bottom of the door of the receiving bin 112, and is located outside the receiving bin 112. The entrance ramp 113 is provided with a berth groove 1131, and the berth groove 1131 is located on the slope surface of the entrance ramp 113. The berth groove 1131 is used to partially accommodate the driving wheels of the cleaning robot 20.

[0088] In these embodiments, when the cleaning robot 20 returns to the base station 10, it drives up the entrance ramp 113 and then enters the storage compartment 112. Simultaneously, the berthing slot 1131 accommodates the driving wheels of the cleaning robot 20, with the inner wall and bottom surface abutting against the wheel surfaces of the driving wheels to stabilize the cleaning robot 20 in the berth and prevent the cleaning robot 20 from moving backward.

[0089] Please review Figure 4 In some embodiments, the entrance ramp 113 includes a plurality of ribs 1132, which are arranged at intervals in the berthing groove 1131. The length direction of each rib 1132 intersects with the plane where the door of the receiving bin 112 is located and is not perpendicular to it. When the driving wheel is received in the berthing groove 1131, all or part of the plurality of ribs 1132 abut against the wheel surface of the driving wheel.

[0090] As will be appreciated, the base station 10 uses multiple ribs 1132 within the berth slot 1131 to abut the wheel surface of the cleaning robot 20's drive wheel, preventing the cleaning robot 20 from moving backward due to vibrations generated by the reciprocating motion of the flat mop 23 during the cleaning process. Accordingly, when the cleaning robot 20 exits the storage compartment 112, the drive wheel is less likely to slip within the berth slot 1131 due to the action of the multiple ribs 1132. The ribs 1132 are raised strip-like structures within the berth slot 1131.

[0091] For example, in one embodiment, each rib 1132 is configured such that its length direction is parallel to the plane where the door of the receiving bin 112 is located.

[0092] See also Figure 5 and Figure 6 In some embodiments, the cleaning tray 12 includes a shower portion 121, which is a hollow structure. The shower portion 121 is provided with a water inlet 1211 and a plurality of water outlet holes 1212. The water outlet holes 1212 are used to output cleaning liquid or clean water to the working surface of the cleaning tray 12. The water inlet 1211 and each water outlet hole 1212 are respectively connected to the interior of the shower portion 121.

[0093] As will be appreciated, the showerhead 121 on the cleaning tray 12 can evenly discharge cleaning liquid or water onto the working surface of the cleaning tray 12 through the multiple water outlets 1212, thereby soaking the flat mop 23 and improving the cleaning effect on the flat mop 23. The specific location of the water outlets 1212 on the cleaning tray 12 can be set according to actual needs. For example, the multiple water outlets 1212 are arranged at intervals along the length and width of the cleaning tray 12.

[0094] Please review Figure 6 In some embodiments, the shower head 121 includes a partition 1213 disposed within the shower head 121. The partition 1213 is used to separate the interior of the shower head 121 into a water inlet chamber 1214 and multiple water outlet chambers 1215. The water inlet chamber 1214 is connected to the water inlet 1211, and each water outlet chamber 1215 is connected to at least one corresponding water outlet hole 1212. The partition 1213 is provided with multiple water openings 12131, each of which is located between the water inlet chamber 1214 and a corresponding water outlet chamber 1215, and respectively connects the water inlet chamber 1214 to the corresponding water outlet chamber 1215.

[0095] It is understood that in the embodiment of the present application, a partition portion 1213 is provided inside the shower head 121 to form a water inlet cavity 1214 connected to the water inlet 1211 and a water outlet cavity 1215 connected to the water outlet hole 1212. At the same time, the partition portion 1213 is provided with water holes respectively connected to the water inlet cavity 1214 and the water outlet cavity 1215, further forming a water path for transporting cleaning liquid or clean water to each water outlet hole 1212. The cleaning liquid or clean water enters the water inlet cavity 1214 from the water inlet 1211, enters each water outlet cavity 1215 through the water holes 12131 of the partition portion 1213, and finally flows out from the water outlet hole 1212. In the internal structural design of the shower head 121, the water flow rate of each water outlet 1212 can be controlled by changing the size of the water inlet 12131 and the water outlet 1212, so that the flat mop 23 can be fully soaked in cleaning liquid or water at each position without excessive waste of cleaning liquid or water.

[0096] In some embodiments, both the shower head 121 and its internal water inlet cavity 1214 are arc-shaped structures, with both ends of the arc located on opposite sides of the width of the cleaning tray 12. The multiple water outlet cavities 1215 of the shower head 121 are arranged sequentially along the length of the shower head 121, so that the multiple water outlet holes 1212 of the shower head 121 are arranged across the entire width of the cleaning tray 12, thereby evenly supplying cleaning liquid or clean water to the flat mop 23. In some embodiments, the water inlet 1211 of the cleaning tray 12 is located in the middle of the width of the cleaning tray 12.

[0097] Please review Figure 5 In some embodiments, the shower head 121 includes an open shower body 121a and a shower cover 121b. The shower body 121a is disposed on the cleaning tray 12. A partition 1213 and a plurality of water outlets 1212 are disposed on the shower body 121a. The partition 1213 defines grooves within the shower body 121a that correspond to the water inlet chamber 1214 and the water outlet chamber 1215. The shower cover 121b is used to cover the shower body 121a, so that the grooves within the shower body 121a correspond to the water inlet chamber 1214 and the water outlet chamber 1215. The water inlet 1211 is disposed on the shower cover 121b and is located in a position that allows it to communicate with the water inlet chamber 1214. For example, when the water inlet chamber 1214 is configured to extend to both ends of the cleaning tray 12 in the width direction, the cleaning liquid or water entering through the water inlet 1211 will flow to both sides of the cleaning tray 12 in the width direction. For another example, the shower cover 121b and the shower body 121a can be connected to form a single unit by sealing with photosensitive adhesive (e.g., UV-sensitive adhesive), thereby improving the sealing performance of the shower head.

[0098] See also Figures 7 to 10In some embodiments, the base station body 11 further includes a water injection portion 114 and a positioning portion 115. The water injection portion 114 includes a water inlet 1141 and is used to output cleaning fluid or clean water. The cleaning tray 12 further includes a positioning mating portion 122, which is mated and connected to the positioning portion 115. The positioning portion 115 is used to align the water inlet 1211 with the water injection port 1141 when the positioning mating portion 122 is connected. The water inlet 1211 is sleeved on the water injection portion 114 and connected to the water injection port 1141. The water inlet 1211 and the water injection portion 114 have an interference fit.

[0099] In these embodiments, the water injection portion 114 can be connected to a water tank or other water source to output cleaning liquid or clean water to the water inlet 1211 through the water injection port 1141. An adjustable water inlet pump can also be configured between the water injection portion 114 and the water tank or other water source to adjust the water pressure, water volume and other parameters of the cleaning liquid or clean water output from the water outlet. It can be understood that when the cleaning tray 12 is installed on the base station body 11, it is positioned with respect to the base station body 11 under the action of the positioning portion 115 and the positioning matching portion 122, so that the water inlet 1211 and the water injection portion 114 are aligned and connected. The interference fit between the water inlet 1211 and the water injection portion 114 provides a good seal for the communication between the water inlet 1211 and the water injection port 1141.

[0100] In some embodiments, one of the positioning portion 115 and the positioning mating portion 122 is a positioning post, and the other is a positioning slot. When the cleaning tray 12 is installed in the storage compartment 112, the positioning slot is mounted on the positioning post to position the cleaning tray 12 within the storage compartment 112. For example, in one embodiment, the positioning portion 115 is a positioning post, and the positioning mating portion 122 is a positioning slot. There are two positioning posts and two positioning slots, each of which is capable of interlocking with a corresponding positioning slot. The two positioning posts are spaced apart at the bottom of the storage compartment 112 and are approximately perpendicular to the horizontal plane. The circumferential profile of the cleaning tray 12 is spaced apart and has two outwardly extending protrusions 123, each of which is positioned within a corresponding protrusion 123. When the cleaning tray 12 is installed on the base station body 11, each positioning slot is mounted on a corresponding positioning post, positioning the cleaning tray 12 within the storage compartment 112 and ensuring alignment and connection between the water inlet 1211 and the water injection portion 114.

[0101] In other embodiments, the positioning and fitting portion 122 may be the outer contour of the cleaning tray 12, and the positioning portion 115 may be the inner contour of the receiving chamber 112 adapted to fit the outer contour of the cleaning tray 12. When the cleaning tray 12 is installed in the receiving chamber 112, the outer contour of the cleaning tray 12 fits and nests with the inner contour of the receiving chamber 112, so that the cleaning tray 12 is positioned in the receiving chamber 112, and the water inlet 1211 and the water injection portion 114 are aligned and connected.

[0102] Please review Figure 10 In some embodiments, the water injection part 114 further includes a soft rubber part 1142 arranged around its circumference. When connected to the water inlet 1211, the soft rubber part 1142 is squeezed and elastically deformed, and is located between the inner wall of the water inlet 1211 and the body of the water injection part 114, so as to achieve sealing of the connecting space between the water injection port 1141 and the water inlet 1211.

[0103] See also Figures 11 to 14 In some embodiments, the base station body 11 further includes a sewage collection platform 116, which is disposed below the cleaning tray 12. The cleaning tray 12 further includes a plurality of support portions 125, with at least two support portions 125 spaced apart from each other, and a hollow portion 126 formed between each two spaced apart support portions 125.

[0104] In these embodiments, some of the support portions 125 of the cleaning tray 12 are spaced apart to form a hollow portion 126. The multiple support portions 125 are used to support the flat mop 23 and the overall structure of the cleaning tray 12. The working surface of the cleaning tray 12 is the top surface of the multiple support portions 125. The hollow portion 126 is used to drain wastewater generated during the cleaning process into the wastewater collection platform 116 below. In one embodiment, the shower head 121 is a portion of the structure enclosing the window 124 on the cleaning tray 12 and is located below the support portions 125.

[0105] It can be understood that during the cleaning process, the cleaning liquid or clean water will soak the flat mop 23. At the same time, the flat mop 23 will be squeezed and scraped against the working surface of the cleaning disc 12 during the reciprocating motion, so that the generated sewage falls into the sewage collection platform 116 through the hollow part 126, thereby realizing the collection of sewage by the base station body 11.

[0106] In one embodiment, the cleaning tray 12 is provided with a window 124, which is located between the storage bin 112 and the sewage collection platform 116. Each support portion 125 is partially suspended in the window 124, and a hollow portion 126 is formed in the window 124 between each two support portions 125 spaced apart from each other. The window 124 provided on the cleaning tray 12 can be considered to be formed by a complete frame-like structure. That is, the main body of the cleaning tray 12 is generally a complete frame-like structure, and the support portions 125 are mounted on the frame-like structure. When the cleaning tray 12 is installed on the base station body 11, all sides of the cleaning tray 12 can be well abutted against the base station body 11, thereby stably supporting the cleaning robot 20 and the flat mop 23.

[0107] In some embodiments, each pair of adjacent support portions 125 are spaced apart to form a plurality of hollow portions 126, thereby improving the wastewater collection capability of the base station body 11. For example, in one embodiment, the plurality of support portions 125 are spaced apart in sequence along the width of the cleaning tray 12 and are all located on the same height plane along the height of the cleaning tray 12, thereby providing better support for the flat mop 23.

[0108] See also Figure 15 In some embodiments, the sewage collecting platform 116 includes a sink 1161 and a sewage outlet 1162 . The sink 1161 and the sewage outlet 1162 are located in a low-lying area 1163 of the sewage collecting platform 116 , and the sewage outlet 1162 is connected to the sink 1161 .

[0109] In these embodiments, the low-lying area 1163 of the sewage collection platform 116 is the lowest or lowest point in the sewage collection platform 116. Sewage tends to first gather at this location when it falls into the sewage collection platform 116. For example, to facilitate the collection of sewage at the low-lying area 1163, at least a portion of the bottom surface of the sewage collection platform 116 is a curved or inclined surface that generally extends toward or generally converges around the low-lying area 1163. The sunken platform 1161 is a groove provided in the low-lying area 1163 to further collect sewage. The sewage outlet 1162 can be provided on one of the bottom surface or side walls of the sink 1161. When the sewage outlet 1162 is configured to discharge sewage below the sewage collection platform 116, the sewage can be discharged from the sewage collection platform 116 solely by gravity. However, when the sewage outlet 1162 is configured so that the sewage cannot be discharged by gravity, the base station body 11 can be provided with a drainage pump to discharge the sewage from the sewage collection platform 116. For example, the base station body 11 further includes a drainage pump and a sewage tank. The drainage pump is connected to the sewage outlet 1162 and the sewage tank, respectively. The drainage pump is used to pump sewage from the sink 1161 to the sewage tank, thereby achieving sewage collection and treatment.

[0110] In some other embodiments, the sewage collecting platform 116 is a detachable container on the base station body 11. When the water level of the sewage collecting platform 116 exceeds the water level threshold, the cleaning work stops. At this time, the sewage collecting platform 116 can be disassembled and the sewage can be poured into the sewage discharge site to achieve sewage discharge treatment.

[0111] See also Figure 16 and Figure 17In some embodiments, the support portion 125 includes a liquid collecting trough 1251 and a guide portion 1252, and all or part of at least one water outlet 1212 is arranged in a corresponding liquid collecting trough 1251. Each guide portion 1252 is located between a corresponding hollow portion 126 and a corresponding liquid collecting trough 1251. The guide portion 1252 is used to guide the liquid overflowing from the liquid collecting trough 1251 to the hollow portion 126.

[0112] In these embodiments, the working surface of the cleaning tray 12 is the top surface of the plurality of support portions 125 and the guide surface of the guide portion 1252 .

[0113] It will be appreciated that, in the embodiment of the present application, the liquid collection tank 1251 is provided so that the cleaning liquid or clean water flowing out of the water outlet 1212 can be stored in the liquid collection tank 1251. During the actual cleaning process, part of the fluff of the flat mop 23 will enter the liquid collection tank 1251 and be fully immersed in the cleaning liquid or clean water. Accordingly, as the flat mop 23 reciprocates, the fluff adjacent to the already soaked part of the flat mop 23 will also be soaked in the cleaning liquid or clean water in the liquid collection tank 1251, further increasing the soaking area of ​​the flat mop 23, thereby improving the cleaning ability of the flat mop 23.

[0114] In one embodiment, the guide portion 1252 is an inclined surface or an arc surface arranged between the hollow portion 126 and the liquid collecting tank 1251. The hollow portion 126 is located at the bottom of the guide portion 1252, and the liquid collecting tank 1251 is located at the top of the guide portion 1252, so that the liquid overflowing from the liquid collecting tank 1251 falls into the hollow portion 126 along the guide portion 1252 until it falls into the sewage collecting platform 116.

[0115] In some embodiments, the cleaning tray 12 further includes a scraping portion 127 , which is disposed on the working surface of the cleaning tray 12 . The length direction of the scraping portion 127 intersects with the reciprocating motion direction of the flat mop 23 , and the scraping portion 127 is used to scrape the flat mop 23 .

[0116] It will be appreciated that the scraping portion 127 of the present embodiment cooperates with the reciprocating motion of the flat mop 23 during cleaning to scrape the flat mop 23. On the one hand, the scraping portion 127 can scrape off dirt adhering to the flat mop 23. Furthermore, the dimensions of the hollow portion 126 are configured to allow smaller dirt to pass through, allowing smaller dirt to fall into the wastewater collection platform 116. On the other hand, when the flat mop 23 is soaked in cleaning fluid or water during the cleaning process, the scraping portion 127 can better squeeze the flat mop 23 to scrape off wastewater, thereby improving the cleaning performance of the flat mop 23.

[0117] Furthermore, the scraping portion 127 is configured such that its length direction intersects the reciprocating motion direction of the flat mop 23, thereby increasing the area scraped by the flat mop 23. For example, in one embodiment, the cleaning robot 20 drives the flat mop 23 to reciprocate in the width direction of the cleaning pan 12. The scraping portion 127 is a rib-like structure, and its length direction is perpendicular to the width direction of the cleaning pan 12.

[0118] In some embodiments, there are multiple scraping portions 127 , each scraping portion 127 is disposed on a corresponding support portion 125 , and each scraping portion 127 is provided with a liquid collecting groove 1251 on two opposite sides in the width direction.

[0119] It is understood that as the scraping brush 127 reciprocates to remove dirty water from the flat mop 23, the removed fluff reenters the sump 1251 and is fully soaked in the cleaning fluid or water. After repeated scraping, dirt and stains on the flat mop 23 are removed by the cleaning fluid or water, thereby improving the cleaning performance of the flat mop 23. Furthermore, the embodiments of the present application increase the number of scraping brushes 127 and sump 1251 to improve the cleaning efficiency of the flat mop 23. For example, in one embodiment, each sump 1251 is a strip-shaped groove extending along the length of the corresponding scraping brush 127.

[0120] See also Figure 16 and Figure 18 In some embodiments, the cleaning tray 12 is configured to be inclined at a specified acute angle α relative to the horizontal plane, and the working surface of the cleaning tray 12 includes a lowest position T1 and a highest position T2 in the height direction of the receiving bin 112. The lowest position T1 is closer to the door of the receiving bin 112 than the highest position T2, and the water outlet 1212 is closer to the highest position T2 than the lowest position T1.

[0121] As will be appreciated, the cleaning tray 12 is tilted at a specified acute angle α relative to the horizontal plane, so that the working surface of the cleaning tray 12 has a lowest position T1 and a highest position T2 in the vertical direction. The lowest position T1 is positioned near the door of the storage compartment, allowing the flat mop 23 to lie obliquely on the working surface of the cleaning tray 12. Furthermore, the water outlet 1212 is positioned near the highest position T2 of the cleaning tray 12 within the storage compartment 112, so that the cleaning liquid or water flowing out of the water outlet 1212 slides down the working surface of the cleaning tray 12, thereby allowing the cleaning liquid or water to more quickly soak the area of ​​the flat mop 23 away from the water outlet 1212. Furthermore, when the water outlet 1212 is disposed within the liquid collection tank 1251, because the cleaning tray 12 is tilted at a certain angle and the water outlet 1212 is disposed near the highest position T2 of the cleaning tray 12 within the storage bin 112, the cleaning liquid or water flowing out of the water outlet 1212 can flow quickly, filling the liquid collection tank 1251 more quickly. Even after the cleaning liquid or water in the liquid collection tank 1251 is absorbed by the flat mop 23, the cleaning liquid or water in the liquid collection tank 1251 can be quickly replenished, thereby improving the cleaning efficiency of the flat mop 23. For example, the cleaning tray 12 is configured to be tilted upward by 5° relative to the storage bin 112.

[0122] In one embodiment, the flat mop 23, under the joint action of the liquid collection tank 1251 and the scraping brush portion 127, will repeat the periodic cleaning process of "absorbing cleaning liquid or clean water - scraping off dirt and sewage - absorbing cleaning liquid or clean water" until the flat mop 23 completes a preset number of periodic cleaning processes.

[0123] Please review Figures 16 and 17 In some embodiments, the cleaning tray 12 further includes a comb portion 128 , which is disposed on the working surface of the cleaning tray 12 and is used to comb the flat mop 23 .

[0124] It is understood that the combing portion 128 can comb the fluff of the flat mop 23 during the cleaning process to prevent dirt from being stuck in the tangles caused by the fluff and unable to be scraped off. The combing portion 128 can include a single comb tooth or multiple comb teeth, and the comb teeth are columnar structures. Exemplarily, the combing portion 128 is composed of multiple comb teeth and arranged in a row. Furthermore, there are multiple combing portions 128, which are arranged sequentially in the width direction of the cleaning tray 12.

[0125] In some embodiments, there are multiple comb-tooth portions 128 , and each air guide portion 1252 is provided with at least one comb-tooth portion 128 .

[0126] It can be understood that part of the comb teeth 128 is set on the guide part 1252, so that when the comb teeth 128 combs the fluff of the flat mop 23, the sewage on the flat mop 23 will fall along the comb teeth 128 onto the guide part 1252, and be guided by the guide part 1252 to the hollow part 126, and then fall into the sewage collection tank, thereby improving the collection efficiency of sewage.

[0127] Please review Figures 1 to 3 In a second aspect, an embodiment of the present application provides a cleaning robot 20 , which is applied to a cleaning system 100 and cooperates with a base station 10 in the cleaning system 100 to implement a cleaning operation on a flat mop 23 .

[0128] In some embodiments, the cleaning robot 20 includes a robot body 21 and a mop drive mechanism 22. The robot body 21 includes a guide mating portion 211. The mop drive mechanism 22 is mounted on the robot body 21 and is equipped with a flat mop 23. The mop drive mechanism 22 is configured to drive the flat mop 23 to reciprocate relative to the cleaning tray 12 on the working surface of the base station 10, thereby cooperating with the cleaning tray 12 to clean the flat mop 23.

[0129] The guide matching portion 211 is used to connect and match the guide portion 111 of the base station 10 to guide the cleaning robot 20 when the cleaning robot 20 enters the receiving compartment 112 of the base station 10 , and to limit the cleaning robot 20 when cleaning the flat mop 23 .

[0130] The operating principle of the cleaning robot 20 of the present embodiment is as follows: when the cleaning robot 20 is docked at the base station 10, it is received in the receiving compartment 112 of the base station 10. During this docking process, the guide engaging portion 211 of the cleaning robot 20 connects with the guide portion 111 of the base station 10, allowing the cleaning robot 20 to smoothly enter the receiving compartment 112 and align the flat mop 23 with the cleaning tray 12 and be placed above the cleaning tray 12. At this point, the flat mop 23 abuts and is parallel to the working surface of the cleaning tray 12. Furthermore, during the subsequent cleaning process of the flat mop 23, the cleaning robot 20 drives the flat mop 23 to reciprocate relative to the cleaning tray 12 via the mop drive mechanism 22, causing the flat mop 23 to contact and rub against the cleaning tray 12 back and forth. The cleaning tray 12 cooperates with the cleaning robot 20 to clean the flat mop 23. The connected guide portion 111 and the guide engaging portion 211 restrain the cleaning robot during the cleaning process, reducing shaking of the cleaning robot 20 caused by vibration generated by the reciprocating motion of the flat mop 23.

[0131] As can be understood, the beneficial effect of the embodiments of the present application lies in that, during the cleaning task of the flat mop 23, the cleaning robot 20 drives the flat mop 23 to move, while the base station 10 provides a fixed cleaning disc 12 and assists the cleaning robot 20 in cleaning the flat mop 23. Compared to the prior art, the cleaning assembly of the base station 10 has a reduced number of moving parts, which reduces the space occupied by the cleaning assembly on the base station 10. Accordingly, the spatial layout of the base station 10 can be further optimized, thereby reducing the manufacturing, assembly, and after-sales costs of the entire cleaning system 100. Furthermore, when scrubbing the floor, the cleaning robot 20 can drive the flat mop 23 to reciprocate, thereby improving the cleaning ability of the cleaning robot 20 in the surrounding environment. Furthermore, the base station 10 and the cleaning robot 20 also use the matching guide portion 111 and the guide matching portion 211 to ensure that the flat mop 23 and the cleaning disc 12 are aligned and fit together, reducing vibration of the cleaning robot during the cleaning process, and improving the working stability of the cleaning robot 20 and the cleaning ability of the flat mop 23.

[0132] The robot body 21 refers to most of the mechanical structure of the cleaning robot 20 and a plurality of functional modules arranged on the mechanical structure. The mechanical structure at least includes the body of the cleaning robot 20 .

[0133] In some embodiments, the mop drive mechanism 22 adopts a crank slider mechanism (not shown in the drawings). Exemplarily, the mop drive mechanism 22 includes a motor, a crank, a slider, a connecting rod and a linear track, wherein each component is respectively arranged on the robot body 21. The crank is connected to the motor shaft to convert the rotational motion of the motor into the rotational motion of the crank. One end of the crank is connected to the motor, and the other end is connected to the slider via a pin. The slider reciprocates along the linear track due to the rotational motion of the crank. The slider is connected to the flat mop 23, thereby realizing the reciprocating motion of the mop. The connecting rod connects the crank and the slider, transmits the rotational motion of the crank to the slider, causing it to reciprocate along the linear track. The slider reciprocates along the linear track due to the rotational motion of the crank. The slider is connected to the flat mop 23, thereby realizing the reciprocating motion of the flat mop 23.

[0134] When the motor starts, it drives the crank to rotate. As the crank rotates, the connecting rod converts this rotational motion into linear motion for the slider. Due to the circular motion of the crank, the slider moves back and forth within the guide rail. This causes the flat mop 23, affixed to the slider, to reciprocate with the slider's motion, achieving a cleansing effect.

[0135] In other embodiments, the mop drive mechanism 22 may adopt other structures according to actual needs, which is not limited here.

[0136] In the embodiment of the present application, the specific configuration of the cleaning robot 20 can be found in the above content and will not be repeated here.

[0137] Please review Figures 1 to 3 In the third aspect, an embodiment of the present application provides a cleaning system 100, which includes the above-mentioned base station 10 and a cleaning robot 20, and the cleaning robot 20 is equipped with a flat mop 23, wherein the base station 10 and the cleaning robot 20 can be connected and cooperated with each other to clean the flat mop 23.

[0138] See also Figure 19 In some embodiments, the cleaning system 100 may further include at least one of a server 30 and a terminal 40 for communicating and interacting with the base station 10 and the cleaning robot 20, respectively, so as to send data and instructions to the base station 10 or the cleaning robot 20 via at least one of the server 30 and the terminal 40. For details about the cleaning system 100, please refer to the above content and will not be described in detail here.

[0139] In a fourth aspect, an embodiment of the present application provides a mop cleaning method, which is applied to a base station 10 in a cleaning system 100. The base station 10 is used to cooperate with a cleaning robot 20 to clean a flat mop 23 on the cleaning robot 20. The base station 10 includes a cleaning plate 12 and a guide portion 111. The cleaning plate 12 is used to support the flat mop 23. The guide portion 111 is used to connect and cooperate with the guide cooperation portion 211 of the cleaning robot 20 to guide the cleaning robot 20 when the cleaning robot 20 enters the receiving bin 112 of the base station 10, and to limit the cleaning robot 20 when cleaning the flat mop 23.

[0140] See also Figure 20 , mop cleaning methods include:

[0141] S201, receiving a cleaning instruction.

[0142] In this step, the cleaning instruction is used to instruct to perform a cleaning operation on the flat mop 23. In some embodiments, the cleaning instruction is sent by one of the server 30 and the terminal 40, and the cleaning instruction can be a wireless signal such as Wi-Fi, Bluetooth, ZigBee, or a radio frequency signal.

[0143] S202: In response to the cleaning instruction, determine whether the guide portion is connected to the guide matching portion.

[0144] In some embodiments, the cleaning system 100 is configured with a corresponding sensor system to determine whether the guide portion 111 and the guide matching portion 211 are connected.

[0145] Exemplarily, the base station 10 sets a distance sensor in the storage bin 112, and obtains the detection distance between the position of the cleaning robot 20 and the reference position in real time through the distance sensor. The base station 10 compares the obtained detection distance with a preset distance threshold, wherein the preset distance threshold is configured according to the actual distance between the position of the cleaning robot 20 and the reference position when the guide matching part 211 and the guide part 111 are connected. When the detection distance is less than or equal to the preset distance threshold, it is determined that the guide matching part 211 and the guide part 111 are connected; and when the detection distance is greater than the preset distance threshold, it is determined that the guide matching part 211 and the guide part 111 are not connected. As another example, the distance sensor can be an ultrasonic sensor, an infrared sensor, a laser ranging sensor or a radar sensor.

[0146] S203: If yes, perform a cleaning operation on the flat mop and send a mop driving instruction.

[0147] In this step, the mop driving instruction is used to instruct the cleaning robot to drive the flat mop to perform reciprocating motion.

[0148] Exemplarily, the base station 10 activates the water inlet pump to allow cleaning fluid or clean water to enter the shower head 121 and flow out through the water outlet 1212. The mop drive instruction is then sent to the cleaning robot 20, causing the cleaning robot 20 to drive the flat mop 23 to reciprocate via the mop drive mechanism 22. Simultaneously, during the cleaning process, the base station 10 may also activate the drainage pump to drain the sewage from the sewage collection station 116 on the base station body 11. Furthermore, the mop drive instruction may be a wireless signal, such as Wi-Fi (wireless network communication technology), Bluetooth, ZigBee (a low-speed, short-range transmission wireless network protocol), or a radio frequency signal. In some embodiments, the mop drive instruction includes at least one parameter, such as the reciprocating motion frequency, the reciprocating motion duration, or the reciprocating motion path.

[0149] In some embodiments, the base station 10 further includes a water inlet pump for pumping cleaning liquid or clean water to the cleaning tray 12. Step S203 includes:

[0150] S2031. Obtain preset water injection configuration information.

[0151] In this step, the water injection configuration information includes one of the parameters of the water inlet pump, such as the water injection working time, water injection pressure, and water injection volume. The water injection configuration information can be sent by one of the server 30 and the terminal 40, or it can be stored in the memory of at least one of the server 30, the terminal 40, and the base station 10 itself, and actively obtained by the base station 10.

[0152] S2032: Drive the water inlet pump to pump water into the cleaning tray according to the water injection configuration information.

[0153] S204 , if not, sending a berth instruction, which is used to instruct the cleaning robot 20 to return and complete the operation of connecting the guide matching portion 211 to the guide portion 111 .

[0154] In this step, the base station 10 sends a berthing instruction to the cleaning robot 20. After receiving the berthing instruction, the cleaning robot 20 returns to the base station 10 and completes the operation of connecting the guide matching portion 211 to the guide portion 111. Furthermore, the berthing instruction can be a wireless signal, such as Wi-Fi, Bluetooth, ZigBee, radio frequency signal, etc.

[0155] In the embodiment of the present application, after receiving a cleaning instruction, the base station 10 responds to the cleaning instruction and determines whether the guide portion 111 is connected to the guide mating portion 211. Specifically, it determines whether the cleaning robot 20 has completed the berthing and is restrained by the connection and cooperation between the guide portion 111 and the guide mating portion 211. If it is determined that the cleaning robot 20 has completed the berthing and is restrained, the cleaning operation begins. The base station 10 activates the water inlet pump to cause the water outlet 1212 to flow cleaning fluid or water. The base station 10 also sends a mop drive instruction to the cleaning robot 20, causing the cleaning robot 20 to drive the flat mop 23 to reciprocate relative to the cleaning tray 12 to clean the flat mop 23.

[0156] It can be understood that during the cleaning process, the cleaning robot 20 drives the flat mop 23 to move, while the base station 10 provides a fixed cleaning disc 12 and assists the cleaning robot 20 in cleaning the flat mop 23, thereby reducing the space occupied by the cleaning components on the base station 10. Accordingly, the spatial layout on the base station 10 can be further optimized, thereby reducing the manufacturing, assembly, and after-sales costs of the entire cleaning system 100. In addition, when scrubbing the floor, the cleaning robot 20 can drive the flat mop 23 to reciprocate, thereby improving the cleaning robot 20's ability to clean the surrounding environment. Furthermore, the base station 10 and the cleaning robot 20 also use the matching guide portion 111 and the guide matching portion 211 to achieve mutual alignment and fit between the flat mop 23 and the cleaning disc 12, and reduce the vibration of the cleaning robot during the cleaning process, thereby improving the working stability of the cleaning robot 20 and its cleaning ability of the flat mop 23.

[0157] In the fifth aspect, an embodiment of the present application provides another mop cleaning method, which is applied to a cleaning robot 20 in a cleaning system 100. The cleaning robot 20 includes a mop drive structure and a guide matching portion 211. The cleaning robot 20 is equipped with a flat mop 23. The mop drive mechanism 22 is equipped with a flat mop 23. The mop drive mechanism 22 is used to drive the flat mop 23 to reciprocate relative to the cleaning disk 12 on the working surface of the cleaning disk 12 of the base station 10. The guide matching portion 211 is used to connect and match the guide portion 111 of the base station 10 to guide the cleaning robot 20 when it enters the storage bin 112 of the base station 10, and to limit the cleaning robot 20 when cleaning the flat mop 23.

[0158] See also Figure 21 , mop cleaning methods include:

[0159] S211: Receive a control instruction sent by a base station.

[0160] In this step, the control instruction may be a wireless signal, such as Wi-Fi, Bluetooth, ZigBee, radio frequency signal, etc.

[0161] S212: Determine whether the control instruction is one of a berth instruction and a mop cleaning instruction.

[0162] S213: If the control instruction is a berth instruction, return and complete the operation of connecting the guide matching part to the guide part according to the berth instruction;

[0163] S214: If the control instruction is a mop driving instruction, the flat mop is driven to perform a reciprocating motion according to the mop driving instruction, so as to cooperate with the cleaning plate to clean the flat mop.

[0164] In one embodiment, the mop drive instruction records the configuration information of a preset reciprocating motion frequency. The cleaning robot 20 drives the flat mop 23 to reciprocate at the preset reciprocating motion frequency according to the mop drive instruction, for example, driving the flat mop 23 to reciprocate 800 times per minute.

[0165] Among them, the relevant content of the mop cleaning method applied to the cleaning robot 20 can be combined with the content of the fourth aspect, which will not be repeated here.

[0166] It should be noted that, in each of the above-mentioned embodiments, there is not necessarily a certain order between the above-mentioned steps. A person skilled in the art can understand, based on the description of the embodiments of this application, that in different embodiments, the above-mentioned steps may have different execution orders, that is, they may be executed in parallel, or may be executed interchangeably, etc.

[0167] As a sixth aspect of the embodiments of the present application, the embodiments of the present application provide a base station control device. The base station control device may be a software module comprising a plurality of instructions stored in a memory, and a processor may access the memory and invoke the instructions for execution to perform the mop cleaning method described in the fourth aspect of each of the above embodiments.

[0168] In some embodiments, the control device of the base station can also be constructed by hardware devices. For example, the control device of the base station can be constructed by one or more chips, and the chips can work in coordination with each other to complete the mop cleaning method described in the fourth aspect of each of the above embodiments. For another example, the control device of the base station can also be constructed by various logic devices, such as a general-purpose processor, a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA), a single-chip microcomputer, an ARM (Acorn RISC Machine) or other programmable logic device, discrete gate or transistor logic, discrete hardware components, or any combination of these components.

[0169] See also Figure 22 The control device 2200 of the base station includes a receiving module 2201, a judging module 2202, an executing module 2203, a first sending module 2204 and a second sending module 2205.

[0170] The receiving module 2201 is used to receive a cleaning instruction, which is used to instruct the cleaning operation to be performed on the flat mop. The judging module 2202 is used to respond to the cleaning instruction and determine whether the guide portion is connected to the guide mating portion. The executing module 2203 is used to perform the cleaning operation on the flat mop when the guide portion is connected to the guide mating portion. The first sending module 2204 is used to send a mop drive instruction when the guide portion is connected to the guide mating portion, which is used to instruct the cleaning robot to execute the operation of driving the flat mop to reciprocate. The second sending module 2205 is used to send a berthing instruction when the guide portion is not connected to the guide mating portion, which is used to instruct the cleaning robot to execute the operation of returning and completing the operation of connecting the guide mating portion to the guide portion.

[0171] It should be noted that the control device 2200 of the above-mentioned base station can execute the mop cleaning method provided in the fourth aspect of the embodiment of the present application, and has the corresponding functional modules and beneficial effects of the execution method. For technical details not fully described in the embodiment of the control device 2200 of the base station, please refer to the mop cleaning method provided in the fourth aspect of the embodiment of the present application.

[0172] As a seventh aspect of the embodiments of the present application, an embodiment of the present application provides a control device for a cleaning robot. The control device for the cleaning robot can be a software module comprising a plurality of instructions stored in a memory, and a processor can access the memory to call and execute the instructions to perform the mop cleaning method described in the fifth aspect of each of the above embodiments.

[0173] In some embodiments, the control device of the cleaning robot can also be constructed by hardware devices. For example, the control device of the cleaning robot can be constructed by one or more chips, and the chips can work in coordination with each other to complete the mop cleaning method described in the fifth aspect of each of the above embodiments. For another example, the control device of the cleaning robot can also be constructed by various logic devices, such as a general-purpose processor, a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA), a single-chip microcomputer, an ARM (Acorn RISC Machine) or other programmable logic device, discrete gate or transistor logic, discrete hardware components, or any combination of these components.

[0174] See also Figure 23 The control device 2300 of the cleaning robot includes a receiving module 2301 , a judging module 2302 , a first executing module 2303 and a second executing module 2304 .

[0175] Receiving module 2301 is used to receive control commands sent by the base station. Determination module 2302 is used to determine whether the control command is a berthing command or a mop cleaning command. First execution module 2303 is used to, if the control command is a berthing command, execute the return operation and complete the connection between the guide mating portion and the guide portion according to the berthing command. Second execution module 2304 is used to, if the control command is a mop drive command, execute the reciprocating motion of the flat mop according to the mop drive command to clean the flat mop in conjunction with the cleaning disc.

[0176] It should be noted that the control device 2300 of the cleaning robot can execute the mop cleaning method provided in the fifth aspect of the embodiments of this application, and has the corresponding functional modules and beneficial effects of executing the method. For technical details not fully described in the embodiment of the control device 2300 of the cleaning robot, please refer to the mop cleaning method provided in the fifth aspect of the embodiments of this application.

[0177] See also Figure 24 , Figure 242 is a schematic diagram of the structure of a computer device 2400 provided in an embodiment of the present application. The computer device 2400 is any of a base station and a cleaning robot. The computer device 2400 includes one or more processors 2401 and a memory 2402. The memory 2402 is connected to the one or more processors 2401, for example, via a bus.

[0178] The processor 2401 is configured to support the computer device 2400 in executing the corresponding functions of the method in the above method embodiment. The processor 2401 can be a central processing unit (CPU), a network processor (NP), a hardware chip, or any combination thereof. The above hardware chip can be an application specific integrated circuit (ASIC), a programmable logic device (PLD), or a combination thereof. The above PLD can be a complex programmable logic device (CPLD), a field-programmable gate array (FPGA), a generic array logic (GAL), or any combination thereof.

[0179] Memory 2402 is used to store program code, etc. Memory may include volatile memory (VM), such as random access memory (RAM); memory 2402 may also include non-volatile memory (NVM), such as read-only memory (ROM), flash memory, hard disk drive (HDD), or solid-state drive (SSD); memory 2402 may also include a combination of the aforementioned types of memory.

[0180] Memory 2402 can be used to store non-volatile software programs, non-volatile computer executable programs, and modules, such as the program instructions / modules corresponding to the mop cleaning method in the embodiments of the present application. Processor 2401 executes the non-volatile software programs, instructions, and modules stored in memory 2402 to execute various functional applications and data processing of the mop cleaning method and control device, thereby implementing the functions of the mop cleaning method and various modules or units of the control device provided in the above method embodiments.

[0181] The memory 2402 may include a program storage area and a data storage area. The program storage area may store an operating system and application programs required for at least one function. The data storage area may store data generated based on the use of the control device. In some embodiments, the memory may optionally include a memory remotely located relative to the processor, and such remote memory may be connected to the control device via a network. Examples of such networks include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0182] The one or more modules are stored in the memory 2402. When executed by the one or more processors 2401, the mop cleaning method in any of the above method embodiments is executed, for example, the method steps described in the above method embodiments are executed to realize the functions of the modules described in the above device embodiments.

[0183] An embodiment of the present application further provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, wherein the computer program includes program instructions, and when the program instructions are executed by a computer, the computer executes the method as described in the above embodiment.

[0184] Those skilled in the art will appreciate that all or part of the processes in the above-described method embodiments can be implemented by instructing related hardware through a computer program. The program can be stored in a computer-readable storage medium, and when executed, the program can include the processes in the above-described method embodiments. The storage medium can be a magnetic disk, an optical disk, a read-only memory (ROM), or a random access memory (RAM).

[0185] The above disclosure is only a preferred embodiment of the present application, and certainly cannot be used to limit the scope of rights of the present application. Therefore, equivalent changes made according to the claims of the present application are still within the scope covered by the present application.

Claims

1. A base station, characterized in that: include: A base station body, the base station body comprising a guide portion and a receiving compartment, the receiving compartment being used to receive the cleaning robot; as well as A cleaning tray, which is installed in the receiving compartment and is used to support the reciprocating flat mop on the cleaning robot and cooperate with the cleaning robot to clean the flat mop; Wherein, the guide portion is arranged in the receiving bin, and the guide portion is used to connect and cooperate with the guide matching portion of the cleaning robot to guide the cleaning robot when the cleaning robot enters the receiving bin, and to limit the cleaning robot when cleaning the flat mop.

2. The base station according to claim 1, wherein The base station body also includes an entrance ramp, the top of which is connected to the bottom of the door of the storage bin and is located outside the storage bin. The entrance ramp is provided with a berth groove, which is located on the slope of the entrance ramp. The berth groove is used to partially accommodate the driving wheel of the cleaning robot.

3. The base station according to claim 1, wherein The cleaning tray includes a shower head, which is a hollow structure. The shower head is provided with a water inlet and a plurality of water outlet holes. The water outlet holes are used to output cleaning liquid or clean water to the working surface of the cleaning tray. The water inlet and each of the water outlet holes are respectively connected to the interior of the shower head.

4. The base station according to claim 3, wherein The shower head portion includes a partition portion, which is disposed inside the shower head portion and is used to divide the inside of the shower head portion into a water inlet cavity and a plurality of water outlet cavities, wherein the water inlet cavity is connected to the water inlet, and each of the water outlet cavities is connected to at least one corresponding water outlet hole; Wherein, the partition portion is provided with a plurality of water openings, each of the water openings is located between the water inlet cavity and a corresponding one of the water outlet cavities, and is connected to the water inlet cavity and the corresponding one of the water outlet cavities respectively.

5. The base station according to claim 3, characterized in that The base station body further includes a water injection portion and a positioning portion, wherein the water injection portion includes a water injection port, and the water injection portion is used to output cleaning liquid or clean water; The cleaning tray also includes a positioning fitting portion, which is connected to the positioning portion in a coordinated manner. The positioning portion is used to align the water inlet and the water injection port with each other when the positioning fitting portion is connected. The water inlet is sleeved on the water injection portion and connected to the water injection port. The water inlet and the water injection portion have an interference fit. The base station according to claim 3, wherein: The base station body further includes a sewage collecting platform, which is arranged below the cleaning tray; The cleaning tray also includes a plurality of support parts, at least two of the support parts are spaced apart from each other, a hollow part is formed between each two of the spaced apart support parts, and at least one of the support parts adjacent to the hollow part is connected to the shower part and is configured with at least one corresponding water outlet hole.

7. The base station according to claim 6, characterized in that The sewage collecting platform includes a sinking platform and a sewage outlet. The sinking platform and the sewage outlet are located in a low-lying area of ​​the sewage collecting platform, and the sewage outlet is communicated with the sinking platform.

8. The base station according to claim 6, characterized in that The support portion includes a liquid collecting trough and a guide portion, and all or part of at least one of the water outlet holes is arranged in a corresponding liquid collecting trough. Each of the guide portions is located between a corresponding hollow portion and a corresponding liquid collecting trough, and the guide portion is used to guide the liquid overflowing from the liquid collecting trough to the hollow portion.

9. The base station according to claim 8, characterized in that The cleaning disc further comprises a scraping brush portion, which is arranged on the working surface of the cleaning disc. The length direction of the scraping brush portion intersects with the reciprocating motion direction of the flat mop, and the scraping brush portion is used to scrape the flat mop.

10. The base station according to claim 9, characterized in that There are a plurality of the scraping parts, each of which is arranged on a corresponding one of the supporting parts, and each of the scraping parts is provided with the liquid collecting grooves on two opposite sides in the width direction.

11. The base station according to claim 1, wherein The cleaning tray further comprises a combing portion, which is arranged on the working surface of the cleaning tray and is used for combing the flat mop.

12. A cleaning robot, characterized in that: include: a robot body, the robot body including a guide mating portion; and a mop drive mechanism, the mop drive mechanism being mounted on the robot body and being equipped with a flat mop, the mop drive mechanism being configured to drive the flat mop to reciprocate relative to the cleaning disk on the working surface of the base station, thereby cooperating with the cleaning disk to clean the flat mop; The guide matching portion is used to connect and match the guide portion of the base station to guide the cleaning robot when the cleaning robot enters the receiving compartment of the base station, and to limit the cleaning robot when cleaning the flat mop.

13. A cleaning system, characterized in that: include: The base station according to any one of claims 1 to 11; as well as The cleaning robot according to claim 12, wherein the base station and the cleaning robot can be connected and cooperate with each other to clean the flat mop.

14. A mop cleaning method, characterized in that: Applied to a base station, the base station is used to cooperate with a cleaning robot to clean a flat mop on the cleaning robot, the base station includes a cleaning disc and a guide portion, the cleaning disc is used to support the flat mop, the guide portion is used to connect and cooperate with the guide matching portion of the cleaning robot to guide the cleaning robot when the cleaning robot enters the storage bin of the base station, and limit the cleaning robot when cleaning the flat mop, the method includes: receiving a cleaning instruction, wherein the cleaning instruction is used to instruct to perform a cleaning operation on the flat mop; determining, in response to the cleaning instruction, whether the guide portion is connected to the guide mating portion; If yes, perform a cleaning operation on the flat mop and send a mop driving instruction, wherein the mop driving instruction is used to instruct the cleaning robot to drive the flat mop to perform a reciprocating motion; If not, a berth instruction is sent, wherein the berth instruction is used to instruct the cleaning robot to return and complete the operation of connecting the guide matching part with the guide part.

15. A mop cleaning method, characterized in that: Applied to a cleaning robot, the cleaning robot includes a mop drive structure and a guide matching portion, the mop drive mechanism is installed with a flat mop, the mop drive mechanism is used to drive the flat mop to reciprocate relative to the cleaning disk on the working surface of the base station, the guide matching portion is used to connect and match the guide portion of the base station to guide the cleaning robot when the cleaning robot enters the storage bin of the base station, and limit the cleaning robot when cleaning the flat mop, the method includes: receiving a control instruction sent by the base station; determining whether the control instruction is one of a berth instruction and a mop cleaning instruction; If the control instruction is the berth instruction, returning and completing the operation of connecting the guide matching portion to the guide portion according to the berth instruction; If the control instruction is the mop driving instruction, the operation of driving the flat mop to perform reciprocating motion is executed according to the mop driving instruction, so as to cooperate with the cleaning plate to clean the flat mop.

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