Self-cleaning system for cleaning robot with mopping function and working method

Abstract

The invention provides a self-cleaning system for a cleaning robot with a mopping function and a working method. The self-cleaning system includes a suction device, a first cleaning fluid container, a first collection container, and a cleaning assembly assembled together. In the state that the cleaning robot is parked on / carried on the cleaning assembly, the suction device can be used for sucking and collecting wet-type dirt such as dust and water mixed on a wet-type cleaning piece such as rag into the first collecting container, and therefore the wet-type cleaning piece can be automatically cleaned at a relatively high speed, and the cleaning effect is good. In the working method, the cleaning fluid is used for wetting the wet type cleaning piece of the cleaning robot carried on the cleaning assembly, the wet type cleaning piece is sucked when the wet type cleaning piece is in a wetted state, the wet type cleaning piece is automatically cleaned at a relatively high speed, and the cleaning effect is good.

Description

Technical Field

[0001] This disclosure relates to a self-cleaning system for a cleaning robot with a mopping function, and a method of operating the cleaning robot. Background Technology

[0002] Autonomous mobile devices refer to intelligent mobile devices that autonomously perform preset tasks. Currently, autonomous mobile devices typically include, but are not limited to, cleaning robots (such as intelligent sweeping robots, intelligent floor cleaning robots, and window cleaning robots), companion mobile robots (such as intelligent electronic pets and nanny robots), service mobile robots (such as reception robots in hotels, inns, and meeting places), industrial inspection intelligent devices (such as power inspection robots and intelligent forklifts), and security robots (such as home or commercial intelligent guard robots).

[0003] Cleaning robots equipped with wet cleaning components (such as cloths and cleaning fluid containers) are becoming increasingly widely used, allowing them to operate on surfaces to perform wet cleaning. However, after cleaning the surface, existing cleaning robots require manual cleaning of the wet cleaning components to remove any dirt collected during the cleaning process. In this case, manually cleaning the robot's wet cleaning components is time-consuming and labor-intensive. Summary of the Invention

[0004] In view of the problems of the prior art, one object of this disclosure is to provide a self-cleaning system for a cleaning robot with a mopping function, which can automatically and effectively clean the wet cleaning components of the cleaning robot with a relatively simple construction. Another object of this disclosure is to provide a method for operating the above-mentioned self-cleaning system.

[0005] To achieve the above objectives, the present disclosure adopts the following technical solution.

[0006] This disclosure provides a self-cleaning system for a cleaning robot with a mopping function, comprising:

[0007] Suction device;

[0008] The first cleaning fluid container, which stores the cleaning fluid inside;

[0009] A first collection container for collecting wet waste; and

[0010] A cleaning assembly having a suction port communicating with the suction device, wherein the suction port is opposite to the wet cleaning component of the cleaning robot when the cleaning robot is placed on the cleaning assembly, such that the wet cleaning component can be wetted by cleaning fluid from the first cleaning fluid container, and the suction device performs a suction operation on the wet cleaning component through the suction port, the suction airflow generated by the suction device flowing through the first collection container.

[0011] In one alternative embodiment, the cleaning assembly includes a base, a tray, and a power assembly, wherein the tray is disposed on the base in a manner capable of relative movement with respect to the base, and the suction port is formed in the tray.

[0012] With the cleaning robot placed on the tray, the wet cleaning component is positioned on the tray, and the power assembly enables the tray and the wet cleaning component to move relative to each other. This relative movement allows the suction port to suction different parts of the wet cleaning component.

[0013] In another alternative embodiment, the power assembly includes a power source, a lead screw, and a nut. The lead screw is mounted on the base and is rotatable relative to the base. The nut is fixed to the tray and threadedly connected to the lead screw. The power source is capable of driving the lead screw to rotate, thereby causing the nut to drive the tray to reciprocate linearly relative to the base.

[0014] In another alternative embodiment, the tray has a hollow cavity inside, and the tray has an interface communicating with the hollow cavity. The suction device communicates with the hollow cavity via the interface to provide negative pressure to the suction port.

[0015] In another alternative, the multiple suction ports are arranged in an array.

[0016] In another alternative embodiment, the self-cleaning system includes a first supply path connected to the first cleaning fluid container, the first supply path being configured to connect to a second cleaning fluid container of the cleaning robot while the cleaning robot is mounted on the cleaning assembly, such that cleaning fluid from the first cleaning fluid container can flow into the second cleaning fluid container to re-wet the wet cleaning component.

[0017] In another alternative embodiment, the cleaning assembly includes a base with at least one groove formed on its top, wherein the wet cleaning component is at least partially housed within the corresponding groove when the cleaning robot is mounted on the cleaning assembly.

[0018] The suction port is formed at the bottom of the groove, and the base has a spray port formed at the bottom of the groove. The base can supply cleaning liquid through the spray port, and the spray port and the suction port are spaced apart from each other.

[0019] The base is formed into a hollow cavity, and the base has an interface that communicates with the hollow cavity. The suction device communicates with the hollow cavity through the interface to provide negative pressure to the suction port.

[0020] In another alternative embodiment, the self-cleaning system includes a first supply path and a second supply path connected to the first cleaning fluid container.

[0021] The first supply flow path is used to connect to the second cleaning fluid container of the cleaning robot when the cleaning robot is mounted on the cleaning assembly, and

[0022] The second supply path is connected to the nozzle, so that the cleaning fluid from the first cleaning fluid container wets the wet cleaning component through the nozzle.

[0023] In another alternative embodiment, the first collection container includes a first housing and a first filter, the first filter being disposed within the first housing.

[0024] The self-cleaning system further includes a first passage, which includes a first suction pipe and a first connecting pipe. The first end of the first suction pipe is connected to the suction device and the second end extends into the first housing. The first end of the first connecting pipe extends into the first housing and the second end is used to connect to the cleaning robot. The first filter is disposed in the first suction pipe.

[0025] In another alternative embodiment, the opening at the second end of the first suction tube is open in the opposite direction to the opening at the first end of the first connecting tube, and the openings at the second end of the first suction tube and the first end of the first connecting tube are always located at a position higher than the liquid level inside the first housing.

[0026] In another alternative scheme, a second passage and a second collection container are also included.

[0027] The second collection container includes a second housing and a second filter, the second filter being disposed within the second housing, and

[0028] The second passage includes a second suction tube and a second connecting tube. The first end of the second suction tube is connected to the suction device and the second end is connected to the second housing. The first end of the second connecting tube is connected to the second housing and the second end is used to connect to the cleaning robot. The opening of the second end of the second suction tube and the opening of the first end of the second connecting tube are configured to be separated by the second filter.

[0029] In another alternative embodiment, a selection valve is also included, which is disposed in the first passage and the second passage to selectively conduct the first passage and the second passage in an alternative manner or to conduct the first passage and the second passage simultaneously.

[0030] In another alternative embodiment, the sidewall of the first passage has a first sealed portion, and the sidewall of the second passage has a second sealed portion; the selector valve includes both the first and second sealing portions.

[0031] The selector valve is actuated to bring the first sealing part against the first sealed part to close the first passage, and then the suction device further brings the first sealing part against the first sealed part; or

[0032] The selector valve is driven so that the second sealing part abuts against the second sealed part to close the second passage, and then the second sealing part is further abutted against the second sealed part by the suction of the suction device.

[0033] This application provides a method for operating a self-cleaning system for a cleaning robot with mopping function, as described in any of the above technical solutions, comprising the following steps:

[0034] A wetting step, wherein a cleaning fluid is used to wet the wet cleaning component of the cleaning robot mounted on the cleaning assembly; and

[0035] The suction step involves performing a suction operation on the wet cleaning component while it is wetted, so as to simultaneously remove fluid and dirt from the wet cleaning component using the suction operation.

[0036] In one alternative embodiment, during the suction step, the wet cleaning component undergoes relative movement with respect to the suction port, enabling suction operations to be performed on different parts of the wet cleaning component via the suction port.

[0037] By adopting the above technical solution, this disclosure provides a self-cleaning system for a cleaning robot with mopping function, comprising a suction device, a first cleaning fluid container, a first collection container, and a cleaning assembly assembled together. The cleaning assembly has a suction port communicating with the suction device. When the cleaning robot is placed on the cleaning assembly, the suction port is opposite to the wet cleaning component of the cleaning robot. Thus, while the wet cleaning component can be wetted by the cleaning fluid from the first cleaning fluid container, the suction device performs suction operations on the wet cleaning component through the suction port. Further, the suction airflow generated by the suction device flows through the first collection container, enabling the first collection container to collect wet dirt. In this way, when the cleaning robot is docked / placed on the cleaning assembly, the suction device can suck up and collect wet dirt, such as a mixture of dust and water, adhering to the wet cleaning component (e.g., a rag) into the first collection container, thereby achieving automatic cleaning of the wet cleaning component at a relatively fast speed and with good cleaning effect.

[0038] This disclosure also provides a method for operating the aforementioned self-cleaning system, which includes a wetting step and a suction step. In the wetting step, a cleaning fluid is used to wet the wet cleaning component of the cleaning robot mounted on the cleaning assembly. In the suction step, the wet cleaning component is suctioned while still wet, thereby simultaneously removing fluid and contaminants from the wet cleaning component. Thus, this method enables the automatic cleaning of the wet cleaning component at a relatively fast speed with good cleaning results. Attached Figure Description

[0039] Figure 1A This is a perspective view showing a self-cleaning system for a cleaning robot with a mopping function according to a first embodiment of the present disclosure, wherein the cleaning robot is docked at the self-cleaning system.

[0040] Figure 1B It shows Figure 1A A schematic diagram of the topology of the self-cleaning system.

[0041] Figure 1C It shows Figure 1A A cross-sectional schematic diagram of the self-cleaning system in the image.

[0042] Figure 1D It shows Figure 1A A three-dimensional schematic diagram of a partial structure of the self-cleaning system.

[0043] Figure 1E It shows Figure 1D A cross-sectional three-dimensional schematic diagram of the structure.

[0044] Figure 1F It shows Figure 1AThe diagram shows the structure of the tray of the cleaning component of the self-cleaning system, which mainly shows the array of suction ports, and the tray shape adopts an alternative design.

[0045] Figure 2A This is a perspective view of a self-cleaning system for a cleaning robot with a mopping function according to a second embodiment of the present disclosure, wherein the cleaning robot is docked at the self-cleaning system.

[0046] Figure 2B and Figure 2C It shows Figure 2A A three-dimensional schematic diagram of a partial structure of the self-cleaning system.

[0047] Figure 3 This is a schematic diagram of the topology of a self-cleaning system for a cleaning robot with mopping function according to a third embodiment of the present disclosure.

[0048] Explanation of reference numerals in the attached figures

[0049] AC—Self-cleaning system;

[0050] 1—Suction device;

[0051] 2—First passage; 2p—First interface; 2s—First sealed part; 21—First suction

[0052] Piping; 22—First connecting pipe;

[0053] 3—Second passage; 3p—Second interface; 3s—Second sealed part; 31—Second suction

[0054] Piping; 32—Second connecting pipe;

[0055] 4—First collection container; 41—First housing; 42—First filter;

[0056] 5—Second collection container; 51—Second housing; 52—Second filter;

[0057] 6, 6' — Cleaning components;

[0058] 61—Base; 62—Tray; 621—First top wall; 621o—Suction port; 622—First bottom wall; 623—First side wall; 63—Lead screw; 64—Nut;

[0059] 61'—Base; 611'—Second top wall; 611c'—Groove; 611o1'—Suction port;

[0060] 611o2'—Injection port; 612'—Second bottom wall; 613'—Second side wall; 613o'—Inlet;

[0061] 7—Selector valve; 71—First sealing part; 72—Second sealing part;

[0062] 8—First clean fluid container; 81—First supply flow path; 82—Second supply flow path;

[0063] MS—Cleaning Robot;

[0064] 9—Dust box;

[0065] 10—Wet cleaning components;

[0066] 11—Second Clean Fluid Container. Detailed Implementation

[0067] Embodiments of this disclosure are described below with reference to the accompanying drawings. For ease of understanding, the elements shown in the drawings may include elements such as dimensions and scales that are expressed differently from actual dimensions and scales.

[0068] In this disclosure, unless otherwise specified, "front," "rear," "left," "right," "up," and "down" all refer to the normal operating state of the cleaning robot with mopping function according to this disclosure. Specifically, the cleaning robot has a positive direction of movement (i.e., forward) in its normal operating state. The term "normal operating state" refers to the movement state of the cleaning robot when performing a task, which is different from the abnormal operating state of the cleaning robot, such as backward movement or swinging, in the obstacle-avoidance mode. "Front" and "rear" refer to the front and rear sides of the cleaning robot in its normal operating state in the positive direction of movement. "Left" and "right" refer to the left and right sides when viewed from the front side in the positive direction of movement. "Up" and "down" refer to the upper and lower sides in the vertical direction perpendicular to the surface to be cleaned when the cleaning robot is in its normal operating state in the surface to be cleaned.

[0069] In this disclosure, the cleaning robot can move autonomously according to a preset control scheme in its processing unit. The surface to be cleaned where the cleaning robot moves autonomously can be a plane or a curved surface with a large radius of curvature, typically such as the floor of each room in a building. Furthermore, in this disclosure, "processing unit" is a general term, and there are no limitations on the type, number, or form of the processing units. Specifically, the processing unit can be one or more of MCU, DSP, FPGA, and GPU, or other hardware chips, processors, or software algorithms with data processing and computing capabilities. Further, the processing unit can be a unified, single processor for the cleaning robot, or it can be a collection of multiple processing units. The connection method, function, and computing power allocation of the multiple processing units can be adjusted as needed. For example, in one optional scheme, a first processing unit and a second processing unit can be included. In this case, the first and second processing units collectively implement the various functions of the aforementioned processing units. In addition, the processing unit of the cleaning robot of this disclosure can receive parameters from sensing components and perform relevant control on the cleaning robot through a preset program stored in the storage unit. In this disclosure, the data, information, and programs required by the processing unit during processing can be stored in the storage unit and retrieved from the storage unit as needed. The processing unit can also store the processed data and information back into the storage unit. The storage unit can be RAM, ROM, or other devices and / or equipment with storage functions, such as cloud / server / mobile terminal connected via wired / wireless network.

[0070] The self-cleaning system for a cleaning robot with a mopping function according to a first embodiment of the present disclosure will be described below with reference to the accompanying drawings.

[0071] like Figures 1A to 1E As shown, the self-cleaning system AC for a cleaning robot MS with mopping function according to a first embodiment of this disclosure includes a suction device 1, a first passage 2, a first collection container 4, a cleaning component 6, and a first cleaning fluid container 8 assembled together. After cleaning the surface to be cleaned, the cleaning robot MS can autonomously move to the location of the self-cleaning system AC and dock in a predetermined posture, thereby enabling the self-cleaning system AC to automatically clean the wet dirt on the wet cleaning parts (e.g., a rag) 10 of the cleaning robot MS.

[0072] In this embodiment, as Figures 1A to 1C As shown, the suction device 1 may include a motor and a suction pump that are connected by a drive. When the motor is energized, it can drive the suction pump to perform suction operations; a typical example of a suction pump is a vacuum pump.

[0073] In this embodiment, as Figures 1A to 1CAs shown, the first passage 2 can be formed by bending a rectangular pipe multiple times. The first end of the first passage 2 is connected to the suction device 1, and the second end of the first passage 2 is formed as a first interface 2p. The first interface 2p communicates with the suction port 621o of the tray 62 of the cleaning assembly 6, allowing the suction device 1 to perform suction through the suction port 621o, thereby cleaning the mop. Further, the first passage 2 includes a first suction pipe 21 and a first connecting pipe 22. The first end of the first suction pipe 21 (i.e., the first end of the first passage 2) is connected to the suction device 1, and the second end extends into the first housing 41 of the first collection container 4. The first end of the first connecting pipe 22 extends into the first housing 41 of the first collection container 4, and the second end (i.e., the second end of the first passage 2) is formed as the first interface 2p. Figure 1B and Figure 1C As shown, the opening at the second end of the first suction pipe 21 and the opening at the first end of the first connecting pipe 22 open in opposite directions. Both the openings at the second end of the first suction pipe 21 and the first end of the first connecting pipe 22 are always positioned higher than the liquid level inside the first housing 41. Furthermore, since the opening at the second end of the first suction pipe 21 is always higher than the opening at the first end of the first connecting pipe 22, during suction, water vapor is less likely to enter the suction device 1 through the higher opening at the second end of the first suction pipe 21. Therefore, the greater the height difference between the openings of the first suction pipe 21 and the first connecting pipe 22 in the first housing 41, the better the effect. In addition, the first filter 42 of the first collection container 4 is disposed in the first suction pipe 21. This not only allows the first suction pipe 21 and the first connecting pipe 22 to be connected to each other via the first collection container 4, but also facilitates the collection of all wet waste in the airflow flowing through the first collection container 4 into the first collection container 4. Furthermore, it can effectively prevent wet waste and excessive humid air from entering the first suction pipe 21, reducing the risk of malfunction of the suction device 1.

[0074] In this embodiment, as Figures 1A to 1CAs shown, the first collection container 4 is used to collect wet waste and is disposed in the first passage 2. The suction device 1 draws airflow into the first passage 2 via the first interface 2p through the first collection container 4. The first collection container 4 includes a first housing 41 and a first filter 42. The first filter 42 can be a sponge block. The first filter 42 mainly prevents wet waste and excessive humid air from entering the suction device 1 via the first passage 2. The first filter 42 is not only disposed within the first housing 41 but also filled within the first suction pipe 21. Furthermore, in conjunction with the relative positional relationship between the second end of the first suction pipe 21 and the first end of the first connecting pipe 22 described above, all wet waste in the airflow flowing through the first collection container 4 can be collected into the first housing 41 of the first collection container 4. This facilitates the settling of wet waste and sewage into the first collection container 4 to the bottom, reducing the risk of them being sucked into the first suction pipe 31.

[0075] In this embodiment, as Figure 1A , 1D and Figure 1E As shown, the cleaning assembly 6 includes a base 61, a tray 62, and a power assembly. The power assembly enables the tray 62 to be mounted on the base 61 in a manner that allows it to move relative to the base 61. The tray 62 has a suction port 621o that communicates with the first interface 2p of the first passage 2, allowing the suction device 1 to perform suction operations through the suction port 621o.

[0076] like Figure 1D and Figure 1E As shown, the base 61 is formed with a recessed shape that opens upwards. The tray 62 has a first top wall 621, a first bottom wall 622, and a first side wall 623, which together form a hollow cavity. With the self-cleaning system AC placed on a horizontal surface and installed in place, the first top wall 621 is arranged along the horizontal plane. See also... Figure 1FMultiple suction ports 621o are formed in the first top wall 621, and the multiple suction ports 621o are arranged in an array on the first top wall 621. The overall shape of the array can be similar to the shape of the wet cleaning component 10. The first interface 2p of the first passage 2 communicates with the hollow cavity of the tray 62 through the interface formed by the first side wall 623. Thus, the suction device can provide negative pressure to the suction ports 621o through the first interface 2p, the interface of the first side wall 623, and the hollow cavity of the tray 62. In this way, the wet waste sucked from the wet cleaning component 10 can be smoothly sucked into the first passage 2 through the suction ports 621o, the interface of the first side wall 623 of the hollow cavity of the tray 62, and the first interface 2p, and then into the first collection container 4. In addition, the first bottom wall 622 is inclined towards the first interface 2p relative to the horizontal plane, which can minimize the probability of wastewater remaining in the hollow cavity of the tray 62.

[0077] like Figure 1D and Figure 1E As shown, the power assembly includes a power source, a lead screw 63, and a nut 64. The power source can be a drive motor. The lead screw 63 is mounted on the base 61 and can rotate relative to the base 61. The nut 64 is fixed to the first bottom wall 623 of the tray 62 and threadedly connected to the lead screw 63. The power source can drive the lead screw 63 to rotate, thereby causing the nut 64 to drive the tray 62 to perform reciprocating linear relative motion relative to the base 61. It is understood that lead screws 63 with different leads can be selected as needed, so that the relative motion relationship between the rotation of the lead screw 63 and the nut 64 can be adjusted. Thus, with a relatively simple structure, the cleaning assembly achieves stable reciprocating linear motion relative to the base 61, thereby causing relative motion between the suction port 621o and the wet cleaning component 10. In this way, the suction port 621o can be in contact with as many parts of the wet cleaning component 10 as possible, improving the cleaning effect of the wet cleaning component 10. At the same time, the left and right scraping between the edge of the suction port 621o and the wet cleaning component 10 can also enhance the cleaning effect of the wet cleaning component 10, such as a mop, from a physical perspective.

[0078] In this embodiment, the cleaning component 6 with the above-described structure facilitates the adaptation of the self-cleaning system AC to the wet cleaning component 10 of the cleaning robot MS, such as a flat cloth, and, in conjunction with the suction action of the suction device 1, can clean the wet dirt on the flat cloth as thoroughly as possible.

[0079] In another embodiment, the wet cleaning component on some cleaning robots (mopping robots) can utilize the robot's own structure to achieve vibration, thereby enhancing the mopping effect. In this case, the power component can be omitted based on the above embodiment, and only a fixed tray is needed to clean the wet cleaning component.

[0080] In this embodiment, as Figures 1A to 1CAs shown, the first cleaning fluid container 8 stores cleaning fluid inside. The self-cleaning system AC includes a first supply flow path 81 connected to the first cleaning fluid container 8. The first supply flow path 81 is used to connect to the second cleaning fluid container 11 of the cleaning robot MS when the cleaning robot MS is placed on the cleaning assembly 6, so that the cleaning fluid from the first cleaning fluid container 8 can flow into the second cleaning fluid container 11 to re-wet the wet cleaning component 10. In this way, on the one hand, the cleaning fluid in the first cleaning fluid container 8 can be used to replenish the cleaning fluid in the second cleaning fluid container 11 of the cleaning robot MS; on the other hand, the cleaning fluid replenished to the second cleaning fluid container 11 can be used to wet the wet cleaning component 10, thereby simplifying the structure for achieving wetting.

[0081] By adopting the above scheme, with the cleaning robot MS placed on the cleaning assembly 6, the suction port 621o is opposite to the wet cleaning component 10 of the cleaning robot MS. This allows the wet cleaning component 10 to be moistened by the cleaning fluid from the first cleaning fluid container 8. The suction device 1 then performs a suction operation on the wet cleaning component 10 through the suction port 621o, and the suction airflow generated by the suction device 1 flows through the first collection container 4. Furthermore, the suction device 1 can suck up and collect wet dirt, such as a mixture of dust and water, adhering to the wet cleaning component 10 (e.g., a rag) into the first collection container 4, thereby achieving relatively fast automatic cleaning of the wet cleaning component 10 with good cleaning effect.

[0082] The self-cleaning system for a cleaning robot with a mopping function according to a second embodiment of the present disclosure will be described below with reference to the accompanying drawings.

[0083] like Figures 2A to 2C As shown, the structure of the self-cleaning system for a cleaning robot with a mopping function according to the second embodiment of the present disclosure is basically the same as the structure of the self-cleaning system for a cleaning robot with a mopping function according to the first embodiment of the present disclosure. The following mainly describes the differences between the two.

[0084] In this embodiment, as Figures 2A to 2C As shown, the cleaning assembly 6' includes a base 61', which is connected to the first interface 2p of the first passage 2. The base 61' has two circular grooves 611c', and a suction port 611o1' is formed at the bottom of each groove 611c', allowing suction to be performed by the suction device 1 through the suction port 611o1'. Additionally, the base 61' also has a spray port 611o2' spaced apart from the suction port 611o1' at the bottom of each groove 611c', through which cleaning fluid can be supplied.

[0085] Furthermore, such as Figure 2B and Figure 2C As shown, the base 61' has a second top wall 611', a second bottom wall 612', and a second side wall 613', which together form a hollow cavity. The aforementioned groove 611c', suction port 611o1', and spray port 611o2' are formed on the second top wall 611'. With the self-cleaning system AC mounted on a horizontal surface and in place, the second top wall 611' is arranged along the horizontal surface. The first interface 2p communicates with the hollow cavity of the base 61' via the interface of the second side wall 613'. The suction device 1 communicates with the suction port 611o1' via the first interface 2p, the interface of the second side wall 613', and the hollow cavity of the base 61', thereby providing negative pressure to the suction port 621o. Furthermore, the second bottom wall 612' is arranged inclined relative to the horizontal surface towards the first interface 2p. By adopting the above solution, the wet waste sucked from the wet cleaning component 10 can be smoothly sucked into the first passage 2 through the suction port 611o1', the hollow cavity of the base 61', the interface of the second side wall 613', and the first interface 2p, and then into the first collection container 4. Moreover, the probability of wastewater remaining in the hollow cavity of the base 61' can be minimized.

[0086] Furthermore, such as Figure 2B and Figure 2C As shown, the second sidewall 613' also has an inlet 613o' for the cleaning fluid to enter. The cleaning fluid entering the base 61' through the inlet 613o' can reach the spray nozzle 611o2' after passing through a predetermined flow path. In addition, by utilizing the function of the cleaning robot MS itself, the wet cleaning component 10 can be rotated within the groove 611c', so that all parts of the wet cleaning component 10 can be aligned with the suction port 611o1' and the spray nozzle 611o2'.

[0087] In this embodiment, the cleaning component 6' with the above-described structure facilitates the adaptation of the self-cleaning system AC to other types of wet cleaning components 10, such as the rotating cloth of the cleaning robot MS, and, in conjunction with the suction action of the suction device 1, can clean the wet dirt in the wet cleaning component 10 located in the groove 611c' as thoroughly as possible.

[0088] In this embodiment, as Figures 1A to 1CAs shown, the first cleaning fluid container 8 stores cleaning fluid inside. The self-cleaning system AC includes a first supply flow path 81 and a second supply flow path 82 connected to the first cleaning fluid container 8. The first supply flow path 81 is used to connect to the second cleaning fluid container 11 of the cleaning robot MS when the cleaning robot MS is placed on the cleaning assembly 6, so that the cleaning fluid from the first cleaning fluid container 8 can flow into the second cleaning fluid container 11 to re-wet the wet cleaning component 10. The second supply flow path 82 is connected to the inlet 613o' of the second sidewall 613', and then connected to the spray port 611o2' through the hollow cavity of the base 61', so that the cleaning fluid from the first cleaning fluid container 8 wets the wet cleaning component 10 through the spray port 611o2'. In this way, on the one hand, the cleaning fluid in the first cleaning fluid container 8 can be used to replenish the cleaning fluid in the second cleaning fluid container 11 of the cleaning robot MS; on the other hand, the cleaning fluid in the first cleaning fluid container 8 can also be used to wet the wet cleaning component 10.

[0089] The self-cleaning system for a cleaning robot with mopping function according to the third embodiment of this disclosure will be described below with reference to the accompanying drawings.

[0090] like Figure 3 As shown, the structure of the self-cleaning system for a cleaning robot with a mopping function according to the third embodiment of the present disclosure is basically the same as the structure of the self-cleaning system for a cleaning robot with a mopping function according to the first embodiment of the present disclosure. The following mainly describes the differences between the two.

[0091] In this embodiment, as Figure 3As shown, the self-cleaning system includes a first passage 2, a first collection container 4, a second passage 3, and a second collection container 5. The second passage 3 can be formed by bending a pipe with a rectangular cross-section. The first end of the second passage 3 is connected to the suction device 1, and the second end of the second passage 3 is formed as a second interface 3p, which is used to connect to the discharge port of the dust box 9 of the cleaning robot MS. Further, the second passage 3 includes a second suction pipe 31 and a second connecting pipe 32. The first end of the second suction pipe 31 (that is, the first end of the second passage 3) is connected to the suction device 1, and the second end is connected to the second housing 51 of the second collection container 5. The first end of the second connecting pipe 32 is connected to the second housing 51 of the second collection container 5, and the second end (that is, the second end of the second passage 3) is formed as the second interface 3p. Both the second suction pipe 31 and the second connecting pipe 32 are connected to the second housing 51 of the second collection container 5, thereby configuring the opening of the second end of the second suction pipe 31 and the opening of the first end of the second connecting pipe 32 to be separated by the second filter 52 of the second collection container 5. This not only allows the second suction pipe 31 and the second connecting pipe 32 to be connected to each other via the second collection container 4, but also facilitates the collection of all dry waste in the airflow flowing through the second collection container 5 into the second collection container 5.

[0092] In this embodiment, as Figure 3 As shown, the second collection container 5 is used to collect dry waste and is disposed in the second passage 3. The suction device 1 draws airflow into the second passage 3 via the second interface 3p through the second collection container 5. The second collection container 5 includes a second housing 51 and a second filter 52. The second filter 52 can be a filter screen capable of collecting dry waste such as fine dust and hair. The second filter 52 is disposed within the second housing 51, and its shape and size are configured to match the cross-sectional shape and size of the second housing 51. As described above, the second suction pipe 31 and the second connecting pipe 32 of the second passage 3 are both connected to the second housing 51 of the second collection container 5, and the opening at the first end of the second suction pipe 31 and the opening at the second end of the second connecting pipe 32 are arranged to be spaced apart by the second filter 52. Thus, all dry waste in the airflow flowing through the second collection container 5 can be collected into the second housing 51 of the second collection container 5 primarily using the second filter 52.

[0093] In this embodiment, as Figure 3As shown, a selection valve 7 is disposed in the first passage 2 and the second passage 3, for selectively opening the first passage 2 and the second passage 3 or simultaneously opening the first passage 2 and the second passage 3. Further, the selection valve 7 is installed in the first passage 2 and the second passage 3 and is rotatable relative to the first passage 2 and the second passage 3. The selection valve 7 includes a first sealing part 71 and a second sealing part 72. During the rotation of the selection valve 7, the first sealing part 71 abuts against the first sealed part 2s in the first passage 2 to close the first passage 2, and the second sealing part 72 abuts against the second sealed part 3s in the second passage 3 to close the second passage 3. Further, in the portion of the first suction line 21 near the suction device 1, the first sealed part 2s is formed on the sidewall of the first passage 2 and protrudes towards the interior of the first passage 2. When the selection valve 7 is driven, the first sealing part 71 abuts against the first sealed part 2s, thereby closing the first passage 2. Then, through suction from the suction device 1, the first sealing part 71 further abuts against the first sealed part 2s. Therefore, when the first passage 2 is closed, the suction effect of the suction device 1 creates a negative pressure inside the passage, further causing the first sealing part 71 and the first sealed part 2s to come into closer contact, forming a better seal. This ensures a more reliable seal of the first passage 2. Near the suction device 1, in the second suction pipe 31, the second sealed part 3s is formed on the side wall of the second passage 3 and protrudes towards the interior of the second passage 3. When the selector valve 7 is actuated, the second sealing part 72 comes into contact with the second sealed part 3s, closing the second passage 3. Furthermore, the suction of the suction device 1 causes the second sealing part 72 to come into closer contact with the second sealed part 3s. Therefore, when the second passage 3 is closed, the suction effect of the suction device 1 creates a negative pressure inside the passage, further causing the second sealing part 72 and the second sealed part 3s to come into closer contact, forming a better seal. This ensures a more reliable seal of the second passage 3. When the suction device 1 is working, under the action of the selection valve 7, on the one hand, negative pressure can be generated in the first suction pipe 21, the first connecting pipe 22, the first collection container 4, and the cleaning assembly 6, sucking the waste from the wet cleaning component 10 into the first housing 41 of the first collection container 4, where it is retained in the first housing 41 by the interception of the first filter 42; on the other hand, negative pressure can be generated in the second suction pipe 31, the second connecting pipe 32, the second collection container 5, and the dust box 9, sucking the waste in the dust box 9 into the first housing 51 of the second collection container 5, where it is retained in the second housing 51 by the interception of the second filter 52.

[0094] Therefore, in addition to simultaneously achieving the suction of both dry and wet waste (with the selector valve 7 neither closing the first passage 2 nor the second passage 3), it is possible to selectively suction both wet and dry waste when only one of the first passage 2 and the second passage 3 is open. Furthermore, when the suction action of the suction device 1 acts only on a single passage, a lower-power motor can be used to better close one passage while creating a larger negative pressure in the other. This allows for achieving ideal suction cleaning results using a lower-power suction device 1, further reducing the cost of the suction device 1 and the entire system. Moreover, enabling multiple operating modes with a single suction device 1 simplifies the system structure and reduces costs.

[0095] By adopting the above solution, with the dustbin 9 of the cleaning robot MS connected to the first interface 2p and the wet cleaning component 10 (e.g., a rag) placed on the cleaning assembly 6, the same suction device 1 can, on the one hand, suck dry dirt such as dust from the dustbin 9 into the first collection container 4, thereby cleaning the dustbin 9; on the other hand, it can suck wet dirt such as a mixture of dust and water adhering to the wet cleaning component 10 into the second collection container 5, thereby cleaning the wet cleaning component 10 and drying it more quickly. Thus, a simple and low-cost automated self-cleaning system AC for cleaning dry and wet dirt is achieved.

[0096] Furthermore, the cleaning robot MS with mopping function that cooperates with the self-cleaning system AC described in the above embodiments is a self-moving cleaning device with a wet cleaning component, or a self-moving cleaning device with both a wet cleaning component and a dry cleaning component. Taking the latter as an example, its structure is described as follows: the cleaning robot MS includes a main body, a wheel assembly, a dry cleaning component, and a wet cleaning component assembled together.

[0097] In this embodiment, the main body may include a housing with a generally cylindrical shape. The shape of the housing is not limited to this; in other optional solutions, the housing may have other shapes, such as D-shaped, elliptical, or square. When the cleaning robot MS is in normal operation, the bottom surface of the housing faces the surface to be cleaned, and the bottom surface of the housing is parallel to the surface to be cleaned. Here, "parallel" includes not only geometric parallelism between the bottom surface of the housing and the surface to be cleaned, but also approximately parallelism. The term "approximately" means that within a reasonable error range recognized by those skilled in the art, the parallelism can be determined to be valid. Furthermore, other components of the cleaning robot MS may be housed within the housing. To support and protect these components, most of the structure of the cleaning robot MS is installed inside or on the surface of the housing, or is connected to the housing. The cleaning robot MS may also house a processing unit and sensing components within the housing. The processing unit can obtain environmental parameters through the sensing components. Based on the obtained environmental parameters, the processing unit can control the wheel assembly to drive the entire autonomous mobile device to move autonomously on the surface to be cleaned, thereby performing cleaning operations on the surface through dry and wet cleaning components. In different work modes, cleaning operations include, but are not limited to, one or more of the following: sweeping, mopping, and vacuuming.

[0098] Furthermore, the two wheel assemblies are located on the left and right sides of the main body and arranged side by side, with the two wheel assemblies positioned in the center of the main body in the front-rear direction. Each wheel assembly may include a drive motor and a wheel assembled together. The wheel axle is drivenly connected to the drive motor, so that the torque from the drive motor can be transmitted to the wheel via a reduction mechanism, thereby driving the wheel to rotate around the axle as the center of rotation. It can be understood that the wheel always extends out relative to the bottom surface of the housing to make rolling contact with the surface to be cleaned, so that the wheel assembly can drive the entire cleaning robot MS to move on the surface to be cleaned under the control of the processing unit. In addition, by making the wheels (main drive wheels) of the two wheel assemblies rotate at the same speed and in the same direction (e.g., simultaneously clockwise or simultaneously counterclockwise), the autonomous mobile device can be driven to move linearly in the forward direction; by making the drive wheels of the two wheel assemblies rotate at different speeds and / or in different directions (e.g., one drive wheel rotates clockwise and the other drive wheel rotates counterclockwise), the cleaning robot MS can be driven to turn in a direction different from the forward direction. In addition, the MS cleaning robot is equipped with casters, so the casters can support the entire autonomous mobile device no matter how the drive wheels roll on the surface to be cleaned.

[0099] Furthermore, such as Figure 1D and Figure 1EAs shown, the dry cleaning assembly includes a dust box 9. The dust box 9 has a first docking interface that communicates with a second interface 3p. Thus, the dust box 9 is suctioned via the second interface 3p and the first docking interface using a suction device 1, thereby drawing in dry waste and collecting it into a second collection container 5. The wet cleaning assembly includes a wet cleaning component 10, such as a rag, and a second cleaning fluid container 11. The wet cleaning component 10 is located at the bottom of the dust box 9 and can be cleaned by cleaning components 6 and 6'. The second cleaning fluid container 11 can hold cleaning fluid and has a drain port corresponding to the wet cleaning component 10. Thus, the wet cleaning assembly is suctioned via the cleaning components 6 and 6' using a suction device 1, thereby drawing in wet waste and collecting it into a first collection container 4, and optionally, the wet cleaning component 10 can be dried more quickly.

[0100] The following describes the operating method of the self-cleaning system AC according to this disclosure, which includes a wetting step and a suction step. In the wetting step, the wet cleaning component 10 of the cleaning robot MS, which is placed in the cleaning components 6 and 6', is wetted using a cleaning fluid. In the suction step, the wet cleaning component 10 is suctioned while it is wetted, so as to remove both fluid and dirt from the wet cleaning component 10 simultaneously. Thus, using the above operating method, while the cleaning robot is docked / placed in the cleaning components, the suction device can remove wet dirt, such as a mixture of dust and water, adhering to the wet cleaning component, such as a rag, thereby achieving automatic cleaning of the wet cleaning component at a relatively fast speed and with good cleaning effect.

[0101] Furthermore, during the suction step, the wet cleaning component 10 is subjected to relative movement with respect to the suction ports 621o and 611o1', allowing suction operations to be performed on different parts of the wet cleaning component 10 via the suction ports 621o and 611o1'. This further improves the cleaning effect.

[0102] It is understandable that in the above working method, the wetting step and the suction step can be performed simultaneously, or the wetting step can be performed first and then the suction step.

[0103] It should be understood that the above embodiments are merely exemplary and not intended to limit this disclosure. Those skilled in the art can make various modifications and changes to the above embodiments under the teachings of this disclosure without departing from the scope of this disclosure. The following supplementary descriptions are provided regarding the technical solutions of this disclosure.

[0104] i. In a variant of the first embodiment, the number and array arrangement of the plurality of suction ports 621o can be adjusted as needed, so that during the relative movement of the tray 62 relative to the base 61, the plurality of suction ports 621o can be opposite to each part of the wet cleaning component 10 as much as possible.

[0105] ii. In a variant of the first embodiment, the tray 62 may be formed with a plurality of limiting posts, thereby limiting the range of relative movement of the tray 62 relative to the base 61.

[0106] iii. In the third embodiment, to facilitate the installation of the selection valve 7 in the first passage 2 and the second passage 3, a common portion of the two passages 2 and 3 is formed near the suction device 1, and the first passage 2 and the second passage 3 are connected to each other at the common portion. The selection valve 7 can be driven by an additional motor to achieve different positions, thereby enabling the first passage 2 and the second passage 3 to achieve the different conduction states described above. In other variations, the first passage 2 and the second passage 3 may not form a common portion, that is, the first passage 2 and the second passage 3 are independent of each other. Correspondingly, the selection valve 7 can be provided in the form of a component in the first passage 2 and the second passage 3. For example, the selection valve 7 may include a first valve core extending into the first passage 2 and a second valve core extending into the second passage 3, and the same effect can be achieved by controlling the first valve core and the second valve core.

Claims

1. A self-cleaning system for a cleaning robot with mopping function, characterized in that, include: Suction device (1); A first cleaning fluid container (8) stores cleaning fluid inside; The first collection container (4) is used to collect wet waste; as well as The cleaning assembly (6, 6') has suction ports (621o, 611o1') communicating with the suction device (1). When the cleaning robot (MS) is placed on the cleaning assembly (6, 6'), the suction ports (621o, 611o1') are opposite to the wet cleaning component (10) of the cleaning robot (MS). When the wet cleaning component (10) can be wetted by the cleaning fluid from the first cleaning fluid container (8), the suction device (1) performs a suction operation on the wet cleaning component (10) through the suction ports (621o, 611o1'). The suction airflow generated by the suction device (1) flows through the first collection container (4).

2. The self-cleaning system for a cleaning robot with mopping function according to claim 1, characterized in that, The cleaning assembly (6) includes a base (61), a tray (62), and a power assembly. The tray (62) is disposed on the base (61) in a manner that allows it to move relative to the base (61). The suction port (621o) is formed on the tray (62). With the cleaning robot (MS) placed on the tray (62), the wet cleaning component (10) is positioned on the tray (62), and the power assembly enables the tray (62) and the wet cleaning component (10) to generate relative movement, thereby enabling the suction port (621o) to suction different parts of the wet cleaning component (10).

3. The self-cleaning system for a cleaning robot with mopping function according to claim 2, characterized in that, The power assembly includes a power source, a lead screw (63), and a nut (64). The lead screw (63) is mounted on the base (61) and can rotate relative to the base (61). The nut (64) is fixed to the tray (62) and threadedly connected to the lead screw (63). The power source can drive the lead screw (63) to rotate, thereby causing the nut (64) to drive the tray (62) to reciprocate linearly relative to the base (61).

4. The self-cleaning system for a cleaning robot with mopping function according to claim 3, characterized in that, The tray (62) has a hollow cavity inside, and the tray (62) has an interface that communicates with the hollow cavity. The suction device (1) communicates with the hollow cavity through the interface to provide negative pressure to the suction port (621o).

5. The self-cleaning system for a cleaning robot with mopping function according to claim 4, characterized in that, The plurality of suction ports (621o) are arranged in an array.

6. The self-cleaning system for a cleaning robot with mopping function according to any one of claims 1 to 5, characterized in that, The self-cleaning system (AC) includes a first supply flow path (81) connected to the first cleaning fluid container (8). The first supply flow path (81) is used to connect to the second cleaning fluid container (11) of the cleaning robot (MS) when the cleaning robot (MS) is placed on the cleaning assembly (6), so that the cleaning fluid from the first cleaning fluid container (8) can flow into the second cleaning fluid container (11) to rewet the wet cleaning component (10).

7. The self-cleaning system for a cleaning robot with mopping function according to claim 1, characterized in that, The cleaning assembly (6') includes a base (61') with at least one groove (611c') formed on its top. When the cleaning robot (MS) is mounted on the cleaning assembly (6'), the wet cleaning component (10) is at least partially housed within the corresponding groove (611c'). The suction port (611o1') is formed at the bottom of the groove (611c'), and the base (61') has a spray port (611o2') formed at the bottom of the groove (611c'). The base (61') can supply cleaning liquid through the spray port (611o2'), and the spray port (611o2') and the suction port (611o1') are spaced apart from each other. The base (61') is formed inside a hollow cavity, and the base (61') has an interface that communicates with the hollow cavity. The suction device (1) communicates with the hollow cavity through the interface to provide negative pressure to the suction port (611o1').

8. The self-cleaning system for a cleaning robot with mopping function according to claim 7, characterized in that, The self-cleaning system (AC) includes a first supply flow path (81) and a second supply flow path (82) connected to the first cleaning fluid container (8). The first supply flow path (81) is used to connect to the second cleaning fluid container (11) of the cleaning robot (MS) when the cleaning robot (MS) is placed on the cleaning assembly (6'), and The second supply flow path (82) is connected to the spray port (611o2') so that the cleaning fluid from the first cleaning fluid container (8) wets the wet cleaning component (10) via the spray port (611o2').

9. A self-cleaning system for a cleaning robot with mopping function according to any one of claims 1 to 8, characterized in that, The first collection container (4) includes a first housing (41) and a first filter (42), the first filter (42) being disposed within the first housing (41). The self-cleaning system (AC) further includes a first passage (2), which includes a first suction pipe (21) and a first connecting pipe (22). The first end of the first suction pipe (21) is connected to the suction device (1) and the second end extends into the first housing (41). The first end of the first connecting pipe (22) extends into the first housing (41) and the second end is used to connect to the cleaning robot (MS). The first filter (42) is disposed in the first suction pipe (21).

10. The self-cleaning system for a cleaning robot with mopping function according to claim 9, characterized in that, The opening at the second end of the first suction pipe (21) is open in the opposite direction to the opening at the first end of the first connecting pipe (22), and the opening at the second end of the first suction pipe (21) and the opening at the first end of the first connecting pipe (22) are always located at a position higher than the liquid level inside the first housing (41).

11. The self-cleaning system for a cleaning robot with mopping function according to claim 9 or 10, characterized in that, It also includes a second pathway (3) and a second collection container (5). The second collection container (5) includes a second housing (51) and a second filter (52), the second filter (52) being disposed within the second housing (51), and The second passage (3) includes a second suction pipe (31) and a second connecting pipe (32). The first end of the second suction pipe (31) is connected to the suction device (1) and the second end is connected to the second housing (51). The first end of the second connecting pipe (32) is connected to the second housing (51) and the second end is used to connect to the cleaning robot (MS). The opening of the second end of the second suction pipe (31) and the opening of the first end of the second connecting pipe (32) are configured to be spaced apart by the second filter (52).

12. The self-cleaning system for a cleaning robot with mopping function according to claim 11, characterized in that, It also includes a selection valve (7), which is disposed in the first passage (2) and the second passage (3) to selectively conduct the first passage (2) and the second passage (3) in an alternative manner or to conduct the first passage (2) and the second passage (3) simultaneously.

13. The self-cleaning system for a cleaning robot with mopping function according to claim 12, characterized in that, The first passage (2) has a first sealed portion (2s) formed on its sidewall, and the second passage (3) has a second sealed portion (3s) formed on its sidewall. The selector valve (7) includes a first sealing portion (71) and a second sealing portion (72). The selector valve (7) is driven to abut the first sealing part (71) against the first sealed part (2s) to close the first passage (2), and then the first sealing part (71) is further abutted against the first sealed part (2s) by the suction of the suction device (1); or The selector valve (7) is driven so that the second sealing part (72) abuts against the second sealed part (3s) to close the second passage (3), and then the second sealing part (72) abuts against the second sealed part (3s) further by the suction of the suction device (1).

14. A method of operating a self-cleaning system for a cleaning robot with mopping function as described in any one of claims 1 to 13, characterized in that, Includes the following steps: The wetting step involves using a cleaning fluid to wet the wet cleaning component (10) of the cleaning robot (MS) mounted on the cleaning assembly (6, 6'); as well as The suction step involves performing a suction operation on the wet cleaning component (10) while it is wetted, so as to simultaneously remove fluid and dirt from the wet cleaning component (10) using the suction operation.

15. The working method according to claim 14, characterized in that, In the suction step, the wet cleaning component (10) is made to move relative to the suction port (621o, 611o1'), so that suction operations can be performed on different parts of the wet cleaning component (10) through the suction port (621o, 611o1').

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