Cleaning base station and cleaning system

Abstract

The embodiment of the invention provides a cleaning base station. A cleaning robot is provided with a cleaning execution part, and the cleaning base station is provided with a parking cabin; the cleaning device is characterized in that a cleaning seat is arranged in the parking cabin and comprises a water inlet channel, a cleaning tank and a sewage pool. The water inlet channel is used for conveying cleaning fluid, and the cleaning tank is provided with scraping and cleaning ribs. In the height direction, the water outlet end of the water inlet channel, the scraping and washing rib and the sewage tank are sequentially arranged from high to low, the cleaning fluid makes contact with the cleaning execution part above the scraping and washing rib so as to wet the cleaning execution part, the scraping and washing rib abuts against the cleaning execution part and is used for scraping dirt on the cleaning execution part, and the scraped dirt is guided into the sewage pool. An air inlet is formed in the parking cabin and used for sucking water vapor in the parking cabin. Not only can the cleaning execution part be dried, but also the parking cabin can be dried.

Description

[0001] Cross-referencing

[0002] This application references the Chinese patent applications listed in the table below, which are incorporated herein in their entirety by reference.

[0003] Filing date Application number Patent title 2024-08-05 202411067381.5 Cleaning base station and cleaning system Technical Field

[0004] This application relates to the field of cleaning equipment technology, and in particular to cleaning base stations and cleaning systems. Background Technology

[0005] The cleaning robot is equipped with a rotatable roller assembly that contacts the surface to be cleaned. After the cleaning robot completes its cleaning task and returns to the cleaning base station, it needs to clean the roller assembly to prevent bacteria from growing on the roller assembly and producing odors, and to ensure that the cleaning robot can perform a good cleaning job on the surface to be cleaned when it performs a cleaning task next time.

[0006] Currently, some robots can self-clean their roller assemblies, but the assemblies remain damp after cleaning. When the roller assemblies are in a high-humidity environment, bacteria can easily grow and produce odors. Although some robots have added drying functions for the cleaning components, the large amount of water vapor generated during drying can easily condense into water droplets on the inner wall of the cleaning chamber of the base station. Summary of the Invention

[0007] In view of the above problems, embodiments of this application are proposed. One object of the embodiments of this application is to provide a cleaning base station that can dry the cleaning actuators, prevent water droplets from condensing on the walls of the docking compartment, prevent mold growth in the docking compartment, and ensure that the electronic devices in the docking compartment are not damaged by water droplets.

[0008] To achieve this objective, the embodiments of this application adopt the following technical solutions:

[0009] A cleaning base station for a cleaning robot, the cleaning robot having cleaning actuators, and the cleaning base station having a docking compartment; the docking compartment has a washing seat, the washing seat including a water inlet channel, a washing tank, and a wastewater pool; wherein...

[0010] The water inlet channel is used to transport cleaning fluid;

[0011] The cleaning tank is equipped with scraping ribs;

[0012] In the vertical direction, the water outlet of the water inlet channel, the scraping ribs, and the sewage tank are arranged in descending order;

[0013] The cleaning fluid contacts the cleaning actuator above the scraping rib to wet the cleaning actuator. The scraping rib abuts against the cleaning actuator to scrape off the dirt on the cleaning actuator. The scraped-off dirt is then directed into the sewage tank.

[0014] The docking compartment has an air inlet for drawing out water vapor from the docking compartment.

[0015] As an option, the air inlet is located on the top wall of the docking compartment, and on the side opposite to the docking compartment opening.

[0016] Alternatively, the air inlet can be located on the cleaning tank.

[0017] As an optional feature, the docking compartment also has an air outlet for releasing hot air into the docking compartment to dry the cleaning actuator; the air outlet is located on the bottom wall of the docking compartment and faces the cleaning actuator on the cleaning seat.

[0018] As an optional feature, the cleaning seat has a guide ring wall on the side opposite to the docking compartment opening, the guide ring wall forming an air duct to guide hot airflow toward the cleaning actuator.

[0019] As an alternative, the guide ring wall surrounds the outer periphery of the water inlet channel, and the height of the side wall of the guide ring wall is higher than the height of the channel wall of the water inlet channel.

[0020] As an optional solution, the cleaning seat has a first water inlet channel and a second water inlet channel for providing cleaning liquid to the cleaning actuator. The first water inlet channel and the second water inlet channel are located at opposite ends of the cleaning seat on the side away from the docking compartment opening. The guide ring wall is provided around the periphery of both the first water inlet channel and the second water inlet channel.

[0021] As an optional solution, a drying fan is also included; the air inlet is connected to the drying fan through a suction channel.

[0022] As an optional solution, the drying fan and the air outlet are connected by an air supply channel, and a heating device is provided on the air supply channel.

[0023] As an optional feature, a condensation device is provided on the suction channel.

[0024] As an optional solution

[0025] When cleaning the cleaning actuator, the cleaning actuator rotates in a first direction, and the cleaning robot and / or the cleaning base station provide cleaning fluid. The cleaning fluid flows sequentially through the water inlet channel, the cleaning actuator, the scraping ribs, and the sewage tank to perform flow cleaning on the cleaning actuator.

[0026] After cleaning is completed, the cleaning actuator rotates in the second direction, and the air inlet draws in the humid gas inside the docking compartment.

[0027] As an optional solution, the cleaning robot is equipped with a scraper assembly;

[0028] The depth to which the scraping rib extends into the cleaning actuator is greater than the depth to which the scraper assembly extends into the cleaning actuator.

[0029] Alternatively, the length of the scraping rib may be greater than the length of the cleaning actuator.

[0030] As an optional solution, the outlet end of the water inlet channel has a branch port for water outlet, and a sewage tank is provided between the branch port and the scraping rib.

[0031] As an optional solution, the scraping rib forms one side wall of the sewage tank; a water channel branch plate is provided at the location of the branch port, and the water channel branch plate forms the other side wall of the sewage tank.

[0032] As an optional solution, the bottom of the cleaning tank is provided with an inflow channel that communicates with the sewage tank, and the inflow channel is used to guide the dirt in the sewage tank into the sewage tank;

[0033] A water accumulation channel is provided between the water inlet channel and the waterway branch plate;

[0034] The inflow channel is located below the water accumulation channel.

[0035] To achieve this objective, the embodiments of this application adopt the following technical solutions:

[0036] A cleaning system, comprising:

[0037] Cleaning robots and the aforementioned cleaning base stations;

[0038] The technical solution provided in this application embodiment, by providing an air inlet and an air outlet in the docking compartment, wherein the air inlet is used to draw in humid gas in the docking compartment, and the air outlet is used to discharge dry hot gas into the docking compartment, can not only dry the cleaning actuators, but also dry the humid gas in the docking compartment. This ensures that the cleaning actuators do not breed bacteria and produce odors, while also preventing water droplets from condensing on the inner wall of the docking compartment, preventing water droplets from falling and damaging electronic devices such as charging devices in the docking compartment, and preventing mold from growing in the docking compartment. Attached Figure Description

[0039] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0040] Figure 1 A front view of a base station provided in an embodiment of this application;

[0041] Figure 1a This is a schematic diagram of the structure of a charging device provided in an embodiment of this application;

[0042] Figure 1b This is a schematic diagram of the structure of a charging component provided in an embodiment of this application;

[0043] Figure 1c A schematic cross-sectional view of a charging component provided in an embodiment of this application;

[0044] Figure 1d This is a schematic diagram of the structure of a cleaning robot abutting against the right convex point according to an embodiment of this application;

[0045] Figure 1e This is a schematic diagram of the structure of a cleaning robot abutting against the left convex point according to an embodiment of this application;

[0046] Figure 1f This is a schematic diagram of the structure of a cleaning robot and a charging component contacting each other according to an embodiment of this application;

[0047] Figure 2a This is a schematic diagram showing a cleaning seat and ramp on the bottom wall of the base station docking compartment in this embodiment of the application;

[0048] Figure 2b This is a schematic diagram showing that the ramp of the base station in this embodiment of the application has protrusions;

[0049] Figure 2c This is a schematic diagram of the self-cleaning rotation structure of the cleaning actuator in the embodiments of this application;

[0050] Figure 3 This is a schematic diagram showing a cleaning seat installed on the bottom wall of the base station docking compartment in an embodiment of this application;

[0051] Figure 4 This is a schematic diagram of the cleaning seat in an embodiment of this application;

[0052] Figure 5 A top view of a cleaning fixture on a base station provided in an embodiment of this application;

[0053] Figure 5a This is a partial structural diagram of a base station provided in an embodiment of this application;

[0054] Figure 5b This is a schematic diagram of the structure of a cleaning seat provided in one embodiment of this application;

[0055] Figure 6 A cross-sectional schematic diagram of the cleaning actuator on the cleaning equipment;

[0056] Figure 7 A schematic diagram of the base station structure is provided for one embodiment of this application;

[0057] Figure 8 A partial cross-sectional view of a base station provided in an embodiment of this application;

[0058] Figure 9 This is a schematic diagram of the structure of a water system provided in an embodiment of this application;

[0059] Figure 10 This is a schematic diagram of the structure of a dirt tank provided in one embodiment of this application;

[0060] Figure 11 A cross-sectional view of a sealing assembly provided in an embodiment of this application;

[0061] Figure 12 This is a schematic diagram of the structure of a dirt tank and a filter assembly provided in an embodiment of this application;

[0062] Figure 13 A partial cross-sectional schematic diagram of a base station provided in an embodiment of this application;

[0063] Figure 14 This is a schematic diagram of the structure of a cleaning seat provided in one embodiment of this application;

[0064] Figure 15 This is a schematic diagram of the structure of a sewage tank provided in one embodiment of this application;

[0065] Figure 16 A cross-sectional view of a sewage discharge structure provided in an embodiment of this application;

[0066] Figure 17 This is a schematic diagram of a sewage discharge structure provided in one embodiment of this application;

[0067] Figure 18 This is a schematic diagram of the structure of a cleaning robot provided in one embodiment of this application;

[0068] Figure 19 A simplified structural diagram of a dual-waterway cleaning system provided in an embodiment of this application. Detailed Implementation

[0069] The present application will now be described in further detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the application and not intended to limit it. Furthermore, it should be noted that, for ease of description, the accompanying drawings show only the parts relevant to the present application, not the entire structure.

[0070] In the description of this application, unless otherwise expressly specified and limited, the terms "connected," "linked," and "fixed" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two elements or the interaction between two elements. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances. In this application, unless otherwise expressly specified and limited, "above" or "below" a second feature can include direct contact between the first and second features, or it can include contact between the first and second features through another feature between them. Moreover, "above," "over," and "on top" of a second feature includes the first feature being directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" of a second feature includes the first feature being directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature. In the description of this embodiment, the terms "upper," "lower," "right," etc., refer to the orientation or positional relationship shown in the accompanying drawings. They are used only for ease of description and simplification of operation, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application. In addition, the terms "first" and "second" are used only for distinction in description and have no special meaning.

[0071] In one embodiment of this application, the cleaning robot includes a vacuuming component and a washing component. The vacuuming component is positioned in front of the washing component in the robot's direction of travel, allowing the cleaning robot to first vacuum the surface before washing it as it moves across it. Please refer to [reference needed for details]. Figure 6In this embodiment, the cleaning assembly includes a cleaning actuator 832 and a scraper assembly 833. The cleaning actuator 832 is a roller (or cleaning roller, roller assembly, or roller in the following text, all of which refer to the cleaning actuator 832). The scraper assembly 833 is disposed in front of the roller along the traveling direction of the cleaning robot. The vacuuming assembly of the cleaning robot (not shown in the figure) is disposed in front of the scraper assembly 833 along the traveling direction of the cleaning robot. This allows the cleaning robot to vacuum first during its travel, and then the roller cleans the surface to be cleaned after vacuuming, which greatly improves the cleaning efficiency of the cleaning robot.

[0072] Specifically, the roller can be a cylindrical roller, meaning the surface of the cylindrical roller has cleaning fibers. The roller can also be a tracked roller, which includes two spaced-apart track rollers, on which a ring-shaped tracked cleaning cloth is fitted. The outward-facing side of the tracked cleaning cloth has cleaning fibers, and one side of the tracked cleaning cloth contacts the ground. As the track rollers rotate, the tracked cleaning cloth rotates relative to the ground simultaneously, thus achieving mopping and cleaning of the floor.

[0073] Please refer to some embodiments of this application. Figure 6 as well as Figure 19 Below the scraper assembly 833 is a sludge collection box 834. The scraper assembly 833 abuts against the roller and can scrape the sewage on the roller into the sludge collection box 834. The sludge collection box 834 is connected to the sewage tank 72 through a drain pipe. The sewage in the sludge collection box 834 can enter the sewage tank 72 through the drain pipe to prevent the sewage on the roller from adhering to the surface to be cleaned as the roller rolls. This is also a process of cleaning the roller.

[0074] The term "below" as used in this article refers to the two main structural components, scraper assembly 833 and sludge collection box 834, having a height difference. This does not exclude the possibility that their heights may partially overlap. For example, in this article, scraper assembly 833 may be higher than sludge collection box 834, but the water inlet end of scraper assembly 833 may extend into sludge collection box 834. In other words, both scraper assembly 833 and sludge collection box 834 have a certain height dimension, and there may be some overlap in height. This positional relationship also falls within the protection scope of "below" in this article.

[0075] Furthermore, the side of the scraper assembly 833 that abuts against the roller can be perpendicular to the roller surface to ensure a good scraping effect, while the other side is an arc-shaped curve that bends toward the sludge collection box 834. This not only prevents the scraped-off sewage from splashing out of the scraper assembly 833, but also guides the scraped-off sewage to flow along the arc-shaped scraper assembly 833 into the sludge collection box 834.

[0076] However, after prolonged operation, the scraper assembly 833 may not be able to remove all the dirt from the roller during the robot's work, leading to a continuous accumulation of dirt. To address this issue, a scraping structure is also provided on base station 1. After completing its work for a period of time, the cleaning robot can return to base station 1, where the scraping structure can be used to further clean the roller. In existing technology, base stations typically have a cleaning chamber to hold cleaning fluid. The cleaning robot's roller is immersed in the cleaning chamber and rotates. The scraping assembly then cleans the roller. However, the wastewater scraped off by the scraping assembly continues to wet the roller, reducing its cleaning effectiveness.

[0077] To improve the efficiency of the cleaning roller in the scraping structure of base station 1, in this embodiment, please refer to the attached... Figure 3 To be continued Figure 6 After the cleaning robot enters base station 1, the roller forms a scraper assembly 833 on the front side along the robot's direction of travel, and a scraping structure for base station 1 on the rear side along the robot's direction of travel. Specifically, please refer to the attached diagram. Figure 3 To be continued Figure 5b The cleaning robot's roller, which enters base station 1, is located in cleaning tank 114. The scraping structure includes a water channel branch plate 112, scraping ribs 116, and a wastewater tank 117. Base station 1 is equipped with a water inlet channel, through which external clean water or cleaning fluid enters the water channel branch plate 112, and then wets the roller. When the cleaning robot enters base station 1, the scraping ribs 116 press against the roller to scrape and clean it. The wastewater tank 117 collects the wastewater scraped off by the scraping ribs 116 and is connected to the drainage system of base station 1 to discharge the wastewater scraped off by the scraping ribs 116 into a wastewater pool 119. Vertically, the water channel branch plate 112, scraping ribs 116, and wastewater tank 117 are arranged from high to low, and the wastewater tank 117 is located on the side of the scraping ribs 116 furthest from the roller to prevent the wastewater scraped off by the scraping ribs 116 from further contaminating the roller, thereby improving the cleaning effect of base station 1 on the roller.

[0078] Furthermore, when the cleaning robot's roller rotates, it is not only cleaned by the scraping structure on base station 1, but also by the scraper assembly 833 on the cleaning robot, thereby greatly improving the cleaning efficiency and cleaning effect of the roller.

[0079] It is understood that in other embodiments, the scraper assembly 833 of the cleaning robot is arranged on the rear side of the roller along the traveling direction of the cleaning robot. In order to facilitate the cleaning and arrangement of the base station 1, the water channel branch plate 112 is located on the side and below the roller assembly. The branch port 1120 on the water channel branch plate 112 guides the water evenly and wets the roller on the same side as the scraper assembly 833. The scraping structure of the base station 1 is arranged on the front side of the roller along the traveling direction of the cleaning robot; or other arrangements are used, which are not specifically limited here.

[0080] During the self-cleaning process of the cleaning robot, the scraper assembly 833 scrapes the sewage on the roller into the sludge collection box 834. As the self-cleaning of the roller continues, the roller becomes cleaner and cleaner, and the cleanliness of the sewage scraped off the roller by the scraper assembly 833 becomes higher and higher. This water enters the sludge collection box 834 and can rinse the sludge collection box 834 to achieve cleaning of the sludge collection box 834.

[0081] Various embodiments of this application also provide a base station, such as Figure 1 As shown in Figure 2, base station 1 has a docking compartment 10, and the front side of the docking compartment 10 has a hatch. As shown in Figure 2, the lower edge of the hatch has a ramp 101 for a cleaning robot to enter the docking compartment 10. After cleaning, the cleaning robot can autonomously move to the base station or move into the docking compartment 10 under the user's control, and then enter the docking compartment 10 through the ramp 101. The docking compartment 10 is equipped with a charging device 140 that contacts the charging terminal of the cleaning robot, enabling the cleaning robot to be charged.

[0082] Normally, after the cleaning robot finishes its cleaning task and returns to the base station, the cleaning actuator 832 on the cleaning robot will perform self-cleaning inside the base station to prevent bacteria from growing and causing odors, and to ensure good cleaning results for the next application.

[0083] The cleaning actuator 832 of this application can be a roller, a wiping cloth tray, etc. This application does not make specific limitations. However, the following embodiments are not applicable to both rollers and wiping cloth trays at the same time. Readers or operators need to make their own judgments based on the following content. Some embodiments are only applicable to rollers, while some embodiments are only applicable to wiping cloth trays, and some embodiments can be applied to both rollers and wiping cloth trays at the same time.

[0084] In some base stations, the cleaning actuator 832 relies solely on the scraper assembly 833 on the cleaning robot to remove wastewater during self-cleaning. Generally, the scraper assembly 833 on the cleaning robot is relatively short, with its penetration into the roller not exceeding 2mm. This results in a relatively low scraping force, preventing excessive resistance from the scraper and ensuring proper rotation of the actuator 832 during cleaning. Therefore, using a lower scraping force not only reduces the resistance to the actuator's rotation but also extends the lifespan of the motor. Consequently, relying solely on the scraper on the cleaning robot is insufficient for effective self-cleaning of the cleaning actuator 832. The scraper can only remove shallow areas of the actuator's surface; dirt at the base of the bristles remains untreated. In some other base stations, a scraper assembly is installed. However, to ensure that the roller can contact the cleaning fluid along its length, the scraper assembly on the base station is configured with multiple scrapers staggered and arranged along the axis of the cleaning actuator 832. During self-cleaning, the base station supplies a certain amount of water to the staggered scrapers. The rotating roller contacts both the scrapers and the water simultaneously, achieving both soaking and scraping.

[0085] Although the scraper can clean the cleaning components, it cannot isolate the scraped wastewater in time each time it cleans the components, causing the water in the cleaning tank to become dirtier and the cleaning effect of the roller soaking in the cleaning tank to become worse and worse.

[0086] To avoid the aforementioned problems, in some embodiments of this application, a single base station cleaning rib 116 is provided inside the docking bay 10. The width of this base station cleaning rib 116 is greater than the scraper on the cleaning robot to ensure that the cleaning rib 116 can reach the base of the bristles of the cleaning actuator 832 for deep cleaning. Furthermore, the length of the cleaning rib 116 is equal to or greater than the length of the cleaning actuator 832 on the robot. This ensures that the cleaning rib 116 can fully contact the cleaning surface of the cleaning actuator 832 during self-cleaning, guaranteeing a good cleaning effect.

[0087] Specifically, in some embodiments of this application, such as Figure 2a , 3As shown in Figure 4, a cleaning seat 11 is provided on the bottom wall of the docking compartment 10. The cleaning seat 11 is detachably mounted on the bottom wall, allowing the user to remove it for cleaning, ensuring its cleanliness, improving the self-cleaning effect of the cleaning robot's cleaning actuator 832, and preventing odors caused by dirt. The cleaning seat 11 has a cleaning groove 114, with scraping ribs 116 disposed within it. Along the direction of the cleaning robot's entry and exit from the docking compartment 10, the side closer to the hatch is the front side, and the inner side of the docking compartment 10, i.e., the side furthest from the hatch, is the rear side. Figure 2a , 3 As shown in Figures 4 and 6, the rear side of the cleaning seat 11 is provided with two water tanks, namely the first water inlet channel 110 and the second water inlet channel 111. The rear side of the first water inlet channel 110 and the second water inlet channel 111 is the water inlet end, and the front side is the water outlet end. The water outlet end is connected to the cleaning tank 114. A water collection channel 115 is provided between the water outlet end and the cleaning tank 114 to collect all the cleaning liquid in the first water inlet channel 110 and the second water inlet channel 111 into the water collection channel 115, and then the cleaning liquid enters the cleaning tank 114 through the inlet channel 118. The cleaning liquid flows into the cleaning tank 114 from back to front. In some other embodiments of this application, the first water inlet channel 110 and the second water inlet channel 111 may be located on the front side of the cleaning seat, so that the cleaning liquid flows into the cleaning tank 114 from front to back. Of course, in other embodiments, the cleaning liquid may also flow into the cleaning tank 114 from left to right or from right to left. This application does not specifically limit this. Of course, in order to achieve uniform water supply or increase the water supply, in some other embodiments, the number of cleaning tanks may be two or more.

[0088] In some implementation examples of this application, such as Figure 5a As shown, a cleaning liquid outlet channel 16 is provided on the top wall of the docking cabin 10 at the inlet ends of the first water inlet channel 110 and the second water inlet channel 111. The outlet channel 16 is connected to the cleaning water tank 2 or the water supply pipeline on the base station. In order to prevent the cleaning water from splashing onto the charging device 140 and causing a short circuit in the charging of the cleaning robot during the self-cleaning process of the cleaning actuator 832, in some embodiments of this application, a stop bar 17 with a length greater than that of the charging device 140 is provided on the rear wall of the docking cabin 10 below the charging device 140. When the cleaning robot is charging in the docking cabin 10, it abuts against the stop bar 17. The stop bar 17 is elastic and can be elastically deformed when it abuts against the cleaning robot and is subjected to the squeezing force given by the cleaning robot, thereby achieving a sealing function and preventing the cleaning water from splashing onto the charging device 140 during the self-cleaning process of the cleaning actuator 832, ensuring that the cleaning robot can be charged smoothly.

[0089] In one feasible solution, the distance between the inlet ends of the first water inlet channel 110 and the second water inlet channel 111 is a first distance, and the distance between the outlet ends of the first water inlet channel 110 and the second water inlet channel 111 is a second distance. For example... Figure 2a and Figure 6 As shown, the first distance is greater than the second distance. For example, as shown in Figure 2, the first water inlet channel 110 is an inclined channel, and the second water inlet channel 111 is also an inclined channel. Or, as... Figure 5 As shown, the first water inlet channel 110 is a curved groove, and the second water inlet channel 111 is a straight inclined groove. Of course, the reverse is also possible, but this embodiment does not specifically limit it.

[0090] The inlet ends of the two water inlet channels are connected to the cleaning water tank 2 on the base station via pipelines. A water channel branch plate is provided in the cleaning tank 114. Along the width direction of the cleaning tank 114, multiple branch ports 1120 are provided at intervals on the water channel branch plate 112. The multiple branch ports 1120 can be evenly spaced or unequally spaced; this embodiment does not limit this.

[0091] When the cleaning robot is docked in the docking compartment 10, its cleaning actuator 832 is housed in the cleaning tank 114, which contains scraping ribs 116 that abut against the cleaning actuator 832. When the cleaning liquid in the cleaning tank 2 flows along the first inlet channel 110 or the second inlet channel 111 to the water channel branch plate 112, it is blocked and can only pass through the branch openings 1120. This distributes the cleaning liquid evenly into multiple streams flowing towards the cleaning actuator 832, ensuring that the actuator 832 is uniformly sprayed with cleaning liquid from left to right, thus guaranteeing cleaning uniformity. The branch opening 1120 is a tapered shape composed of two cones; the wider part faces the first inlet channel 110 or the second inlet channel 111, ensuring that water can flow into the water accumulation channel 115. The middle part narrows to increase the flow rate, and the outlet is wider to ensure that the cleaning liquid flows more evenly towards the roller.

[0092] As the cleaning actuator 832 rotates, the cleaning liquid is evenly sprayed onto the cleaning actuator 832. When the cleaning actuator 832 passes the scraping rib 116, it can not only scrape off the water on the cleaning actuator 832, but also achieve the effect of scraping and cleaning the cleaning actuator 832, thus making the cleaning actuator 832 cleaner.

[0093] The scraping force and depth of the scraping rib 116 are greater than those of the scraper assembly 833 on the cleaning actuator 832 of the cleaning robot. Specifically, along the height direction, both the scraping rib 116 and the scraper assembly 833 can extend into the bristles of the cleaning actuator 832. The height of the scraping rib 116 on the base station is greater than the height of the scraper assembly 833, allowing the scraping rib 116 to act on a deeper part of the cleaning actuator 832, for example, 3-5mm. In some embodiments, the scraping rib 116 can extend into the cleaning actuator 832 by 4.5mm, while the robot's own scraper assembly 833 extends into the cleaning actuator 832 by 2mm. 2mm allows the scraper assembly 833 to scrape off the sewage on the surface of the cleaning actuator 832, but it cannot scrape the deep bristles of the cleaning actuator 832, resulting in less resistance to the rotation of the cleaning actuator 832. The 4.5mm depth allows it to penetrate deep into the scraping area of ​​the cleaning actuator 832, enabling a deeper cleaning and achieving better cleaning results. However, compared to the scraper assembly 833, the resistance hindering the rotation of the cleaning actuator 832 is greater. Therefore, the rotational power required for the cleaning actuator 832 during self-cleaning is greater than the rotational power required when cleaning the surface. Furthermore, the hardness of the scraping rib 116 on the base station can be greater than the hardness of the scraper assembly 833, giving the scraping rib 116 greater scraping force. For example, the scraping rib 116 can be made of metal, while the scraper assembly 833 can be made of plastic, as long as the hardness of the scraping rib 116 is greater than the hardness of the scraper assembly 833. This embodiment does not impose specific limitations.

[0094] In addition, the cleaning tank is not usually drained in time. When the cleaning actuator 832 is self-cleaning, as the cleaning actuator rotates continuously, the scraping ribs continuously scrape the sewage on the cleaning actuator into the cleaning tank, resulting in more and more sewage in the cleaning tank. As the cleaning actuator 832 continues to rotate, it will be soaked in sewage when passing through the cleaning tank, resulting in poor cleaning effect.

[0095] See Figure 2a As shown in the example, in the technical solution provided by this application embodiment, the scraping rib 116 on the base station is a continuous strip. During the self-cleaning of the cleaning actuator 832, the scraping rib 116 on the base station and the scraper assembly 833 on the cleaning robot work together on the cleaning actuator 832. For example, please refer to... Figure 2c As shown, after the cleaning actuator 832 enters the self-cleaning mode, the cleaning robot controls the cleaning actuator 832 to rotate in a first direction. For example, the rotation in the first direction causes the roller to face inward towards the base station. The scraping rib 116 and the scraper assembly 833 on the cleaning robot work together to remove dirt from the cleaning actuator 832, and the scraped dirt is basically left on one side by the scraping rib 116. Figure 2cAs shown, the area between the scraping rib 116 and the water branch plate 112 in the cleaning tank 114 is a sewage tank 117. In this embodiment, almost all the scraped sewage is located in the sewage tank 117 on the side closer to the inside of the base station. Subsequently, the sewage is guided into the sewage pool 119 through the lowest inlet channel 118. Thus, there is basically no sewage or only a small amount of overflowing sewage in the direction of the scraping rib 116 facing outward from the base station. The sewage tank 117 is high at both ends, and the height is lowest at the entrance of the inlet channel 118, which facilitates the collection of sewage scraped by the scraping rib at the entrance of the inlet channel 118. The bottom surface of the inlet channel 118 is an inclined slope, sloping downward from the sewage tank 117 to the sewage pool 119 (i.e., from front to back), so that the sewage in the sewage tank 117 can be quickly guided into the sewage pool 119. The sewage pool 119 is located between the two inlet channels, and the bottom of the sewage pool is lower than the lowest point of the outlet of the inlet channel 118. The sewage tank also has a float Hall element 130, which is used to measure the height information of the sewage in the sewage tank 119 and send it to the base station controller to control the discharge of sewage.

[0096] After rotating in the first direction for a certain period of time, the cleaning robot controls the cleaning actuator 832 to rotate in the second direction. This removes a small amount of overflowing wastewater. Then, it rotates back in the first direction, repeating this cycle. This not only ensures the cleaning effect of the cleaning actuator but also removes wastewater overflowing from the cleaning tank on the side of the scraper 116 away from the water channel branch plate 112, ensuring the cleanliness of the cleaning tank 114. The rotation time in the first direction is longer than the rotation time in the second direction. After the set cleaning time or when the cleanliness of the cleaning actuator 832 is detected to meet the preset requirements, the scraper 116 and the scraper assembly 833 on the cleaning robot work together on the cleaning actuator 832 to fluff it up. The first and second directions are opposite.

[0097] In this embodiment, the sewage in the sewage tank 117 continuously flows into the sewage pool 119, thus preventing sewage accumulation in the sewage tank 117. During self-cleaning, the sewage scraped off by the scraping rib 116 by the cleaning actuator 832 falls into the sewage tank 117 and is immediately discharged into the sewage pool 119. Specifically, during self-cleaning, when the cleaning actuator 832 moves to the water channel branch plate 112, it is evenly sprayed with cleaning liquid. Then, when it moves to the scraping rib 116, the sewage on the cleaning actuator 832 is scraped off by the scraping rib 116 and falls into the sewage tank 117. After falling into the sewage tank 117, the sewage is immediately discharged into the sewage pool 119 through the inlet channel 118. When passing through the scraper assembly 833, the robot is scraped and washed by the scraper assembly 833. The cleaning robot has a liquid supply device, which can be a clean water tank containing cleaning fluid. The cleaning fluid can flow to and be evenly sprayed onto the cleaning actuator 832. In other words, the liquid supply device can provide the cleaning actuator 832 with self-cleaning cleaning fluid. This cycle is repeated to achieve a good cleaning effect.

[0098] Understandably, during the self-cleaning process of the drum, the liquid supply device and the water inlet channel simultaneously provide cleaning liquid to the drum. Therefore, the wastewater scraped off by the scraper assembly 833 is the wastewater after the drum is cleaned by the cleaning liquid supplied by both the liquid supply device and the water inlet channel. As the drum becomes cleaner, the amount of dirt in the wastewater gradually decreases, which can rinse the sludge collection box 834. Therefore, the liquid used to rinse the sludge collection box 834 is also provided by the water supply device and the water inlet channel.

[0099] like Figure 5b In order to stabilize the position of the cleaning actuator 832, a cover plate is provided on the periphery of the cleaning actuator. When the length of the scraping rib 116 is not shorter than the cleaning actuator 832, in some embodiments of this application, in order to avoid interference between the scraping rib 116 and the cover plate, a sloping avoidance structure 1161 is provided on both sides of the scraping rib 116.

[0100] like Figure 2a , 3 As shown in Figure 4, the bottom of the cleaning tank 114 slopes from the front to the rear, causing the scraping rib 116 to be located at a lower or lowest position. The scraping rib 116 divides the cleaning tank 114 into two parts, as shown in Figure 4. Figure 2a and Figure 5In the example shown, the area between the scraping rib 116 and the water channel branch plate 112 is a sewage tank 117, and the portion of the scraping rib facing away from the water channel branch plate 112, the cleaning tank 114, is a post-cleaning tank. Along the width direction of the cleaning tank 114, the bottom height of both ends of the sewage tank 117 is higher than the bottom height of the middle portion. At the lowest position, an inflow channel 118 is provided below the water accumulation channel 115. The inflow channel 118 crosses below the water accumulation channel 115 and communicates with the sewage pool 119 behind the cleaning seat 11. The sewage pool 119 may be located between the first water inlet channel 110 and the second water inlet channel 111. The first direction is the direction in which the scraping rib 116 is away from the water channel branch plate 112. Therefore, when the cleaning actuator 832 rotates in the first direction, when the cleaning actuator 832 passes the scraping rib 116, the scraping rib 116 scrapes the sewage on the cleaning actuator 832 into the sewage tank 117. The sewage in the sewage tank 117 can be discharged into the sewage pool 119 in time through the water accumulation channel 115. This ensures that the cleaning actuator 832 will not be soaked in sewage when passing through the cleaning tank 114 and the scraping rib 116 during the self-cleaning process. The sewage scraped off in the past will not affect the subsequent cleaning of the cleaning actuator 832, ensuring a good cleaning effect on the cleaning actuator 832.

[0101] See Figure 2a and Figure 5 It can be seen that the cleaning tank 114 is offset, not located in the center of the cleaning seat 11. This is because the cleaning actuator 832 on the cleaning robot is also offset, not located in the center of the bottom of the device. Correspondingly, this can be seen from... Figure 2a and Figure 6 It can be seen that the inflow channel 118 is not located on the axis of symmetry of the cleaning tank 114, but is biased to one side (e.g. Figure 5 (Right side of the middle). This design is to ensure that the inflow channel 118 is located approximately in the middle of the inflow side of the sewage tank 119 behind the cleaning seat 11, while also avoiding the branch port 1120.

[0102] In some other embodiments of this application, the location of the inflow channel 118 can be any position other than the axis of symmetry of the cleaning tank 114, as long as it can ensure that the sewage in the sewage tank 117 can be smoothly discharged into the sewage pool 119. This embodiment does not make specific limitations.

[0103] The sewage tank 119 can be connected to one end of the sewage pipe (not shown in the attached figure), and the other end of the sewage pipe is connected to the sludge tank 3, so as to guide the sewage in the cleaning tank 114 to flow into the inlet channel 118, and from the inlet channel 118 into the sewage pipe and discharged into the sludge tank 3, thus avoiding the accumulation of sewage in the cleaning tank 114.

[0104] In some embodiments, a sewage pump 65 may be installed on the sewage pipe to accelerate the entry of sewage in the cleaning tank 114 into the sewage pipe and to pump the sewage in the sewage pipe into the sludge tank 3.

[0105] It is understandable that the closer the branch port 1120 is to the end of the first water inlet channel 110 or the second water inlet channel 111, the greater the amount of water flowing out. Therefore, in order to ensure that the amount of water flowing out of each branch port 1120 is consistent, in some embodiments of this application, the groove width of the branch port 1120 that is closer to the water inlet channel is smaller than the groove width of the branch port 1120 that is farther from the water inlet channel. This ensures the uniformity of the water flow from each branch port 1120 by limiting the water flow from the branch port 1120 that is closer to the water inlet channel and increasing the water flow from the branch port 1120 that is farther from the water inlet channel.

[0106] like Figure 5 As shown, a detailed explanation is given using a water channel branch plate 112 with six branch outlets 1120 as an example. Water flowing from the first inlet channel 110 flows to branch outlets 1 through 4. To ensure that branch outlets 1 through 4 receive an equal amount of water, a guide rib 113 is provided in the center of the outlet of the first inlet channel 110. The guide rib 113 evenly divides the water in the first inlet channel 110 into two parts, guiding one part towards branch outlets 1 through 2 and the other towards branch outlets 3 through 4. Since branch outlets 1 and 4 are far from the outlet of the first inlet channel 110, while branch outlets 2 and 3 are close to the outlet, the channel width of branch outlets 1 and 4 is 'a', while the channel width of branch outlets 2 and 3 is 'b', where a > b, to ensure consistent flow rates at each branch outlet 1120. The water flowing out of the second water inlet channel 111 flows to the branch outlets 5 and 6. The outlet of the second water inlet channel 111 is located in the middle of the branch outlets 5 and 6, thereby ensuring that the clean liquid coming out of the outlet of the second water inlet channel 111 can flow evenly to the branch outlets 5 and 6.

[0107] like Figure 2aAs shown, further, the scraping rib 116 forms one side wall of the sewage tank 117, and the front side wall of the water channel branch plate 112 forms the other side wall of the sewage tank 117. The lowest point of the water channel branch plate 112 is located at the water channel branch port 1120, and a downward arc-shaped wall is provided between the water channel branch plate 112 and the front side wall of the water channel branch plate 112. The arc-shaped wall is the same as the center of the cleaning actuator. In actual operation, when the cleaning drum rotates to clean, the water channel branch port 1120 is located upstream of the scraping rib 116, and the scraped sewage is located in the sewage tank 117 and then introduced into the sewage pool 119. As cleaning proceeds, the water level in the sewage pool rises. Since the sewage pool, the inflow channel and the sewage tank are connected, the water volume in the sewage pool is controlled by a magnetic float. Finally, when the sewage is discharged, the liquid level is lower than the lowest point of the arc-shaped wall to ensure the cleanliness of the flowing water.

[0108] In this embodiment, the cleaning seat 11 is detachably installed inside the base station docking compartment 10. Figure 4 A schematic diagram is shown after the cleaning unit 11 has been removed from the docking bay. (See diagram below.) Figure 3 As shown, a connection structure, such as a slot, can be provided at the front end of the bottom wall of the docking compartment. Buckles can be provided at the opposite ends of the ramp 101. The ramp 101 can be connected to the base station's docking compartment via buckles and slots.

[0109] Typically, the locomotion mechanism on a cleaning robot includes two drive wheels located on opposite sides of the robot's bottom, and an auxiliary wheel located between the two drive wheels, forming a triangle. This auxiliary wheel rotates with the drive wheels and turns in the same direction as the drive wheels; it can be a swivel wheel. This design ensures both stability and flexibility during movement.

[0110] The docking compartment 10 can usually only accommodate a portion of the cleaning robot to ensure a smaller base station size. Therefore, most of the cleaning robot's volume is located on the ramp 101 outside the docking compartment 10. In this case, the cleaning actuator 832 is a sloping surface parallel to the ramp, and the center of gravity of the cleaning robot is also located on the ramp 101. This prevents the cleaning actuator 832 from making good contact with the scraping rib 116. The scraping rib 116 can only extend into the cleaning actuator 832 by 2mm to 3mm, thus failing to achieve a good cleaning effect.

[0111] To solve the above problems, such as Figure 2bAs shown, a support structure is provided on the ramp. This support structure can be a protrusion 120, which can lift the chassis of the cleaning robot, allowing the robot's body to maintain the target posture. In the target posture, the cleaning robot docks with the base station, meaning the cleaning actuator 832 can make good contact with the scraping rib 116. The scraping rib 116 can extend into the cleaning actuator 832 by more than 3mm, for example, 3mm to 5mm. The charging end of the cleaning robot is electrically connected to the charging plate on the rear wall of the base station's docking compartment; the dust outlet of the cleaning robot's dust box docks with the dust collection port of the base station; the clean water inlet of the cleaning robot docks with the clean water interface of the base station; the sewage outlet of the cleaning robot corresponds to the sewage tank of the base station, and so on. More specifically, the protrusion 120 is matched with the auxiliary wheel, which is located at the rear center of the chassis of the cleaning robot. When the cleaning robot is housed in the docking compartment 10, the auxiliary wheel is located on the protrusion 120 to change the docking angle of the cleaning robot so that the cleaning robot is docked in the docking compartment in the target posture.

[0112] Normally, after the cleaning robot returns to the docking compartment 10 after completing its cleaning task, although there are scrapers on the bottom wall of the docking compartment 10 that can scrape and clean the cleaning actuator 832, the cleaning actuator 832 is cleaned solely by the scraping ribs 116 during the self-cleaning process. The cleaning liquid provided for the self-cleaning of the cleaning actuator 832 is also provided solely by the cleaning base station. Relying solely on the single water path of the cleaning base station to clean the cleaning actuator 832 cannot achieve a good cleaning effect. However, in the embodiment of this application, during the self-cleaning process of the cleaning actuator 832, not only does the cleaning base station provide cleaning liquid to the cleaning actuator 832, but the cleaning robot also provides cleaning liquid to the cleaning actuator 832. The scraper assembly 833 also plays a scraping and cleaning role on the cleaning actuator 832 during the self-cleaning of the cleaning robot. Therefore, the embodiment of this application adopts a dual water path to provide cleaning liquid when cleaning the cleaning actuator 832, which enables the cleaning actuator 832 to achieve a better cleaning effect compared to the single water path method.

[0113] Specifically, to ensure a good cleaning effect on the surface to be cleaned when the cleaning actuator 832 performs a cleaning task, the cleaning robot typically has a nozzle above the cleaning actuator 832 to evenly spray cleaning liquid onto it, thus wetting the actuator 832. During rotation, the cleaning actuator 832 encounters a scraper assembly 833, which scrapes off the wastewater from the actuator 832 before the cleaning liquid is sprayed onto it. This ensures that the cleaning actuator 832 cleans the surface with clean cleaning liquid, rather than recirculated wastewater. Therefore, in some embodiments of this application, spraying cleaning liquid onto the cleaning actuator 832 through the nozzle during self-cleaning provides an additional water supply path besides the base station providing self-cleaning cleaning liquid to the actuator 832.

[0114] However, the water tank on the cleaning robot has a limited capacity for storing cleaning fluid. Some of this fluid is used during cleaning tasks. If the cleaning robot returns to the base station and the water tank still needs to provide self-cleaning cleaning fluid for the cleaning actuators, the water in the tank can easily run out, making it impossible to provide more self-cleaning cleaning fluid for the cleaning actuators.

[0115] To address the aforementioned issues, in some embodiments of this application, when the cleaning robot is located inside the docking bay 10, a water supply pipe is provided on the base station, with the end of the water supply pipe connected to a clean water tank on the cleaning robot, to fill the cleaning water tank 2 with cleaning liquid.

[0116] This ensures that the cleaning water tank 2 on the cleaning robot can continuously provide cleaning liquid to the cleaning actuator 832 during the self-cleaning process. This guarantees a dual water supply and ensures that the cleaning robot's water tank is fully loaded before each cleaning task, reducing the number of times cleaning liquid needs to be added to the water tank and ensuring cleaning efficiency.

[0117] In some embodiments of this application, such as Figure 18 As shown, the cleaning robot has a water system 7a, which provides cleaning liquid to the cleaning actuator 832 and collects the wastewater scraped off the cleaning actuator 832 by the scraper assembly 833 into a wastewater tank 72. One possible structure for the water system 7a is as follows: it includes a clean water tank 71a and a wastewater tank 72. The wastewater tank 72 is connected to the clean water tank 71a via a pipe, and the clean water tank 71a is connected to the cleaning actuator 832 via a pipe. The cleaning liquid in the clean water tank 71a can be supplied to the cleaning actuator 832 through the pipe, and the wastewater after the cleaning actuator 832 has mopped the floor is collected in the wastewater tank 72 through the pipe connected to the wastewater tank 72.

[0118] Furthermore, such as Figure 18 As shown in some embodiments of this application, the water system 7a further includes a clean water pump 73a, an air pump 74a, and a water inlet assembly 75a. The clean water pump 73a is located on the path of the cleaning fluid in the clean water tank 71a flowing to the cleaning actuator 832, and can provide power for the clean water in the clean water tank 71a to flow to the cleaning actuator 832. The wastewater tank 72 is provided with an air outlet, and an air pipe is connected between the air pump 74a and the air outlet. The air pump 74a can extract the gas in the wastewater tank 72, so that a negative pressure is formed in the wastewater tank 72. Under the action of the negative pressure, an adsorption force is formed in the wastewater pipe to adsorb wastewater, so that the wastewater scraped off from the cleaning actuator 832 can enter the wastewater pipe as much as possible, and thus enter the wastewater tank 72. This prevents the wastewater from not being adsorbed in time during the cleaning robot's movement and flowing onto the already cleaned area, ensuring a good cleaning effect. To facilitate the injection of cleaning liquid into the clean water tank 71a, the water inlet assembly 75a is located circumferentially at the rear end of the cleaning robot. A connecting pipe exists between the water inlet assembly 75a and the clean water tank 71a, allowing users to directly connect external tap water to the water inlet assembly to inject cleaning liquid into the clean water tank 71a. Alternatively, when the cleaning robot is located on a base station, the base station is equipped with a cleaning liquid connection device. The outlet pipe of the cleaning water tank 2 on the base station is connected to the water inlet assembly 75a via the cleaning liquid connection device, enabling automatic water replenishment from the base station to the cleaning robot. A clearance groove for the water inlet assembly 75a can be located on the lower front side of the wastewater tank 72. The water inlet assembly 75a is situated in the clearance groove, and the clean water replenishment port on the side of the water inlet assembly 75a facing away from the pipe is located on the front side of the wastewater tank 72. The front side of the wastewater tank 72 can be the rear end of the cleaning robot, facilitating the injection of cleaning liquid. Of course, the water inlet assembly 75a can also be located at any position on the rear of the cleaning robot, as long as it does not interfere with other components. This embodiment does not impose any specific limitations.

[0119] Please refer to Figure 19As shown in some embodiments of this application, after the cleaning robot completes its cleaning work and returns to the docking compartment 10, the wastewater tank 72 on the cleaning robot docks with the base station, and the wastewater in the wastewater tank 72 is directly discharged into the wastewater pool 119. After the wastewater is discharged, the self-cleaning operation of the cleaning actuator 832 is activated. During the rotation of the cleaning actuator 832, the wastewater on the surface of the cleaning actuator 832 is first scraped off by the scraper assembly 833. The scraped-off wastewater enters the water tank 72 and flows from the wastewater tank 72 into the wastewater pool 119. As the cleaning actuator 832 continues to rotate, it passes the water spray nozzle on the cleaning robot, where the nozzle sprays cleaning liquid evenly onto the actuator. Upon passing the water channel branch plate 112, a large amount of cleaning liquid from the base station is sprayed onto the actuator, at which point the actuator 832 is thoroughly wetted. Finally, upon passing the scraping rib 116, the rib not only scrapes and washes the actuator 832 but also scrapes the wastewater from it into the wastewater tank 117 located between the scraping rib 116 and the water channel branch plate 112. The wastewater in the wastewater tank 117 is promptly discharged into the wastewater pool 119 through the return channel 118. With the combined action of the dual water channels and dual scrapers, the cleaning actuator 832 is cleaned more thoroughly, resulting in a higher cleaning effect.

[0120] like Figures 14-15 As shown, the bottom of the sewage tank 72 is equipped with a drain port 321, and a one-way valve 323 is installed at the drain port 321. To meet the sewage discharge needs, a trigger rod 322 is installed on the lower bulkhead of the docking compartment 10. When the cleaning robot is inside the docking compartment 10, the trigger rod 322 abuts against the one-way valve 323, so that the one-way valve 323 is in the open state, and the sewage in the sewage tank 72 is directly discharged into the sewage pool 119 without passing through the cleaning tank, thus preventing the sewage in the sewage tank 72 from entering the cleaning tank and contaminating the clean water used for self-cleaning of the base station roller.

[0121] As described above, after the cleaning robot returns to the base station, there are two flow paths for the cleaning liquid. The first path is the cleaning robot's own cleaning system. After docking with the base station, clean water from the base station's water tank or the automatic water supply system enters the cleaning robot's water tank through the base station's automatic water injection device. Then, the cleaning liquid in the water tank is evenly delivered to the drum through the water supply device. The other water path is where the clean water from the base station's water tank or the automatic water supply system bypasses the cleaning robot and flows directly through the water inlet channel, then evenly to the drum via the water branch plate 112. Because the nozzle of the cleaning robot's water supply device is positioned high, while the outlet of the water branch plate 112 is positioned low, the drum is essentially first wetted by the cleaning robot's water supply during rotation, and then moistened by the water supplied from the outlet of the water branch plate 112. The flow rate of the cleaning robot's water supply is between 0.3 ml / s and 1 ml / s, for example, 0.5 ml / s, while the flow rate from the base station to the drum is greater than 6 ml / s, thereby increasing the water supply flow rate. The roller then rotates to the scraping ribs 116 of the base station, where the wastewater is scraped away. The wastewater flows sequentially through the cleaning tank 114 and the inflow channel 118 before entering the wastewater pool 119. The roller then continues to rotate to the scraper assembly of the cleaning robot, where the wastewater enters the collection box and is then pumped into the tail wastewater tank 72 through the drainage pipe. Because the one-way valve at the bottom of the wastewater tank 72 is lifted by the trigger rod 322, the wastewater is discharged and flows directly into the wastewater pool. Thus, one cycle is completed after two scraping operations, meaning that in one cycle, clean water is received twice and scraping is performed twice, greatly improving cleaning efficiency. The scraping rib 116 can extend into the cleaning actuator 832 by 3-5mm, for example, 4.5mm, while the scraper assembly extends to a depth of about 2mm. Because the scraping rib has a greater scraping force, most of the dirt is scraped off by the scraping rib, while the scraping intensity of the scraper assembly is smaller. At this time, less sewage is scraped off than that scraped off by the scraping rib, so less sewage enters the sludge collection box. Furthermore, as the number of rotations of the drum increases and after multiple cycles, the degree of dirt in the sewage entering the sludge collection box is even lower, thus achieving the cleaning of the sludge collection box and the sewage tank 72.

[0122] Specifically, such as Figures 14-16As shown, a sewage discharge mechanism 42 is provided on the bottom wall of the docking compartment 10. The sewage discharge mechanism 42 includes a rotary drive assembly 421 and a transmission support assembly 422. The transmission support assembly 422 includes a housing frame 4220 with a housing cavity inside. The rotary drive assembly 421 is rotatably mounted in the housing cavity along the Z-axis, which protects the rotary drive assembly 421 from damage caused by external influences and ensures aesthetics. The upper end of the housing frame 4220 has an extension opening facing the opening of the docking compartment 10. A trigger rod 322 is rotatably mounted at the extension opening via a rotary shaft 424. One end of the trigger rod 322 is a trigger end 320, which extends out of the housing frame 4220 and abuts against a one-way valve 323. The other end of the trigger rod 322 is a drive end 324, which is located in the housing cavity and abuts against the rotary drive assembly 421. The rotary drive assembly 421 can apply a force to the drive end 324 in the X direction, causing the trigger rod 322 to rotate around the rotation point, thereby causing the trigger end 320 to rise along the Y axis and provide a driving force to the one-way valve 323 to rise in the Y direction.

[0123] like Figures 14-16 As shown, since it takes a certain amount of time for the sewage in the sewage tank 72 to be emptied, during this period, the rotary drive assembly 421 will continuously apply force to the drive end 324, keeping the one-way valve 323 raised at the trigger end 320. During the drainage process of the sewage tank 72, due to the restriction of the one-way valve 323 and the rotary drive assembly 421, the drive component 4211 will not rotate around the rotation axis 424 on the housing frame 4220. When the sewage in the sewage tank 72 is drained, the rotary drive assembly 421 rotates and no longer applies force to the drive end 324. If the cleaning robot is not in the docking compartment 10 at this time, since the drive component 4211 is not restricted by external force, it will rotate around the rotation axis 424. It is possible that the trigger end 320 will rotate beyond the position of contacting the one-way valve 323, thereby preventing the cleaning robot from entering the base box 40.

[0124] Therefore, in some embodiments, the sewage discharge mechanism 42 further includes a push rod reset member 4221, one end of which is disposed at the bottom end of the cavity wall of the accommodating cavity located at the drive member 4211, and the other end is disposed on the side of the drive end 324 away from the rotary drive assembly 421. When the sewage tank 72 needs to be drained, the rotary drive assembly 421 provides a driving force to the drive component to rotate around the rotation axis 424, compressing the push rod reset component 4221. When the sewage in the sewage tank 72 is emptied, the rotary drive assembly 421 no longer provides power to the drive end 324. At this time, under the force of the push rod reset component 4221, the drive end 324 drives the drive component 4211 to rotate in the opposite direction around the rotation axis 424 until the push rod reset component 4221 is reset or abuts against the rotary drive component. At this time, the position of the trigger end 320 is lower than the position of the one-way valve 323, and under the action of the push rod reset component 4221 or the push rod reset component 4221 and the rotary drive assembly 421, it is restricted to a position lower than the one-way valve 323 and will not change, thus avoiding the problem of obstructing the cleaning robot from entering the base box 40. The push rod reset component 4221 can be a rubber part with high elasticity, or a spring, etc.

[0125] In some embodiments, such as Figures 14-16As shown, one possible structure of the rotary drive assembly 421 includes a drive member and a force-applying member 4212 disposed at the output end of the drive member. The force-applying member 4212 can continuously abut against the drive end 324 and intermittently provide driving force to the drive end 324. For example, the force-applying member 4212 can be a cam. When the highest position of the cam abuts against the drive end 324, it can provide the drive end 324 with a driving force to compress the push rod reset member 4221. As the cam rotates, the position of the cam abutting against the drive end 324 rotates from the highest position to the lowest position. During this process, the driving force of the cam on the drive end 324 becomes smaller and smaller. Under the action of the reset force of the push rod reset member 4221, the drive member 4211 rotates around the rotation axis 424 to below the one-way valve 323 and disengages from the one-way valve 323. The force-applying member 4212 can also intermittently abut against the drive end 324 and provide driving force to the drive end 324 during the rotation of the output end. For example, the force-applying component 4212 is a protrusion set at the output end of the drive component. As the output end of the drive component rotates, the protrusion intermittently abuts against the drive end 324. When it is necessary to discharge the sewage in the sewage tank 72, the protrusion abuts against the drive end 324 as the output end of the drive component rotates. From the moment it contacts the drive end 324, it will gradually apply a driving force to the drive end 324. The push rod reset component 4221 begins to compress until the protrusion abuts against the drive end 324 perpendicularly, reaching the peak driving force. The push rod reset component 4221 is compressed to the maximum. At this time, the abutting end can lift the one-way valve 323, and the sewage flow reaches the maximum. It is worth noting that the one-way valve 323 is not lifted only when the driving force reaches its peak, but rather it is lifted as soon as the protrusion contacts the drive end 324 and the driving force can be applied to the drive end 324. The drain port 321 is already open at this point. As the cam rotates, the greater the applied force, the higher the one-way valve 323 is lifted, the wider the drain port 321 opens, and the greater the flow rate of sewage from the sewage tank 72. When the sewage in the sewage tank 72 has been discharged, the output end of the drive unit continues to rotate, the protrusion gradually disengages from the drive end 324, and during this process, the push rod reset component 4221 gradually resets, the one-way valve 323 gradually descends, and the drain port gradually seals. The drive unit can be a rotary motor.

[0126] Wastewater in the wastewater tank 72 on the cleaning robot can be discharged into the wastewater pool under the action of the trigger lever 322, and flows out from the drain 400 in the wastewater pool. In order to increase the speed of wastewater outflow, in some embodiments, the sewage suction pipe is connected to a water pump, which can quickly draw the wastewater from the wastewater pool into the sewage suction pipe when the water pump is started.

[0127] It should be noted that, as Figures 15-16As shown, the water pump does not start only when all the sewage in the sewage tank 72 has flowed into the sewage pool, but rather as soon as the sewage in the sewage tank 72 begins to be discharged into the sewage pool, enabling real-time pumping of sewage out of the sewage pool. Therefore, in order to achieve the water pump starting as soon as the sewage tank 72 discharges sewage, in some embodiments, the sewage discharge mechanism 42 also includes a micro switch 423. The micro switch 423 is coupled to the water pump and is also linked to the one-way valve 323. When the first sensor 340 is lifted, the micro switch 423 is triggered, and the micro switch 423 drives the water pump to start pumping. In order to ensure that the sewage in the sewage tank 72 is completely emptied, when the sewage outlet 321 is opened to the maximum, the output end of the drive unit stops rotating, so that the size of the sewage outlet 321 is maintained at the maximum for 5 seconds. After 5 seconds, the output end of the drive unit continues to rotate, and the sewage outlet 321 is gradually blocked. When the first sensor 340 returns to the initial position, the micro switch 423 controls the water pump to stop pumping water, and the sewage is discharged.

[0128] Here, it is important to note that, as Figure 17 As shown, due to the delay of the microswitch 423, there will be a certain time interval between the triggering of the microswitch 423 and the start of the pump. In order to avoid the pump failing to pump sewage in time due to the operating tolerance of the microswitch 423, or the pump still working after all the sewage in the sewage tank has flowed into the suction pipe, in some embodiments, when the sewage outlet 321 is initially opened, the microswitch 423 is triggered, and the drive stops rotating 200 milliseconds later. This 200 millisecond time is not only to accommodate the operating error of the microswitch 423 so that the pump can start, but also to allow the sewage outlet 321 to gradually open to the maximum state. During this process, the pump can pump the sewage in the sewage tank into the suction pipe. After 5 seconds, the output end of the drive continues to rotate, and the sewage outlet 321 gradually closes. At this time, the microswitch 423 is de-energized, and the drive motor stops rotating 450 milliseconds later, and the sewage outlet 321 is blocked. The microswitch 423 is de-energized within 450 milliseconds, which is sufficient to transmit the information that the sewage pump has stopped to the sewage pump, and the sewage pump stops pumping water. It should be noted that the 450 milliseconds is the reaction time of the sewage pump. During this time, the sewage pump does not stop working and is still pumping water. The sewage outlet 321 is only sealed after the sewage pump stops working. Although the sewage pump is no longer working during this time, the sewage in the sewage tank can still flow into the drain outlet 400.

[0129] In some embodiments of this application, there may be only one microswitch 423. This microswitch 423 should transmit a signal to the sewage pump to operate when the discharge port 321 is open, and also transmit a signal to the sewage pump to stop operating when the discharge port 321 is gradually closing. Alternatively, there may be two microswitches 423, one of which transmits a signal to the sewage pump to operate when the discharge port 321 is about to open, and the other transmits a signal to the sewage pump to stop operating when the discharge port 321 is gradually closing. As long as the sewage discharge requirements are met, this embodiment does not impose specific limitations.

[0130] In some embodiments of this application, a baffle plate 425 is provided on the trigger rod 322 between the trigger end 320 and the rotating shaft 424. The trigger end 320 acts on the one-way valve 323, and after the one-way valve 323 is opened, the sewage in the sewage tank 72 flows out from the opened one-way valve 323 into the sewage pool 119. During this process, the baffle plate 425 can block the sewage flowing out of the sewage tank 72, prevent the sewage from splashing into the rotary drive assembly 421 from the outlet and affecting the rotary drive assembly 421, and ensure the normal operation of the rotary drive assembly 421.

[0131] It should be noted that, in the embodiments of this application, the cleaning liquid used to clean the cleaning actuator 832 is continuously supplied, i.e., live water cleaning. The wastewater after cleaning the cleaning actuator 832 can be discharged in a timely manner through the inlet channel 118, so as to ensure that the liquid that the cleaning actuator 832 comes into contact with during the self-cleaning process is a cleaning liquid, thereby ensuring a good cleaning effect of the cleaning actuator 832.

[0132] Furthermore, the sewage tank 119 may also be equipped with a float and a Hall element. Figure 2a The structure referred to by reference numeral 130 is the float and the Hall element. The float floats according to the liquid level in the sewage tank 119. When the liquid level in the sewage tank 119 reaches the water level threshold, that is, when the float floats at the threshold water level, the Hall element is triggered, and the base station stops supplying water to the first water inlet channel 110 and the second water inlet channel 111 to prevent sewage from overflowing from the sewage tank 119. At the same time, the base station will also send an alarm signal to notify the user that the sewage tank 119 is full.

[0133] Typically, the charging device 140 on a base station has one of two structures: one is a large left-right swing arm type, where the charging device 140 moves with the metal swing arm during the cleaning robot's recharging process; the other is a front-to-back spring type, where the charging device 140 moves back and forth with the cleaning robot during recharging. Regardless of the structure, the charging device 140 on the base station cannot maintain sufficient contact with the charging pads on the cleaning robot during recharging, easily causing frictional sparking. This can lead to the charging pads burning and turning black, or even charging failure, affecting not only the charging lifespan but also the user experience.

[0134] To address the aforementioned problems, in some embodiments of this application, see [reference] Figures 1-1a As shown, a charging device 140 is provided on the base station 1. A charging assembly 141 is provided on both the left and right sides of the charging device 140. Each charging assembly 141 includes a fixed base 1411 coupled to the base station and a charging contact assembly rotatably coupled to the fixed base 1411. During the recharging process of the cleaning robot, after the charging contact on the cleaning robot comes into contact with the charging contact assembly, the charging contact assembly can rotate around the fixed base 1411 as the cleaning robot's position is corrected. This ensures that the charging contact assembly remains in contact with the charging contact on the cleaning robot without relative displacement, preventing the contact from turning black. The charging contact assembly maintains good contact with the charging contact on the cleaning robot until the cleaning robot's position is corrected, thus ensuring smooth charging.

[0135] Since the position adjustment during the charging process of the cleaning robot docking with the base station inevitably involves the robot moving forward or backward, the charging pads on the cleaning robot will exert a thrust on the charging contact assembly toward the mounting base 1411. To avoid excessive thrust damaging the charging assembly 141, in some embodiments of this application, see... Figures 1-1c As shown, a reset member 142 is provided between the charging component 141 and the base station. One end of the reset member 142 abuts against the base station, and the other end abuts against the charging component 141. The charging component 141 can move relative to the base station. When the cleaning robot applies a pushing force to the charging component 141, the charging component 141 can move towards the base station and compress the reset member 142. As the pushing force gradually disappears, the reset force of the reset member 142 pushes the charging component 141 to gradually reset. During the reset stroke, the charging component 141 is always in contact with the charging pad on the cleaning robot. This ensures that no matter whether the cleaning robot sways left or right, or moves forward or backward during the reset process, as long as the charging pad on the cleaning robot is in contact with the charging component 141, there will be no relative displacement between the two, thus preventing sparking and blackening, and ensuring the service life of the charging component 141. Optionally, the reset member 142 can be a spring or a highly elastic rubber component, etc.

[0136] In some embodiments of this application, see Figures 1-1b As shown, the charging contact assembly includes a rotating base 14123 and a charging contact 14120 located at the top of the rotating base 14123. The rotating base 14123 is rotatably mounted on a fixed base 1411 via a rotating member 1413. The rotating member 1413 can be a shaft or a universal ball joint, etc., as long as it can rotate relative to the fixed base 1411. This embodiment does not impose a specific limitation. The charging contact 14120 is coupled to the charging battery on the base station through the fixed base 1411. In some embodiments, multiple protrusions are spaced apart on the left and right sides of the charging contact 14120. The protrusion on the left side is called the left protrusion 14121, and the protrusion on the right side is called the right protrusion 14122. See also... Figures 1d-1e As shown, when the charging pad on the cleaning robot abuts against the charging pad 14120 on the charging contact assembly, the charging pad on the cleaning robot first abuts against either the left convex point 14121 or the right convex point 14122. Taking the left convex point 14121 as an example, when the cleaning robot enters the charging station, the left convex point 14121 of the charging contact assembly will preferentially contact the charging pad of the cleaning robot. As the cleaning robot continues to move forward, the charging contact assembly will be subjected to force and swing, eventually contacting the charging pad as shown in the diagram. Figure 1f At the correct position, all protrusions are in full contact with the charging pad on the cleaning robot. Even if some protrusions are damaged by arcing or blackening during this process, they can still be charged using other protrusions, ensuring a stable electrical connection between the charging component 141 on the base station and the charging pad on the cleaning robot. This significantly extends the lifespan of the charging device 140 and provides a better user experience.

[0137] Furthermore, a dehumidifying circulating fan can also be installed on base station 1. The top of the docking compartment 10 of base station 1 can be equipped with an air inlet for the dehumidifying circulating fan. For example, Figure 1 As shown in the example, the air inlet 150 of the dehumidifying circulating fan is located on the upper part of the rear bulkhead of the docking compartment 10 and on one side of the charging device 140. A gas intake channel is provided between the dehumidifying circulating fan and the air inlet 150. Moist gas enters the intake channel through the air inlet 150. The moist gas is added as it passes through the dehumidifying circulating fan, heating it to evaporate the moisture and turning the dehumidified gas into hot gas. An air supply channel is provided between the dehumidifying circulating fan and the bottom wall of the cleaning tank 114, such as... Figure 4As shown, the first water inlet channel 110 and the second water inlet channel 111 are surrounded by guide ring walls 1010 that open towards the cleaning tank 114. The opening is an air outlet. The side of the air supply channel away from the dehumidifier is connected to the top of the guide ring wall 1010. Dry hot air enters the guide ring wall 1010 from the air supply channel. The guide ring wall 1010 guides the dry hot air to flow towards the air outlet. Since the air outlet faces the cleaning tank 114, the dry hot air can be sprayed onto the cleaning actuator 832 to accelerate the drying rate of the cleaning actuator 832 and the cleaning tank 114 and prevent bacteria from growing due to moisture.

[0138] Furthermore, the dehumidifying circulating fan may include a drying fan and a heating device. The drying fan is connected to the intake channel, while the heating device is located in the air supply channel. Moist gas enters the intake channel through the air inlet and then enters the drying fan along the intake channel. The drying fan removes water from the moist gas to achieve the effect of drying the gas. The dried gas encounters the heating device as it flows along the air supply channel, and after being heated by the heating device, it is blown from the air outlet towards the cleaning actuator 42. Of course, the dehumidifying circulating fan can also be a single unit, capable of both removing water from moist gas and heating dry gas before blowing it towards the cleaning actuator along the air supply channel.

[0139] In some embodiments of this application, the dehumidifying circulating fan also includes a condensing device, which is disposed in the suction channel and located on the air inlet side. When humid gas enters the suction channel, the water in the humid gas is condensed into water droplets by the condensing device and flows along the air supply channel to the air inlet, dripping from the air inlet into the cleaning tank, thereby reducing the water content in the humid gas and accelerating the drying of the humid gas by the drying fan.

[0140] As mentioned above, after the set cleaning time or after detecting that the cleanliness of the cleaning actuator 832 has reached the preset requirements, the cleaning robot controls the cleaning actuator 832 to rotate in the second direction. The scraping ribs 116 and the scraper assembly 833 on the cleaning robot work together to loosen the cleaning actuator 832. During the loosening stage, the dehumidifying circulating fan can be started to quickly dry the cleaning actuator 832.

[0141] Currently, many cleaning robots rely on their own water tanks for self-cleaning when returning to the base station. For example, after entering the base station's docking bay, the robot activates its self-cleaning mode. In this mode, the robot starts a water pump to pump water from its tank onto the cleaning actuator 832, simultaneously rotating it to clean it. However, as those skilled in the art know, the water volume in the robot's tank is limited, while the cleaning actuator 832 requires a relatively large volume of water. To achieve a good cleaning effect, using only the water from the tank is insufficient. Furthermore, the water channels on the robot are designed to ensure even spraying, but not excessive amounts, while maintaining a long operating range. Excessive moisture in the actuator 832 would result in overly wet surfaces after cleaning. This method, which uses only the robot's water channels for self-cleaning, is called a single-channel cleaning solution. This single-channel cleaning solution does not provide good self-cleaning results.

[0142] Currently, most cleaning robots on the market use a single water path solution when cleaning the 832 cleaning actuator. While this has a cost advantage, it cannot meet the self-cleaning requirements. The 832 cleaning actuator requires a large amount of water for self-cleaning, and using only the water path on the cleaning robot to provide the self-cleaning liquid is not very effective.

[0143] The solution provided in this application embodiment is a dual-waterway self-cleaning scheme. As in the base station provided in the above embodiment, the base station can supply cleaning water to the cleaning robot for cleaning the cleaning actuator 832 through the first water inlet channel 110 and the second water inlet channel 111. The base station can have its own cleaning water tank 2, or it can have a water supply and drainage structure connected to a tap water pipe. When the cleaning robot starts its self-cleaning mode, the upper water channel on the base station is triggered, or the water pump in the cleaning water tank 2 is triggered to supply cleaning water to the cleaning actuator 832. Simultaneously, the cleaning tank on the cleaning robot also supplies cleaning water to the cleaning actuator 832. This dual-waterway water supply scheme greatly increases the water supply for self-cleaning and significantly improves the self-cleaning effect of the cleaning actuator 832.

[0144] Taking a base station with a cleaning water tank 2 as an example, as the cleaning robot cleans the base station more frequently, the cleaning liquid in the cleaning water tank 2 is gradually consumed until it is exhausted. At this point, the base station will send a signal to the user that the cleaning water tank 2 is empty. To avoid users frequently adding cleaning liquid to the cleaning water tank 2, its volume is usually increased to reduce the frequency of refilling. However, this inevitably increases the size of the base station, which not only contradicts the trend towards miniaturization of base stations but also hinders water conservation.

[0145] Based on this, please refer to some embodiments of this application. Figure 7 A filter assembly 4 is provided between the dirt tank 3 and the cleaning water tank 2 of the base station. The filter assembly 4 can filter the sewage in the dirt tank 3 and reuse it for the cleaning actuator 832 on the self-cleaning and cleaning robot of the base station, so that the sewage can be reused. This not only saves water resources, but also reduces the number of times users need to add cleaning liquid to the cleaning water tank 2, thus reducing the user's labor.

[0146] In some embodiments, such as Figure 10 As shown, the base station also includes a circulating water tank 5. One end of the filter assembly 4 is located in the dirt tank 3, and the other end is located in the circulating water tank 5. To filter as much wastewater as possible from the dirt tank 3, the end of the filter assembly 4 located in the dirt tank 3 is positioned at the bottom of the dirt tank 3. However, because the wastewater in the dirt tank 3 contains a lot of dirt, sedimentation and stratification will occur after a period of storage in the dirt tank 3. To prevent the solid flocculent dirt at the bottom of the dirt tank 3 from accumulating and clogging the filter assembly 4, a support protrusion 32 is provided on the bottom wall of the dirt tank 3. The end of the filter assembly 4 located in the dirt tank 3 is positioned on the upper surface of the support protrusion 32, so that the filter assembly 4 is separated from the dirt deposited at the bottom of the dirt tank 3, reducing the number of times the filter assembly 4 needs to be cleaned or the number of times consumable parts in the filter assembly 4 need to be replaced.

[0147] like Figure 9 As shown, water pumps 65 are installed on both the path of the cleaning liquid in the cleaning water tank 2 and the path of the filtered water in the circulating water tank 5. These pumps can pump the cleaning liquid or filtered water into the first inlet channel, the second inlet channel, or the sewage tank to clean the cleaning actuator 832 or the sewage tank. The cleaning water tank 2 is connected to a first cleaning water pipe 62 and a second cleaning water pipe 63. The first cleaning water pipe 62 is connected to the water pump 65 and is used to output the cleaning liquid from the clean water tank 71. The outlet end of the water pump 65 is connected to a third cleaning water pipe 64. The third cleaning water pipe 64 is equipped with a clean water solenoid valve and is connected to a flushing pipe 063. The end of the flushing pipe 063 is connected to the first inlet channel, the second inlet channel, and the sewage tank, thereby delivering the cleaning liquid to the first inlet channel, the second inlet channel, or the sewage tank. The circulating water tank 5 is connected to a circulating water pipe 61, and the circulating water pump 65 is located on the circulating water pipe 61. The circulating water pipe 61 is also equipped with a filter solenoid valve 67 to control whether the filtered water is supplied. The circulating water pipe 61 is also connected to a flushing water pipe to allow the filtered water in the circulating water tank 5 to be fed into the first water inlet channel, the second water inlet channel, or numerous pools.

[0148] like Figure 9As shown, when the filtered water in the circulating water tank 5 is insufficient, the filter solenoid valve 67 closes, and the clean water solenoid valve opens, causing the circulating water tank 5 to stop supplying water, while the cleaning water tank 2 supplies cleaning liquid. However, if the filtered water in the circulating water tank 5 is sufficient, the filter solenoid valve 67 opens, and the clean water solenoid valve closes, preferentially introducing filtered water into the first inlet channel, the second inlet channel, or the sewage tank for pre-washing. After pre-washing, the clean water solenoid valve opens, and the filter solenoid valve 67 closes, to re-wash with cleaning liquid, ultimately completing the cleaning work. This saves the amount of cleaning liquid used in the cleaning water tank 2 and reduces the number of times the user needs to add cleaning liquid. In some embodiments, the circulating water tank 5 is equipped with a detector for detecting the filtered water content in the circulating water tank 5, thereby controlling the opening and closing of the filter solenoid valve 67 and the clean water solenoid valve. The detector can be a level detector or a weight detector installed on the base station. The content of filtered water in the circulating water tank 5 is determined by detecting the weight of the circulating water tank 5. As long as the content of filtered water in the circulating water tank 5 can be detected, this embodiment does not impose specific limitations.

[0149] It should be noted that the water pump 65 on the first cleaning water pipe 62 is turned on or off in conjunction with the clean water solenoid valve, and the water pump 65 on the circulating water pipe 61 is turned on or off in conjunction with the filter solenoid valve 67.

[0150] like Figure 9 As shown, the sewage tank is equipped with a drain outlet 400, and a suction pipe 68 is installed at the drain outlet 400. The suction pipe 68 is connected to the sludge tank 3. The sludge tank 3 is connected to the air pump 061 by an air inlet pipe 69. The air pump 061 can extract the gas in the sludge tank 3, so that a negative pressure is formed in the sludge tank 3. Under the influence of the negative pressure, a suction force is generated in the suction pipe 68 to draw sewage from the sewage tank into the suction pipe 68, thereby allowing the sewage in the sewage tank to be quickly discharged into the sewage tank 72.

[0151] In some embodiments, such as Figure 9 As shown, a water quality detector 062 is installed at the end of the suction pipe 68 located at the drain outlet 400. The transparency of the sewage flowing out of the sewage tank can be determined by the water quality detector 062. If the sewage transparency is low, it means that the cleaning actuator 832 or the sewage tank needs to be rewashed. The clean water electric valve and the water pump 65 on the first cleaning water pipe 62 are turned on, while the filter solenoid valve 67 and the water pump 65 on the circulating water pipe 61 are turned off, so that cleaning liquid is introduced into the first water inlet channel and the second water inlet channel, or into the sewage tank for rewashing. If the sewage transparency is high, it means that the cleaning actuator 832 or the sewage tank has been cleaned and does not need to be rewashed, then the cleaning is complete.

[0152] like Figure 9As shown, a water outlet solenoid valve 66 is provided at the end of the second cleaning water pipe 63 away from the cleaning water tank 2. A machine water replenishment pipe 60 is provided at the water outlet end of the water outlet solenoid valve 66. The other end of the machine water replenishment pipe 60 is connected to the cleaning robot. When the cleaning robot is located on the base station and the clean water tank is short of water, the water outlet solenoid valve 66 is opened. The cleaning liquid in the cleaning water tank 2 flows through the second cleaning water pipe 63 and the machine water replenishment pipe 60 and then flows into the clean water tank 71 of the cleaning robot to meet the liquid replenishment needs of the cleaning robot.

[0153] In order to reduce the length of filter component 4, such as Figure 8 and 10 As shown, the circulating water tank 5 is adjacent to the dirt tank 3, or the original dirt tank 3 is divided into two, with one side being the dirt tank 3 and the other side being the circulating water tank 5, thereby avoiding increasing the size of the base station. In some embodiments, to ensure that all filtered water in the circulating water tank 5 can flow out from the drain outlet, the drain outlet is located at the lowest point of the bottom wall of the circulating water tank 5. When emptying the dirt in the dirt tank 3, to prevent the filtered water in the circulating water tank 5 from flowing out from the drain outlet connected to the circulating water pipe 61, in some embodiments of this application, such as... Figure 12 As shown, a sealing plug assembly 51 is provided at the drain outlet. The sealing plug assembly 51 opens the drain outlet when the dirt box 3 is placed on the base station, but closes the drain outlet when the dirt box 3 is removed from the base station.

[0154] Specifically, such as Figure 11 As shown, one possible structure of the sealing plug assembly 51 includes a first push rod 511, a compression spring 416, and a sealing plug 513. The bottom wall of the circulating water tank 5 has a protrusion facing into the tank body, with a drain outlet at the top. The second push rod passes through the drain outlet. The compression spring 416 is located between the head of the second push rod and the side of the protrusion facing away from the circulating water tank 5. The sealing plug 513 is fitted onto the end of the second push rod that passes through the drain outlet. When the dirt tank 3 is removed from the base station, under the elastic action of the compression spring 416, the head of the second push rod descends until the sealing plug 513 abuts against the protrusion surface. At this time, the compression spring 416 has not returned to its natural state and there is a restoring force. Under the action of the restoring force, the sealing plug 513 seals the drain outlet, ensuring a good sealing effect.

[0155] like Figure 11As shown, a limiting groove is provided at the protrusion position on the base station, which can be inserted into the protrusion. The end of the circulating water pipe 61 is connected to the bottom of the limiting groove. When the dirt bucket is installed back into the base station, the groove wall of the limiting groove is inserted into the protrusion, thereby limiting the position of the circulating water tank 5 on the base station and ensuring the accuracy of the dirt bucket installation. A first push rod 511 protruding from the bottom of the limiting groove is provided in the limiting groove. When the dirt bucket is installed back into the base station, as the circulating water tank 5 descends, the head end of the first push rod 511 abuts against the head end of the second push rod and presses the second push rod to move in the opposite direction toward the protrusion. At this time, the compression spring 416 is compressed, the sealing plug 513 leaves the protrusion surface, the drain is opened, and the filtered water in the circulating water tank 5 flows out from the drain, passes through the gap between the first stop rod and the groove wall of the limiting groove, and flows into the circulating water pipe 61 from the outlet around the first push rod 511 at the bottom of the limiting groove. Optionally, the height of the boss is 5mm to 50mm. The higher the boss, the less likely the filter element 410 is to come into contact with the dirt settled in the dirt bucket, thus avoiding the risk of the filter element 410 being clogged and making the filter element 410 have a longer service life. However, the height of the boss should not be too high to avoid the filter element 410 not being able to fully contact the sewage in the dirt bucket and ensure a full and good filtration effect.

[0156] In some embodiments, such as Figure 10 and Figure 12 As shown, one possible structure of the filter assembly 4 includes at least one set of filters 41. The filters 41 include filter elements 410 and filter element covers 411. The filter element covers 411 are disposed on the outer periphery of the filter elements 410. The surface of the filter element covers 411 is a filter screen structure with a diameter of 1 mm to block large solid particles, while wastewater carrying small solid particles less than 1 mm can pass through, thereby achieving the first stage of filtration. The filter element 410 can be filter cotton or cotton swabs (including but not limited to acrylic cotton, sponge, EPDM) containing activated carbon or bamboo charcoal particles (components). It can prevent small solid particles from passing through while allowing water to pass through. Since one end of the filter 41 is located in the sludge bucket and the other end is located in the circulating water tank 5, and the filter element 410 is long enough, water will flow along the filter element 410 by utilizing the capillary effect of water. During the flow, the filter element 410 will filter out small particles from the sewage. The filtered water flows out from the end of the filter element 410 located in the circulating water tank 5 under the action of gravity.

[0157] Understandably, with each filtration cycle, the filter element 410 adsorbs more and more small solid particles, increasing the risk of clogging it and preventing the filter assembly 4 from effectively filtering the wastewater in the sludge tank 3. Therefore, the filter element 410 needs to be replaced regularly to ensure good filtration performance.

[0158] In some embodiments of this application, in order to ensure the volume of the dirt tank and to ensure that the size of the base station does not increase, the filter component 4 is located in the dirt tank, and the filtered water flows directly into the cleaning water tank 2. In order not to contaminate the original cleaning liquid in the cleaning water tank 2, the sewage in the dirt tank is filtered by atomization filtration to ensure better filtration effect.

[0159] Therefore, in some embodiments, such as Figure 12 and Figure 13 As shown, the filter 41 also includes a filter element cap 412, a microporous atomizing plate 413, an atomizing plate cover, and a sealing cap 415. The filter element cap 412 is fitted onto the end of the filter element 410 furthest from the bottom wall of the dirt tank 3 and abuts against the filter element cover 411. A through hole is provided at the upper end of the filter element cap 412. The microporous atomizing plate 413 is located on the upper surface of the filter element 410 and is electrically connected to a power source. The atomizing plate has a center diameter of 2-5mm. 2 Multiple micropores with a diameter of 3-20µm are spaced apart within the area, which can separate water droplets passing through the atomizing plate into numerous micro water droplets of 3-20µm. The atomizing plate cover is located between the sealing cover 415 and the atomizing plate cover. The sealing cover 415 has a snap-fit ​​hole, and the filter element cover 412 passes through the snap-fit ​​hole and is fitted onto the outer periphery of the end of the filter element 410. One end of the filter element cover 412 abuts against the filter element cover 411, and the other end is the head end of the filter element cover 412, which snaps into the snap-fit ​​hole, thereby fixing the micro-atomizing plate to the upper end surface of the filter element 410. The atomizing plate cover 414 can fix and seal the microporous atomizing plate 413.

[0160] In some embodiments, the sealing cap 415 has a plurality of snap-fit ​​holes spaced apart, each snap-fit ​​hole corresponding to a filter 41, thereby making the filter assembly 4 include a plurality of filters 41, thereby accelerating the filtration of wastewater.

[0161] In order to ensure that the end of the filter element 410 always abuts against the microporous atomizing plate 413, in some embodiments of this application, a spring 512 is provided at the bottom of the filter element 410. The spring 512 is in a compressed state, and the elastic force of the spring 512 makes the upper end of the filter element 410 abut against the microporous atomizing plate 413.

[0162] The sewage tank 72 cover, the base station top cover, and the clean water tank cover 21 together form an atomizing chamber. The top surface of the atomizing chamber is inclined, and a condenser plate 14 is provided on the inclined surface. The condenser plate can be a stainless steel plate or an electrically powered semiconductor cooling plate, as long as it can achieve the condensation effect; this application does not impose specific limitations. The filter assembly 4 is located below the high end of the top surface of the atomizing chamber, and the condenser plate is located above the filter assembly 4. At the other end of the top surface of the atomizing chamber, there is a return flow area that guides the condensed water to the clean water tank 2. The top of the clean water tank 2 is located below the return flow area, and a return port 211 is provided at the lowest end of the return flow area. Water droplets coming out of the filter element 410 are divided into many fine atomized water droplets by the action of the microporous atomizing plate 413. The atomized water droplets rise and encounter the condenser plate to form condensed water. Under the action of gravity, the condensed water enters the return flow area along the condenser plate and flows along the return flow area to the lowest end before dripping into the return port 211, thereby achieving sewage filtration with good filtration effect.

[0163] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application.

Claims

1. A cleaning base station for a cleaning robot, wherein the cleaning robot has cleaning actuators and the cleaning base station has a docking bay; characterized in that, The docking compartment is equipped with a cleaning station, which includes a water inlet channel, a cleaning tank, and a wastewater pool; wherein... The water inlet channel is used to transport cleaning fluid; The cleaning tank is equipped with scraping ribs; In the vertical direction, the water outlet of the water inlet channel, the scraping ribs, and the sewage tank are arranged in descending order; The cleaning fluid contacts the cleaning actuator above the scraping rib to wet the cleaning actuator. The scraping rib abuts against the cleaning actuator to scrape off the dirt on the cleaning actuator. The scraped-off dirt is then directed into the sewage tank. The docking compartment has an air inlet for drawing out water vapor from the docking compartment.

2. The clean base station according to claim 1, characterized in that, The air inlet is located on the top wall of the docking compartment and on the side opposite to the docking compartment opening.

3. The clean base station according to claim 1, characterized in that, The air inlet is located on the cleaning tank.

4. The clean base station according to claim 1, characterized in that, The docking compartment also has an air outlet for releasing hot air into the docking compartment to dry the cleaning actuator; the air outlet is located on the bottom wall of the docking compartment and faces the cleaning actuator on the cleaning seat.

5. The clean base station according to claim 4, characterized in that, The cleaning seat has a guide ring wall on the side opposite to the docking compartment opening, which forms an air duct to guide hot airflow toward the cleaning actuator.

6. The clean base station according to claim 5, characterized in that, The guide ring wall is arranged around the outer periphery of the water inlet channel, and the height of the side wall of the guide ring wall is higher than the height of the channel wall of the water inlet channel.

7. The clean base station according to claim 6, characterized in that, The cleaning seat has a first water inlet channel and a second water inlet channel for providing cleaning liquid to the cleaning actuator. The first water inlet channel and the second water inlet channel are located at opposite ends of the cleaning seat on the side away from the docking compartment opening. The guide ring wall is provided around the periphery of both the first water inlet channel and the second water inlet channel.

8. The clean base station according to any one of claims 1 to 7, characterized in that, It also includes a drying fan; the air inlet is connected to the drying fan through a suction channel.

9. The clean base station according to claim 8, characterized in that, The drying fan is connected to the air outlet through an air supply channel, and a heating device is provided on the air supply channel.

10. The clean base station according to claim 8, characterized in that, A condenser is provided on the suction channel.

11. The clean base station according to any one of claims 1 to 7, characterized in that, When cleaning the cleaning actuator, the cleaning actuator rotates in a first direction, and the cleaning robot and / or the cleaning base station provide cleaning fluid. The cleaning fluid flows sequentially through the water inlet channel, the cleaning actuator, the scraping ribs, and the sewage tank to perform flow cleaning on the cleaning actuator. After cleaning is completed, the cleaning actuator rotates in the second direction, and the air inlet draws in the humid gas inside the docking compartment.

12. The clean base station according to any one of claims 1 to 7, characterized in that, The cleaning robot is equipped with a scraper assembly; The depth to which the scraping rib extends into the cleaning actuator is greater than the depth to which the scraper assembly extends into the cleaning actuator.

13. The clean base station according to any one of claims 1 to 7, characterized in that, The length of the scraping rib is greater than the length of the cleaning actuator.

14. The clean base station according to any one of claims 1 to 7, characterized in that, The water inlet channel has a branch outlet for water discharge, and a sewage tank is provided between the branch outlet and the scraping rib.

15. The clean base station according to claim 14, characterized in that, The scraping ribs form one side wall of the sewage tank; a water channel branch plate is provided at the location of the branch port, and the water channel branch plate forms the other side wall of the sewage tank.

16. The clean base station according to claim 15, characterized in that, The bottom of the cleaning tank is provided with an inflow channel that communicates with the sewage tank, and the inflow channel is used to guide the dirt in the sewage tank into the sewage tank. A water accumulation channel is provided between the water inlet channel and the waterway branch plate; The inflow channel is located below the water accumulation channel.

17. A cleaning system, characterized in that, include: Cleaning robots; as well as The clean base station according to any one of claims 1 to 16.

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