Base station for cleaning robot and cleaning system

Abstract

The present disclosure provides a base station for a cleaning robot, comprising: a wastewater tank configured to collect wastewater and generate steam from the wastewater; a vapor condensation mechanism designed to be operable in an air-to-water mode in which the vapor condensation mechanism is from the vapor generated by the wastewater tank and in an air-to-water mode in which the vapor condensation mechanism receives the vapor from the air, and a wastewater-to-water mode in which the vapor condensation mechanism receives the vapor from the wastewater tank; a purified water tank having an effective volume and designed to store purified water; and a control unit, which is designed to determine the volume of the purified water generated by the steam condensation mechanism in the air-to-water mode according to the effective volume and the recovery rate of the purified water stored in the purified water tank. The present disclosure also relates to a cleaning system.

Description

[0001] Cross-references to related applications

[0002] This application claims priority to U.S. Application 18 / 811,668, filed August 21, 2024, with the U.S. Patent and Trademark Office, and U.S. Application 19 / 245,510, filed June 23, 2025, the disclosures of which are incorporated herein by reference in their entirety. Technical Field

[0003] This disclosure relates to the field of autonomous cleaning technology, and more specifically, to a base station for a cleaning robot and a cleaning system including the cleaning robot and the base station. Background Technology

[0004] Autonomous cleaning robots have gained widespread adoption in residential, office, and industrial environments due to their ability to perform sweeping and / or mopping tasks on a variety of floor surfaces. These robots (often called robotic vacuum cleaners or floor vacuums) are designed to autonomously navigate and clean designated areas before returning to their charging stations and base stations. After completing a cleaning cycle, the cleaning robot returns to the base station, where it transfers the collected dry debris to the base station's dustbin and undergoes a cleaning process with its mop.

[0005] Existing base stations offer the convenience of automatic mop cleaning by supplying clean water stored in a cleaning tank to rinse the mop and collecting used water into a wastewater tank. However, the need to manually replenish the clean water tank and empty the wastewater tank regularly can be inconvenient and laborious for users, and wastewater stored in the wastewater tank for a long time can easily produce unpleasant odors, which not only affects the user experience but also requires frequent and unpleasant cleaning tasks.

[0006] An improved mechanism is needed to treat wastewater generated by mops at cleaning base stations in order to enhance the user experience. Summary of the Invention

[0007] In view of the above problems, this disclosure provides a base station for a cleaning robot and a cleaning system including a cleaning robot and a base station.

[0008] According to one embodiment of this disclosure, a base station for a cleaning robot is provided, comprising: a wastewater tank configured to collect wastewater and generate steam from the wastewater; a steam condensation mechanism designed to operate in an air-to-water mode and a wastewater-to-water mode to generate purified water, wherein in the wastewater-to-water mode, the steam condensation mechanism obtains water vapor generated from the wastewater tank, and in the air-to-water mode, the steam condensation mechanism receives water vapor from the air; a purified water tank having an effective volume and designed to store purified water; and a control unit designed to determine the volume of purified water generated by the steam condensation mechanism in the air-to-water mode based on the effective volume and the recovery rate of the purified water stored in the purified water tank.

[0009] According to another embodiment of this disclosure, a cleaning system is provided, comprising: a cleaning robot and a base station for the cleaning robot, the base station comprising: a wastewater tank configured to collect wastewater and generate steam from the wastewater; a steam condensation mechanism designed to operate in an air-to-water mode and a wastewater-to-water mode to generate purified water, wherein in the wastewater-to-water mode, the steam condensation mechanism obtains water vapor generated from the wastewater tank, and in the air-to-water mode, the steam condensation mechanism receives water vapor from the air; a purified water tank having an effective volume and designed to store purified water; and a control unit designed to determine the volume of purified water generated by the steam condensation mechanism in the air-to-water mode based on the effective volume and the recovery rate of the purified water stored in the purified water tank.

[0010] Based at least on the above embodiments of this disclosure, the improved mechanism is used to treat wastewater generated from cleaning mops and to treat solid waste generated from the distillation of wastewater at the base station, so as to enhance the user experience while recycling water resources. Attached Figure Description

[0011] The above and other objects, features, and advantages of this disclosure will become more apparent from the more detailed description of embodiments thereof in conjunction with the accompanying drawings. The drawings are provided to offer a further understanding of the embodiments of this disclosure and form part of the specification. The drawings, together with the embodiments of this disclosure, are used to explain this disclosure but do not constitute a limitation thereof. In the drawings, unless explicitly stated otherwise, the same reference numerals denote the same parts, steps, or elements.

[0012] Figure 1A An exemplary schematic diagram of a base station for a cleaning robot according to an embodiment of the present disclosure is shown.

[0013] Figure 1B An exemplary schematic diagram of a wastewater tank and a base station water purification generating apparatus according to embodiments of the present disclosure is shown.

[0014] Figure 1C An exemplary schematic diagram of a wastewater tank according to an embodiment of the present disclosure is shown.

[0015] Figure 1D An exemplary schematic diagram of a control unit according to an embodiment of the present disclosure is shown.

[0016] Figure 2 An exemplary schematic diagram of a waste discharge device for a base station according to an embodiment of the present disclosure is shown.

[0017] Figure 3 An exemplary schematic diagram of a waste discharge device for a base station according to another embodiment of the present disclosure is shown.

[0018] Figures 4A-4B Exemplary schematic diagrams of different operating modes of a waste discharge device according to embodiments of the present disclosure are shown.

[0019] Figures 5A-5B Exemplary schematic diagrams of different operating modes of a waste discharge device according to another embodiment of the present disclosure are shown.

[0020] Figures 5C-5D Exemplary schematic diagrams are shown illustrating different locations of the discharge openings and different mounting locations and orientations of the valve elements and telescopic mechanisms according to embodiments of the present disclosure.

[0021] Figure 6 An exemplary schematic diagram of an actuation mechanism for a valve element according to an embodiment of the present disclosure is shown.

[0022] Figure 7 An exemplary schematic diagram of a waste shredding mechanism according to an embodiment of the present disclosure is shown.

[0023] Figure 8 An exemplary schematic diagram of a metal contact for water level detection in a wastewater tank according to an embodiment of the present disclosure is shown.

[0024] Figure 9 An exemplary schematic diagram of a bimetallic switch for controlling a heating process according to an embodiment of the present disclosure is shown.

[0025] Figure 10 An exemplary schematic diagram of a waste shredding mechanism according to another embodiment of the present disclosure is shown.

[0026] Figure 11 A flowchart illustrating a computer-implemented method for operating a base station of a cleaning robot according to an embodiment of the present disclosure is shown.

[0027] Figure 12 This is an exemplary block diagram illustrating a computing device according to an embodiment of the present disclosure.

[0028] Figure 13 An exemplary schematic diagram of a water purification generating apparatus for a base station according to an embodiment of the present disclosure is shown.

[0029] Figure 14 An exemplary schematic diagram of a first valve device in a first state used in a base station according to an embodiment of the present disclosure is shown.

[0030] Figure 15 An exemplary schematic diagram of a first valve device in a second state used in a base station according to an embodiment of the present disclosure is shown. Detailed Implementation

[0031] The technical solutions of this disclosure will now be clearly and completely described in conjunction with the accompanying drawings. Obviously, the described embodiments are part of, but not all, of the embodiments of this disclosure. All other embodiments obtained by those skilled in the art based on the embodiments of this disclosure without any creative effort fall within the protection scope of this disclosure.

[0032] In the description of this disclosure, it should be noted that the orientations or positional relationships indicated by terms such as “center,” “upper,” “lower,” “left,” “right,” “vertical,” “horizontal,” “top,” “bottom,” “inner,” “outer,” “internal,” and “external” are based on the orientations or positional relationships shown in the accompanying drawings and are used solely for convenience and simplicity in describing this disclosure, and are not intended to indicate or imply that the indicated device or element must have a particular orientation. Furthermore, terms such as “first,” “second,” and “third” are used for descriptive purposes only and should not be construed as indicating or implying relative importance. Similarly, words such as “a,” “an,” or “the” do not indicate a limitation of quantity, but rather indicate the presence of at least one. Words such as “comprising” or “including” mean that the element or object preceding the word encompasses those elements or objects listed following the word and their equivalents, without excluding other elements or objects. Words such as “connected” or “linked” are not limited to physical or mechanical connections but can include electrical connections, whether direct or indirect.

[0033] In the description of this disclosure, it should be noted that, unless otherwise expressly stated and limited, terms such as “install,” “link,” and “connect” should be interpreted broadly. For example, such terms may refer to a fixed connection, a detachable connection, or an integral connection; they may refer to a mechanical connection or an electrical connection; they may refer to a direct connection, or an indirect connection via an intermediate medium, or an interconnection between two internal components. For those skilled in the art, the meaning of the above terms in this disclosure can be understood according to the specific circumstances.

[0034] Furthermore, the technical features involved in the different embodiments of this disclosure can be combined with each other, as long as they do not conflict with each other.

[0035] Traditional solutions for base stations used in autonomous cleaning robots aim to promote user convenience by eliminating the need for water replacement and wastewater discharge, typically relying on complex piping systems. These systems automate the processes of replenishing clean water and discharging wastewater. However, a significant limitation is the need for suitable installation sites with adequate piping and space, which many households lack, thus hindering the installation of such systems. To overcome these challenges, this disclosure proposes an improved solution for base stations used in autonomous cleaning robots that automatically treats wastewater and produces clean water, thereby achieving efficient water recycling.

[0036] Figure 1A An exemplary schematic diagram of a base station 100 for a cleaning robot 10 according to an embodiment of the present disclosure is shown.

[0037] like Figure 1A-1D As depicted in the description, the base station 100 according to the embodiments of this disclosure is designed to autonomously treat wastewater and produce clean water, eliminating the need for manual operation of clean water replacement and wastewater discharge. Figure 1A As shown, base station 100 includes a wastewater tank 102 that collects wastewater generated, for example, from cleaning the mop of the cleaning robot after the robot completes its current cleaning cycle and docks at base station 100. The wastewater can be distilled at wastewater tank 102 to produce purified water, which can later be stored in purified water tank 103 of base station 100, wherein purified water tank 103 has an effective volume L and is configured to contain purified water.

[0038] Therefore, wastewater tank 102 includes an evaporation or distillation mechanism that facilitates the removal of water content, resulting in the concentration of solid waste, which remains at the bottom of wastewater tank 102. Solid waste is processed, for example, by rotating blades for scraping or by a crushing mechanism for breaking it into smaller pieces, which can be discharged as dried debris through a drain outlet located at the bottom of wastewater tank 102 and collected in a dust collection box positioned below wastewater tank 102. Thus, the user only needs to periodically empty the dust collection box of dried debris, eliminating the need to remove wastewater tank 102 and dispose of the wastewater.

[0039] Additionally, base station 100 includes a water purification generating device 101, whose task is to generate purified water from water vapor, which can be based on one or more of condensation and moisture absorption mechanisms. Therefore, the water purification generating device 101 can receive water vapor (such as water vapor generated by distillation of wastewater in wastewater tank 102) Figure 1A (as shown by the three dashed arrows) and / or water vapor originating from moisture in the air (such as...) Figure 1A(As shown by the three solid arrows), it can be used as a source of water vapor for generating purified water. The process results in the production of purified water, which is then stored in purified water tank 103 and supplied to the cleaning robot, as described above. In this way, wastewater generated from the mop washing process and ambient humidity are effectively utilized, allowing users to forgo wastewater disposal and manual addition of purified water, thus achieving effective water resource recycling and reducing the user's operational burden.

[0040] It should be noted that Figure 1A-1B The main components of base station 100, such as water purification device 101 and wastewater tank 102, are shown only schematically. However, base station 100 can also incorporate... Figure 1A-1B Other structures or components not depicted in the text. Furthermore, Figure 1A-1B The structures and connections shown are exemplary, and alternative configurations may also be used. This disclosure does not limit the structure of base station 100 or the details of its interconnections.

[0041] Wastewater generated during mop cleaning can be pumped to wastewater tank 102, for example, via a collection pump and distilled at wastewater tank 102 to produce clean water, which can later be stored in a clean water tank of base station 100 (which is configured to maintain a supply of clean water) and / or supplied to cleaning robots for the next cleaning cycle.

[0042] Therefore, wastewater tank 102 includes an evaporation / distillation mechanism that facilitates the removal of water content, resulting in the concentration of solid waste, which remains at the bottom of wastewater tank 102. Solid waste is processed, for example, by rotating blades for scraping or by a crushing mechanism for breaking it into smaller pieces, which can be discharged as dry debris through a discharge opening at the bottom of wastewater tank 102 and collected in a dust collection box located below wastewater tank 102. Thus, the user only needs to periodically empty the dust collection box of dry debris, eliminating the need to remove wastewater tank 102 and dispose of the wastewater.

[0043] In addition, such as Figure 1B-1C As shown, a heater 22 is arranged on the outer wall of the wastewater tank 102, thereby heating the wastewater tank 102 to promote the evaporation of wastewater. The purified water generation device 101 includes a steam condensation mechanism 32, which is capable of generating purified water from steam. According to one embodiment of the present disclosure, the steam condensation mechanism 32 is configured to receive steam from the wastewater tank 102 and condense the steam to produce purified water.

[0044] Optionally, the steam condensation unit 32 is configured to receive air from the external environment and condense the water vapor contained in the air to produce clean water.

[0045] Therefore, the steam condensation unit 32 can operate in both wastewater-to-water and air-to-water modes. In air-to-water mode, the steam condensation unit 32 receives water vapor derived from moisture in the air. In wastewater-to-water mode, the steam condensation unit 32 receives steam generated from the distillation of wastewater in the wastewater tank 102. Steam / humid air can be used as a water vapor source for generating purified water. This process results in the generation of purified water, which is then stored in a purified water tank or supplied to the cleaning robot, as described above. In this way, wastewater generated from the mop-washing process and ambient humidity are effectively utilized, allowing users to forgo wastewater disposal and manual addition of purified water, thus achieving effective water resource recycling and reducing the user's operational burden.

[0046] The base station 100 also includes a control unit CU, which is configured to determine the volume of purified water generated by the steam condensation mechanism in the air-to-water mode based on the effective volume L of the purified water tank and the recovery rate of the purified water contained in the purified water tank. Here, the purified water recovery rate is the volume ratio or mass ratio of purified water during water recirculation at the base station without manual addition of purified water. For example, the purified water recovery rate can be determined based on the volume ratio or mass ratio of purified water generated by the steam condensation mechanism 302 and returned to the purified water tank 103 to the purified water originally stored in the purified water tank 103.

[0047] According to the embodiments of this disclosure, the recovery rate is based on a first conversion rate X1 and a second conversion rate X2. Under the first conversion rate X1, wastewater is converted into clean water in the wastewater generation mode, and under the second conversion rate X2, the clean water contained in the clean water tank 103 is converted into wastewater during the cleaning process.

[0048] Alternatively, the water recovery rate can be obtained through experience or experimentation, taking other factors into account. The water recovery rate can be pre-set as a fixed value in memory by the equipment provider, or it can be dynamically adjusted according to the type of cleaning robot, the type of base station, the working conditions under different water production modes, and the environment.

[0049] According to embodiments of this disclosure, the control unit CU is configured to calculate a first rated volume L1 of purified water generated by the steam condensation mechanism 32 in an air-water generation mode and a second rated volume L2 of purified water generated in a wastewater generation mode, wherein the first rated volume is calculated based on the following formula: L1 = L × X1 × X2, and the second rated volume is calculated based on the following formula: L2 = L (1 - X1 × X2), where L1 is the first rated volume, L2 is the second rated volume, L is the effective volume of the purified water container 103, X1 is the first conversion rate, and X2 is the second conversion rate.

[0050] Due to pipe leaks, condensation, and other reasons, wastewater cannot be 100% converted into water. Through multiple experiments, the conversion rate of wastewater during the distillation and condensation process can be measured, i.e., the first conversion rate X1. The main purpose of water is to clean the mop. Many machines also inject water into the internal water tank of the mop cleaner, continuously pumping water out during the mopping process to keep the mop moist. Therefore, for different models, the second conversion rate X2 of clean water to wastewater can also be measured.

[0051] According to an embodiment of the present disclosure, the base station 100 further includes a purified water level sensor C disposed on the inner wall of the purified water tank 103, wherein the actual volume of purified water contained in the purified water tank 103 is detected by means of the purified water level sensor C, wherein, in response to the actual volume of purified water contained in the purified water tank 103 reaching the effective volume L, the control unit CU stops the operation of the steam condensation mechanism 32.

[0052] According to an embodiment of the present disclosure, the base station 100 further includes an environmental detection device ET structure to detect the ambient air temperature and air humidity, wherein the relationship between the air temperature, air humidity and the water generation rate of the steam condensation mechanism 32 in the air-to-water mode is stored in the control unit CU in tabular form, and the control unit CU reads the water generation rate of the steam condensation mechanism 32 in the air-to-water mode based on the detected air temperature and air humidity.

[0053] According to embodiments of this disclosure, the control unit CU calculates the total operating time t1 of the steam condensing mechanism 32 in the air-to-water mode based on the read water generation rate of the steam condensing mechanism 32 in the air-to-water mode. For example, the higher the humidity of the air, the higher the water generation rate of the steam condensing mechanism 32 in the air-to-water generation mode. Optionally, the control unit CU enables the steam condensing mechanism 32 to operate alternately in wastewater-to-water generation mode and air-to-water mode.

[0054] According to embodiments of this disclosure, the control unit CU calculates the first real-time volume L1' of purified water generated by the steam condensation mechanism 32 in the air-to-water mode based on the water generation rate read from the steam condensation mechanism 32 in the air-to-water mode. For example, the control unit CU can calculate the real-time volume L1' of purified water generated in the air-to-water mode by time integration based on the water generation rate in the air-to-water mode. In response to the calculated first real-time volume L1' of purified water generated in the air-to-water mode reaching a first rated volume L1, the control unit CU stops the operation of the steam condensation mechanism 32 in the air-to-water mode. By limiting the operation in the air-to-water mode, it is ensured that the purified water tank 103 can provide sufficient space to maintain the purified water generated by the steam condensation mechanism 32 in the wastewater-to-water generation mode. This avoids the long-term storage of wastewater in the wastewater tank.

[0055] According to the embodiments of this disclosure, the base station 100 also includes a wastewater level sensor disposed on the inner wall of the wastewater tank 102. The wastewater level sensor detects the actual volume of wastewater contained in the wastewater tank 103. During the operation of the steam condensation mechanism 32, in response to the absence of wastewater in the wastewater tank 102 and the actual volume of purified water contained in the purified water tank 103 not reaching the effective volume L, the control unit CU enables the steam condensation mechanism 32 to operate in air-to-water mode. In this case, after all wastewater has been treated, if sufficient purified water is not maintained in the purified water tank 103, the steam condensation mechanism 32 can continue to operate in air-to-water mode until the purified water tank 103 is filled.

[0056] According to an embodiment of this disclosure, in response to the actual volume of purified water contained in the purified water tank 103 reaching the effective volume L, the control unit CU enables wastewater level sensors A and B to detect the actual volume of wastewater contained in the wastewater tank 102, and calibrates factors X1 and X2 based on the actual volume of wastewater. As a result, the accumulation of errors in the system is avoided.

[0057] According to embodiments of this disclosure, in response to the detected air temperature and humidity dropping below preset thresholds, the control unit stops the operation of the steam condensation mechanism 32 in the air-to-water generation mode. Due to the low temperature and low humidity environment, the rate of water generation from the air decreases significantly, or even fails to operate. In this situation, if the steam condensation mechanism 32 is forced to operate in the air-to-water generation mode, it may cause the evaporator to frost or even be damaged, while power consumption will also increase significantly. Therefore, the user can set minimum temperature and humidity thresholds for the air-to-water generation mode, and air-to-water generation cannot be performed when the temperature and humidity are below the thresholds.

[0058] A switchable valve device V1 is connected to a steam condensation mechanism 32, wherein the steam condensation mechanism 32 can selectively operate in a wastewater production mode and an air-to-water production mode by switching the valve device V1. In the wastewater production mode, the steam condensation mechanism is connected to the wastewater tank 102 and condenses the steam from the wastewater tank 102 to produce purified water; in the air-to-water production mode, the steam condensation mechanism is connected to the external environment and condenses water vapor in the air from the external environment to produce purified water.

[0059] When the base station 100 is running, if wastewater is collected in the wastewater tank 102, the valve device V1 first connects the wastewater tank 102 to the steam condensation mechanism 32.

[0060] Wastewater tank 102 includes an exhaust port O-21, an inlet port I-21, and a pressure balancing member B-21 configured as an open top. A mixture of water vapor and odorous substances generated by wastewater evaporation is discharged through the exhaust port O-21. Wastewater tank 102 also includes a discharge opening 104 disposed at its bottom and a drain valve 105 configured at the discharge opening 104. After the wastewater has evaporated to dryness, the dried debris remaining at the bottom of wastewater tank 102 should be discharged, and the discharge opening 104 can be opened and closed by means of the drain valve 105. When it is not necessary to discharge dried debris through the discharge port 104, the drain valve is in a closed state to seal the liquid, while it switches to an open state to allow the discharge port 104 to open and discharge the dried debris.

[0061] Furthermore, a waste shredding mechanism 23 is provided on the wastewater tank 102, wherein the waste shredding mechanism 23 includes a set of blades 231 and a blade motor 232, the blade motor 232 being configured as an electric actuator for driving the blades 231. The rotation of the blades 231 agitates the wastewater contained in the wastewater tank 102, which on the one hand helps the wastewater to evaporate, and on the other hand helps to agitate the solid dirt contained in the wastewater so that it can be easily discharged through the open discharge opening.

[0062] To achieve steam condensation and reheating, in this example embodiment, the water purification device 101 includes a refrigerant cycle. For example... Figure 13 As shown, the refrigerant cycle includes a compressor 31 for the refrigerant, an evaporator, an expansion valve 33, and a condenser. The refrigerant is compressed into a high-temperature, high-pressure liquid at the compressor 31 and subsequently evaporates and absorbs heat at the evaporator, causing the evaporator temperature to decrease. A vapor condensation mechanism 32 for the vapor includes the evaporator, thereby condensing and dehydrating the water-containing vapor. The refrigerant is transferred to the condenser through the expansion valve 33 and condenses, releasing heat, thereby causing the condenser temperature to rise. A gas heating mechanism 34 for the vapor includes the condenser, thereby reheating the dehydrated gas. Additionally, as... Figure 1D As shown, the base station 100 also includes a refrigerant temperature sensor RT, which is configured to detect the refrigerant temperature at the vapor condensation mechanism 32. In response to the detected refrigerant temperature exceeding a predetermined threshold, the control unit CU stops the operation of the vapor condensation mechanism. As a result, in cases of excessively high ambient temperature or malfunction of devices such as the cooling fan, the vapor condensation mechanism 32 can be stopped to prevent compressor degradation. Alternatively, the vapor condensation mechanism can be connected to the external environment via a valve device V1 for cooling the system.

[0063] Referring to the flow of steam, valve device V1 is configured as a three-way valve connecting wastewater tank 102, steam condensation mechanism 32, and the external environment. Through the operation of valve device V1, steam condensation mechanism 32 selectively connects to wastewater tank 102 and the external environment.

[0064] In such Figure 14 In the wastewater generation mode shown, the operating valve device V1 opens the gas passage between the steam condensation mechanism 32 and the wastewater tank 21, while closing the gas passage between the condensation mechanism 32 and the external environment. In this case, the condensation mechanism 32 uses steam from the wastewater tank 21 as a steam source and generates purified water by condensing the steam.

[0065] In such Figure 15 In the air-to-water mode shown, the operating valve device V1 closes the gas passage between the steam condensation mechanism 32 and the wastewater tank 21, while opening the gas passage between the condensation mechanism 32 and the external environment. In this case, the steam condensation mechanism 32 is connected to the external environment and uses water-containing steam from the external environment as a steam source to produce purified water through steam condensation.

[0066] In the context of this disclosure, which employs a distillation method to purify wastewater for water recycling at the base station, the inventors have recognized the following problems. While the distillation process can generate hot steam, which is subsequently condensed to produce purified liquid water, challenges arise related to the disposal of solid waste left after wastewater evaporation. For example, when the wastewater dries, solid waste remains at the bottom of the wastewater tank (also known as an evaporation dish). This solidified waste may be relatively hard and thick, and may not be completely removed by rotating blades or a shredding mechanism, potentially clogging the wastewater tank's discharge opening, which is designed for discharging solid waste. This can lead to blockage of the discharge path for dried debris, affecting the efficiency of waste removal and potentially triggering product malfunctions. In such cases, users are forced to manually inspect the bottom of the wastewater tank to clear the blockage, or return the base station to a service center for maintenance (e.g., if the user cannot access the interior of the wastewater tank), causing inconvenience.

[0067] At least in view of the aforementioned problems, the general concept of this disclosure is to employ a mechanical opening / closing device that operates in conjunction with an actuable mechanism to remove solidified waste clogging the discharge opening of a wastewater tank. For example, when the mechanism is implemented as a telescopic device, the mechanical opening / closing device can operate horizontally in conjunction with a vertically operating telescopic device to remove solidified waste. It should be noted that various installation positions and actuation directions of the mechanical opening / closing device and / or telescopic device are possible, as long as the cooperation of the two devices allows the telescopic rod to be guided through the opening to penetrate the dirt by extending or retracting its length.

[0068] According to embodiments of this disclosure, the mechanical opening / closing device is exemplified by a valve element located at a position corresponding to the discharge opening, and the valve element is operable between an open state for exposing the discharge opening and a closed state for covering the discharge opening. An example of a telescopic device is a telescopic mechanism movable between a retracted position and an extended position. For example, the valve element is mounted on the outer bottom surface of the wastewater tank, and the telescopic mechanism is positioned above the discharge opening inside the wastewater tank or below the discharge opening outside the wastewater tank, and is vertically movable between the retracted and extended positions, as will be described in detail below. To effectively prevent the discharge opening from being blocked by solidified waste generated from wastewater distillation, the telescopic mechanism is controlled to transition from the retracted position to the extended position when the valve element is in the open state, thereby breaking through the solidified waste formed at the discharge opening of the wastewater tank.

[0069] In this way, when no solid waste is being discharged, the valve element can remain closed, and the telescopic mechanism can remain in the retracted position, thus preventing wastewater leakage and maintaining a seal. Once the wastewater has evaporated and solidified waste has formed, and solid waste needs to be discharged, the valve element can be switched to the open position, and the telescopic mechanism can extend to its full length in the extended position to break up the solidified waste at the valve element. This allows dry debris (e.g., solidified waste that has been crushed by the rotating blades) to be collected in the dust collection box through the unobstructed discharge opening, thus avoiding blockages that would prevent the discharge of dry debris.

[0070] It should be noted that, in addition to telescopic devices or equivalent telescopic mechanisms, actuable mechanisms can be implemented in other ways, such as high-speed airflow mechanisms or closed pressurization mechanisms. In this way, when no solid waste is being discharged, the valve element can remain in the closed state, and the mechanism can remain in the unacted state (e.g., a first state where no airflow is directed to the discharge opening). Once the wastewater evaporates and solidifies, and solid waste needs to be discharged, the valve element can switch to the open state, and the mechanism can switch to the actuated state (e.g., a second state where airflow is directed to the discharge opening) to decompose the solidified waste at the valve element.

[0071] For example, in addition to the aforementioned telescopic mechanism, or other actuable mechanisms, a high-speed airflow system can be implemented. The high-speed airflow system includes a pressurizing device installed within the system that generates a high-speed airflow, and the pressurizing device is connected to a duct leading to a nozzle located near the discharge opening. When it is necessary to remove solidified waste from the discharge opening, the pressurizing device is activated, guiding the high-speed airflow through the duct to the nozzle. Simultaneously, a valve element can be opened to expose the discharge opening, allowing the airflow to directly impact the solidified waste formed at the discharge opening. This process effectively breaks down and removes the solidified waste, facilitating its removal through the discharge opening.

[0072] As another example, a closed pressurization system can be used, which includes a pressurizing device that increases the pressure inside the valve chamber when activated. The valve element, installed corresponding to the discharge opening, is designed to be impermeable to the pressurized environment, thus ensuring that force is concentrated on the solidified waste. When the valve element is opened, compressed air is released, exerting a strong force on the accumulated waste, allowing for effective removal of the waste after the mechanism is actuated.

[0073] It should be noted that the aforementioned actuated mechanisms based on high-speed airflow or closed pressurization, as well as other types of actuated mechanisms, are also possible. In embodiments involving a pressurizing device connected to a guide tube, when the pressurizing device is activated, it can emit a high-speed air jet through the guide tube. When the valve element opens, the conduit connects to the valve opening and forms a seal. At this time, high-speed air is injected into the valve chamber, or continuous pressure is applied until the dirt at the opening is broken through with the help of the airflow or increased pressure.

[0074] The wastewater treatment and solid waste discharge process at the base station is described below. First, a cleaning robot returns to the base station to undergo a mop cleaning procedure, which generates wastewater. During this process, dry debris collected by the cleaning robot during its cleaning task is also transferred to the base station's dust collection box. Then, a heater is activated to cause the wastewater to evaporate, and the generated hot steam is directed to a clean water generation device, where it condenses to form clean, distilled liquid water. During evaporation or distillation, solidified waste is generated at the bottom of the wastewater tank, and a valve element, in conjunction with a telescopic mechanism, operates to break through the solidified waste formed at the wastewater tank's outlet, allowing dry debris generated by the rotating blades or pulverizing mechanism to be easily discharged through the wastewater tank's clearing outlet and collected by gravity in the dust collection box.

[0075] Figure 2 An exemplary schematic diagram of a waste discharge device for a base station according to an embodiment of the present disclosure is shown.

[0076] refer to Figure 2 The waste discharge device 200 is positioned relative to the wastewater tank to effectively treat solidified waste generated by distillation. As shown, the waste discharge device 200 includes a telescopic mechanism comprising a first actuator 201-a that powers the extension and retraction of the telescopic mechanism, and a push-pull rod 201-b that moves in response to actuation of the first actuator 201-a. In this example, the push-pull rod 201-b moves vertically to retract or extend its length. When it is not necessary to discharge dry debris through the discharge opening, the push-pull rod 201-b is in the retracted position, while when necessary, the push-pull rod 201-b extends to the extended position to penetrate the solidified waste.

[0077] The waste discharge device 200 also includes a valve element comprising a second actuator 202-a and a movable portion 202-b. The second actuator 202-a supplies power for actuation of the valve element, and the movable portion 202-b controls the opening and closing states of the valve element in response to actuation of the second actuator 202-a. When it is not necessary to discharge dried debris through the discharge port, the movable portion 202-b is in a closed state to seal the liquid, while it switches to an open state to allow the push-pull rod 201-b to extend through the discharge port, thereby crushing the dried sludge formed at the discharge port of the wastewater tank and clearing the discharge path of the dried debris.

[0078] The waste discharge device 200 also includes a waste crushing mechanism comprising a third actuator 203-a and a set of blades 203-b. The third actuator 203-a provides power for scraping or crushing solidified waste, and the blades 203-b rotate under the actuation of the third actuator 203-a to break the waste into smaller pieces, fine particles, or powder. In this way, the dried debris can be easily discharged through a clear discharge opening.

[0079] In this embodiment, the first actuator 201-a includes a first motor and a transmission mechanism mechanically connected to the first motor, wherein the transmission mechanism can be configured to convert the rotational motion of the first motor into linear motion of the first actuator 201-a. In the example, the transmission mechanism can be implemented using a gear engaging with a threaded rod to convert the rotational motion into linear motion. Therefore, the push-pull rod 201-b is mechanically connected to the first actuator 201-a and driven by the linear motion of the first actuator 201-a to move vertically between a retracted position and an extended position.

[0080] Therefore, solid waste generated by wastewater distillation and formed at the discharge opening of the wastewater tank can be shredded without the need for manual inspection and removal of blockages at the discharge opening, or access to maintenance facilities for cleaning, thereby improving the efficiency of dry waste management and enhancing the user experience.

[0081] Figure 3 An exemplary schematic diagram of a waste discharge device for a base station according to another embodiment of the present disclosure is shown.

[0082] refer to Figure 3 The waste discharge device 300 is also positioned relative to the wastewater tank to effectively treat the solidified waste generated from the distillation process. Similar to... Figure 2The waste discharge device 200 and waste discharge device 300 shown also include a telescopic mechanism comprising a first actuator 301-a that powers the extension and retraction of the telescopic mechanism, and a push-pull rod 301-b that moves in response to actuation of the first actuator 301-a. In this example, the push-pull rod 301-b also moves vertically to retract or extend its length. The waste discharge device 300 also includes a valve element comprising a second actuator 302-a and a movable portion 302-b that controls the opening and closing states of the valve element in response to actuation of the second actuator 302-a. Furthermore, the waste discharge device 300 includes a waste crushing mechanism comprising a third actuator 303-a and a set of blades 303-b that rotate under actuation of the third actuator 303-a to crush waste into smaller pieces, fine particles, or powder.

[0083] In this embodiment, the valve element and the waste crushing mechanism are... Figure 2 The corresponding parts are the same as those depicted in the text, and the details of the parts are omitted here. Figure 2 and Figure 3 The difference lies in the design of the telescopic mechanism. Here, the vertical movement of the telescopic mechanism is achieved using an electromagnet and a spring. When the electromagnet is not energized, it does not generate a magnetic attraction, and the push-pull rod is pushed to the bottom by the spring force (i.e., the extended position). Conversely, when the electromagnet is energized, it generates a magnetic attraction exceeding the spring force, pulling the push-pull rod upward (i.e., the retracted position) and compressing the spring, thus facilitating the extension and retraction of the telescopic mechanism in the vertical direction.

[0084] For example, the first actuator 301-a is implemented by a combination of an electromagnet that generates a magnetic attraction when energized and a spring element that generates an elastic force when compressed. Therefore, the magnetic push-pull rod 301-b is mechanically connected to the spring element and driven by either the magnetic attraction of the electromagnet or the elastic force of the spring element to move vertically between a retracted position and an extended position. For example, when it is necessary to discharge dried debris (and may be necessary to penetrate dried waste formed at the discharge opening of the wastewater tank), the electromagnet is not energized, and the elastic force of the spring element moves the magnetic push-pull rod 301-b to the extended position to pass over and clear the discharge opening; when it is not necessary to discharge dried debris, the electromagnet is energized, and the elastic force generated by the spring element moves the magnetic push-pull rod 301-b to the extended position to pass over and clear the discharge opening. This elastic force is greater than the elastic force of the spring element, causing the magnetic push-pull rod 301-b to return to the retracted position.

[0085] It should be understood that the above example is described using the electromagnetic attraction generated when an electromagnet is energized as an example. However, in other examples, switching between the retracted and extended positions can also be achieved by using a combination of electromagnetic repulsion and spring force to set opposite polarities on the electromagnet and the magnetic push-pull rod. This disclosure does not limit the specific control method of the electromagnet.

[0086] Therefore, solid waste generated at the discharge opening of the wastewater tank can be crushed and effectively removed without manual operation.

[0087] Figures 4A-4B Exemplary schematic diagrams of different operating modes of a waste discharge device according to embodiments of the present disclosure are shown.

[0088] In this embodiment, the valve element described above is implemented by a solenoid valve, enabling horizontal opening and closing control of the valve element to adjust its opening state (e.g., Figure 4B (as shown) and off state (as shown) Figure 4A (As shown).

[0089] Figure 4A The waste discharge device in non-charging mode 400-A is shown, where no dry debris is discharged. As shown, wastewater tank 401 collects wastewater 404 generated by the cleaning robot's mop, and then heats the wastewater 404 using a heater (not shown) to generate hot steam. This hot steam is discharged through pipe 409 to a cleaning water generating device, which generates cleaning water from the steam. As previously described, wastewater tank 401 has a discharge opening 402 at the bottom for discharging solid waste generated after distillation. In non-charging mode 400-A, solenoid valve 403 is energized, and piston 403-a is magnetically propelled to form a tight seal with the valve inner wall 403-b, closing the valve to cover the discharge opening and prevent liquid from flowing through it.

[0090] Figure 4B A waste discharge device in charging mode 400-B is shown, for which dry debris is discharged. As depicted, wastewater 404 is evaporated to form a dry slurry layer 405 at the bottom of wastewater tank 401. The dry slurry layer 405 can adhere to the discharge opening 402 and block the passage for discharging the dry debris. In charging mode 400-B, solenoid valve 403 is de-energized, piston 403-a disengages from contact with valve inner wall 403-b, and solenoid valve is opened to expose the discharge opening. In this case, telescopic mechanism 406 can be controlled to switch from a retracted position to an extended position, thereby breaking up the solidified waste formed at the discharge opening and clearing the discharge opening 402. Thus, a set of blades 407 can rotate to pulverize the dry slurry 405, allowing the broken waste to be discharged by gravity through the cleared discharge opening 402 into dust collection box 407.

[0091] It should be understood that the above description uses the normally open solenoid valve 403 as an example, but normally closed solenoid valves or other types of electronic control valves can also be used to control the horizontal opening and closing states of the valve elements. This disclosure is not limited to the specific type of solenoid valve used. It should be noted that... Figures 4A-4B The dimensions, positional relationships, and installation locations of the components depicted are exemplary and illustrative. Alternative arrangements and configurations are also possible. Furthermore, Figures 4A-4B The blade length shown is provided as an illustrative example. In practice, the blade length can extend across the entire bottom surface of the wastewater tank to effectively scrape and remove dried waste that forms across the entire bottom surface.

[0092] However, the inventors have observed that Figures 4A-4B The solenoid valve described is more suitable for clean liquids free of solid impurities. In cases involving solid waste discharge, these solids can adhere to the valve's mating surfaces, such as the valve's inner wall 403-b, causing initially smooth contact surfaces to become rough. Therefore, when the valve switches to its closed state, gaps may remain between the mating surfaces, compromising seal integrity. Thus, an optimized valve design is needed to address the requirements of solid waste discharge, ensuring effective control of its open and closed states while maintaining sealing performance.

[0093] Figures 5A-5B Exemplary schematic diagrams of different operating modes of a waste discharge device according to another embodiment of the present disclosure are shown.

[0094] In this embodiment, the valve element is implemented using a flat valve (or planar valve), enabling horizontal opening and closing control of the valve element to be in the open state (e.g., Figure 5B (as shown) or in the off state (such as) Figure 5A (As shown).

[0095] Figure 5A The waste discharge device in non-charging mode 500-A is shown, in which no dry debris is discharged. As shown, wastewater tank 501 collects and heats wastewater 504 to generate hot steam that is discharged through pipe 509. As previously described, wastewater tank 501 has a discharge opening 502 at the bottom for discharging solid waste generated after distillation. In non-charging mode 500-A, the flat valve 503 is controlled to be closed to cover the discharge opening and prevent liquid leakage, and the telescopic mechanism 506 remains in its retracted position.

[0096] Figure 5BA waste discharge device in charging mode 500-B is shown, for which dry debris is discharged. As shown, wastewater 504 is evaporated to form a dry slurry layer 505 at the bottom of wastewater tank 501. The dry slurry layer 505 can adhere to the discharge opening 502 and block the passage for discharging solid waste. In charging mode 500-B, valve element 503 is controlled to be in its open state to expose the discharge opening. Although the discharge opening may be uncovered, a dry slurry layer 505 may be present, blocking the passage for discharging solid waste through the discharge opening 502. In this case, telescopic mechanism 506 can be controlled to switch from a retracted position to an extended position, thereby breaking up the solidified waste formed at the discharge opening. Thus, a set of blades 507 can rotate to pulverize the dry slurry 505, allowing the broken waste to be discharged by gravity through the cleared discharge opening 502.

[0097] According to embodiments of this disclosure, utilizing gravity to facilitate the descent of pulverized dry debris into a dust collection box eliminates the need for a complex vacuum system, thereby effectively reducing the size and cost of the base station and decreasing noise associated with waste extraction. This method achieves waste discharge and collection in a simple and efficient manner.

[0098] It should be understood that Figure 5A and 5B The telescopic mechanism 506 and the waste shredding mechanism (including blade 507) with Figure 4A and 4B The corresponding structure is the same as that depicted in the text, and the details of the components are omitted here. Figure 4A and 4B and Figure 5A and 5B The difference lies in the design of the valve element. Here, the valve element 503, implemented by a flat valve or planar valve (which includes multiple circular plates stacked along a common axis), can effectively solve the problem of wear on the mating surfaces of the solenoid valve involved in solid waste discharge, ensuring effective control of its open and closed states while maintaining a seal.

[0099] As shown in the figure, valve element 503 includes a first fixed plate 503-b and a second fixed plate 503-d, each of which has a through hole aligned with the discharge opening 502. Furthermore, valve element 503 includes a rotatable plate 503-c inserted between the first fixed plate 503-b and the second fixed plate 503-d, the rotatable plate 503-c also having a through hole. It should be noted that the rotatable plate 503-c can rotate relative to the first fixed plate 503-b and the second fixed plate 503-d along the common axis of valve element 503, and during rotation, the rotatable plate 503-c switches between alignment with the through holes of the first fixed plate 503-b and the second fixed plate 503-d and misalignment with the through holes of the first fixed plate 503-b and the second fixed plate 503-d. For example, the alignment of the through hole of the rotatable plate 503-c with the through holes of the first fixed plate 503-b and the second fixed plate 503-d controls the opening state of the valve element 503, which corresponds to... Figure 5B In charging mode 500-B, the misalignment of the through hole of the rotatable plate 503-c with the through holes of the first fixed plate 503-b and the second fixed plate 503-d controls the closed state of the valve element 503, which corresponds to... Figure 5A The non-charging mode is 500-A.

[0100] Optionally, the valve element 503 also includes a sealing plate 503-a inserted between the outer bottom surface of the wastewater tank 501 and the first fixing plate 503-b, the sealing plate 503-a also having a through hole aligned with the discharge opening 502.

[0101] Specifically, in embodiments of this disclosure, the wastewater tank 501 used for evaporating wastewater to generate steam can be implemented as an aluminum evaporating dish. Considering that the surface of the aluminum evaporating dish may be relatively rough, with some pits, direct contact with the fixing plate 503-b of the valve element 503 may lead to poor sealing. To solve this problem, the sealing plate 503-a can be implemented as a layer of rubber material to achieve an interference fit seal.

[0102] Furthermore, the rotatable plate 503-b and the fixed plate 503-d can be made of a smooth surface material, allowing for minimal gaps to effectively prevent dust intrusion and thus avoiding wear on the plates due to dust particles, which could impair sealing performance. In addition, the fixed plates 503-b and 503-d are selected to have hydrophobic properties in conjunction with their strength characteristics, which further prevents wastewater from leaking from the evaporating dish into the body of the valve element 503. Additionally, a hydrophobic lubricant is applied between the different layers of the valve element 503, utilizing the surface tension of the lubricant to provide a waterproof seal.

[0103] Therefore, through holes are created at the edges of each of the four circular plates of valve element 503. When it is not necessary to expose the discharge opening 502 of the wastewater tank, the through holes of the rotatable plate 503-c are kept misaligned with the through holes of the remaining plates of valve element 503 (e.g., Figure 5A As shown), thereby covering the discharge opening 502. On the other hand, when it is necessary to expose the discharge opening 502, the motor drives the rotation of the rotatable plate 503-c (e.g., in a counterclockwise direction), and when the through holes of the four plates of the valve element 503 are aligned (as shown), the rotatable plate 503-c rotates. Figure 5B As shown), the motor stops, exposing the discharge opening 502. To cover the discharge opening again, the motor can drive the rotatable plate 503-c to rotate in the opposite direction (e.g., clockwise). With the help of the motor drive, the alignment state of the through holes of the four plates can be switched between an misaligned state and an aligned state, thereby allowing the control valve element to be in a closed state and an open state.

[0104] It should be understood that the control method and rotation direction of the motor and rotatable plate described above are provided as examples, and other suitable control methods can be used, as long as the alignment state of the through holes of the four plates can be switched by actuation of the motor. This disclosure does not limit any particular operating mode or rotation direction.

[0105] In this way, the problem of valve element damage in solid waste discharge scenarios is solved. By employing the four-layer flat valve structure described above, solid waste does not accumulate on the valve element during switching between open and closed states, which would otherwise wear down components, reducing their sealing performance or lifespan. This improved valve design of the present disclosure ensures a durable and reliable sealing mechanism suitable for environments involving the treatment of solid waste generated from wastewater distillation for water recirculation at the base station, and increases the lifespan of the valve element.

[0106] Figures 5C to 5D Exemplary schematic diagrams are shown illustrating different locations of the discharge opening and different mounting positions and orientations of the valve element and telescopic mechanism according to embodiments of the present disclosure.

[0107] As described above, various mounting positions and actuation directions of mechanical opening / closing devices (e.g., valve elements) and / or telescopic devices (e.g., telescopic mechanisms) are possible, provided that the cooperation of the two devices allows the telescopic rod to be guided through the opening to penetrate dirt by extending or retracting its length. For example, the discharge opening of a wastewater tank may be located on the outer bottom surface of the wastewater tank (such as...). Figure 2-5C Those depicted in the text), and it can also be located on the bottom half of the outer wall surface of the wastewater tank (such as...). Figure 5D(As depicted in the image), as long as the discharge opening is located in the lower half of the wastewater tank for discharging solidified waste. Therefore, valve elements can also be installed in various positions to match the location of the discharge opening. Furthermore, the telescopic mechanism can be installed not only above the wastewater tank (also known as an evaporating dish), but also below or around the wastewater tank, and the telescopic mechanism can be installed inside or outside the wastewater tank, as long as the telescopic mechanism can be operated to switch to its extended state to penetrate the dried waste after evaporation. By utilizing the centrifugal force generated by the rotating blades that agitate the sludge, waste discharge by gravity can be achieved based on various combinations of the installation position and actuation direction of the valve element and / or the telescopic mechanism.

[0108] Figure 5C A waste discharge device in charging mode 500-C is shown, for which dry debris is discharged. In this embodiment, the valve element, telescopic mechanism, and waste crushing mechanism are integrated with... Figure 5B The corresponding components shown are identical, and the details of the components are omitted. Figure 5B and Figure 5C The difference lies in the installation position and actuation direction of the telescopic mechanism. Here, the telescopic mechanism 506 is installed outside the wastewater tank 501, and when the valve element 503 is in the open state, it moves upward to switch to its extended position by extending its length to penetrate the dry waste.

[0109] exist Figure 5C Preferably, a protective or sealing device (e.g., a protective film) may be installed or formed above the telescopic mechanism 506 to prevent debris falling due to gravity from landing on the telescopic mechanism 506, thereby causing wear, contamination or other damage to the mechanical parts of the telescopic mechanism 506.

[0110] Figure 5D A waste discharge device in charging mode 500-D is shown, for which dry debris is discharged. In this embodiment, the valve element, telescopic mechanism, and waste crushing mechanism are integrated with... Figure 5B and Figure 5C The corresponding parts depicted are the same, and the details of the parts are omitted. Figure 5D and Figures 5B-5C The difference also lies in the installation position and actuation direction of the telescopic mechanism. Here, the telescopic mechanism 506 is installed outside the wastewater tank 501, but does not move vertically to penetrate the dry waste. For example, the telescopic mechanism 506 moves in an upward-sloping direction to switch to its extended position by extending its length to break through the solidified waste formed at the discharge opening of the wastewater tank (as shown, located on the bottom portion of the side wall of the wastewater tank) when the valve element 503 is in the open state.

[0111] According to this disclosure, valve elements and telescopic mechanisms are designed to be versatile in their positioning and orientation to accommodate a variety of operational requirements, providing multiple placement and actuation options to improve the efficiency of waste discharge processes.

[0112] Figure 6 An exemplary schematic diagram of an actuation mechanism for a valve element according to an embodiment of the present disclosure is shown.

[0113] As shown in the figure, valve element 600 includes a second actuator for providing the necessary rotational force to the rotatable plate, for example, to drive the rotatable plate to rotate relative to the fixed plate, such as... Figure 5A and 5B As shown. Figure 6 As shown, the second actuator includes a second motor 601 and a second transmission mechanism 602 mechanically connected to the second motor 601. The second transmission mechanism 602 can be implemented using gear drives and other transmission mechanisms, and can be configured to drive the rotational movement of the rotatable plate 603 relative to the fixed plate to control its open and closed states.

[0114] In addition, valve element 600 also includes a position sensor (not shown) designed to detect the alignment of the through-hole of the rotatable plate with the through-holes of the first and second fixed plates. Therefore, as previously combined... Figure 5A and Figure 5B As described, the second motor 601 is controlled based on the result of this detection. For example, the detection principle may include embedding a magnet in a gear mechanism and using a Hall sensor to detect whether all the through holes are aligned with each other to control the motor.

[0115] Figure 7 An exemplary schematic diagram of a waste shredding mechanism according to an embodiment of the present disclosure is shown.

[0116] As shown in the figure, the waste discharge device also includes a waste crushing mechanism 700 installed inside the wastewater tank. The waste crushing mechanism 700 is similar to... Figures 2 to 5B The corresponding components depicted in the text.

[0117] According to embodiments of this disclosure, the waste shredding mechanism 700 includes a third motor 701 configured to provide the rotational torque required for mechanism operation to shred waste into smaller pieces, fine particles, or powder. The waste shredding mechanism 700 also includes a set of blades configured to be driven by the rotational force provided by the third motor 701 to scrape away solidified waste formed on the inner bottom surface of the wastewater tank.

[0118] In this example, a current detection mechanism is integrated into the motor drive circuit. If stubborn dirt gets stuck and causes the blades to jam, this could lead to an increase in the current flowing through the motor. In this case, this surge in current can be detected, and in response, the motor reverses direction for a short distance before accelerating again to overcome the obstacle. This method ensures that the motor can handle hard debris without causing damage or requiring manual intervention.

[0119] The designed structure ensures that solid waste, a byproduct of the wastewater distillation process, is effectively broken down into smaller pieces and discharged through the wastewater tank's discharge opening via gravity feed. In the example, the blades are angled relative to the bottom surface of the wastewater tank at a predetermined angle. This angle is chosen to ensure that the blades effectively remove solid waste from the bottom of the wastewater tank, thereby facilitating the waste discharge process.

[0120] Referring back to Figure 1, the base station 100, which includes the aforementioned waste discharge device, is described in more detail.

[0121] According to embodiments of this disclosure, a base station for a cleaning robot may include a cleaning water tank configured to store a supply of cleaning water. Additionally, the base station may include a wastewater tank (e.g., wastewater tank 102 of FIG. 1) configured to collect wastewater generated from washing one or more mops of the cleaning robot for distillation to produce cleaning water. As described above, the wastewater tank has a discharge opening at its bottom for discharging solidified waste generated from the distillation of the wastewater.

[0122] According to embodiments of this disclosure, a base station and a cleaning robot can be provided as a complete package in the form of a cleaning system. In the cleaning system, the cleaning robot can perform cleaning tasks for a user, such as sweeping and / or mopping on various floor surfaces. Therefore, the base station can provide docking functions for the cleaning robot, such as recharging the cleaning robot's battery, collecting dry debris from the cleaning robot into the base station's trash can, and performing the cleaning process on the cleaning robot's mop. Details of the cleaning robot's structure are known to those skilled in the art and are omitted herein.

[0123] As described above Figure 2-7The base station may further include a waste discharge device having a valve element and an actuable mechanism. The valve element is mounted at a position corresponding to a discharge opening and can operate in an open state to expose the discharge opening or in a closed state to cover the discharge opening. The mechanism can be configured to be actuated when the valve element is in the open state to dislodge solidified waste formed at the discharge opening. For example, the mechanism can be implemented as a telescopic mechanism movable relative to the discharge opening between a retracted position and an extended position. For example, the valve element can be mounted on the outer bottom surface of the wastewater tank, and the telescopic mechanism can be positioned above the discharge opening inside the wastewater tank or below the discharge opening outside the wastewater tank, and can move vertically between the retracted and extended positions. Therefore, the telescopic mechanism can be controlled to move from the retracted position to the extended position when the valve element is in the open state to dislodge solidified waste formed at the discharge opening of the wastewater tank.

[0124] According to embodiments of this disclosure, the base station also includes a heater mounted on the outer wall of the wastewater tank and configured to heat the collected wastewater to produce clean water to be stored in the clean water tank. For example, the heater may be in the form of a heating strip or any other suitable heating device. Furthermore, the base station may include a fan mechanism installed inside the wastewater tank, which enhances air circulation and accelerates the evaporation process of the wastewater, thereby improving the efficiency of clean water production.

[0125] In this embodiment, the base station also includes a temperature sensor configured to detect the temperature of the wastewater being heated in the wastewater tank. In this case, the heater is controlled based on the detected temperature to maintain the temperature of the heated wastewater at a predetermined temperature below its boiling point, for example, using a proportional-integral-derivative (PID) algorithm. For example, the heater can be controlled in various ways, such as by controlling the heater's heating power or by controlling the connection or disconnection of its power supply, thereby achieving precise temperature control of the wastewater. This ensures that the wastewater undergoes evaporation at a temperature that prevents boiling, effectively avoiding the splashing of solid particles that could be caused by boiling (otherwise, solid particles could leak through the wastewater tank's pipes to release hot steam and contaminate the purified water), and preventing the generation of unpleasant odors that could be caused by combustion or carbonization.

[0126] According to another embodiment of this disclosure, the base station also includes a clean water generating device (e.g., the clean water generating device 101 of FIG1), which is configured to generate clean water from water vapor using one or both of a condensation mechanism and a moisture absorption mechanism.

[0127] In one example of this embodiment, the condensation mechanism includes one or more of a compressor cooling mechanism, a semiconductor cooling mechanism, an air cooling mechanism, and a liquid cooling mechanism, such that the condensed liquid water can be collected in a cleaning water tank. In another example of this embodiment, the moisture absorption mechanism includes a moisture-absorbing material for absorbing water vapor and a heater for heating the moisture-absorbing material to produce liquid water, which can be collected in a cleaning water tank.

[0128] It is understandable that the process of generating clean water through condensation in the clean water generating device 101 may result in the formation of water droplets. To optimize this method, it is preferable to have a tray or basin in a suitable location to initially collect these purified water droplets. This tray serves as an intermediate container where condensate initially accumulates. Once the water in the tray has accumulated to a certain level, it can be pumped into a clean water tank. This method helps to avoid frequent and unnecessary pump activation, which could lead to undesirable noise.

[0129] It is understandable that specific water production methods can be selected based on various factors, such as the climate characteristics of different regions. For example, in humid and warm regions like Southeast Asia, semiconductor cooling mechanisms with lower water production capacity can be chosen, which can reduce costs while still meeting water production needs. However, for regions with low humidity, such as California in the United States, compressor cooling should be chosen to ensure a satisfactory user experience. It should be noted that other factors can be considered to make an appropriate selection.

[0130] According to other embodiments of this disclosure, alone or in combination with the above embodiments, the telescopic mechanism (e.g., in...) Figure 2 The device includes: an actuator comprising a first motor and a transmission mechanism mechanically connected to the first motor, the transmission mechanism being configured to convert the rotational motion of the first motor into linear motion of the actuator; and a push-pull rod mechanically connected to the actuator and driven by the linear motion of the actuator to move vertically between the retracted position and the extended position.

[0131] According to other embodiments of this disclosure, alone or in combination with the above embodiments, for example... Figure 3 The telescopic mechanism includes: an electromagnet for generating a magnetic attraction when energized; a spring element for generating an elastic force when compressed; and a magnetic push-pull rod mechanically connected to the spring element and driven by the magnetic attraction of the electromagnet or the elastic force of the spring element to move vertically between the retracted position and the extended position.

[0132] According to other embodiments of this disclosure, either alone or in combination with the embodiments described above, for example... Figures 5A-5DThe valve element includes: a first fixed plate and a second fixed plate, each of the first and second fixed plates having a through hole aligned with the discharge opening of a wastewater tank; and a rotatable plate located between the first and second fixed plates, the rotatable plate having a through hole, wherein alignment of the through hole of the rotatable plate with the through holes of the first and second fixed plates controls the open state of the valve element, and misalignment of the through hole of the rotatable plate with the through holes of the first and second fixed plates controls the closed state of the valve element. In the example, the rotatable plate is made of ceramic, and the first and second fixed plates are made of polytetrafluoroethylene. Additionally, for example... Figures 5A-5D The valve element also includes a sealing plate inserted between the outer bottom surface of the wastewater tank and the first fixed plate, the sealing plate having a through hole aligned with the discharge opening of the wastewater tank.

[0133] According to other embodiments of this disclosure, either alone or in combination with the embodiments described above, for example... Figure 6 The valve element further includes: a second actuator comprising a second motor and a second transmission mechanism mechanically connected to the second motor and configured to drive rotational movement of the rotatable plate relative to the first and second fixed plates; and a position sensor configured to detect whether a through-hole of the rotatable plate aligns with a through-hole of the first and second fixed plates. In this example, the second motor is controlled based on the detection result.

[0134] According to other embodiments of this disclosure, alone or in combination with the above embodiments, the waste discharge device further includes a waste crushing mechanism installed inside the wastewater tank, for example... Figure 7 The waste shredding mechanism includes: a third motor configured to provide rotational torque; and a set of blades configured to be driven by the rotational torque of the third motor to scrape solidified waste formed on the inner bottom surface of the wastewater tank, such that the solidified waste generated from the distillation of the wastewater is discharged through the discharge opening of the wastewater tank by gravity feeding.

[0135] Figure 8 An exemplary schematic diagram of metal contacts in a wastewater tank for water level detection according to an embodiment of the present disclosure is shown.

[0136] like Figure 8As shown, the wastewater tank 801 is equipped with a discharge opening 802 at the bottom and a pipe 809 on the side wall for discharging the hot steam generated during evaporation to, for example, a clean water generating device. In this embodiment, water level detection is achieved by monitoring the conductivity state of paired metal contacts (also referred to as metal electrodes or probes in this disclosure), which facilitates the wastewater treatment process in the wastewater tank. As shown, the wastewater tank 801 is equipped with a plurality of metal contacts marked A to D to perform various functions related to water level detection.

[0137] In the first example, metal contacts A and B are used to detect the upper limit of the water level, thereby controlling the collection process of wastewater in the tank. As shown in the figure, the first metal contact A is installed on the inner bottom surface of the wastewater tank 801, and the second metal contact B is installed on the inner sidewall of the wastewater tank 801 at a first height corresponding to the upper limit of the water level. Therefore, the collection of wastewater in the wastewater tank 801 can be controlled based on the first conductive state S1 between the first metal contact A and the second metal contact B.

[0138] For example, when the water level has not yet reached the first height where the second metal contact B is located, it indicates that metal contacts A and B are not conductive (or not short-circuited), meaning that the wastewater pumped into the wastewater tank has not yet reached its treatment capacity. Therefore, the base station can continue pumping wastewater into the wastewater tank. Conversely, when the water level rises to the height of the second metal contact B, the conductivity of the wastewater will cause metal contacts A and B to become conductive (short-circuited), sending a signal to stop pumping wastewater.

[0139] This method for detecting the upper limit of water level is a significant advancement over traditional methods that rely on magnetic levitation and magnetic sensing devices, and provides a more direct, effective, and accurate method for water level monitoring, ensuring optimal operation of the wastewater treatment process.

[0140] In the second example, the first metal contact A and the third metal contact C can be used to detect the boiling of wastewater, thereby controlling the heating process within the wastewater tank. This can involve adjusting the heating power of the heater or managing the connection and disconnection of the heater's power supply. As depicted, the third metal contact C is mounted on the inner wall of the wastewater tank 801 at a second height, which is higher than the first height and corresponds to the boiling point level. Therefore, the heater (e.g., its heating power or its connection status with the power supply) can be controlled based on a second conductive state S2 between the first metal contact A and the third metal contact C. This control mechanism is designed to maintain the wastewater at a predetermined temperature below the boiling point.

[0141] For example, it's understandable that the water surface is calm before boiling, but when boiling occurs, it may become turbulent and rise above the upper limit of the water level. Therefore, when the turbulent boiling of the wastewater causes the water level to reach the second height where the third metal contact C is located, resulting in conduction (or a short circuit) between metal contacts A and C, this indicates that the wastewater has begun to boil. At this point, it is necessary to reduce the heater's power or temporarily disconnect its power supply to keep the water temperature below boiling point.

[0142] Therefore, by supplementing the temperature control method described above with a PID algorithm, reliable boiling detection can still be achieved by detecting the conductivity state of the metal contacts, even if the PID algorithm fails. This method effectively prevents the splashing of solid particles that may occur due to boiling and avoids the generation of unpleasant odors that may be caused by combustion or charring.

[0143] In the third example, the first metal contact A and the fourth metal contact D can be used to detect whether the wastewater is about to dry, thereby controlling the heating process within the wastewater tank. This can also involve adjusting the heating power of the heater or managing the supply or disconnection of the heater's power supply. As shown, the fourth metal contact D is also mounted on the inner bottom surface of the wastewater tank, positioned at approximately the same height as metal contact A. Therefore, the heater is controlled based on a third conductive state S3 between the first metal contact A and the fourth metal contact D. The aim is to prevent the wastewater from drying out completely. Preferably, the heater's power supply is immediately disconnected to stop heating.

[0144] For example, it can be understood that although wastewater is still evaporating, metal contacts A and D are both submerged in water and therefore in a conductive state (short circuit). However, once the wastewater has completely evaporated, the conductive state between them will cease. Therefore, when metal contacts A and D are no longer conductive, the power must be immediately disconnected to prevent any further heating of the wastewater tank, which could lead to undesirable odors, product damage, or even potential hazards such as fire. This method ensures that the wastewater is heated effectively and safely, thereby avoiding the risks associated with overheating and promoting more reliable operation of the cleaning robot's base station.

[0145] It should be noted that the number and corresponding positions of the metal contacts shown in the above example are provided as examples. A greater number of metal contacts can be used at various locations within the wastewater tank, provided that these metal contacts are arranged in pairs for water level detection. Furthermore, various methods can be used to detect the conductivity state between two contacts, such as by measuring current or resistance; this disclosure does not impose any limitations on specific techniques used for such detection.

[0146] Figure 9 An exemplary schematic diagram of a bimetallic switch for controlling a heating process according to an embodiment of the present disclosure is shown.

[0147] In this embodiment, a bimetallic switch is mounted on the outer wall of the wastewater tank and includes a first metal plate and a second metal plate, each with a different temperature coefficient. Therefore, the heater can be controlled by means of the bimetallic switch in response to the different thermal deformations of the first and second metal plates.

[0148] For example, in Figure 9 The two dashed boxes depict the operation of the bimetallic switch 900, showing the ON state. Figure 9 (left side) and disconnected state ( Figure 9 (The right side of the diagram). A bimetallic switch operates based on the manufacture of two metal plates with different temperature coefficients (e.g., coefficients of thermal expansion). As the temperature increases, the difference in deformation between the two metal plates increases. Once a certain temperature threshold is exceeded, the metal plates deflect, causing the electrical contacts to separate, thus interrupting the power supply.

[0149] like Figure 9 As shown in the dashed box on the left, the bimetallic switch has a first metal plate 901 (passive layer) and a second metal plate 902 (active layer). At room temperature and without deformation, contacts 903-a and 903-b remain in contact. In this state, corresponding to the closed position of switch 906, heater 905 (which may be a heating wire surrounding the exterior of the wastewater tank) is connected to its power source (not shown), initiating the heating process.

[0150] However, as Figure 9 As depicted in the dashed box on the right, when the temperature of the metal plate increases due to heating by the heater 905 (e.g., when the temperature exceeds the threshold Tthr), the second metal plate 902, as the active layer, expands more than the first metal plate 901, as the passive layer. This causes the metal plate of the bimetallic switch to bend to the left, resulting in the separation of contacts 903-a and 903-b. In this state, corresponding to the open position of switch 906, the heater 905 is disconnected from its power supply, thereby stopping the heating process.

[0151] In this example, the bimetallic switch provides an additional protection mechanism against drying, further ensuring reliable avoidance of unpleasant odors and hazards associated with combustion or charring. This feature enhances the safety and reliability of wastewater treatment processes in the base station of the cleaning robot. It should be noted that various types of metal plates can be used, as long as they have different temperature coefficients; this disclosure does not limit the materials used.

[0152] Figure 10 An exemplary schematic diagram of a waste shredding mechanism according to another embodiment of the present disclosure is shown.

[0153] The inventors have recognized potential problems arising when the rotating blades of a waste shredding mechanism extend across the entire bottom surface of a wastewater tank to effectively scrape and remove dry waste. For example, if the blades stop rotating directly above the discharge opening of the wastewater tank, interference may occur as the telescopic mechanism moves downwards to its extended position to break through solidified waste. This could potentially damage the blades or telescopic rod during the impact of the solidified waste.

[0154] To address this issue, a blade positioning mechanism is proposed to prevent the blade from stopping above the discharge opening and to ensure that the telescopic mechanism can move downwards without colliding with the blade, which is discussed below. Figure 10 As described in the text. It should be noted that... Figure 10 The waste crushing mechanism is basically similar to Figure 7 The main difference in the waste crushing mechanism mentioned above is the introduction of a rotating magnet and a magnetic detection device to control the stationary position of the blades.

[0155] According to embodiments of this disclosure, the waste crushing mechanism includes a third motor (e.g., such as...) Figure 7 The waste shredding mechanism includes a rotating plate at the first end of the rotating shaft of the third motor described herein, wherein a magnet is mounted on the edge of the rotating plate and rotates together with a set of blades mounted on a second end of the rotating shaft opposite to the first end. Furthermore, the waste shredding mechanism also includes a magnetic sensing element mounted on the inner wall of the waste tank at a height corresponding to the rotating plate and within a threshold distance from the rotating plate. Therefore, the position of the set of blades is controlled based on the result of the magnetic sensing element detecting the magnet during the rotation of the set of blades.

[0156] like Figure 10 As shown, the waste shredding mechanism 1000 includes a motor 1001 and a set of blades 1003. The motor 1001 provides the power required for waste shredding, and the blades 1003 shred the waste during their rotation to discharge dry fragments by gravity. The motor 1001 also has a rotating shaft 1002, one end of which is fitted with a rotating plate 1004, and the other end with blades 1003. A magnet 1005 is mounted on the edge of the rotating plate 1004 and rotates together with the blades 1003, indicating the position where the blades will rest. Therefore, the position where the magnet stops rotating serves as an indicator of the resting position of the blades. For example, the magnet 1005 is positioned such that a line drawn from the pivot point of the magnet to the axis of rotation of the motor is parallel to the length direction of the blades, as shown. Figure 10 As shown.

[0157] Additionally, a magnetic sensing element 1006 (such as a Hall sensor) is mounted on the inner wall of the wastewater tank at a height corresponding to the rotating plate, and detects whether a magnet 1005 is approaching the magnetic sensing element 1006 during the rotation of the blade 1003. For example, the magnetic sensing element 1006 is positioned such that a line drawn from the magnetic sensing element to the pivot point of the motor rotation axis is perpendicular to a line drawn from the discharge opening 1010 to the pivot point of the motor rotation axis. Therefore, when the magnet 1005 approaches the sensor 1006, the magnetic sensing element 1006 is triggered (e.g., the presence of a nearby magnet is successfully detected), which instructs the rotating blade to move away from the discharge opening 1010, preventing interference between the telescopic mechanism and the blade and avoiding damage to critical components.

[0158] For example, such as Figure 10 As shown in the dashed box on the left, the detection indicates a possibility that the magnet 1005 is moving away from the magnetic sensing element 1006, suggesting that the blade is directly above the discharge opening 1010. At this time, the motor 1001 continues to drive the blade 103 to rotate via the rotation shaft 1002. Conversely, as... Figure 10 As shown in the dashed box on the right, when magnet 1005 is detected approaching magnetic sensing element 1006, it indicates that the blade is not positioned above opening 1010. Therefore, motor 1001 can stop to ensure that the blade does not rest directly above opening 1010.

[0159] It should be noted that the specific locations of the magnets and magnetic sensing elements described in the examples are illustrative. Actual installation locations may vary, as long as they effectively determine whether the blades are above the discharge opening. This disclosure does not limit the specific installation location.

[0160] Figure 11 A flowchart illustrating a computer-implemented method for operating a base station of a cleaning robot according to an embodiment of the present disclosure is shown.

[0161] This method can be implemented in the base station shown in Figure 1, and a detailed description of method 1100 can be found above with reference to Figures 1-10. For example, method 1100 can be executed in the structure described with reference to Figures 1-10 and according to control operations on components of the base station of the cleaning robot involved in the wastewater distillation, solid waste discharge, and clean water generation processes described with reference to Figures 1-10, as well as other processes. Furthermore, each step of method 1100 can be executed by one or more processing units, such as the central processing unit (CPU) of the base station.

[0162] refer to Figure 11 Method 1100 includes steps S1110-S1140.

[0163] At step S1110, method 1100 includes collecting wastewater in a wastewater tank. Specifically, the wastewater is generated by one or more mops from a cleaning robot. According to one example, the wastewater can be collected by various suitable methods. For example, a vacuum pump or a wastewater pump can be used to extract the wastewater generated by cleaning the mops into the wastewater tank. It should be understood that alternative suitable methods can be used to collect the wastewater into the wastewater tank for subsequent distillation and purification treatments.

[0164] Additionally, a wastewater transfer tank can be installed alongside the wastewater tank to temporarily contain wastewater for heating and evaporation before it is further transferred to the wastewater tank (also known as an evaporation dish). It should be noted that the wastewater transfer tank can be selectively used for wastewater collection. Eliminating the wastewater transfer tank avoids the need for certain external auxiliary devices, which helps reduce the overall size and cost of the base station. Conversely, incorporating an additional transfer tank can facilitate the process by reducing the difficulty of generating negative pressure in the wastewater tank or evaporation dish.

[0165] In step S1120, method 1100 includes distilling wastewater stored in a wastewater tank using a heater to produce clean water to be stored in a clean water tank at the base station. In this step, the temperature of the wastewater being heated in the wastewater tank can be detected, and the heating power of the heater can be controlled to maintain the temperature of the heated wastewater at a predetermined temperature below its boiling point. As a result, solidified waste will be generated at the bottom of the wastewater tank.

[0166] Simultaneously with step S1130, the clean water generation device of the base station can be controlled to generate clean water from water vapor using one or both of the condensation mechanism and the desiccation mechanism. In one example, as described above, the condensation mechanism includes one or more of a compressor cooling mechanism, a semiconductor cooling mechanism, an air cooling mechanism, and a liquid cooling mechanism. In another example, as described above, the desiccation mechanism includes a desiccant material for absorbing water vapor and a heater for heating the desiccant material to generate liquid water.

[0167] Optionally, during wastewater evaporation, the wastewater heated in the wastewater tank can be stirred, for example, using the aforementioned rotating blades, to prevent clumping and carbonization, which can produce unpleasant odors.

[0168] In step S1130, method 1100 includes controlling a valve element to be in an open state to expose a discharge opening. For example, a valve element (such as...) Figure 2-5D The valve elements described herein are installed at positions corresponding to the discharge openings. Details of the control valves for these valve elements can be found in [reference needed]. Figure 2-5D The description is omitted here.

[0169] At step S1140, method 1100 includes actuating a mechanism to dislodge solidified waste formed at the discharge opening when the valve element is in the open state. For example, this mechanism may be implemented as a telescopic mechanism, and the telescopic mechanism can be actuated by moving the telescopic mechanism relative to the discharge opening from a retracted position to an extended position to dislodge solidified waste formed at the discharge opening. For example, a telescopic mechanism (such as...) Figure 2-5D The telescopic mechanisms described herein are positioned in various locations relative to the discharge openings inside or outside the wastewater tank. Details regarding the control of the telescopic mechanisms can be found in [reference needed]. Figure 2-5D The description.

[0170] The combined control of the valve element and the telescopic mechanism in steps S1130 and S1140 can prevent the discharge opening from being blocked by solidified waste generated from wastewater distillation.

[0171] Additionally, method 1100 includes scraping off solidified waste formed on the inner bottom surface of the wastewater tank, such that the solidified waste generated from the distillation of the wastewater is discharged through the discharge opening of the wastewater tank by gravity feeding. For example, by using... Figure 2-7 The waste shredding mechanism described herein can scrape solidified waste into smaller pieces, fine particles, or powder, and can easily discharge it through a clear discharge opening.

[0172] An exemplary operating procedure for the valve element, telescopic mechanism, and rotating blades is as follows. The valve element at the bottom of the wastewater tank or evaporating dish is switched to its open state, allowing the telescopic mechanism to extend to its extended position to break through the solidified waste accumulated in the through-hole of the valve element. The telescopic mechanism then retracts to its retracted position, and the rotating blades (optionally accompanied by a dust brush rotating with the blades) crush the dry debris and sweep it toward the cleared discharge opening. The dry debris then falls into the dust collection box under gravity through the cleared discharge opening. This process is repeated several times, for example, 10 times. Subsequently, the valve element closes, returns to its initial state, and awaits the next round of wastewater collection to begin the next cycle of water purification treatment. Afterward, when the dust collection box is filled with dry debris, the user simply empties it.

[0173] In this way, users are spared the hassle of removing wastewater tanks and emptying wastewater, as well as the hassle of manually cleaning and unclogging discharge openings, reducing operational burden and enhancing user experience. It should be understood that the above process is used as an example, and different control methods can be applied to the base station to achieve effective wastewater treatment and solid waste removal. This disclosure is not limited to the specific operating mode described.

[0174] Based at least on the above embodiments of this disclosure, the improved mechanism is used to treat wastewater generated by cleaning mops and solid waste generated from the distillation of wastewater at the base station, thereby enhancing the user experience while recycling water resources. Furthermore, based on the associated control and coordination of the telescopic mechanism and the valve elements of the waste discharge device, the discharge opening of the wastewater tank can be effectively prevented from being blocked by solid waste generated from wastewater distillation, without the need for manual inspection and cleaning of the discharge opening.

[0175] Figure 12 This is an exemplary block diagram illustrating a computing device according to an embodiment of the present disclosure.

[0176] It should be noted that Figure 12 The computing device described herein can be used in a base station to operate the base station by controlling the operation of the base station's components, for example, to perform the method 1100 as described above.

[0177] like Figure 12 As shown, computing device 1200 may include processor 1210 and memory 1220. Processor 1210 is communicatively coupled to memory and configured to perform the methods discussed above.

[0178] Examples of processor 1210 include microprocessors, microcontrollers, digital signal processors (DSPs), field-programmable gate arrays (FPGAs), programmable logic devices (PLDs), state machines, gated logic, discrete hardware circuits, and other suitable hardware configured to perform the various functions described throughout this disclosure.

[0179] Processor 1210 can execute software. Whether referred to as software, firmware, middleware, microcode, hardware description language, or other terms, software should be broadly interpreted to mean instructions, instruction sets, code, code segments, program code, programs, subroutines, software modules, applications, software applications, software packages, routines, subroutines, objects, executable files, execution threads, procedures, functions, etc. Software can reside on memory 1220.

[0180] Memory 1220 may be a non-transitory computer-readable medium. As examples, non-transitory computer-readable media include magnetic storage devices (e.g., hard disks, floppy disks, magnetic stripes), optical disks (e.g., compact discs (CDs) or digital multifunction discs (DVDs)), smart cards, flash memory devices (e.g., cards, sticks, or key drives), random access memory (RAM), read-only memory (ROM), programmable ROM (PROM), erasable PROM (EPROM), electrically erasable PROM (EEPROM), registers, removable disks, erasable PROMs (EEPROMs), and any other suitable medium for storing software and / or instructions that can be accessed and read by a computer. Memory 1220 may reside in processor 1210, be external to processor 1210, or be distributed across multiple entities including processor 1210. Memory 1220 may be embodied in a computer program product. For example, a computer program product may include a computer-readable medium in packaging material. Those skilled in the art will recognize how the functionality described herein can be implemented depending on the specific application and the overall design constraints imposed on the system as a whole.

[0181] Additionally, according to another embodiment of this disclosure, a computer program product for forwarding data packets for a client device is disclosed. As an example, the computer program product includes a non-transitory computer-readable storage medium having program instructions embodied therein, and the program instructions are executable by a processor. When executed, the program instructions cause the processor to perform one or more of the processes described above, and details are omitted herein for brevity.

[0182] This disclosure can be a system, method, and / or computer program product at any possible level of technical detail integration. For example, the system could be a cleaning system including a cleaning robot and a base station used with the cleaning robot. The computer program product could include a computer-readable storage medium (or medium) having computer-readable program instructions thereon for causing a processor to perform aspects of this disclosure.

[0183] Unless otherwise expressly stated, expressions such as “according to,” “based on,” “dependent on,” etc., as used in this disclosure do not mean “according to only,” “based on only,” or “dependent on only.” In other words, in this disclosure, such expressions generally mean “at least according to,” “at least based on,” or “at least dependent on.”

[0184] Any references to elements in this disclosure, such as the names "first," "second," etc., are not intended to comprehensively limit the number or order of these elements. These expressions may be used in this disclosure as a convenient way to distinguish two or more units. Therefore, references to the first unit and the second unit do not imply that only two units may be used, or that the first unit must precede the second unit in some form.

[0185] As used in this disclosure, the term "determine" can include a variety of operations. For example, "determine," calculation, operation, processing, derivation, investigation, search (e.g., searching in a table, database, or other data structure), and ascertainment are all considered "determine." Additionally, "determine" also refers to receiving (e.g., receiving information), sending (e.g., sending information), inputting, outputting, and accessing (e.g., accessing data in memory). Furthermore, "determine" can also refer to parsing, selecting, picking, building, and comparing. In other words, several actions can be considered "determine."

[0186] As used in this disclosure, terms such as “connection,” “coupling,” or any variations thereof refer to any direct or indirect connection or combination between two or more units, which may include situations where one or more intermediate units exist between two units that are “connected” or “coupled” to each other. The coupling or connection between units may be physical or logical, or a combination of both. As used in this disclosure, two units may be considered electrically connected by means of one or more wires, cables, and / or printing, and as numerous non-limiting and non-exhaustive examples, may be “connected” or “coupled” to each other by means of electromagnetic energy in the radio frequency region, microwave region, and / or light (visible and invisible) region, etc.

[0187] When the terms “comprising,” “including,” and variations thereof are used in this disclosure or claims, these terms are open-ended, just like the term “having.” Furthermore, the term “or” as used in this disclosure or claims is not an exclusive “or.”

[0188] The present disclosure has been described in detail above, but it will be apparent to those skilled in the art that the present disclosure is not limited to the embodiments described herein. The present disclosure can be implemented in modified and altered forms without departing from the spirit and scope of the present disclosure as defined by the claims. Therefore, the description in this disclosure is illustrative and has no limiting effect on the present disclosure.

Claims

1. A base station for a cleaning robot, comprising: A wastewater tank, the wastewater tank being configured to collect wastewater and generate steam from the wastewater; A steam condensation mechanism is designed to operate in both air-to-water and wastewater-to-water modes to generate purified water. In the wastewater-to-water mode, the steam condensation mechanism receives water vapor generated by a wastewater tank, and in the air-to-water mode, the steam condensation mechanism receives water vapor from the air. A water purification tank, which has an effective volume and is designed to store purified water; and A control unit designed to determine the volume of purified water generated by the steam condensation mechanism in air-to-water mode based on the effective volume and the recovery rate of purified water stored in the purified water tank.

2. The base station according to claim 1, wherein, The water recovery rate is based on a first conversion rate and a second conversion rate, wherein wastewater is converted into purified water at the first conversion rate in the wastewater-to-water mode, and the purified water stored in the purified water tank is converted into wastewater at the second conversion rate during the cleaning process.

3. The base station according to claim 2, wherein, The control unit is also designed to calculate a first rated volume of purified water generated by the steam condensation mechanism in air-to-water mode and a second rated volume of purified water generated in wastewater-to-water mode, wherein the first rated volume is calculated based on the following formula: L1 = L × X1 × X2 The second rated volume is calculated based on the following formula: L2 = L(1 - X1 × X2). Wherein, L is the effective volume of the water purification tank, L1 is the first rated volume, L2 is the second rated volume, X1 is the first conversion rate, and X2 is the second conversion rate.

4. The base station according to claim 2, further comprising: A water level sensor is arranged on the inner wall of the water tank. The water level sensor detects the actual volume of purified water contained in the water tank. When the actual volume of purified water contained in the water tank reaches the effective volume, the control unit stops the operation of the steam condensation mechanism.

5. The base station according to claim 1, further comprising: An environmental monitoring device is designed to detect the air temperature and humidity of the environment. The relationship between the air temperature and humidity and the water production rate of the steam condensation mechanism in the air-to-water mode is stored in a table in the control unit. The control unit reads the water production rate in the air-to-water mode based on the measured air temperature and humidity.

6. The base station according to claim 5, wherein, The control unit calculates the total operating time of the steam condensation mechanism in the air-to-water mode based on the water production rate read in the air-to-water mode.

7. The base station according to claim 6, wherein, The control unit enables the steam condensation mechanism to operate alternately in air-to-water mode and wastewater-to-water mode.

8. The base station according to claim 5, wherein, The control unit is designed to calculate the first real-time volume of purified water generated by the steam condenser in the air-to-water mode based on the water production rate of the steam condenser read in the air-to-water mode.

9. The base station according to claim 8, wherein, In response to the calculated first real-time volume of purified water generated in the air-to-water mode reaching the first rated volume, the control unit stops the operation of the steam condensation mechanism in the air-to-water mode.

10. The base station according to claim 4, further comprising: A wastewater level sensor is arranged on the inner wall of the wastewater tank to detect the actual volume of wastewater contained in the wastewater tank. During the operation of the steam condensation mechanism, in response to the absence of wastewater in the wastewater tank and the actual volume of purified water contained in the purified water tank not reaching the effective volume, the control unit enables the steam condensation mechanism to operate in the air-to-water mode.

11. The base station according to claim 10, wherein, In response to the actual volume of purified water contained in the purified water tank reaching the effective volume, the control unit causes the wastewater level sensor to detect the actual volume of wastewater contained in the wastewater tank, and calibrates the first conversion rate and the second conversion rate based on the actual volume of wastewater.

12. The base station according to claim 5, wherein, In response to the detected air temperature and humidity being lower than preset thresholds, the control unit stops the operation of the steam condensation mechanism in air-to-water mode.

13. The base station according to claim 1, wherein, A refrigerant cycle, comprising at least a condenser and an evaporator for the refrigerant, wherein the vapor condensation mechanism includes the evaporator; and A refrigerant temperature sensor is configured to detect the refrigerant temperature at the vapor condensation mechanism, wherein, in response to the detected refrigerant temperature being higher than a predetermined threshold, the control unit stops the operation of the vapor condensation mechanism.

14. The base station according to claim 1, further comprising: A discharge opening and a valve element are arranged at the bottom of the wastewater tank. The valve element is installed at a position corresponding to the discharge opening. The valve element can be operated in an open state to expose the discharge opening, or in a closed state to cover the discharge opening. as well as The mechanism is configured to be actuated when the valve element is in the open state to penetrate solidified waste formed at the discharge opening.

15. The base station according to claim 14, wherein, The mechanism is a telescopic mechanism that can move between a retracted position and an extended position relative to the discharge opening, wherein the telescopic mechanism is actuated to move from the retracted position to the extended position while the valve element is in an open state to penetrate solidified waste formed at the discharge opening.

16. The base station according to claim 14, further comprising: A set of leaves; and blade motor, The set of blades is configured to rotate under the drive of the blade motor to scrape off the solidified waste formed on the inner bottom surface of the wastewater tank (102), such that the solidified waste generated by the distillation of the wastewater is discharged through the discharge opening of the wastewater treatment device by gravity feeding.

17. The base station according to claim 14, wherein, The blade assembly is driven by a blade motor to rotate in a first direction to scrape off the solidified waste formed on the inner bottom surface of the wastewater tank. When the current through the blade motor increases to above a preset threshold, the blade motor reverses to drive the blade assembly to rotate in a second direction opposite to the first direction.

18. The base station according to claim 14, wherein, The set of blades rotates in a first direction driven by a blade motor to scrape off the solidified waste formed on the inner bottom surface of the wastewater tank, wherein when the current through the blade motor increases to above a preset threshold, the blade motor drives the set of blades to rotate in the first direction at a higher speed.

19. A cleaning system comprising: Cleaning robots; and The base station for the cleaning robot includes: A wastewater tank, the wastewater tank being configured to collect wastewater and generate steam from the wastewater; A steam condensation mechanism is designed to operate in both air-to-water and wastewater-to-water modes to generate purified water. In the wastewater-to-water mode, the steam condensation mechanism receives water vapor generated by a wastewater tank, and in the air-to-water mode, the steam condensation mechanism receives water vapor from the air. A water purification tank, having an effective volume, and designed for storing purified water; and A control unit designed to determine the volume of purified water generated by the steam condensation mechanism in air-to-water mode based on the effective volume and the recovery rate of purified water stored in the purified water tank.

20. The cleaning system according to claim 19, wherein, The water recovery rate is based on a first conversion rate and a second conversion rate, wherein wastewater is converted into purified water at the first conversion rate in the wastewater-to-water mode, and the purified water stored in the purified water tank is converted into wastewater at the second conversion rate during the cleaning process.

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