Boiler type steam sweeping robot and using method thereof

Abstract

The invention relates to the technical field of cleaning equipment, in particular to a boiler type steam sweeping robot and a using method thereof.The boiler type steam sweeping robot comprises a sweeping robot host and a host base station, and an intelligent control module, a detection assembly, an action assembly, a power supply assembly, a sweeping module and a steam module are integrally installed in the sweeping robot host; the steam module comprises a heat insulation protection shell, a boiler installed in the heat insulation protection shell and a steam injection assembly connected with the boiler. A heating water cavity and a steam cavity are formed in the boiler, a heating body is arranged in the heating water cavity, a water vapor interlayer is arranged between the heating water cavity and the steam cavity, the host base station comprises a base station box body, and a water tank and a charging water injection assembly are arranged in the base station box body; the charging water injection assembly comprises a stepping motor and a lifting plate connected with the stepping motor. Through the reasonable structural design layout, sweeping, dust collection and high-temperature steam sterilization are integrated, multiple purposes are achieved through one machine, the cleaning efficiency is greatly improved, and use by a user is facilitated.

Description

Technical Field

[0001] This invention relates to the field of cleaning equipment technology, specifically to a boiler-type steam sweeping robot and its usage method. Background Technology

[0002] Currently, with the rapid development of the economy, the living standards of modern people are also constantly improving. In terms of housework, more and more housework is being done by smart home appliances, such as using robot vacuum cleaners to clean the floor.

[0003] A robotic vacuum cleaner is a type of smart home appliance in a smart home system. Also known as a smart vacuum cleaner, automatic cleaning machine, or robot vacuum, it uses artificial intelligence to automatically clean floors in a room. Robotic vacuum cleaners typically use a combination of brushing and vacuuming to collect debris into their dustbin, thus completing the cleaning process. While they effectively clean the floor, they do not sterilize or disinfect the floor; this usually requires a separate steam mop for disinfection.

[0004] Currently, there are also robotic vacuum cleaners with steam functions on the market. These vacuum cleaners typically include: a body, a water tank, a heating element, and a jet nozzle. The water tank and heating element are both located inside the body, and the jet nozzle is fixedly connected to the body. During operation, the heating element heats the water in the tank into steam, which is then sprayed onto the ground from the jet nozzle to clean it. These vacuum cleaners generally use heating elements to generate steam, which requires power from the battery on the robot vacuum. Heating the water is energy-intensive and not very safe. The steam temperature usually does not exceed 100°C, and generating high-temperature steam requires even more power. This significantly shortens the robot vacuum's operating time, requiring frequent charging, which is time-consuming. In addition, the built-in water tank greatly increases the size and weight of the vacuum cleaner.

[0005] Therefore, how to design a reasonable structure to install components capable of generating high-temperature and high-pressure steam into a robotic vacuum cleaner, while also increasing the robot's usage time, is a technical problem that urgently needs to be solved. Summary of the Invention

[0006] In order to overcome the shortcomings of the existing technologies, a boiler-type steam sweeping robot and its usage method are proposed. Through a reasonable structural design and layout, it integrates sweeping, vacuuming and high-temperature steam sterilization into one machine, realizing multiple functions, greatly improving cleaning efficiency and making it convenient for users to use.

[0007] To achieve the above objectives, the present invention provides a boiler-type steam sweeping robot, comprising a sweeping robot main unit and a main unit base station. The sweeping robot main unit integrates an intelligent control module, a detection component, a motion component, a power supply component, a cleaning module, and a steam module. The cleaning module includes a side brush component and a vacuuming component. The steam module includes a heat-insulating protective shell, a boiler installed inside the heat-insulating protective shell, and a steam injection component connected to the boiler. The boiler includes a boiler shell and a boiler base installed at the lower part of the boiler shell. The boiler shell has a steam-water separation partition and a vacuum heating chamber. A heating water chamber is provided between the vacuum heating chamber and the steam-water separation partition. A steam chamber is provided above the steam-water separation partition. A heating element is provided inside the vacuum heating chamber. The main unit base station includes a base station housing, which contains a water tank and a charging water injection component. The charging water injection component includes a stepper motor and a lifting plate connected to the stepper motor. One end of the lifting plate has a power supply connector, and the other end has a water injection component.

[0008] Furthermore, a heat-conducting block is provided on the upper part of the heating element, and the heat-conducting block extends upward through the vacuum heating chamber and into the bottom of the heating water chamber, with a sealed connection between the heat-conducting block and the vacuum heating chamber; a heating element carrier is provided between the heating element and the boiler base; a water inlet connector communicating with the heating water chamber is provided on the boiler shell, and a water inlet control solenoid valve is provided on the water inlet connector; a steam connector communicating with the steam chamber is provided on the boiler shell, and a steam control solenoid valve is provided on the steam connector; a temperature and pressure sensor is provided on the upper part of the boiler shell.

[0009] Furthermore, a water inlet baffle is provided at the water inlet connector inside the heating water chamber, and a water level monitoring device is provided on the water inlet baffle.

[0010] Furthermore, the heat-insulating protective shell includes a heat-insulating base plate and a heat-proof shell. The heat-insulating base plate is fixed on the main unit of the sweeping robot, and the boiler is installed between the heat-proof shell and the heat-insulating base plate. The boiler base is installed on the heat-insulating base plate. The heat-insulating protective shell is also provided with a heat dissipation structure.

[0011] Furthermore, the water injection assembly includes a water pump and a conversion channel installed at the front end of the water pump, wherein the conversion channel is provided with an inlet and an outlet.

[0012] Furthermore, the side brush assembly is located at the bottom front of the robot vacuum's main body, and the side brush assembly consists of a side brush motor and brush bristles mounted on the side brush motor; there are two sets of side brush assemblies; the vacuuming assembly includes a vacuum box, a vacuum cleaner, and a roller brush; the vacuum box has a vacuum port, and the roller brush is mounted on the robot vacuum's main body and located in front of the vacuum port; the motion assembly includes motion wheels located on both sides of the bottom of the robot vacuum's main body and steering motion wheels located at the bottom front of the robot vacuum's main body.

[0013] Furthermore, the detection component is located at the front of the robot vacuum cleaner's main unit.

[0014] Furthermore, the steam injection assembly includes a steam pipe and a steam nozzle mounted on the steam pipe. The steam pipe is installed at the lower part of the main body, and the steam pipe is connected to the steam connector through a steam pipeline.

[0015] Furthermore, the robot vacuum cleaner's main unit is equipped with a water inlet corresponding to the water injection component and a power receiving interface corresponding to the power supply connector; the water inlet and the water inlet connector are connected through a first water pipe; the power receiving interface is electrically connected to the power supply component and the boiler respectively; the power supply component is electrically connected to the intelligent control module, the detection component, the motion component, and the cleaning module respectively; the intelligent control module is electrically connected to the cleaning module, the detection component, the motion component, the temperature and pressure sensor, the water inlet control solenoid valve, the steam control solenoid valve, and the pressure relief valve respectively; the power supply component is a rechargeable battery.

[0016] A method for using a boiler-type steam sweeping robot, comprising the following steps:

[0017] S1. Docking and preparation stage: The robot vacuum cleaner moves autonomously and enters the preset position in the host base station; the host base station establishes a communication connection with the robot vacuum cleaner and detects its position status; after it arrives in position, the host base station controls the stepper motor of the charging and water injection component to work, drives the lifting plate to descend, so that the water injection component is sealed and docked with the water injection port of the robot vacuum cleaner, and at the same time, the power supply connector is electrically connected to the power receiving interface.

[0018] S2. Water Injection and Charging Phase: After docking, the intelligent control module controls the water inlet control solenoid valve to open and starts the water pump of the water injection component to inject water from the water tank in the host base station into the heating chamber of the boiler through the water inlet and the first water pipe; during the water injection process, the host base station charges the power supply component of the sweeping robot host through the power connector; when the injected water volume reaches the preset value, the intelligent control module closes the water inlet control solenoid valve and stops the water pump;

[0019] S3. Steam preparation and pressure maintenance stage: After water injection stops, the intelligent control module performs a system self-check to confirm the water level is safe and the pipeline is sealed; after the self-check passes, the heating program is started, and the heating element in the boiler is powered through the power connector; the intelligent control module reads the data from the temperature and pressure sensors in real time, and adjusts the power of the heating element through a closed-loop control algorithm to make the internal pressure of the boiler steadily rise to the first preset pressure value.

[0020] When the pressure reaches the first preset pressure value, the intelligent control module controls the heating element to switch to constant pressure maintenance mode, and maintains the pressure fluctuation within the preset working range through intermittent heat replenishment; during this period, if the temperature and pressure sensor detects that the pressure exceeds the second preset pressure value, the intelligent control module controls the pressure relief valve to open and release pressure until the pressure returns to a safe range.

[0021] S4. Cleaning and Disinfection Execution Phase: After steam preparation is completed, the robot vacuum cleaner moves away from the main station. Within the cleaning area, the intelligent control module controls the movement of the motion components and simultaneously starts the cleaning module to clean the floor. When steam disinfection is required, the intelligent control module opens the steam control solenoid valve, and the high-pressure steam in the boiler is ejected from the steam nozzle through the steam pipeline and steam pipe to disinfect the cleaned floor at high temperature. At the same time, the intelligent control module continuously monitors the internal pressure of the boiler. If the pressure is lower than the lower limit of the working range, the steam injection rate is reduced or the injection is paused, and a path is planned to return to the main station.

[0022] S5. Task completion and return phase: When the steam pressure is lower than the minimum working threshold, or when the cleaning task is completed, the robot vacuum cleaner will return to the host base station autonomously and repeat steps S1 and S2 to carry out a new round of water replenishment, charging and steam preparation.

[0023] The beneficial effects of this invention are as follows: A boiler-type steam sweeping robot, through a reasonable structural arrangement, consists of a sweeping robot main unit and a main unit base station, compatible with garbage sweeping and dust adsorption. It also features an internal boiler capable of generating high-temperature steam. The boiler generates high-temperature steam to disinfect the application environment. The boiler does not require energy from the sweeping robot main unit for heating; instead, water is first added to the main unit base station, followed by power heating. After generating high-temperature steam, the sweeping robot main unit moves from the main unit base station to the application environment for steam disinfection and cleaning. When the steam is used up, it returns to the main unit base station for reheating. Simultaneously, the main unit base station can also recharge the sweeping robot main unit. This invention utilizes heating at the main unit base station, and the boiler-type structure allows for better generation of high-temperature, high-pressure steam, resulting in more effective disinfection and cleaning. Furthermore, the elimination of the need for the sweeping robot main unit to provide power for water heating significantly extends the battery life of the sweeping robot main unit, leading to better cleaning of the application environment. Attached Figure Description

[0024] For ease of explanation, the present invention will be described in detail below with reference to the preferred embodiments and accompanying drawings.

[0025] Figure 1 This is a schematic diagram of the overall structure of a boiler-type steam sweeping robot when it docks at a base station according to the present invention;

[0026] Figure 2This is a schematic cross-sectional view of a boiler-type steam sweeping robot according to the present invention;

[0027] Figure 3 This is a schematic diagram of the boiler structure in a boiler-type steam sweeping robot of the present invention;

[0028] Figure 4 yes Figure 3 Enlarged view of point A in the middle;

[0029] Figure 5 This is a schematic diagram of the heat insulation protective shell structure in a boiler-type steam sweeping robot of the present invention;

[0030] Figure 6 This is a schematic diagram of the cross-sectional structure of the host base station in a boiler-type steam sweeping robot of the present invention;

[0031] Figure 7 This is a front view of the host base station in a boiler-type steam sweeping robot of the present invention;

[0032] Figure 8 This is a schematic diagram of the water injection component structure of a boiler-type steam sweeping robot according to the present invention.

[0033] In the diagram: 1. Robotic sweeping robot main unit; 2. Robotic base station; 3. Intelligent control module; 4. Detection component; 5. Motion component; 6. Power supply component; 7. Cleaning module; 8. Steam module; 71. Side brush component; 72. Vacuuming component; 81. Heat insulation protective shell; 82. Boiler; 83. Steam injection component; 821. Boiler shell; 822. Boiler base; 823. Steam-water separation layer; 824. Vacuum heating chamber; 825. Heating water chamber; 826. Steam chamber; 8241. Heating element; 8242. Heat conducting block; 827. Heating element carrier; 828. Water inlet connector; 8281. Water inlet control solenoid valve; 829. Steam control solenoid valve; 8291. Temperature and pressure sensor; 8211. Water inlet baffle; 8251. Water level monitoring device; 8252. Pressure relief valve 10, base station housing 21, water tank 22, charging water filling assembly 23, stepper motor 231, lifting plate 232, power supply connector 24, water filling assembly 25, side brush motor 711, brush bristles 712, heat insulation base plate 811, heat protection shell 812, water pump 251, conversion channel 252, water inlet 253, water outlet 254, dust collection box 721, vacuum cleaner 722, roller brush 723, dust collection port 724, motion wheel 51, steering motion wheel 52, steam pipe 831, steam nozzle 832, steam pipeline 833, water filling port 11, power receiving interface 12, first water pipe 9, fixing plate 26, anti-slip base plate 27, limit post 28, motor fixing plate 29, water pumping pipe 255, dust isolation plate 725. Detailed Implementation

[0034] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," and "counterclockwise," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0035] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection, a sealed connection, or an indirect connection through an intermediate medium; and they can refer to the internal communication between two components. Those skilled in the art will understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0036] The following description, with reference to the accompanying drawings, further illustrates a boiler-type steam sweeping robot according to the present invention:

[0037] like Figure 1-8 As shown, a boiler-type steam sweeping robot's core system consists of an autonomously movable sweeping robot host 1 and a fixed robot base station 2. The robot base station 2 is responsible for providing centralized charging, water replenishment, and high-power heating for steam generation to the sweeping robot host 1, thereby completely solving the industry problems of high load, short battery life, and insufficient steam temperature and pressure caused by the robot carrying its own water tank and self-heating.

[0038] In this embodiment, the robot vacuum cleaner main unit 1 has a flat, round body and adopts a high-density modular integrated design internally. Specifically, it includes: an intelligent control module 3, which serves as the system's control center, employing a high-performance embedded microprocessor and integrating map building, path planning, behavior decision-making, and safety monitoring algorithms. One of its core functions is to perform precise closed-loop control of the steam module 8; a detection component 4 and a motion component 5. The detection component 4 is located at the front of the main unit and can use a combination of lidar, visual sensors, or ultrasonic sensors to achieve environmental scanning, obstacle avoidance, and dirt identification. The motion component 5 includes two independent... The drive wheel 51 and one omnidirectional steering wheel 52 enable omnidirectional flexible movement through differential control; the cleaning module 7 is responsible for dry physical cleaning, including two sets of side brush assemblies 71 symmetrically located at the bottom front of the main unit, driven by the side brush motor 711, used to gather edge debris inward; the vacuuming assembly 72 is located in the middle behind the side brushes, including a vacuum box 721, a vacuum cleaner 722 and a roller brush 723. The roller brush 723 agitates dirt in the floor crevices, and the vacuum cleaner 722 generates negative pressure, sucking the debris into the vacuum box 721 through the suction port 724, where the dust separation plate 725 achieves air and dust separation.

[0039] In this embodiment, the robot vacuum cleaner host 1 is equipped with a power supply component 6, which uses a high-capacity rechargeable lithium battery pack to provide working power for all power-consuming units (control, sensing, action, and cleaning) except for direct heating by the boiler. It is connected to the robot base station 2 for charging through the power receiving interface 12.

[0040] In this embodiment, the robot vacuum cleaner host 1 is also equipped with a steam module 8. The steam module 8 is the core of realizing the high-temperature steam sterilization function. It innovatively adopts an integrated design of vacuum isolation high-efficiency heating and steam-water separation and pressure storage. The steam module 8 mainly includes a heat-insulating protective shell 81, a boiler 82, and a steam injection assembly 83.

[0041] In this embodiment, the heat insulation protective shell 81 consists of a heat insulation base plate 811 fixed on the main unit and a heat protection shell 812 covering it, which together form a heat insulation structure. The heat insulation protective shell 81 adopts a composite structure of vacuum heat insulation board and aluminum foil reflective layer to form a safe and stable heat insulation structure. In order to further optimize the internal thermal environment, a heat dissipation structure (not shown) can be designed on the heat protection shell 812, such as a heat dissipation fin array or directional ventilation grille, which can guide the waste heat slowly conducted through the heat insulation layer during boiler operation to the outside of the main unit or non-sensitive areas in a convection manner, effectively preventing heat from accumulating in the sealed machine body, protecting heat-sensitive components such as batteries and circuit boards, and extending their service life.

[0042] In this embodiment, the boiler 82 adopts a microstructure design. The boiler 82 is the key device of this invention, and its design goal is to safely and efficiently generate high-temperature and high-pressure saturated steam within a limited space. The boiler 82 adopts a cavity-layered structure. The boiler 82 is formed by sealing and welding a boiler shell 821 and a boiler base 822. The boiler base 822 is fixed to the heat insulation base plate 811. The main body of the boiler is made of 316L stainless steel and is sealed and welded using argon arc welding. Pressure testing was completed, and a static pressure test of 8-10 Bar was performed. The pressure was maintained without leakage. By wrapping the boiler with a composite structure layer of vacuum heat insulation board and aluminum foil reflective layer, heat loss is further reduced. Combined with the double heat insulation treatment of the heat insulation protective shell 81, heat conduction to the outside is greatly limited. Overall, the boiler is designed to maintain heat and pressure to the greatest extent possible. A steam-water separation layer 823 is installed inside the boiler shell 821. To prevent water droplets from being easily entrained by steam into the steam chamber during boiling, which could result in wet saturated steam or even hot water being ejected, the steam-water separation layer 823 employs a labyrinthine baffle structure, a spiral centrifugal channel, or a built-in stainless steel wire mesh demister. This causes the steam to collide and deflect as it passes through, separating water droplets due to inertia and allowing them to flow back into the heating chamber, ensuring that the steam in the steam chamber is dry steam. Simultaneously, the steam-water separation layer 823 divides its interior into a lower heating water chamber 825 and an upper steam chamber 826. Crucially, a vacuum heating chamber 824 is located above the boiler base 822 and below the bottom of the heating water chamber 825. The vacuum heating chamber 824 is in a vacuum state. The four walls of the vacuum heating chamber 824 are made of a material with low thermal conductivity, such as nanoporous insulation material or ceramic fiber material, which is resistant to high temperature and pressure and has good sealing performance, effectively blocking the downward conduction of heat. A heating element 8241 is encapsulated inside the vacuum heating chamber 824. To effectively prevent heat conduction, a heating element carrier 827 is provided between the heating element and the boiler base. The heating element carrier 827 is made of a material with low thermal conductivity, such as a plate made of fumed silica nanomaterials, aerogel, nanoporous insulation material, or ceramic fiber material, which insulates the high temperature of the heating element and prevents damage to other components. A heat-conducting block 8242 is provided on top of the heating element 8241 to achieve tight heat dissipation. The heat-conducting block 8242 is made of a high thermal conductivity material, such as copper or aluminum alloy. This heat-conducting block 8242 extends upwards through the top wall of the vacuum heating chamber 824 and into the bottom of the heating water chamber 825, without protruding or only slightly protruding, ensuring that water can completely cover its surface. The heat-conducting block 8242 and the top wall of the vacuum heating chamber 824 are sealed by a process. The top wall of the vacuum heating chamber 824 is sealed within the boiler shell 821 by a process and acts as a water-proof layer. During use, the heat generated by the heating element 8241 is transferred to the water almost without loss through the heat-conducting block 8242, resulting in extremely high heating efficiency. Simultaneously, the vacuum layer physically isolates the high temperature of the heating element 8241 from the internal structure of the robot, significantly improving safety. As another optimization, such as... Figure 4The surface of the heat-conducting block 8242 shown is designed with a micro-recessed structure, which can further increase the contact area with water and increase the residence time of water on the heat-conducting block.

[0043] The heating element 8241 has a maximum operating temperature of 250°C and is used to heat water quickly and efficiently to produce saturated steam at a pressure of approximately 4 Bar (gauge pressure) and a temperature of approximately 152°C.

[0044] In this embodiment, the boiler shell 821 is provided with a water inlet connector 828 that connects to the heating water chamber 825, and a water inlet control solenoid valve 8281 is connected in series thereon. To prevent water inrush and ensure accurate measurement and control, a water inlet baffle 8251 is provided at the water inlet in the heating water chamber 825. The water inlet baffle 8251 integrates a water level monitoring device 8252, which is preferably a high-temperature resistant capacitive water level sensor or an electrode probe, capable of providing real-time and accurate feedback of liquid level information, providing key signals for water injection control and dry burning prevention. The boiler shell 821 is also provided with a steam connector 829 that connects to the steam chamber 826, and a steam control solenoid valve 8291 is installed thereon to control the opening and closing of steam injection. The steam connector 829 is installed at an upward tilt of 30 degrees to prevent condensate from blocking the channel and to avoid water hammer under high pressure that could damage the structure.

[0045] In addition, a temperature and pressure sensor 8211 is installed on the top of the boiler shell 821 to monitor the temperature and pressure inside the steam chamber 826 in real time, providing core feedback data for intelligent control. Furthermore, a pressure relief valve 10 is independently provided to relieve pressure when the pressure inside the boiler is too high, providing the final physical safety guarantee.

[0046] In this embodiment, the steam jet assembly 83 includes a steam pipe 833, a steam tube 831, and steam nozzles 832. The steam pipe 833 is a high-temperature resistant hose, and the hose is covered with a layer of insulation material to improve its heat preservation. The steam pipe 833 is connected to a steam connector 829. The steam tubes 831 are distributed around the bottom of the robot vacuum cleaner 1, arranged circumferentially, and located behind the roller brush 723. The structure of the steam tube 831 can be a curved tube or a straight tube. Multiple downward-sloping steam nozzles 832 are distributedly installed on the steam tube 831. The steam in the steam chamber 826 passes through the steam pipe 833, the steam tube 831, and is ejected from the steam nozzles 832. As an optimization, in order to prevent steam from being sucked into the vacuum cleaner, a rubber plate (not shown) can be placed between the suction port and the steam tube. The rubber plate is made of soft material and is in sealed contact with the ground to isolate the steam, but does not affect the movement of the robot vacuum cleaner.

[0047] In this embodiment, the main unit housing is provided with a water inlet 11 and a composite power receiving interface 12. The water inlet 11 is connected to the water inlet connector 828 of the boiler 82 through the first water pipe 9. The internal circuits of the power receiving interface 12 are separated: one circuit charges the power supply component 6; the other circuit is dedicated to providing high-power heating current to the heating element 8241 of the boiler 82.

[0048] In this embodiment, a robot base station 2 is also provided. The robot base station 2 is a floor-standing box and serves as the system's "energy center" and "supply station." The robot base station 2 includes a base station box 21, which integrates water storage, charging, and control functions. The bottom is provided with an anti-slip base plate 27 with grooves or guide structures to assist the sweeping robot host 1 in accurately driving into and stopping at the preset docking position. It also includes a water tank 22 for storing cleaning water, the capacity of which can be designed according to the household cleaning area. It also includes a high-precision charging and water filling component 23, which is the actuator for automatic replenishment. Its core is to achieve synchronous, accurate, and reliable docking of water and electricity. The charging and water filling component 23 is fixed to the bottom of the water tank by a fixing plate 26, and also includes a control component (not shown). A communication connection is established between the control component (not shown) and the main unit of the sweeping robot; the water tank is for water storage; one end of the stepper motor 231 can rotate and pass through the fixing plate 26 to connect to the lifting plate 232; the charging water injection component 23 is driven by the stepper motor 231 to move the lifting plate 232 along the vertical guide rail (not shown); the stepper motor 231 is fixed by the motor fixing plate 29, which can precisely control the lifting stroke; a water injection component 25 is installed at one end of the lifting plate 232, including a water pump 251 and a conversion channel 252 at its front end; the conversion channel 252 has an inlet 253 connected to the water tank 22 through a water pumping pipe 255 and an outlet 254 corresponding to the water injection port 11; the other end of the lifting plate 232 is equipped with a power supply connector 24, which adopts a high-current gold-plated elastic pin.

[0049] To ensure successful docking even with minor deviations in robot docking, a limiting post 28 is provided on the lifting plate 232. The limiting post 28 can determine whether the docking position of the robot vacuum cleaner 1 is accurate when the lifting plate 232 descends. If there is only a minor deviation, the limiting post 28 will make a fine adjustment to the robot vacuum cleaner 1 when it is inserted into the robot vacuum cleaner 1, so as to ensure that the water injection component 25 and the power supply connector 24 are accurately aligned with the robot vacuum cleaner 1. The water outlet 254 of the water injection component 25 and the power supply connector 24 both adopt a certain floating design or self-aligning structure to compensate for docking errors and ensure the reliability of sealing and conductivity.

[0050] In this embodiment, the power supply component 6 is electrically connected to the intelligent control module 3, the detection component 4, the motion component 5, and the cleaning module 7, providing operating power to these modules. The intelligent control module 3, as the control core, is connected to components requiring electrical connection and signal interaction, such as the cleaning module 7, the detection component 4, the motion component 5, the temperature and pressure sensor 8211, the water inlet control solenoid valve 8281, the steam control solenoid valve 8291, the pressure relief valve 10, and the water level monitoring device 8252, to achieve intelligent operation of the entire system. Simultaneously, the intelligent control module 3 also interacts with the robot base station 2 to ensure the reliability of the robot's docking position. When the robot returns to the base station, the detection component 4 can mark the markers set on the base station and then the intelligent control module 3 can accurately plan the return route.

[0051] Workflow and usage instructions:

[0052] The operation of this invention is an automated process integrating perception, decision-making, execution, and feedback. The specific process is as follows:

[0053] Phase 1: Autonomous Return to Station and Precise Docking (S1)

[0054] When the robot vacuum cleaner host 1 returns to the host base station 2 autonomously according to the task plan, insufficient steam pressure, or low battery, the intelligent control module 3 controls it to do so. Through the cooperation of the detection component 4 and the preset marker of the base station, the robot accurately stops at the docking position. After the base station detects the arrival signal, the two parties establish a communication link and exchange status information.

[0055] Phase Two: Synchronous Water Injection and Charging (S2)

[0056] The base station controls the stepper motor 231 to drive the lifting plate 232 to descend. The water and electricity interfaces are connected synchronously. After the intelligent control module 3 confirms that the connection is successful and the seal is good, the water injection procedure is executed: the water inlet control solenoid valve 8281 is opened, the water pump 251 is started, and the water level monitoring device provides real-time feedback. When the water volume in the heating water chamber 825 reaches the preset safe capacity of 200ml, the intelligent control module 3 immediately closes the water inlet control solenoid valve 8281 and stops the water pump 251. During the entire water injection process, the base station charges the power supply component 6 synchronously through the power supply connector 24, making efficient use of the connection time.

[0057] Phase 3: Intelligent Steam Preparation and Dynamic Pressure Maintenance via Water Heating (S3)

[0058] After water injection is completed, the system performs a self-check (including water level confirmation, valve status, etc.). After the self-check passes, the core steam preparation process is started:

[0059] The intelligent control module 3 is powered by a dedicated circuit to start the boiler heating element 8241. Crucially, the intelligent control module 3 uses the pressure value fed back in real time by the temperature and pressure sensor 8211 as the core controlled parameter. It adopts a control algorithm and dynamically adjusts the heating power of the heating element 8241 through high-frequency PWM modulation to achieve a stable, rapid, and overshoot-free increase in boiler pressure until the first preset working pressure value of 4 Bar is reached, which corresponds to a saturated steam temperature of approximately 152°C.

[0060] When the pressure reaches the target value, the system does not simply cut off the power, but switches to a constant pressure maintenance mode. The intelligent control module 3 continuously monitors the pressure. When the pressure drops to the lower limit of the working range of 3.8 Bar due to natural heat dissipation and steam condensation, it automatically starts low-power intermittent supplemental heating to raise the pressure and stabilize it within the preset working pressure range of 3.8 Bar to 4.2 Bar. This effectively compensates for the heat loss of steam during storage and standby, ensuring that the robot vacuum cleaner can obtain a stable flow and temperature of steam throughout the cleaning process after leaving the base station, greatly improving the user experience and the consistency of the disinfection effect. If the pressure exceeds the higher second preset safety value of 5.5 Bar due to a fault, the intelligent control module 3 will perform an emergency power cut-off, and the pressure relief valve 10 will automatically open to relieve pressure when the pressure reaches its set value of 6 Bar.

[0061] Phase 4: Off-site Collaborative Cleaning and Adaptive Disinfection (S4)

[0062] After the steam is prepared and stabilized at a constant pressure, the robot vacuum cleaner 1 moves away from the base station and begins the cleaning task. The intelligent control module 3 controls the robot to move along the planned path and simultaneously starts the side brush and vacuuming functions to complete the dry cleaning of the floor. When the robot enters the preset disinfection area or identifies a stubborn stain area through the sensor, the intelligent control module 3 opens the steam control solenoid valve 8291. The high-temperature and high-pressure steam in the boiler is transported through the heat-insulated steam pipeline 833 under the action of pressure difference. The steam sprayed out at high speed from the steam nozzle 832 has a temperature of 110°C and a temperature of about 80°C when it hits the ground, thus performing deep cleaning and high-temperature disinfection on the floor that has just been cleaned.

[0063] Throughout the disinfection process, the intelligent control module 3 continuously monitors the pressure inside the boiler. When the pressure drops to the lower limit of the working range due to continuous use, the system can automatically reduce the steam injection frequency to extend the single operation time, and at the same time start calculating and planning the optimal path to prepare to return to the base station for resupply, thus realizing intelligent task management.

[0064] Phase 5: Task Cycle and Automatic Battery Resumption (S5)

[0065] When the boiler pressure is lower than the effective working threshold or the full-area cleaning task is completed, the robot vacuum cleaner host 1 automatically returns to the host base station 2 and repeats the process from the first to the third stage. In this way, the system realizes a fully automatic and sustainable working closed loop of "sweeping-charging-steam preparation-disinfection-return replenishment", which can complete the task of deep cleaning the home floor without human intervention.

[0066] To optimize performance, after the boiler stops heating, the internal steam gradually condenses and causes a pressure drop due to heat dissipation to the environment. This invention mitigates this by: first, wrapping the boiler and steam pipelines with high-insulation-performance thermal insulation material; second, when the intelligent control module detects that the pressure is below the operating limit, it starts low-power heating to maintain operation, and also provides low-power electricity to the boiler through the power supply components, so that when the pressure drops to 3.8 Bar during the departure process, even if the robot is working, the heating element is briefly turned on for supplemental heating, powered by a small amount of battery power from the robot, which is only used to maintain the pressure and therefore does not consume much electricity; third, the system logic prioritizes performing steam cleaning tasks immediately after the boiler finishes heating to maximize the utilization of high-temperature steam.

[0067] In this embodiment, the boiler's maximum water capacity is 200ml. When 200ml of water is completely vaporized at a pressure of 4bar, it produces a steam volume of approximately 92.5L, which is sufficient for continuous spraying for about 20 minutes.

[0068] Through the above-described specific embodiments, this invention not only provides a specific product structure but also reveals a complete system operation method. Through the architectural innovation of "centralized power supply and water replenishment from base stations" and "efficient steam generation from a vacuum boiler in the main unit," combined with intelligent closed-loop pressure control and constant pressure maintenance algorithms, it successfully integrates three major functions—efficient sweeping, powerful vacuuming, and high-temperature steam sterilization—into a single automated device, achieving significant improvements in safety, battery life, cleaning efficiency, and user experience.

[0069] The above content and structure describe the basic principles, main features, and advantages of the product of this invention, which should be understood by those skilled in the art. The examples and descriptions above are merely illustrative of the principles of this invention. Various changes and modifications can be made to this invention without departing from its spirit and scope, and all such changes and modifications fall within the scope of the invention as claimed. The scope of protection of this invention is defined by the appended claims and their equivalents.

Claims

1. A boiler-type steam sweeping robot, comprising a sweeping robot main unit and a main unit base station, wherein the sweeping robot main unit integrates an intelligent control module, a detection component, a motion component, a power supply component, a cleaning module, and a steam module; the cleaning module includes a side brush component and a vacuuming component; characterized in that: The steam module includes a heat-insulating protective shell, a boiler installed inside the heat-insulating protective shell, and a steam injection assembly connected to the boiler; the boiler includes a boiler shell and a boiler base installed at the lower part of the boiler shell, and the boiler shell is provided with a steam-water separation partition and a vacuum heating chamber; a heating water chamber is provided between the vacuum heating chamber and the steam-water separation partition; a steam chamber is provided above the steam-water separation partition; a heating element is provided inside the vacuum heating chamber; the host base station includes a base station housing, and the base station housing is provided with a water tank and a charging water injection assembly; the charging water injection assembly includes a stepper motor and a lifting plate connected to the stepper motor, and a power supply connector is provided at one end of the lifting plate and a water injection assembly is provided at the other end.

2. The boiler-type steam sweeping robot according to claim 1, characterized in that: The heating element has a heat-conducting block on its upper part, which extends upward through the vacuum heating chamber and into the bottom of the heating water chamber. The heat-conducting block and the vacuum heating chamber are sealed together. A heating element carrier is provided between the heating element and the boiler base. The boiler shell has a water inlet connector that connects to the heating water chamber, and the water inlet connector is equipped with a water inlet control solenoid valve. The boiler shell has a steam connector that connects to the steam chamber, and the steam connector is equipped with a steam control solenoid valve. A temperature and pressure sensor is provided on the upper part of the boiler shell.

3. A boiler-type steam sweeping robot according to claim 2, characterized in that: The heating water chamber is equipped with a water inlet baffle at the corresponding water inlet connector, and a water level monitoring device is installed on the water inlet baffle.

4. The boiler-type steam sweeping robot according to claim 1, characterized in that: The heat-insulating protective shell includes a heat-insulating base plate and a heat-proof shell. The heat-insulating base plate is fixed on the main unit of the sweeping robot, and the boiler is installed between the heat-proof shell and the heat-insulating base plate. The boiler base is installed on the heat-insulating base plate. The heat-insulating protective shell is also provided with a heat dissipation structure.

5. A boiler-type steam sweeping robot according to claim 1, characterized in that: The water injection assembly includes a water pump and a conversion channel installed at the front end of the water pump. The conversion channel has an inlet and an outlet.

6. The boiler-type steam sweeping robot according to claim 1, characterized in that: The side brush assembly is located at the bottom front of the robot vacuum's main body. The side brush assembly consists of a side brush motor and brush bristles mounted on the side brush motor. There are two sets of side brush assemblies. The vacuuming assembly includes a vacuum box, a vacuum cleaner, and a roller brush. The vacuum box has a vacuum port, and the roller brush is mounted on the robot vacuum's main body and located in front of the vacuum port. The motion assembly includes motion wheels located on both sides of the bottom of the robot vacuum's main body and steering motion wheels located at the bottom front of the robot vacuum's main body.

7. A boiler-type steam sweeping robot according to claim 1, characterized in that: The detection component is located at the front of the robot vacuum cleaner's main unit.

8. A boiler-type steam sweeping robot according to claim 1, characterized in that: The steam injection assembly includes a steam pipe and a steam nozzle mounted on the steam pipe. The steam pipe is installed at the lower part of the main body, and the steam pipe is connected to the steam connector through a steam pipeline.

9. A boiler-type steam sweeping robot according to claim 1, characterized in that: The robotic vacuum cleaner's main unit is equipped with a water inlet corresponding to the water injection component and a power receiving interface corresponding to the power supply connector; the water inlet and the water inlet connector are connected via a first water pipe; the power receiving interface is electrically connected to the power supply component and the boiler respectively; the power supply component is electrically connected to the intelligent control module, the detection component, the motion component, and the cleaning module respectively; the intelligent control module is electrically connected to the cleaning module, the detection component, the motion component, the temperature and pressure sensor, the water inlet control solenoid valve, the steam control solenoid valve, and the pressure relief valve respectively; the power supply component is a rechargeable battery.

10. A method of using a boiler-type steam sweeping robot, implemented using the boiler-type steam sweeping robot according to any one of claims 1-9, characterized in that, Includes the following steps: S1. Docking and preparation stage: The robot vacuum cleaner moves autonomously and enters the preset position in the host base station; the host base station establishes a communication connection with the robot vacuum cleaner and detects its position status; after it arrives in position, the host base station controls the stepper motor of the charging and water injection component to work, drives the lifting plate to descend, so that the water injection component is sealed and docked with the water injection port of the robot vacuum cleaner, and at the same time, the power supply connector is electrically connected to the power receiving interface. S2. Water Injection and Charging Phase: After docking, the intelligent control module controls the water inlet control solenoid valve to open and starts the water pump of the water injection component to inject water from the water tank in the host base station into the heating chamber of the boiler through the water inlet and the first water pipe; during the water injection process, the host base station charges the power supply component of the sweeping robot host through the power connector; when the injected water volume reaches the preset value, the intelligent control module closes the water inlet control solenoid valve and stops the water pump; S3. Steam preparation and pressure maintenance stage: After water injection stops, the intelligent control module performs a system self-check to confirm the water level is safe and the pipeline is sealed; after the self-check passes, the heating program is started, and the heating element in the boiler is powered through the power connector; the intelligent control module reads the data from the temperature and pressure sensors in real time, and adjusts the power of the heating element through a closed-loop control algorithm to make the internal pressure of the boiler steadily rise to the first preset pressure value. When the pressure reaches the first preset pressure value, the intelligent control module controls the heating element to switch to constant pressure maintenance mode, and maintains the pressure fluctuation within the preset working range through intermittent heat replenishment; during this period, if the temperature and pressure sensor detects that the pressure exceeds the second preset pressure value, the intelligent control module controls the pressure relief valve to open and release pressure until the pressure returns to a safe range. S4. Cleaning and Disinfection Execution Phase: After steam preparation is completed, the robot vacuum cleaner moves away from the main station. Within the cleaning area, the intelligent control module controls the movement of the motion components and simultaneously starts the cleaning module to clean the floor. When steam disinfection is required, the intelligent control module opens the steam control solenoid valve, and the high-pressure steam in the boiler is ejected from the steam nozzle through the steam pipeline and steam pipe to disinfect the cleaned floor at high temperature. At the same time, the intelligent control module continuously monitors the internal pressure of the boiler. If the pressure is lower than the lower limit of the working range, the steam injection rate is reduced or the injection is paused, and a path is planned to return to the main station. S5. Task completion and return phase: When the steam pressure is lower than the minimum working threshold, or when the cleaning task is completed, the robot vacuum cleaner will autonomously return to the host base station and repeat step S1 to carry out a new round of water replenishment, charging and steam preparation.

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