Cleaning apparatus, control method of cleaning apparatus, and cleaning system

Abstract

The present disclosure provides a cleaning device, a control method of the cleaning device and a cleaning system. The liquid path system in the cleaning device comprises a clean water box, a first path and a second path. The clean water box is provided with a first liquid outlet and a second liquid outlet, the first liquid outlet is lower than the second liquid outlet. The first path is provided with a first inlet and a first outlet, the first outlet is used for the liquid in the clean water box to flow out of the first path, and a first power device is used for providing driving power to discharge the liquid in the clean water box out of the first path. The second path is provided with a second inlet and a second outlet, the second outlet is used for the liquid in the clean water box to flow out of the second path. In the state of wiping the surface to be cleaned, the first power device drives the liquid in the clean water box to flow into the first path from the first liquid outlet and flow out of the first outlet to supply the liquid to the cleaning element. In the state of washing the cleaning element, when the clean water box is supplied with liquid by an external liquid source of the clean water box so that the liquid level of the clean water box exceeds the second liquid outlet, the liquid in the clean water box overflows from the second liquid outlet to the second path and flows out of the second outlet to discharge the liquid to the cleaning element to wash the cleaning element.

Description

Technical Field

[0001] This disclosure relates to the field of cleaning technology, and more specifically, to a cleaning device, a method for controlling the cleaning device, and a cleaning system. Background Technology

[0002] Cleaning equipment typically includes types such as mopping robots, sweeping and mopping robots, and handheld floor scrubbers. Cleaning equipment can clean the surface to be cleaned by using its mopping and wiping components.

[0003] When the cleaning equipment is in the state of wiping the surface to be cleaned, the hydraulic system of the cleaning equipment provides cleaning fluid (usually water) to the cleaning components to wet them. The wetted cleaning components then move to wipe the surface to be cleaned. After the cleaning equipment has been wiping the surface to be cleaned for a period of time, it can return to the base station it is working with to perform a deep cleaning of its cleaning components. When cleaning the cleaning components, the hydraulic system of the cleaning equipment needs to provide a large amount of cleaning fluid (usually water) to the cleaning components to clean them.

[0004] Since the cleaning equipment requires a smaller liquid supply when wiping the surface to be cleaned, but a larger liquid supply when cleaning the cleaning parts, related technologies use a flow-adjustable power device in the liquid circuit system to adjust the flow rate output to the cleaning parts, so as to meet the different needs of the cleaning parts when wiping the surface to be cleaned and when the cleaning parts are self-cleaning. However, the cost of using such a flow-adjustable power device is relatively high. Summary of the Invention

[0005] This disclosure provides a cleaning device, a control method for the cleaning device, and a cleaning system, which at least address the problem of high costs caused by using a power device with adjustable flow rate.

[0006] In a first aspect, this disclosure provides a cleaning device, comprising a cleaning component and a liquid system. The cleaning component is used to mop a surface to be cleaned. The liquid system includes a water tank, a first power unit, a first passage, and a second passage. The water tank has a first outlet and a second outlet, with the first outlet positioned at a lower height than the second outlet. The first passage has a first inlet and a first outlet, the first inlet communicating with the first outlet, and the first outlet allowing liquid from the water tank to flow out through the first passage. The first power unit provides driving power to discharge liquid from the water tank into the first passage. The second passage has a second inlet and a second outlet, the second inlet communicating with the second outlet, and the second outlet allowing liquid from the water tank to flow out through the second passage. When the cleaning device is in the state of mopping a surface to be cleaned, the first power unit drives liquid from the water tank to flow into the first passage from the first outlet and out from the first outlet to supply liquid to the cleaning component. When the cleaning equipment is in the state of cleaning the cleaning component, liquid is supplied to the clean water box through an external liquid source so that the liquid level in the clean water box exceeds the second liquid outlet. When this happens, the liquid in the clean water box overflows from the second liquid outlet into the second passage and flows out from the second outlet to drain liquid to the cleaning component and clean it.

[0007] In some embodiments, when the cleaning device is in the state of mopping the surface to be cleaned, the liquid level in the clean water box does not exceed the second liquid outlet.

[0008] In some embodiments, the first power unit is located at the first passage or the first liquid outlet.

[0009] In some embodiments, when the cleaning device is in the state of cleaning the cleaning component, and the liquid level supplied by the external liquid source to the water tank exceeds the second outlet, the first power device drives the liquid in the water tank to flow from the first outlet into the first passage and out from the first outlet to discharge liquid to the cleaning component.

[0010] In some embodiments, the second passage is a pipe through which liquid overflowing from the second outlet flows to and directly out of the pipe to drain the cleaning component and clean it.

[0011] In some embodiments, the second passage includes a first chamber, a second chamber, and a second power unit. The first chamber has an inlet and an outlet. The inlet allows liquid from an external liquid source to enter the first chamber, and the outlet allows liquid entering the first chamber to exit to the cleaning component. The second chamber contains wastewater and has a connecting port for wastewater from the cleaning component to enter. The second chamber is separated from the first chamber but is fluidly connected through a through-hole. The maximum permissible liquid level in the second chamber is lower than the location of the through-hole. The second power unit is connected to the outlet and provides driving power to propel wastewater from the cleaning component into the second chamber and to discharge liquid from the clean water box into the second passage. When the cleaning device is in the state of cleaning the cleaning component, and the liquid level supplied by the external liquid source to the water box exceeds the second liquid outlet, the second power device drives the liquid in the water box to overflow from the second liquid outlet to the second passage, and flows out from the second passage through the inlet, the first chamber, the outlet, and the second outlet in sequence to discharge liquid to the cleaning component and clean the cleaning component.

[0012] In some embodiments, when the cleaning device is in the state of cleaning the surface to be cleaned, the second power unit is in the start state, drawing air from the first chamber and the second chamber to create a negative pressure in the second chamber, thereby driving the wastewater on the cleaning component into the second chamber.

[0013] In some embodiments, the fluid system includes: a wastewater box; both the first chamber and the second chamber are formed on the wastewater box.

[0014] In some embodiments, the first chamber is located above the second chamber along the height direction of the cleaning device.

[0015] In some embodiments, when the second power unit is off and the liquid in the water box overflows from the second outlet into the first chamber, at least a portion of the liquid in the first chamber is discharged into the second chamber through a through hole between the first chamber and the second chamber.

[0016] In some embodiments, a filter element is provided at the through-hole between the first chamber and the second chamber. The first chamber and the second chamber are in fluid communication through pores in the filter element, which serves to prevent at least a portion of solid waste in the second chamber from entering the first chamber. Specifically, when the second power device is off, and the liquid level supplied to the water tank by the external liquid source exceeds the second outlet, the liquid in the water tank overflows from the second outlet into the first chamber, passes through the filter element, and then enters the second chamber.

[0017] In some embodiments, the liquid circuit system further includes a wastewater box; the wastewater box includes a box body and a cover, the cover is disposed on the top wall of the box body, the through hole is disposed on the top wall of the box body, the second chamber is formed in the box body, and the first chamber is located in the space enclosed by the cover and the box body.

[0018] In some embodiments, a sealing structure is provided between the cover and the box, the sealing structure being at least used to form the first chamber between the cover and the box, and the through hole being located within the area enclosed by the sealing structure.

[0019] In some embodiments, the box body is further provided with a third chamber, which is independent of the second chamber and is connected to the second power device. The top wall of the box body is provided with a third chamber entrance that communicates with the third chamber, and the third chamber entrance is located inside the first chamber.

[0020] When the cleaning device is in the state of cleaning the cleaning component, and the liquid level supplied by the external liquid source to the water tank exceeds the second liquid outlet, the second power device drives the liquid in the water tank to overflow from the second liquid outlet into the first chamber, and then flows to the cleaning component through the inlet of the third chamber, the third chamber, the drain outlet, and the second power device.

[0021] In some embodiments, the first chamber is divided into a first sub-chamber and a second sub-chamber by the sealing structure. The through hole is located in the first sub-chamber, and the inlet of the third chamber is located in the second sub-chamber. The sealing structure has a fluid outlet communicating with the first sub-chamber and a fluid inlet communicating with the second sub-chamber. The fluid outlet and the fluid inlet are spaced apart and in fluid communication.

[0022] In some embodiments, the fluid system further includes a recovery component. The recovery component includes a scraping section and a sludge-receiving chamber. The scraping section abuts against the cleaning component to scrape dirt from the cleaning component into the sludge-receiving chamber. A connecting port of the second chamber communicates with the sludge-receiving chamber, allowing wastewater from the cleaning component to enter the second chamber via the sludge-receiving chamber, and allowing wastewater in the second chamber to enter the sludge-receiving chamber and be discharged outside the cleaning equipment.

[0023] In some embodiments, the axis of rotation of the cleaning element is parallel to the surface to be cleaned.

[0024] In some embodiments, the cleaning component includes a tracked cleaning component or a roller-type cleaning component.

[0025] In some embodiments, the sludge-containing cavity extends along the rotation axis of the cleaning component, one end of the sludge-containing cavity along its length is provided with a first sewage outlet, and the other end of the sludge-containing cavity along its length is provided with a second sewage outlet. The first sewage outlet is connected to the communication port of the second chamber. The cleaning device also includes a control structure for communicating the interior of the sludge-containing cavity with the exterior when the cleaning device is in a sewage discharge state.

[0026] In some embodiments, the flow rate of the second power unit is greater than the flow rate of the first power unit.

[0027] In some embodiments, the first power unit includes a peristaltic pump, and the second power unit includes a water-air pump.

[0028] In some embodiments, the cleaning device is further provided with a device control board, which is electrically connected to the first power unit and the second power unit and is used to control the start-up and shutdown of the first power unit and the second power unit.

[0029] In some embodiments, when the cleaning equipment is in a sewage discharge state and the second power unit is off, positive pressure is applied to the second chamber to discharge the sewage in the second chamber through the communication port.

[0030] In some embodiments, the liquid flow rate supplied by the first passage to the cleaning component is less than the liquid flow rate supplied by the second passage to the cleaning component.

[0031] In some embodiments, the water container has a height dividing line, the first outlet is located below the height dividing line and near the bottom of the water container, and the second outlet is located above the height dividing line and near the top of the water container.

[0032] In some embodiments, the cleaning component includes a tracked cleaning component or a roller-type cleaning component, and the hydraulic system further includes a spray bar. A first outlet of the first passage is connected to the spray bar, and a second outlet of the second passage is connected to the spray bar. The spray bar has multiple nozzles, which are spaced apart along the rotation axis of the cleaning component.

[0033] In some embodiments, the cleaning equipment is used to interface with a base station, which is used to maintain the cleaning equipment. The base station is equipped with a liquid supply system, and the external liquid source for the clean water tank includes the base station's liquid supply system. The clean water tank has a replenishment port, and the base station has a docking interface that communicates with the liquid supply system. The docking interface is used to connect with the replenishment port. When the cleaning equipment is docked at the base station and the docking interface is connected with the replenishment port, the base station's liquid supply system supplies liquid to the clean equipment's clean water tank.

[0034] Secondly, this disclosure also provides a cleaning device, comprising a cleaning component and a liquid system. The cleaning component is used to mop a surface to be cleaned. The liquid system includes a first chamber, a second chamber, and a second power unit. The first chamber has an inlet and an outlet. The inlet allows liquid from an external liquid source to enter the first chamber, and the outlet allows liquid entering the first chamber to be discharged to the cleaning component. The second chamber is used to contain wastewater. The second chamber has a connecting port for wastewater from the cleaning component to enter the second chamber. The second chamber is separated from the first chamber but is fluidly connected to it through a through-hole. The maximum permissible liquid level in the second chamber is lower than the location of the through-hole. The second power unit is connected to the first chamber and provides driving power to drive the wastewater from the cleaning component into the second chamber, and to discharge liquid from the first chamber to the cleaning component. When the cleaning equipment is in the state of cleaning the surface to be cleaned, the second power unit is in the start state, drawing air out of the first chamber and the second chamber to create a negative pressure state in the second chamber, thereby driving the wastewater on the cleaning component into the second chamber; when the cleaning equipment is in the state of cleaning the cleaning component, the first chamber is connected to an external liquid source to supply liquid to the first chamber, and the second power unit is in the start state to draw the liquid from the first chamber to the cleaning component.

[0035] In some embodiments, the fluid system further includes a clean water box and a wastewater box; both the first chamber and the second chamber are formed on the wastewater box.

[0036] In some embodiments, when the second power unit is off and the liquid in the water tank overflows from the second outlet of the water tank into the first chamber, at least a portion of the liquid in the first chamber is discharged into the second chamber through a through hole between the first chamber and the second chamber.

[0037] In some embodiments, the cleaning component is a tracked cleaning component, and in the direction of travel of the cleaning equipment, the spray nozzle of the water jet of the liquid circuit system is located on the front side of the cleaning component, and the recovery component of the liquid circuit system is located on the rear side of the cleaning component.

[0038] Thirdly, this disclosure also provides a control method for a cleaning device, the cleaning device comprising a cleaning component and a wastewater box, the wastewater box being used to contain wastewater generated by the cleaning component during cleaning of a surface to be cleaned, the cleaning device including a dirt detection sensor, and the control method comprising:

[0039] The degree of soiling in the wastewater along the wastewater recycling path from the cleaning unit to the wastewater box is detected by the soiling detection sensor; and

[0040] The fluid parameters and supply strategy for the fluid supplied to the wastewater box are determined based on the degree of contamination of the wastewater.

[0041] In some embodiments, determining the fluid parameters and supply strategy for the fluid supplied to the wastewater tank based on the degree of contamination of the wastewater includes:

[0042] If the degree of contamination of the wastewater is less than or equal to a first preset contamination threshold, it is determined to provide positive pressure gas to the wastewater box to perform sewage discharge.

[0043] In some embodiments, determining the fluid parameters and supply strategy for the fluid supplied to the wastewater tank based on the degree of contamination of the wastewater includes:

[0044] When the degree of contamination of the wastewater is greater than a first preset contamination threshold and less than or equal to a second preset contamination threshold, it is determined that gas should first be supplied to the wastewater box to discharge the wastewater, and then liquid should be supplied to the wastewater box to flush the wastewater. At least one of the following is determined based on the degree of contamination of the wastewater: liquid pressure, liquid flow rate, and liquid supply duration.

[0045] In some embodiments, determining the fluid parameters and supply strategy for the fluid supplied to the wastewater tank based on the degree of contamination of the wastewater includes:

[0046] When the degree of contamination of the wastewater exceeds a second preset contamination threshold, the wastewater box is first supplied with a gas-liquid mixture to flush it. At least one of the following parameters is determined based on the degree of contamination: pressure of the gas-liquid mixture, flow rate of the gas-liquid mixture, supply duration of the gas-liquid mixture, and the ratio of gas to liquid. Then, gas is supplied to the wastewater box to discharge it. Finally, liquid is supplied to flush the wastewater box, and at least one of the following parameters is determined based on the degree of contamination: pressure of the liquid, flow rate of the liquid, and supply duration of the liquid.

[0047] Fourthly, this disclosure also provides a cleaning system. The cleaning system includes a base station and cleaning equipment. The base station is used to maintain the cleaning equipment. The cleaning equipment includes a cleaning component and a liquid path system. The cleaning component is used to mop the surface to be cleaned. The liquid path system includes: a water tank, a first passage, a first power unit, and a second passage. The water tank is provided with a first outlet and a second outlet, the first outlet being positioned at a lower height than the second outlet. The first passage is provided with a first inlet and a first outlet, the first inlet communicating with the first outlet, and the first outlet allowing liquid from the water tank to flow out through the first passage. The first power unit is used to provide driving power to discharge liquid from the water tank into the first passage. The second passage is provided with a second inlet and a second outlet, the second inlet communicating with the second outlet, and the second outlet allowing liquid from the water tank to flow out through the second passage. When the cleaning device is in the state of mopping the surface to be cleaned, the liquid in the water tank is driven by the first power device to flow from the first outlet into the first passage and out from the first outlet to supply liquid to the cleaning component; when the cleaning device is in the state of cleaning the cleaning component, the water tank is supplied with liquid by an external liquid source so that the liquid level in the water tank exceeds the second outlet, the liquid in the water tank overflows from the second outlet into the second passage and flows out from the second outlet to drain liquid to the cleaning component and clean the cleaning component.

[0048] Fifthly, this disclosure also provides a cleaning system. The cleaning system includes a base station and cleaning equipment. The base station is used to maintain the cleaning equipment. The cleaning equipment includes a cleaning component and a liquid path system. The cleaning component is used to mop the surface to be cleaned. The liquid path system includes a first chamber, a second chamber, and a second power unit. The first chamber has an inlet and an outlet. The inlet allows liquid from an external liquid source to enter the first chamber, and the outlet allows liquid entering the first chamber to be discharged to the cleaning component. The second chamber is used to contain wastewater. The second chamber has a connecting port for wastewater from the cleaning component to enter the second chamber. The second chamber is separated from the first chamber but fluidly connected through a through-hole. The maximum permissible liquid level in the second chamber is lower than the location of the through-hole. The second power unit is connected to the first chamber and is used to provide driving power to drive the wastewater from the cleaning component into the second chamber, and to provide driving power to discharge liquid from the first chamber to the cleaning component. When the cleaning equipment is in the state of cleaning the surface to be cleaned, the second power unit is in the start state, drawing air out of the first chamber and the second chamber to create a negative pressure state in the second chamber, thereby driving the wastewater on the cleaning component into the second chamber; when the cleaning equipment is in the state of cleaning the cleaning component, the first chamber is connected to an external liquid source to supply liquid to the first chamber, and the second power unit is in the start state to draw the liquid from the first chamber to the cleaning component.

[0049] In some embodiments, the fluid system further includes a clean water box and a wastewater box; both the first chamber and the second chamber are formed on the wastewater box.

[0050] In some embodiments, when the second power unit is off and the liquid in the water tank overflows from the second outlet of the water tank into the first chamber, at least a portion of the liquid in the first chamber is discharged into the second chamber through a through hole between the first chamber and the second chamber.

[0051] The cleaning device, control method, and cleaning system disclosed herein are provided with a first passage and a second passage both connected to a clean water tank. When the cleaning device is in the state of mopping the surface to be cleaned, a first power unit drives the liquid in the clean water tank to supply liquid to the cleaning component through the first passage, thereby replenishing the cleaning component with liquid and keeping it moist while mopping the surface. When the cleaning device is in the state of cleaning the cleaning component, if the liquid level supplied to the clean water tank by the external liquid source exceeds the second outlet, the liquid overflows from the second outlet into the second passage and then drains to the cleaning component through the second passage to clean the cleaning component. Since it is only necessary to keep the cleaning component moist when mopping the surface, the flow rate of the first power unit can be relatively small. When mopping the surface, the first power unit drives the liquid in the clean water tank to flow out at a small flow rate, while when cleaning the cleaning component, the clean water tank can overflow to meet the need for a large flow rate of liquid to be drained to the cleaning component. Therefore, there is no need to use a power unit with adjustable flow rate to adjust the flow rate to the cleaning component, thus reducing the cost of the liquid circuit system.

[0052] Additional aspects and advantages of this disclosure will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of this disclosure. Attached Figure Description

[0053] The above and / or additional aspects and advantages of this disclosure will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, in which:

[0054] Figure 1 This is a perspective view of a cleaning system according to certain embodiments of the present disclosure;

[0055] Figure 2a yes Figure 1 The diagram shows a structural schematic of the cleaning equipment in the cleaning system cleaning the surface to be cleaned.

[0056] Figure 2b yes Figure 1 A schematic diagram of one embodiment of the cleaning system shown;

[0057] Figure 3a yes Figure 1 A schematic diagram of another embodiment of the cleaning system shown;

[0058] Figure 3b yes Figure 1 A schematic diagram of another embodiment of the cleaning system shown;

[0059] Figure 3c yes Figure 1 A schematic diagram of another embodiment of the cleaning system shown;

[0060] Figure 4a yes Figure 1 A schematic diagram of another embodiment of the cleaning system shown;

[0061] Figure 4b yes Figure 1 The diagram shows a simplified state of the liquid circuit system of the cleaning system when the cleaning equipment is cleaning the surface to be cleaned.

[0062] Figure 4c yes Figure 1 The diagram shows a simplified state of the fluid system in the cleaning system when the cleaning equipment is cleaning the cleaning components.

[0063] Figure 5 yes Figure 1 A schematic diagram of the planar structure of the cleaning equipment in the cleaning system shown;

[0064] Figure 6 yes Figure 5 A partial exploded view of the cleaning equipment shown;

[0065] Figure 7 yes Figure 5 A three-dimensional assembly diagram of a portion of the liquid circuit system in the cleaning equipment shown, from one perspective;

[0066] Figure 8 yes Figure 5 A three-dimensional assembly diagram of a portion of the liquid circuit system in the cleaning equipment shown from another perspective;

[0067] Figure 9 yes Figure 6 A three-dimensional assembly diagram of the cleaning module in the cleaning equipment shown from one perspective;

[0068] Figure 10 yes Figure 9 A partial exploded view of the cleaning module shown;

[0069] Figure 11 yes Figure 9 The diagram shows another part of the cleaning module in three-dimensional exploded view;

[0070] Figure 12 yes Figure 9 A schematic diagram showing the state of the cleaning module cleaning the surface to be cleaned.

[0071] Figure 13 yes Figure 9 A three-dimensional cross-sectional view of the cleaning module, showing the water jet flow channel;

[0072] Figure 14 yes Figure 13 An enlarged view of point XIV;

[0073] Figure 15 This is a schematic diagram of the housing of the cleaning module from one perspective;

[0074] Figure 16 yes Figure 15 Enlarged diagram of XVI;

[0075] Figure 17 yes Figure 10 A three-dimensional cross-sectional view of the cleaning module shown;

[0076] Figure 18 yes Figure 10 Another perspective cross-sectional view of the cleaning module shown;

[0077] Figure 19 yes Figure 18 Enlarged view of point XIII in the middle;

[0078] Figure 20 yes Figure 10 A three-dimensional assembly diagram of the wastewater box and the first power unit in the cleaning module shown;

[0079] Figure 21 yes Figure 20 An exploded perspective view of the wastewater box and the first power unit in the cleaning module shown;

[0080] Figure 22 yes Figure 20 A three-dimensional schematic diagram of the wastewater box in the cleaning module shown;

[0081] Figure 23 yes Figure 21 A three-dimensional schematic diagram of the cover of the wastewater box shown;

[0082] Figure 24 This is a working scenario diagram of the cleaning system provided in an embodiment of this disclosure;

[0083] Figure 25 This is a schematic diagram of the cleaning equipment provided in this embodiment being connected to an external liquid source for replenishment.

[0084] Explanation of key component symbols:

[0085] Cleaning system 1000;

[0086] Cleaning equipment 100; drive wheel 101; base station 200;

[0087] Body 10; Liquid system 30; Cleaning module 20; Housing 21; Cleaning component 22; Front roller 221; Rear roller 222; Mop 223; Clean water box 23; Liquid replenishment port 231; First liquid outlet 233; Second liquid outlet 235; First passage 31; First inlet 311; First outlet 313; First section pipe 315; Second section pipe 317; First power unit 32; Second passage 33; Second inlet 331; Second outlet 333; Wastewater box 24; Liquid inlet 241; Liquid outlet 242; Connecting port 243; Box body 248; Cover 249; Sealing structure 2480; First sealing structure 2481; Second sealing structure 2483; Fluid outlet 2485; Fluid inlet 2487; First Chamber 244; First sub-chamber 2441; Second sub-chamber 2443; Second chamber 245; Third chamber 246; Third chamber inlet 2461; Third chamber outlet 2463; Filter element 247; Recovery element 251; Scraper 2512; Sludge holding chamber 25115; First sewage outlet 25116; Second sewage outlet 25117; Control structure 25183; Connecting pipe 255; Spray bar 26; Outlet end 260; Spray nozzle 261; Dirt detection sensor 28; Second power unit 34; X: Width direction of the machine body, rotation axis direction, length direction of the sludge holding chamber; Y: Travel / forward direction of the cleaning equipment; Z: Height direction of the clean water box; Equipment control board 50; Interface 63; Liquid supply system 70; Through hole O. Detailed Implementation

[0088] To make the above-described objects, features, and advantages of this disclosure more apparent and understandable, specific embodiments of this disclosure will be described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description to provide a thorough understanding of this disclosure. However, this disclosure can be implemented in many other ways different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit of this disclosure. Therefore, this disclosure is not limited to the specific embodiments disclosed below.

[0089] In the description of this disclosure, 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," "counterclockwise," "axial," "radial," and "circumferential" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this disclosure 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 disclosure.

[0090] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this disclosure, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0091] In this disclosure, unless otherwise expressly specified and limited, the terms "installation," "connection," "linking," "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise expressly limited. Those skilled in the art can understand the specific meaning of the above terms in this disclosure according to the specific circumstances.

[0092] In this disclosure, unless otherwise expressly specified and limited, "above" or "below" the second feature can mean that the first and second features are in direct contact, or that the first and second features are in indirect contact through an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0093] It should be noted that when an element is referred to as being "fixed to" or "set on" another element, it can be directly on the other element or there may be an intervening element. When an element is considered to be "connected to" another element, it can be directly connected to the other element or there may be an intervening element. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and similar expressions used herein are for illustrative purposes only and do not represent the only possible implementation.

[0094] Because the cleaning equipment requires a smaller liquid supply when wiping the surface to be cleaned, and a larger liquid supply when cleaning the cleaning components, related technologies use a flow-adjustable power device in the liquid circuit system 30 to regulate the flow rate output to the cleaning components, thus meeting the different needs of the cleaning components when wiping the surface to be cleaned and when they are self-cleaning. However, using such a flow-adjustable power device is costly. To solve this problem, this disclosure provides a liquid circuit system 30 ( Figure 2a , Figure 2b or Figure 3a or Figure 3bor Figure 3c (as shown), cleaning equipment 100 ( Figure 5 or Figure 6 (as shown), base station 200 ( Figure 1 (as shown) and cleaning system 1000 ( Figure 1 (As shown).

[0095] Please see Figure 1 The cleaning system 1000 of this disclosure includes a cleaning device 100 of any of the following embodiments and a base station 200 of any of the following embodiments.

[0096] Cleaning device 100 is a device used to clean a surface to be cleaned. For example, cleaning device 100 may include a mopping robot and a sweeping and mopping robot. A mopping robot can be used to wipe and clean the surface to be cleaned, while a sweeping and mopping robot integrates the functions of both types of robots; that is, the sweeping and mopping robot can be used to sweep the surface to be cleaned, and it can also be used to wipe and clean the surface to be cleaned. The cleaning device 100 disclosed herein is described using a sweeping and mopping robot as an example. The surface to be cleaned may be, but is not limited to, a floor, marble surface, carpet, or glass surface. This disclosure uses a floor as an example of a surface to be cleaned.

[0097] Base station 200 is a device used for maintenance and upkeep of cleaning equipment 100. For example, base station 200 can clean cleaning equipment 100 and charge it. Furthermore, base station 200 may also have at least one of the following functions: replenishing water to cleaning equipment 100, draining water, collecting dust, etc. For example, when the power of cleaning equipment 100 is insufficient, cleaning equipment 100 returns to base station 200 to recharge. When cleaning equipment 100 is fully charged, it can leave base station 200 and continue cleaning the surface to be cleaned. When cleaning equipment 100 needs to drain (dirt), it returns to base station 200 to discharge the wastewater, and then leaves base station 200 to continue cleaning the surface to be cleaned.

[0098] The cleaning equipment 100 and the base station 200 will be described in detail below with reference to the accompanying drawings.

[0099] Please see Figures 2a to 6 The cleaning equipment 100 includes a body 10 and cleaning components 22. Figure 9 The liquid circuit system 30 is shown in any of the following embodiments. The cleaning component 22 is provided on the body 10. The liquid circuit system 30 is also provided on the body 10.

[0100] The body 10 is a component on the cleaning equipment 100 used to house other components besides the body 10. Components other than the body 10 in this document include, but are not limited to, the cleaning module 20 and the fluid system 30.

[0101] The cleaning device 100 includes a cleaning module 20, which is a module on the cleaning device 100 that participates in cleaning the surface to be cleaned by providing dragging force. Figure 6 and Figure 9 As shown, the cleaning module 20 includes a housing 21 and a cleaning component 22. The housing 21 is a component for mounting elements other than the housing 21 (such as the cleaning component 22) in the cleaning module 20. The cleaning component 22 is a component in the cleaning module 20 that specifically provides abrasive force to clean the surface to be cleaned. The cleaning component 22 is disposed on the body 10 in such a way that the housing 21 is mounted on the body 10 in a detachable or non-detachable manner, and the cleaning component 22 is mounted on the housing 21 in a detachable or non-detachable manner, thereby indirectly disposing the cleaning component 22 on the body 10. For example, the connection between the housing 21 and the body 10 can also be a movable connection. For example, the housing 21 can be raised and lowered relative to the body 10 in the height direction Z, and the housing 21 can be moved relative to the body 10 in the width direction X, thereby enabling the cleaning module 20 to be raised and lowered relative to the body 10 in the height direction Z and moved in the width direction X.

[0102] In some embodiments, the cleaning component 22 is a tracked cleaning component, in which case the cleaning device 100 is a tracked cleaning device. In other embodiments, the cleaning component 22 is a roller-type cleaning component, in which case the cleaning device 100 is a roller-type cleaning device. In still other embodiments, the cleaning component 22 may be a flatbed mop-type cleaning component or a disc-type cleaning component, in which case the cleaning device 100 is a flatbed mop-type cleaning device or a disc-type cleaning device. Regardless of the type of cleaning component 22, when the cleaning module 20 cleans the surface to be cleaned, the cleaning component 22 is in contact with the surface to be cleaned and performs mopping and cleaning by rotating. During the rotation of the cleaning component 22, the cleaning component 22 can move relative to the surface to be cleaned, thereby the cleaning component 22 can roll away or wipe away the dirt on the surface to be cleaned, so that the surface to be cleaned remains clean. The dirt here may include liquid dirt and solid dirt. The cleaning component 22 provided in the embodiments of this disclosure can be any of the above, as long as the cleaning component 22 can be supplied with liquid by the liquid circuit system 30 on the cleaning device 100. In addition, the cleaning component 22 includes, but is not limited to, disposable electrostatic mops, disposable wet mops, or reusable fabric mops.

[0103] In some embodiments, the rotation axis of the cleaning component 22 may be parallel to the surface to be cleaned. For example, both the tracked cleaning component 22 and the roller cleaning component 22 can clean the surface by rotating. Compared to cleaning equipment using traditional disc-type or flatbed cleaning components, the traditional method of cleaning disc-type or flatbed cleaning components involves the cleaning equipment 100 returning to the base station 200, where the base station 200 supplies water to the disc-type cleaning component for cleaning. However, this design means that the cleaning component of the disc-type or flatbed cleaning component becomes increasingly dirty as it cleans the surface, requiring the cleaning equipment 100 to frequently return to the base station 200 to clean its component. This can easily affect the cleaning effect and efficiency of the cleaning equipment 100. Since the tracked cleaning component and the roller cleaning component roll on the surface to be cleaned when cleaning, the cleaning equipment 100 is provided with a scraping part 2512 that abuts against the tracked cleaning component or the roller cleaning component, which can scrape the dirt on the tracked cleaning component or the roller cleaning component into the cleaning equipment 100 for collection. The cleaning component 22 will remain in a relatively clean state. Therefore, the tracked cleaning equipment and the roller cleaning equipment have a better cleaning effect on the surface to be cleaned.

[0104] The liquid system 30 is a system on the cleaning device 100 that participates in cleaning the surface to be cleaned by providing liquid. In some embodiments of this disclosure, the liquid system 30 can provide liquid to the cleaning component 22 to wet the cleaning component 22 when it is mopping the surface to be cleaned, so that the cleaning component 22 maintains good mopping ability. In other embodiments of this disclosure, in addition to providing liquid for cleaning the surface to be cleaned, the liquid system 30 can also recycle wastewater generated by the cleaning component 22 when mopping the surface to be cleaned, thereby realizing the self-cleaning function of the cleaning component 22. In still other embodiments of this disclosure, in addition to providing liquid for cleaning the surface to be cleaned and recycling wastewater generated by the cleaning component 22 when mopping the surface to be cleaned, thereby realizing the self-cleaning function of the cleaning component 22, the liquid system 30 can also provide liquid for cleaning the cleaning component 22 after the cleaning device 100 reaches a preset position, wherein the preset position includes, but is not limited to, the base station 200 or an area with a drainage system, such as a toilet. It should be noted that the liquid circuit system 30 and the cleaning module 20 are both structures on the cleaning equipment 100 that participate in cleaning the surface to be cleaned. The components contained in each of them may not overlap at all or may overlap at least partially.

[0105] Specifically, please refer to Figure 2a , Figure 2b , Figures 3a-3c , Figures 6 to 8 In some embodiments, the liquid circuit system 30 includes a clean water box 23, a first passage 31, a first power unit 32, and a second passage 33.

[0106] The water container 23 is provided with a first outlet 233 and a second outlet 235. The height of the first outlet 233 on the water container 23 is lower than the height of the second outlet 235 on the water container 23. For example, the first outlet 233 may be located on the side wall of the water container 23, and the second outlet 235 may be located on the top wall of the water container 23. Alternatively, both the first outlet 233 and the second outlet 235 may be located on the side wall of the water container 23, but the height of the first outlet 233 is lower than the height of the second outlet 235. Alternatively, the water container 23 may be irregularly shaped and may include at least two top walls, with the first outlet 233 and the second outlet 235 located on top walls at different heights. In summary, by setting the height of the first outlet 233 on the water tank 23 lower than the height of the second outlet 235, the liquid in the water tank 23 will not flow out of the second outlet 235 when the liquid level in the water tank 23 has not reached the height set by the second outlet 235. Only when the liquid level in the water tank 23 exceeds the height set by the second outlet 235 will the liquid flow out of the second outlet 235. It should be noted that "exceeding the height set by the second outlet 235" means that if the liquid level in the water tank 23 has reached the lowest point of the second outlet 235, adding more liquid to the water tank 23 will exceed the height set by the second outlet 235, and at this point, the liquid in the water tank 23 will overflow from the second outlet 235 to the outside of the water tank 23. If the liquid level in the clear water box 23 is higher than the lowest position of the second liquid outlet 235, then it falls into the category of "exceeding the second liquid outlet 235".

[0107] The first passage 31 is provided with a first inlet 311 and a first outlet 313. The first inlet 311 is connected to the first liquid outlet 233, and the first outlet 313 is used to supply liquid from the clean water tank 23 to flow out of the first passage 31. The first power unit 32 is used to provide driving power to discharge the liquid from the clean water tank 23 into the first passage 31. For example, the first power unit 32 can be located at the first passage 31 or the first liquid outlet 233. The second passage 33 is provided with a second inlet 331 and a second outlet 333. The second inlet 331 is connected to the second liquid outlet 235, and the second outlet 333 is used to supply liquid from the clean water tank 23 to flow out of the second passage 33. When the cleaning device 100 is in the state of mopping the surface to be cleaned, the first power unit 32 drives the liquid in the clean water tank 23 to flow into the first passage 31 from the first liquid outlet 233 and out from the first outlet 313 to supply liquid to the cleaning component 22. When the cleaning equipment 100 is in the state of cleaning the cleaning component 22, the liquid in the clean water box 23 is supplied with liquid through the external liquid source of the clean water box 23 so that the liquid level in the clean water box 23 exceeds the second liquid outlet 235. When this happens, the liquid in the clean water box 23 overflows from the second liquid outlet 235 into the second passage 33 and flows out from the second outlet 333 to drain liquid to the cleaning component 22 and clean the cleaning component 22.

[0108] It should be noted that, in this embodiment, "liquid supply" refers to the process of providing the cleaning component 22 with the amount of water required for its normal mopping of the surface to be cleaned, while "liquid drainage" refers to the process of using the liquid discharged from the water tank 23 due to overflow to clean the cleaning component 22. For example, when the cleaning device 100 is in the state of mopping the surface to be cleaned, the liquid level in the water tank 23 does not exceed the second liquid outlet 235.

[0109] The clean water container 23 is a container on the liquid system 30 and / or cleaning module 20 used to load and / or store liquids. It should be noted that the name "clean water container 23" does not limit the type of liquid contained within it; that is, the liquid in the clean water container 23 is not limited to storing only clean water, but can store liquids used for cleaning the cleaning components 22 and / or surfaces to be cleaned, including clean water, mixtures of cleaning fluid and clean water, and mixtures of maintenance fluid and clean water. Furthermore, "clean water" here is a relative concept; any water cleaner than what the user perceives as sewage is within the scope of protection. For example, clean water can be municipal tap water, clean river, lake, or sea water, etc. The clean water container 23 can be of any shape; for example, the shape of the cross-section of the clean water container 23 (in this text, "cross-section" refers to a plane intercepted by a plane perpendicular to the height direction Z of the clean water container 23) can be regular or irregular. "Regular shape" in this text includes, but is not limited to, rectangles, circles, ellipses, triangles, regular polygons, etc. Irregular shapes, such as... Figure 7 As shown, the irregular cross-sectional design can adapt to the structural layout of the cleaning equipment 100, making it convenient to arrange other components in a compact manner.

[0110] In some embodiments, please refer to Figures 6 to 8 The water tank 23 is provided with a replenishment port 231, a first outlet 233, and a second outlet 235. The location, height, shape, and size of the replenishment port 231 can be arbitrarily set, and this disclosure does not limit this. The shape and size of the first outlet 233 and the second outlet 235 can also be arbitrarily set, and this disclosure does not limit this. However, the height of the first outlet 233 on the water tank 23 is lower than the height of the second outlet 235 on the water tank 23. Specifically, the water tank 23 has a height midline (a line passing through the midpoint of the height and perpendicular to the height direction Z), with the first outlet 233 located below the height midline and the second outlet 235 located above the height midline. In one example, the first outlet 233 is near the bottom of the water tank 23, and the second outlet 235 is near the top of the water tank 23.

[0111] For example, the cleaning device 100 is provided with a drive wheel 101 for driving the cleaning device 100 to move on the surface to be cleaned. Taking the forward and backward direction Y of the cleaning device 100 as a reference, the cleaning module 20 provided in this embodiment can be located behind the drive wheel 101 of the cleaning device 100, and the clean water box 23 can be located behind the cleaning module 20. When the cleaning device 100 needs to enter the base station 200, the cleaning device 100 can enter the base station 200 in a backward posture. In order to adapt to the structural layout of the cleaning device 100 of this disclosure and facilitate the docking of the clean water box 23 with the base station 200 to realize the base station 200 to replenish water into the clean water box 23, the liquid inlet 231 can be set on the side of the clean water box 23 facing the rear of the cleaning device 100, and the first liquid outlet 233 and the second liquid outlet 235 can be set on the side of the clean water box 23 facing the front of the cleaning device 100. The replenishment port 231 is an opening for connecting the interior of the clean water tank 23 with an external liquid source, meaning that an external liquid source can enter the interior of the clean water tank 23 through the replenishment port 231. The first outlet port 233 and the second outlet port 235 are openings for connecting the interior of the clean water tank 23 with an external pipe, meaning that liquid in the clean water tank 23 can flow out to the external pipe through the first outlet port 233 and / or the second outlet port 235, and then flow to the target object through the external pipe. In this disclosure, the cleaning module 20 and / or the liquid circuit system 30 also includes a spray bar 26, and the target object can be the spray bar 26. The spray bar 26 can be disposed on one side of the cleaning module 20. For example, in an embodiment of this disclosure, the spray bar 26 can be disposed on the front side of the cleaning module 20 and fixed to the front part of the housing 21 of the cleaning module 20. The spray bar 26 has a plurality of spray nozzles 261, which are arranged at intervals along the rotation axis of the cleaning member 22 and facing the cleaning member 22, so that the liquid sprayed from the spray bar 26 can flow to the cleaning member 22.

[0112] The first passage 31 is a channel for liquid flow connecting the first liquid outlet 233 and the spray bar 26. The first passage 31 may include a first inlet 311 and a first outlet 313 located at opposite ends. The first inlet 311 communicates with the first liquid outlet 233, and the first outlet 313 communicates with the spray bar 26, and is used for liquid outflow from the first passage 31. Specifically, in some embodiments, the first passage 31 may at least include a pipe. In other embodiments, the first passage 31 may be a channel defined by the wall surface of a component of the cleaning device 100.

[0113] The second passage 33 is a channel for liquid flow connecting the second liquid outlet 235 and the spray bar 26. The second passage 33 includes a second inlet 331 and a second outlet 333 located at opposite ends. The second inlet 331 communicates with the second liquid outlet 235, and the second outlet 333 communicates with the spray bar 26, and is used for liquid outflow from the second passage 33. Specifically, in some embodiments, the second passage 33 may at least include a pipe. In other embodiments, the second passage 33 may be a channel defined by the wall surface of a component of the cleaning device 100.

[0114] The first power unit 32 is a device that provides the driving power to discharge the liquid in the clean water box 23 from the first passage 31. In some embodiments, the first power unit 32 includes a peristaltic pump. Generally, peristaltic pumps have a small flow rate and are suitable for applications requiring precise flow control. In this embodiment, the first power unit 32 is disposed in the first passage 31 and is used to drive the liquid in the clean water box 23 to flow to the cleaning component 22 when the cleaning device 100 is cleaning the surface to be cleaned. This wets the cleaning component 22 and allows for better wiping of the surface to be cleaned. Therefore, in this scenario, the required flow rate of the first power unit 32 is small, allowing for more precise control of the amount of liquid supplied to the cleaning component 22 and preventing excessive water residue on the surface to be cleaned during wiping. Therefore, selecting a peristaltic pump with a small flow rate that allows for precise flow control as the first power unit 32 better meets the needs of the cleaning device 100 for wiping the surface to be cleaned. Of course, in other embodiments, the first power unit 32 may also be a water pump with a small flow rate, and this disclosure does not impose any particular limitation.

[0115] like Figure 2a , Figure 2b , Figures 3a-3c as well as Figure 6 and Figure 7 As shown, the inlet of the first power unit 32 is connected to the first liquid outlet 233 through the first section of pipe 315, and the outlet of the first power unit 32 is connected to the spray bar 26 through the second section of pipe 317. The opening connecting the first section of pipe 315 to the first liquid outlet 233 is the first inlet 311, and the opening connecting the second section of pipe 317 to the spray bar 26 is the first outlet 313. In this case, the first passage 31 includes the first section of pipe 315, the first power unit 32, and the second section of pipe 317. In some embodiments, the cleaning equipment 100 also includes an equipment control board 50, which is a device for controlling the operation of various functional modules in the cleaning equipment 100. The equipment control board 50 typically includes a circuit board and a controller or processor mounted on the circuit board. The equipment control board 50 is electrically connected to the first power unit 32 and is used to control the opening and closing of the first power unit 32.

[0116] The cleaning device 100 has two states: a state of mopping the surface to be cleaned and a state of cleaning the cleaning components 22. In the state of mopping the surface, the device control board 50 controls the first power unit 32 to turn on. The first power unit 32 drives the liquid in the clean water tank 23 to flow from the first outlet 233 into the first passage 31, and then out through the first outlet 313 to the spray bar 26, which then supplies the cleaning components 22. In the state of cleaning the cleaning components 22, the clean water tank 23 is supplied with liquid from an external liquid source. When the liquid level in the clean water tank 23 exceeds the second outlet 235, the liquid overflows from the second outlet 235 into the second passage 33, and then out through the second outlet 333 to the spray bar 26, which then supplies the cleaning components 22 to clean them. At this time, the device control board 50 can control the first power unit 32 to turn on or off. It should be noted that when the cleaning module 20 is not equipped with the water spray bar 26: when the cleaning device 100 is in the state of mopping the surface to be cleaned, the liquid flowing out from the first outlet 313 of the first passage 31 can be directly supplied to the cleaning component 22. When the cleaning device 100 is in the state of cleaning the cleaning component 22, and the external liquid source of the clean water box 23 supplies liquid to the clean water box 23 until the liquid level exceeds the second outlet 235, the liquid flowing out from the second outlet 333 of the second passage 33 can also be directly discharged to the cleaning component 22.

[0117] It should be noted that, since the amount of liquid applied to the cleaning component 22 when the cleaning device 100 mops the surface to be cleaned can be relatively small, that is, the flow rate of the first power device 32 is very small as described above. It is understood that the larger the cross-sectional size of the second liquid outlet 235, the greater the flow rate of liquid overflowing from the clean water box 23 through the second liquid outlet 235. To achieve the purpose of using a large flow rate of liquid to clean the cleaning component 22, those skilled in the art can set the cross-sectional size of the second liquid outlet 235 as needed to achieve the purpose of cleaning the cleaning component 22 with a large flow rate.

[0118] Additionally, please see Figure 2a , Figure 2b and Figures 3a-3cThe cleaning equipment 100 is used to interface with the base station 200, which is used to maintain the cleaning equipment 100. The base station 200 is equipped with a liquid supply system 70 for supplying liquid and a connection interface 63 connected to the liquid supply system 70. The external liquid source of the clean water box 23 includes, but is not limited to, the liquid supply system 70 of the base station 200, the water supply system inside the building, and the outdoor water supply system, and may even be another clean water box in the cleaning equipment 100. When the external liquid source of the clean water box 23 is the liquid supply system 70 of the base station 200, the connection interface 63 is used to interface with the replenishment port 231 (the connection interface 63 can be directly or indirectly connected to the replenishment port 231). When the cleaning equipment 100 is docked at the base station 200 and the connection interface 63 is connected to the replenishment port 231, the liquid supply system 70 of the base station 200 is used to supply liquid to the clean water box 23 of the cleaning equipment 100. When the liquid supply system 70 supplies liquid to the clean water box 23 until the liquid level exceeds the second liquid outlet 235, the liquid in the clean water box 23 overflows and flows to the cleaning component 22 through the second passage 33.

[0119] The liquid circuit system 30, cleaning device 100, and cleaning system 1000 disclosed herein are provided with a first passage 31 and a second passage 33, both connected to the clean water tank 23. When the cleaning device 100 is in the state of mopping the surface to be cleaned, the first power unit 32 drives the liquid in the clean water tank 23 to supply liquid to the cleaning component 22 through the first passage 31, so as to replenish the cleaning component 22 with liquid for mopping the surface to be cleaned, keeping the cleaning component 22 moist when the cleaning device 100 is mopping the surface to be cleaned. When the cleaning device 100 is in the state of cleaning the cleaning component 22, the liquid level supplied to the clean water tank 23 by the external liquid source exceeds the second liquid outlet 235. Liquid overflows from the second outlet 235 into the second passage 33, and then drains through the second passage 33 to the cleaning component 22 to clean it. Since it is only necessary to keep the cleaning component 22 wet when mopping the surface to be cleaned, the flow rate of the first power device 32 can be relatively small. When mopping the surface to be cleaned, the first power device 32 drives the liquid in the clean water box 23 to flow out at a small flow rate. When cleaning the cleaning component 22, the clean water box 23 can overflow water to the cleaning component 22 to meet the need for a large flow rate of liquid supply to the cleaning component 22. Therefore, there is no need to use a power device with adjustable flow rate to adjust the flow rate output to the cleaning component 22, which reduces the cost of the liquid circuit system 30.

[0120] The above embodiments will be described below with reference to some specific application scenarios.

[0121] like Figure 24 As shown, and in combination Figure 2a , Figure 2b or Figure 3a or Figure 3b or Figure 3cThe user starts the sweeper and mop combo (cleaning device 100), which moves across the living room floor driven by the drive wheels 101. During this movement, the built-in water tank 23 provides water to the tracked cleaning component 22, wetting it. The tracked cleaning component 22 then contacts and rolls against the floor, wiping away dust. As the sweeper and mop combo moves, the tracked cleaning component 22 cleans the floor to a set area, such as 20 square meters. 2 When the area is insufficient or the water level in the clean water tank 23 is low, the sweeper-mop can navigate to the positioning point of the base station 200 and rotate until the replenishment port 231 of the clean water tank 23 faces the entrance of the base station 200. The sweeper-mop then reverses into the base station 200. During this process, the replenishment port 231 of the clean water tank 23 connects with the interface 63 of the base station 200, and the base station 200's liquid supply system 70 replenishes water to the clean water tank 23. As the base station 200 continuously replenishes water to the clean water tank 23, the water level in the clean water tank 23 continuously rises until it exceeds the second outlet 235 of the clean water tank 23. A large volume of water overflows from the second outlet 235 and flows onto the tracked cleaning component 22. During this process, the tracked cleaning component 22 can continuously rotate forward or alternate between forward and reverse rotation, achieving high-flow self-cleaning of the tracked cleaning component 22. After the cleaning unit 22 has finished its task, the sweeper and mop can return to the ground to clean other uncleaned areas.

[0122] Alternatively, the robot vacuum and mop used in the user's home may have a dirt detection sensor that can detect the degree of dirt on the cleaning component 22 or the degree of dirt in the wastewater scraped off the cleaning component 22. If the user is away from home for an extended period, resulting in a lot of dust on the living room floor, the user can start the robot vacuum and mop (cleaning device 100). Driven by the drive wheels 101, the robot vacuum and mop moves across the floor. During this movement, the built-in water tank 23 provides water to the tracked cleaning component 22 to wet it. The tracked cleaning component 22 then contacts and rolls against the floor, wiping away the dust. As the robot vacuum and mop moves, the dirt sensor detects that the tracked cleaning component 22 is very dirty. If it is not deeply cleaned at this point, the subsequent cleaning effect on the floor will be affected. At this time, the sweeper and mop can navigate to the positioning point of the base station 200 and rotate until the water tank 23's replenishment port 231 faces the entrance of the base station 200. The sweeper and mop then retreats into the base station 200. During this process, the water tank 23's replenishment port 231 connects with the base station 200's interface 63, and the base station 200's liquid supply system 70 replenishes water to the sweeper's water tank 23. As the base station 200 continuously replenishes water to the water tank 23, the water level in the water tank 23 continuously rises until it exceeds the second outlet 235 of the water tank 23. A large volume of water overflows from the second outlet 235 and flows onto the tracked cleaning component 22. During this process, the tracked cleaning component 22 can continuously rotate forward or alternate between forward and reverse rotation, achieving high-flow self-cleaning of the tracked cleaning component 22, thereby deeply cleaning the dirt attached to the tracked cleaning component 22. After cleaning component 22 completes its task, the sweeper and mop return to the floor to clean any remaining uncleaned areas. This process is repeated until most of the dusty areas in the living room are cleaned.

[0123] Please see Figure 3a , Figure 3b , Figure 3c and Figure 4a In some embodiments, the cleaning device 100 further includes a dirt detection sensor 28 electrically connected to the device control board 50. This disclosure also provides a control method for the cleaning device 100, the control method comprising:

[0124] 01: The degree of dirtiness of the wastewater along the wastewater recycling path between the cleaning component 22 and the wastewater box 24 (specifically the second chamber 245 inside the wastewater box 24 in the illustration) is detected by the dirt detection sensor 28;

[0125] 03: Determine the fluid parameters and supply strategy for the fluid supplied to the second chamber 245 based on the degree of contamination of the sewage.

[0126] Correspondingly, the dirt detection sensor 28 is used to detect the degree of dirtiness of the sewage on the sewage recycling path between the cleaning component 22 and the second chamber 245, and transmits the detection result to the equipment control board 50. The equipment control board 50 is used to determine the fluid parameters and supply strategy of the fluid supplied to the second chamber 245 according to the degree of dirtiness of the sewage.

[0127] Among them, the dirt detection sensor 28 is a sensor used to detect the degree of dirt in a liquid, including but not limited to: an optical sensor that detects the degree of dirt by measuring the reflection, scattering or absorption of light; or a capacitive sensor that detects the degree of dirt by utilizing changes in capacitance; or an ultrasonic sensor that determines the degree of dirt by emitting ultrasonic waves and measuring the time it takes for them to reflect back.

[0128] When the cleaning equipment 100 performs suction, the second power unit 34 is activated and draws negative pressure into the second chamber 245. Wastewater collected from the cleaning component 22 by the recovery component 251 flows through the first wastewater outlet 25116, the connecting pipe 255, and the connecting port 243 into the second chamber 245 for storage. Therefore, the cleaning component 22, the flow path between the cleaning component 22 and the recovery component 251, the wastewater holding chamber 25115, the connecting pipe 255, and the second chamber 245 together form a "wastewater recovery path." The dirt detection sensor 28 can be placed at any location on the wastewater recovery path, for example, inside the second chamber 245. Figure 3b (shown), on connecting pipe 255 ( Figure 3c and Figure 4a The present disclosure does not limit the scope of the recyclable component 251, the contaminated cavity 25115 of the recyclable component 251, the cleaning component 22, and the flow path between the cleaning component 22 and the recyclable component 251.

[0129] The fluid parameters include the type of fluid, which includes at least one of gas, liquid, and gas-liquid mixture (bubble liquid). When the fluid is liquid, the main supplying entity is base station 200; when the fluid is gas, the main supplying entity can be base station 200 or the second power unit 34, and both are supplied separately. When the fluid is a gas-liquid mixture, the main supplier of the fluid can be the base station 200. In this case, the gas supply system of the base station 200 supplies gas, and the liquid supply system 70 of the base station 200 supplies liquid. The gas and liquid mix to form a gas-liquid mixture. The mixing process can occur within the base station 200, for example, before reaching the interface 63. The mixing process can also occur within the cleaning device 100, for example, when or before reaching the second chamber 245. When the fluid is a gas-liquid mixture, the main supplier of the fluid can also be the base station 200 and the second power device 34. In this case, the liquid supply system 70 of the base station 200 supplies liquid, and the second power device 34 supplies liquid. The gas and liquid mix to form a gas-liquid mixture. The mixing process occurs within the cleaning device 100, for example, when or before reaching the second chamber 245.

[0130] In this embodiment, the degree of dirtiness of the sewage on the sewage recycling path is first detected by the dirt detection sensor 28, and then the type and parameters of the fluid supplied to the second chamber 245 are determined based on the degree of dirtiness of the sewage. This allows the fluid supply to the second chamber 245 to be dynamically adjusted based on the actual cleaning situation, avoiding extreme situations of too much or too little supply, and improving the intelligence of the cleaning equipment 100.

[0131] In some implementations, 03: determining the fluid parameters and supply strategy for the fluid supplied to the second chamber 245 based on the degree of contamination of the wastewater, including:

[0132] 031: If the degree of contamination of the sewage is less than or equal to the first preset contamination threshold, it is determined to provide positive pressure gas to the second chamber 245 to perform sewage discharge on the second chamber 245.

[0133] When the test results indicate that the degree of contamination of the wastewater is less than or equal to the first preset contamination threshold, the equipment control board 50 determines to supply positive pressure gas to the second chamber 245.

[0134] When the cleaning equipment 100 performs sewage discharge, one implementation method is as follows: the equipment control board 50 controls the second power unit 34 to shut down, and the base station 200 provides positive pressure gas to the clean water box 23 through the interface 63 and the liquid replenishment port 231. The positive pressure gas overflows from the overflow port 235 into the second chamber 245, squeezing the sewage in the second chamber 245 outward and discharging it into the sewage holding chamber 25115 through the connecting port 243 and the first sewage port 25116. Then, the equipment control board 50 controls the control structure 25183 to open to connect the second sewage port 25117 to the outside, and the sewage in the sewage holding chamber 25115 is then discharged to the base station 200 through the second sewage port 25117, thereby realizing the sewage discharge of the cleaning equipment 100. Another implementation is as follows: The equipment control board 50 controls the second power unit 34 to open and introduce positive pressure gas into the second chamber 245. The positive pressure gas forces the sewage in the second chamber 245 outward, causing it to be discharged into the sludge-containing chamber 25115 through the connecting port 243 and the first sewage port 25116. Then, the equipment control board 50 controls the control structure 25183 to open to connect the second sewage port 25117 with the outside. The sewage in the sludge-containing chamber 25115 is then discharged to the base station 200 through the second sewage port 25117, thereby realizing the sewage discharge of the cleaning equipment 100.

[0135] The first preset dirt level threshold is a critical value used to describe whether the second chamber 245 needs cleaning. It is a known empirical value, usually set before leaving the factory or derived from historical experience data. When the dirt level of the wastewater is less than or equal to the first preset dirt level threshold, it indicates that the second chamber 245 is not very dirty and will not accumulate or adhere to the inner wall. Therefore, cleaning of the second chamber 245 is not required; only the wastewater in the second chamber 245 needs to be drained.

[0136] In other embodiments, when the fluid is a liquid, the fluid parameters also include: liquid pressure, liquid flow rate, and liquid supply duration, etc. 03: Determine the fluid parameters and supply strategy for the fluid supplied to the second chamber 245 based on the degree of contamination of the wastewater, including:

[0137] 032: When the degree of contamination of the sewage is greater than the first preset contamination threshold and less than or equal to the second preset contamination threshold, it is determined that gas is first supplied to the second chamber 245 to perform sewage discharge, and then liquid is supplied to the second chamber 245 to flush the second chamber 245. At least one of the liquid pressure, liquid flow rate and liquid supply duration is determined according to the degree of contamination of the sewage.

[0138] When the test results show that the degree of contamination of the sewage is greater than the first preset contamination threshold and less than or equal to the second preset contamination threshold, the equipment control board 50 determines to first supply gas to the second chamber 245 to perform sewage discharge on the second chamber 245, and then supply liquid to the second chamber 245, and determines at least one of the liquid pressure, liquid flow rate and liquid supply duration according to the degree of contamination of the sewage.

[0139] The second preset dirt level threshold is used to describe whether the dirt in the pores of the filter element 247 has accumulated to a critical value that requires separate cleaning. The second preset dirt level threshold is a known empirical value, usually set before leaving the factory or derived from historical experience data. When the dirt level of the wastewater is greater than the first preset dirt level threshold but less than or equal to the second preset dirt level threshold, it indicates that the second chamber 245 is already very dirty. If not cleaned, it will accumulate or adhere to the inner wall. However, the dirt in the pores of the filter element 247 has not accumulated to the point that it obstructs fluid flow and requires separate cleaning. Therefore, it is not necessary to clean the filter element 247 separately; only the second chamber 245 needs to be cleaned.

[0140] The liquid pressure, flow rate, and supply duration can be adjusted according to the degree of soiling of the wastewater. Generally, the dirtier the wastewater, the higher the liquid pressure, the higher the flow rate, and the longer the supply duration, thus improving cleaning efficiency and effectiveness. When implementing the method in 032, the liquid pressure can be determined solely based on the degree of soiling, while the flow rate and supply duration remain unchanged from their initial settings. The deeper the soiling (the dirtier the wastewater), the higher the liquid pressure. Alternatively, the liquid flow rate can be determined solely based on the degree of soiling, while the liquid pressure and supply duration remain unchanged from their initial settings. The deeper the soiling (the dirtier the wastewater), the higher the liquid flow rate. Furthermore, the liquid supply duration can be determined solely based on the degree of soiling, while the liquid pressure and flow rate remain unchanged from their initial settings. The deeper the soiling (the dirtier the wastewater), the longer the liquid supply duration. Of course, the liquid pressure and flow rate can be determined simultaneously based on the degree of contamination of the wastewater, while the liquid supply duration remains unchanged at the initial setting; or, the liquid pressure and liquid supply duration can be determined based on the degree of contamination of the wastewater, while the liquid flow rate remains unchanged at the initial setting; or, the liquid flow rate and liquid supply duration can be determined based on the degree of contamination of the wastewater, while the liquid pressure remains unchanged at the initial setting; or, all three—liquid pressure, liquid flow rate, and liquid supply duration—can be determined based on the degree of contamination of the wastewater.

[0141] In this embodiment, based on the detection results obtained by the dirt detection sensor 28, if the degree of dirtiness of the wastewater is determined to be at a stage where the second chamber 245 needs to be flushed, gas is first supplied to the second chamber 245 to discharge the wastewater, and then liquid is supplied to the second chamber 245 to flush it, instead of just discharging wastewater. This allows for immediate cleaning of the second chamber 245, avoiding the problem of dirt adhering to the walls or accumulating due to long-term uncleanliness, which would require manual disassembly and cleaning by the user. Furthermore, during the process of supplying liquid to the second chamber 245 for flushing, at least one of the liquid pressure, liquid flow rate, and liquid supply duration is determined based on the degree of dirtiness of the wastewater. Compared to using fixed liquid pressure, liquid flow rate, and liquid supply duration for flushing the second chamber 245, the flushing in this embodiment is more in line with actual needs, avoiding the problem of excessive energy consumption and resource waste due to excessively large parameters, and also avoiding the problem of incomplete cleaning due to excessively small parameters. In other words, the parameters of this implementation method are determined based on the degree of dirtiness of the wastewater, which can save energy and resources while ensuring the cleaning effect.

[0142] In some embodiments, when the fluid is a liquid, the fluid parameters also include: liquid pressure, liquid flow rate, and liquid supply duration, etc.; when the fluid is a gas-liquid mixture, the fluid parameters also include: gas-liquid mixture pressure, gas-liquid mixture flow rate, gas-liquid mixture supply duration, gas and liquid ratio, etc. 03: Determine the fluid parameters and supply strategy for the fluid supplied to the second chamber 245 based on the degree of sewage contamination, including:

[0143] 033: When the degree of contamination of the sewage exceeds the second preset contamination threshold, it is determined that a gas-liquid mixture is first supplied to the second chamber 245 to flush the filter element 247, and at least one of the following is determined according to the degree of contamination of the sewage: pressure of the gas-liquid mixture, flow rate of the gas-liquid mixture, supply duration of the gas-liquid mixture, and gas-liquid ratio. Then, gas is supplied to the second chamber 245 to perform sewage discharge. Finally, liquid is supplied to flush the second chamber 245, and at least one of the following is determined according to the degree of contamination of the sewage: pressure of the liquid, flow rate of the liquid, and supply duration of the liquid.

[0144] When the level of contamination in the wastewater exceeds a second preset contamination threshold, it indicates that the contaminants in the pores of the filter element 247 have accumulated to the point where fluid cannot pass through without cleaning. In this case, the second chamber 245 is also very dirty, with deposits or residue forming on its inner wall. Therefore, a gas-liquid mixture can be first supplied to the second chamber 245 to flush the filter element 247. After the contaminants in the pores of the filter element 247 are cleaned and liquid can pass through, gas can be supplied to the second chamber 245 to drain the wastewater. Finally, liquid can be supplied to the second chamber 245 for cleaning.

[0145] In the process of rinsing the filter element 247 using a gas-liquid mixture, the gas-liquid mixture (bubble liquid) is equivalent to pressurizing the liquid. Compared to rinsing the filter element 247 solely with liquid, the bubble liquid provides a stronger rinsing force, resulting in better rinsing efficiency and effect. At this time, at least one of the following can be determined based on the degree of contamination of the wastewater: the pressure of the gas-liquid mixture, the flow rate of the gas-liquid mixture, the supply duration of the gas-liquid mixture, and the gas-liquid ratio. Generally, the dirtier the wastewater, the higher the pressure of the gas-liquid mixture, the higher the flow rate of the gas-liquid mixture, the longer the supply duration of the gas-liquid mixture, and the higher the gas-liquid ratio, thus improving cleaning efficiency and effect. The adjustment method can be referred to the adjustment method described in 032 above, and will not be elaborated further here. Furthermore, the description in 033 of "supplying gas to the second chamber 245 to discharge wastewater from the second chamber 245, and finally supplying liquid to the second chamber 245 for cleaning" refers to the previous explanation and will not be repeated here.

[0146] In this embodiment, based on the detection results obtained by the dirt detection sensor 28, if the degree of dirtiness of the wastewater is determined to be at a stage where the filter element 247 needs to be rinsed first, then aerated liquid is provided to the filter element 247 to rinse it. This avoids the problem of simply using liquid to clean the second chamber 245, where the pores of the filter element 247 are blocked by dirt, preventing liquid from entering the second chamber 245 and causing it to be discharged from the drain port 242, resulting in waste, while the second chamber 245 is not cleaned. Furthermore, during the process of providing aerated liquid to the second chamber 245 to rinse the filter element 247, at least one of the following parameters—pressure of the gas-liquid mixture, flow rate of the gas-liquid mixture, supply duration of the gas-liquid mixture, and gas-liquid ratio—is determined according to the degree of dirtiness of the wastewater. Compared to using fixed parameter values ​​for rinsing, the rinsing of the filter element 247 in this embodiment is more in line with actual needs, avoiding the problem of high energy consumption and resource waste caused by excessively large parameters, and also avoiding the problem of incomplete cleaning due to excessively small parameters. In other words, the parameters of this implementation method are determined based on the degree of dirtiness of the wastewater, which can save energy and resources while ensuring the cleaning effect.

[0147] Please see Figure 2a , Figure 2b or Figure 3a or Figure 3b or Figure 3c In some embodiments, when the cleaning device 100 is in the state of cleaning the cleaning component 22 and the liquid level supplied to the water box 23 by the external liquid source exceeds the second liquid outlet 235, the first power device 32 drives the liquid in the water box 23 to flow from the first liquid outlet 233 into the first passage 31 and out from the first outlet 313 to supply the cleaning component 22.

[0148] As mentioned above, when the cleaning equipment 100 is in the state of cleaning the cleaning component 22, and the external liquid source of the clean water tank 23 supplies liquid to the clean water tank 23 until the liquid level exceeds the second liquid outlet 235, the equipment control board 50 can control the first power unit 32 to start. At this time, the cleaning equipment 100 can not only provide liquid for cleaning the cleaning component 22 through the liquid overflowing from the clean water tank 23 via the second passage 33, but also drive the liquid in the clean water tank 23 through the first passage 31 to provide liquid for cleaning the cleaning component 22 via the first power unit 32. This further increases the liquid supply when cleaning the cleaning component 22, which can effectively improve the cleaning efficiency and cleaning effect of the cleaning component 22.

[0149] Please see Figure 2a , Figure 2bIn some embodiments, the second passage 33 is a pipe through which liquid overflowing from the second outlet 235 flows and exits directly to supply the cleaning component 22. That is, the second passage 33 consists only of a pipe, resulting in a simple structure and low cost. For example, one end of the pipe is connected to the second outlet 235, and the other end is connected to the spray bar 26. The opening connecting the pipe to the second outlet 235 is the second inlet 331, and the opening connecting the pipe to the spray bar 26 is the second outlet 333. In this embodiment, the cleaning component 22 of the cleaning device 100 does not have a self-cleaning function. The so-called "self-cleaning function" refers to the cleaning device 100 simultaneously cleaning the dirt attached to the cleaning component 22 during the process of mopping the surface to be cleaned. Specifically, when the cleaning component 22 is wiping the surface to be cleaned, dirt accumulates, and the originally clean liquid becomes dirty and turns into sewage. The cleaning device 100, which does not have a self-cleaning function for the cleaning component, cannot recycle the sewage on the cleaning component 22 when performing the cleaning task. Only when the cleaning device 100 is in a preset position, such as when it returns to the base station 200, does the cleaning device 100 use the liquid overflowing from the clean water box 23 to provide cleaning liquid to the cleaning component 22 through the second passage 33. Alternatively, the first power device 32 can drive the liquid in the clean water box 23 to provide cleaning liquid to the cleaning component 22 through the first passage 31, thereby achieving the purpose of cleaning the cleaning component 22 of the cleaning device 100.

[0150] Please see Figure 3a or Figure 3b or Figure 3c In some embodiments, the second passage 33 is provided with a first chamber 244 and a second chamber 245, as well as a second power unit 34. The first chamber 244 is provided with an inlet 241 and an outlet 242. The inlet 241 is used to allow liquid from an external liquid source to enter the first chamber 244, and the outlet 242 is used to discharge the liquid entering the first chamber 244 to the cleaning component 22. The second chamber 245 is used to contain sewage. The second chamber 245 is provided with a connecting port 243, which is used to allow sewage from the cleaning component 22 to enter the second chamber 245. The second chamber 245 is separated from the first chamber 244 but is fluidly connected through a through hole O. The maximum allowable liquid level in the second chamber 245 is lower than the location of the through hole O.

[0151] like Figure 3b As shown, the first chamber 244 and the second chamber 245 can be formed by two independently disposed containers, or, as... Figure 3c As shown, they can also be two separate cavities formed within the same container. The first chamber 244 and the second chamber 245 can be arranged vertically (e.g., Figure 3b As shown), it can also be arranged horizontally to the left or right (e.g. Figure 3cAs shown in the figure, the embodiments disclosed herein are not particularly limited. The second chamber 245, as the space to store sewage, can have a larger capacity, while the first chamber 244 can only serve as a water passage space, and its capacity can be smaller, or it can even be formed as a pipe to save the installation space of the entire cleaning equipment 100.

[0152] The second power unit 34 is connected to the drain port 242 and is used to provide driving power to drive the wastewater on the cleaning component 22 into the second chamber 245, and to drive the liquid in the clean water box 23 out of the second passage 33. That is, the second power unit 34 takes into account both the wastewater generated by the cleaning component 22 during cleaning and the large flow rate of liquid required for cleaning the cleaning component 22.

[0153] For example, the second power unit 34 can be a water-air dual-purpose pump. The second power unit 34 can be in the start-up state in the following two operating states:

[0154] like Figure 4b As shown, when the cleaning device 100 is cleaning the surface to be cleaned, the second power unit 34 is in the activated state. Since the second power unit 34 is connected to the drain port 242, that is, the second power unit 34 is connected to the first chamber 244, and the first chamber 244 and the second chamber 245 are fluidly connected through the through hole O, when the second power unit 34 draws air, the air in the second chamber 245 flows through the through hole O through the first chamber 244 and is discharged from the drain port 242 together with the air in the first chamber 244. This allows the second power unit 34 to draw air from the first chamber 244 and the second chamber 245, creating a negative pressure in the second chamber 245, thereby driving the wastewater on the cleaning component 22 into the second chamber 245. Thus, the second power unit 34 enables the cleaning device 100 to collect the wastewater generated by the cleaning component 22 during cleaning of the surface to be cleaned.

[0155] like Figure 4cAs shown, when the cleaning device 100 is in the state of cleaning the cleaning component 22, and the liquid level supplied by the external liquid source to the water tank 23 exceeds the second liquid outlet 235, the second power device 34 drives the liquid in the water tank 23 to overflow from the second liquid outlet 235 to the second passage 33, and then flows out from the second passage 33 through the inlet 241, the first chamber 244, the outlet 242, and the second outlet 333 to supply the cleaning component 22. Since the cleaning device 100 is in the state of cleaning the cleaning component 22, for the first chamber 244, the external liquid (the liquid overflowing from the clean water box 23) enters the first chamber 244 through the inlet 241. Since the second power device 34 is connected to the drain 242 of the first chamber 244, the second power device 34 preferentially drives the liquid in the first chamber 244 to the cleaning component 22 through the drain 242. Specifically, it drives the liquid to the spray bar 26 next to the cleaning component 22 and supplies it to the cleaning component 22. During this process, since the maximum allowable liquid level in the second chamber 245 is lower than the location of the through hole O, the sewage in the second chamber 245 will not enter the first chamber 244. Furthermore, during the startup of the second power unit 34, the continuous flow of liquid in the first chamber 244 will block the through hole and prevent the second power unit 34 from driving the liquid in the second chamber 245 to the first chamber 244. Thus, the cleaning equipment 100 can meet the demand for high-flow liquid supply while cleaning the cleaning component 22, without causing the sewage in the second chamber 245 to flow back into the cleaning component 22.

[0156] The liquid circuit system 30 provided in this embodiment, for the cleaning device 100 with self-cleaning function, in addition to the need for the first power device 32 connected to the clean water box 23 of the cleaning device 100 to realize the small flow of liquid supply to the cleaning component 22 for normal mopping of the cleaning device 100, also needs to be equipped with a power device on the cleaning device 100 to realize the function of pumping the sewage on the cleaning component 22 to the cleaning device when cleaning the surface to be cleaned. The cleaning equipment 100 of this embodiment needs to meet the requirement of high-flow-rate cleaning of the cleaning components 22. Therefore, this embodiment utilizes the second power device 34 to perform both the functions of suction during normal cleaning and high-flow-rate liquid supply during cleaning of the cleaning equipment 100 and cleaning of the cleaning components 22. This effectively eliminates the need to set up another power device as the power source for high-flow-rate liquid supply to the cleaning components 22, or eliminates the need to set up a power device with adjustable flow rate (which is more expensive than a power device with non-adjustable flow rate) to meet the switching between low-flow-rate and high-flow-rate liquid supply to the cleaning components 22, thereby effectively reducing the overall cost of the cleaning equipment 100.

[0157] For more details, please see Figure 3a , Figure 3c and Figure 18As shown, exemplarily, the liquid system 30 includes a wastewater box 24, with a first chamber 244 and a second chamber 245 both formed within it. The wastewater box 24 is provided with an inlet 241, a drain 242, and a connecting port 243. The inlet 241 communicates with a second inlet 331, the drain 242 communicates with a second outlet 333, and the connecting port 243 allows wastewater from the cleaning component 22 to enter the wastewater box 24. The wastewater box 24 communicates with a clean water box 23 via the inlet 241 and with a second outlet 333 of the second passage 33 via the drain 242, making the wastewater box 24 part of the second passage 33. When the liquid level in the clean water box 23 exceeds the second outlet 235, the liquid in the clean water box 23 can overflow into the wastewater box 24.

[0158] When the cleaning device 100 is in the state of cleaning the cleaning component 22, and the liquid level supplied to the clean water box 23 by the external liquid source exceeds the second outlet 235, the second power unit 34 drives the liquid in the clean water box 23 to overflow from the second outlet 235 into the second passage 33, and then flows out of the second passage 33 through the inlet 241 of the sewage box 24, the cavity of the sewage box 24, the outlet 242, and the second outlet 333 to be discharged to the cleaning component 22. The sewage box 24 is a container on the liquid circuit system 30 and / or cleaning module 20 used for passing, loading, and / or storing liquids. It should be noted that the naming of the sewage box 24 does not constitute a limitation on the type of liquid inside it. That is, the liquid in the sewage box 24 is not limited to storing only sewage, but can store clean water, sewage, etc. Here, the explanation of "clean water" is the same as before, while "sewage" is a relative concept. It only needs to be water that is dirtier than the user's perception of clean water (or a mixture of water and dirt) within the scope of protection. The wastewater box 24 can be of any shape; for example, the cross-sectional shape of the wastewater box 24 can be regular or irregular. In this paper, the cross-sectional shape of the wastewater box 24 is irregular. The irregular cross-sectional design can adapt to the structural layout of the cleaning equipment 100, facilitating the compact arrangement of other components.

[0159] Please see Figure 3a , Figures 6 to 8The wastewater container 24 is provided with an inlet 241, a drain 242, and a connecting port 243. The shape and size of the inlet 241, drain 242, and connecting port 243 can be arbitrarily set, and this disclosure does not limit them. In some embodiments, the drain 242 is positioned at a higher height on the wastewater container 24 than the connecting port 243. Specifically, the wastewater container 24 has a height dividing line (see previous explanation), with the inlet 241 and drain 242 located above the height dividing line, and the connecting port 243 located below the height dividing line. In one example, the connecting port 243 is near the bottom of the wastewater container 24, and the inlet 241 and drain 242 are near the top of the wastewater container 24. To accommodate the structural layout of the cleaning equipment 100 disclosed herein, the inlet 241 is located on the left side of the wastewater box 24 in the width direction X of the machine body, the outlet 242 is located on the right side of the wastewater box 24 in the width direction X of the machine body, and the connecting port 243 is located on the side of the clean water box 23 facing the rear of the cleaning equipment 100. Here, "left side" and "right side" refer to the perspective when the cleaning equipment 100 is moving forward. The inlet 241 is an opening for connecting the inside and outside of the wastewater box 24, specifically connecting to the second inlet 331 of the second passage 33. That is, liquid in the clean water box 23 can enter the second passage 33 through the second inlet 331, and then enter the inside of the wastewater box 24 through the inlet 241. The outlet 242 is an opening for connecting the inside and outside of the wastewater box 24, that is, liquid in the wastewater box 24 can flow out to the outside pipe through the outlet 242, and then flow to the target object—the spray bar 26—through the outside pipe. In this embodiment, both the first chamber 244 and the second chamber 245 are formed within the wastewater box 24, thereby making the structure of the liquid circuit system 30 more compact. The distance between the connecting pipes between the first chamber 244 and the second chamber 245 can be shorter, effectively saving overall space and reducing piping costs. For example, as shown... Figure 18 As shown, along the height direction Z of the wastewater box 24, the first chamber 244 can be located above the second chamber 245. Since the volume of the first chamber 244 only needs to meet the flow rate requirements when the cleaning component 22 supplies a large flow of liquid, the volume of the first chamber 244 can be smaller than that of the second chamber 245. Therefore, the relatively narrow space above the second chamber 245 can be used as the first chamber 244. Furthermore, since the first chamber 244 is located above the second chamber 245, the through hole O connecting the two can be set at the top of the second chamber 245 corresponding to the bottom of the first chamber 244. This makes it easier to ensure that the setting height of the through hole O does not exceed the maximum allowable liquid level of the second chamber 245.

[0160] Please see Figures 9 to 11In some embodiments, the liquid system 30 and / or cleaning module 20 may further include a recovery component 251, which is used to collect, load, and / or store wastewater generated by the cleaning component 22 during cleaning of the surface to be cleaned. A connection port 243 is an opening for connecting the interior of the wastewater box 24 (specifically the second chamber 245) to the recovery component 251. Wastewater in the recovery component 251 can enter the wastewater box 24 (specifically the second chamber 245) through the connection port 243 for storage. Liquid (which may be clean water or wastewater) in the wastewater box 24 can also enter the recovery component 251 through the connection port 243 and then be discharged from the recovery component 251 to the outside of the cleaning device 100. Specifically, the recovery component 251 may include a scraping part 2512 and a dirt-receiving cavity 25115. The scraping part 2512 is used to abut against the cleaning component 22 to scrape dirt from the cleaning component 22 into the dirt-receiving cavity 25115. The sewage box 24 has a connecting port 243 connected to the sewage chamber 25115. The connecting port 243 is used to allow sewage on the cleaning component 22 to enter the sewage box 24 through the sewage chamber 25115, and to allow sewage in the sewage box 24 to enter the sewage chamber 25115 for discharge to the outside of the cleaning equipment 100.

[0161] More specifically, in some implementations, please refer to Figure 11The sludge-containing cavity 25115 extends along the rotation axis X of the cleaning component 22. One end of the sludge-containing cavity 25115 along the length X direction has a first wastewater outlet 25116, and the other end has a second wastewater outlet 25117. The first wastewater outlet 25116 communicates with the communication port 243 of the second chamber 245. The cleaning device 100 also includes a control structure 25183, which can be located at any position within the sludge-containing cavity 25115, for example, at the first wastewater outlet 25116, or at the second wastewater outlet 25117, or at any position between the first wastewater outlet 25116 and the second wastewater outlet 25117 within the sludge-containing cavity 25115. In one example, the control structure 25183 can be a valve; opening the valve allows communication between the inside and outside of the sludge-containing cavity 25115, and closing the valve shuts off the communication between the inside and outside of the sludge-containing cavity 25115. In another example, the control structure 25183 is a pipe that is deformable or movable, allowing its opening to face either a first direction or a second direction. When facing the first direction, the pipe opening is higher than when facing the second direction. For example, when the pipe opening faces the first direction, such as upwards, the control structure 25183 is closed, preventing wastewater in the sludge chamber 25115 from flowing out. When the pipe opening faces the second direction, such as horizontally or lower, the control structure 25183 connects the inside and outside of the sludge chamber 25115, allowing wastewater to flow out. The control structure 25183 is used to connect the inside and outside of the sludge chamber 25115 when the cleaning device 100 is in a wastewater discharge state. It should be noted that in cleaning devices 100 without a self-cleaning function for the cleaning components, the previously described recycling component 251 and related components that recycle wastewater can be omitted.

[0162] Please see Figure 8 and Figure 9The second power unit 34 is a device that provides the driving power to discharge liquid from the clean water box 23 into the second passage 33. In some embodiments, the second power unit 34 includes a water-air pump, that is, the second power unit 34 is both a water pump, which can be used to pump water or drain water, and an air pump, which can be used to draw negative pressure or introduce positive pressure. In one example, the inlet of the second power unit 34 is connected to the drain port 242 through a third section of pipe, and the outlet of the second power unit 34 is connected to the spray bar 26 through a fourth section of pipe. The opening of the fourth section of pipe connected to the spray bar 26 is the second outlet 333. In this case, the second passage 33 includes the pipe between the clean water box 23 and the wastewater box 24, the wastewater box 24, the third section of pipe, the second power unit 34, and the fourth section of pipe. When the cleaning device 100 also includes a device control board 50, the device control board 50 is electrically connected to the second power unit 34 and is also used to control the opening and closing of the second power unit 34. Of course, it is understood that the above-mentioned "pipeline" can also be formed by a channel formed on the housing.

[0163] Please see Figure 2b , Figure 3a , Figures 6 to 8When the cleaning equipment 100 is in the state of cleaning the cleaning component 22, and the liquid level supplied to the clean water box 23 by the external liquid source exceeds the second outlet 235, the equipment control board 50 controls the second power unit 34 to start. The second power unit 34 drives the liquid in the clean water box 23 to overflow from the second outlet 235 to the second passage 33, and then flows out of the second passage 33 through the inlet 241 of the sewage box 24, the cavity of the sewage box 24, the outlet 242, and the second outlet 333 to the spray bar 26, and then through the spray bar 26 to the cleaning component 22. In this embodiment, the liquid circuit system 30 is provided with a sewage box 24 to collect the sewage formed on the cleaning component 22. The cleaning component 22 can wipe the surface to be cleaned while collecting the sewage formed by wiping the surface to be cleaned through the connecting port 243 into the sewage box 24 for storage, thus realizing the self-cleaning function of the cleaning component 22 in the cleaning equipment 100. After the cleaning equipment 100 reaches the preset position (e.g., base station 200), the sewage in the sewage box 24 is discharged to the recycling component 251 through the connection port 243, and finally discharged into the base station 200 for cleaning through the recycling component 251. During the cleaning process of the cleaning component 22 at the base station 200, the equipment control board 50 can control both the first power unit 32 and the second power unit 34 to be turned on. The first power unit 32 drives the liquid in the water tank 23 to enter the first passage 31 from the first outlet 233 and flow out from the first outlet 313 of the first passage 31 to the spray bar 26. The second power unit 34 drives the liquid in the water tank 23 to overflow from the second outlet 235 into the second passage 33 and flow out from the second outlet 333 of the second passage 33 to the spray bar 26. The liquid entering the spray bar 26 from the two passages is finally supplied to the cleaning component 22 through the spray nozzle 261 to clean the cleaning component 22. The addition of the second power unit 34 enables the cleaning component 22 to be actively replenished with the liquid flowing through the second passage 33 while it is being cleaned. The amount of liquid replenished is greatly increased compared to when the second power unit 34 is not set, which improves the cleaning efficiency and cleaning effect of the cleaning component 22.

[0164] In some embodiments, the flow rate of the second power unit 34 is greater than the flow rate of the first power unit 32. Therefore, the liquid flow rate supplied to the cleaning element 22 by the first passage 31 is less than the liquid flow rate supplied to the cleaning element 22 by the second passage 33. Since the cleaning element 22 requires less liquid when the cleaning equipment 100 is cleaning the surface to be cleaned, the equipment control board 50 can control only the first power unit 32 to be turned on, so that liquid is supplied to the spray bar 26 only through the first passage 31. When the cleaning equipment 100 is in the state of cleaning the cleaning component 22, the cleaning component 22 has a large demand for liquid. The equipment control board 50 can control both the first power device 32 and the second power device 34 to be turned on. At this time, both the first passage 31 and the second passage 33 supply liquid to the spray bar 26. Moreover, the flow rate of the second power device 34 is greater than that of the first power device 32. Compared with not setting the second power device 34 (the second passage 33 is only composed of pipes) or setting the second power device with the same or smaller flow rate as the first power device 32, the total liquid supply from the clean water box 23 to the spray bar 26 is increased by more in this embodiment, thereby greatly improving the cleaning efficiency and cleaning effect of the cleaning component 22.

[0165] As mentioned above, the wastewater box 24 is a container for passing through, loading and / or storing liquids. The recycling unit 251 is used to collect, load and / or store wastewater generated by the cleaning unit 22 when cleaning the surface to be cleaned. Therefore, the first chamber 244 is located above the second chamber 245. When the second power unit 34 is turned on and draws negative pressure into the wastewater box 24, the wastewater in the recycling unit 251 will enter the wastewater box 24 through the connecting port 243 and be mainly stored in the lower second chamber 245. The first chamber 244 does not store wastewater.

[0166] In some embodiments, when the second power unit 34 is off and the liquid in the clean water box 23 overflows from the second outlet 235 into the first chamber 244, at least a portion of the liquid in the first chamber 244 is discharged into the second chamber 245 through the through hole O between the first chamber 244 and the second chamber 245. Based on the above embodiments, when the second power unit 34 is off and the liquid in the clean water box 23 overflows into the first chamber 244, the liquid in the first chamber 244 will enter the second chamber 245 through the through hole O. This allows at least a portion of the second chamber 245 to be flushed, reducing the probability of dirt adhesion in the sewage holding space, which is beneficial for subsequent cleaning of the sewage holding space and improves the user experience. When the cleaning device 100 returns to the preset position and the liquid level supplied to the clean water box 23 by the external liquid source exceeds the second outlet 235, the cleaning device 100 also includes a state of preliminary cleaning of the wastewater box 24 and a state of sewage discharge. When the cleaning device 100 is in the state of cleaning the cleaning component 22, the device control board 50 controls at least the second power device 34 to be turned on. The liquid in the clean water box 23 flows through the second passage 33 to the spray bar 26 to discharge to the cleaning component 22, thereby cleaning the cleaning component 22. At the same time, the device control board 50 can control the first power device 32 to be turned off or on. When the first power device 32 is turned on, the liquid in the clean water box 23 can also flow through the first passage 31 to the spray bar 26 to supply the cleaning component 22, thereby cleaning the cleaning component 22. When the cleaning equipment 100 is in the initial cleaning state of the wastewater box 24, the equipment control board 50 controls the second power unit 34 to shut down (the first power unit 32 can be shut down). The liquid in the clean water box 23 overflows from the second outlet 235 into the first chamber 244, and is discharged into the second chamber 245 through the through hole O between the first chamber 244 and the second chamber 245 to clean the second chamber 245.

[0167] As mentioned above, the second power unit 34 can be a water-air dual-purpose pump. Before performing the initial cleaning of the wastewater box 24, the cleaning equipment 100 usually performs sewage discharge. In some embodiments, the base station 200 can be equipped with an air supply system. After the cleaning equipment 100 is connected to the base station 200, the air supply system of the base station 200 can ventilate the wastewater box of the cleaning equipment 100 to provide positive pressure. Under the action of positive pressure, the wastewater in the wastewater box 24 flows into the recovery unit 251 through the connecting port 243, and finally is discharged from the recovery unit 251 to the base station 200. After the sewage discharge is completed, the cleaning equipment 100 can perform the aforementioned initial cleaning of the wastewater box 24. The wastewater generated after cleaning the second chamber 245 flows into the recovery unit 251 through the connecting port 243, and finally is also discharged from the recovery unit 251 to the base station 200.

[0168] In other embodiments, the second power unit 34 may first vent air into the wastewater box 24 to provide positive pressure. Under the action of positive pressure, the wastewater in the wastewater box 24 flows into the recovery unit 251 through the connection port 243, and finally exits from the recovery unit 251 into the cleaning equipment 100. After the wastewater discharge is completed, the cleaning equipment 100 performs the aforementioned preliminary cleaning of the wastewater box 24. The wastewater generated after cleaning the second chamber 245 flows into the recovery unit 251 through the connection port 243, and finally exits from the recovery unit 251 into the base station 200.

[0169] It should be noted that before the cleaning equipment 100 performs the cleaning of the cleaning component 22, the cleaning system 1000 does not know the specific amount of sewage in the sewage box 24 inside the cleaning equipment 100 after the cleaning equipment 100 returns to the base station 200. Therefore, the cleaning system 1000 provided in this embodiment can first perform a sewage box draining operation on the sewage box 24 after the cleaning equipment 100 returns to the base station 200, so that the initially dirty sewage in the sewage box 24 is emptied, thereby facilitating the subsequent cleaning of the cleaning component 22.

[0170] In the above embodiment where the second power device 34 is used to ventilate the sewage box 24 to discharge sewage, the base station 200 does not need to be equipped with an air source system to discharge sewage to the cleaning equipment 100, which makes the design of the base station 200 simpler and smaller.

[0171] The following description, using specific application scenarios, further demonstrates the advantages of the above solution:

[0172] Please see Figure 25 In situations where user homes are small and have limited space, a dedicated base station 200 for maintaining the cleaning equipment 100 is not provided. Instead, a connector is pre-installed in the toilet or bathroom to connect with the cleaning equipment 100. This connector is connected to the user's water tap. When the cleaning equipment 100 needs to replenish the water tank 23, it returns to a predetermined position, connecting the water tank 23 to the connector. At this time, the water path connected to the tap serves as the external liquid source for the water tank 23. Water from the tap flows through the pipe to the connector and into the water tank 23. When the cleaning equipment 100 detects that the water tank 23 is about to reach the preset full level, it disconnects from the connector. The cleaning equipment 100 can then proceed with the cleaning of the surface to be cleaned. During the cleaning process, the water in the water tank 23 flows out through the first passage 31 to the cleaning component 22, keeping the cleaning component 22 moist to ensure cleaning effectiveness.

[0173] When the cleaning device 100 has been cleaning the surface to be cleaned for a period of time, the cleaning component 22 may be quite dirty and requires a large flow of liquid to deeply clean it. The cleaning device 100 can first move to the vicinity of the floor drain and start the second power device 34. The second power device 34 uses positive pressure to discharge the sewage box 24, so that the sewage in the sewage box 24 passes through the recovery component 251 and is discharged from the second sewage outlet 25117 of the recovery component 251 to the floor drain. Then the cleaning device 100 returns to the docking position and replenishes the clean water box 23 with water through the faucet, so that the water in the clean water box 23 flows out from the second passage 33 to the cleaning component 22. During this process, the cleaning component 22 rotates to fully self-clean itself. Since most of the sewage in the sewage box 24 has been discharged to the floor drain, the sewage after self-cleaning is not very dirty. Thus, the slightly cleaner sewage generated from cleaning the cleaning component 22 can flow to the floor drain.

[0174] Of course, in practical applications, the floor drain and the connector can be set close together, so that the operation of the cleaning equipment 100 in discharging the sewage from the sewage box 24 to the floor drain and cleaning the cleaning parts 22 can both occur in the same location, thus improving the maintenance efficiency of the cleaning equipment 100.

[0175] As can be seen from the above, because the cleaning device 100 has self-cleaning and self-draining functions, the design of the base station 200 can be simplified, its size reduced, and it may even be unnecessary to install a base station 200. Only a water source supplying water to the cleaning device 100 and a floor drain in the user's home are required. Please refer to [link / reference]. Figure 7 and Figure 18 Furthermore, in some embodiments, a filter element 247 is provided at the through hole between the first chamber 244 and the second chamber 245. The first chamber 244 and the second chamber 245 are in fluid communication through the pores on the filter element 247. The filter element 247 is used to prevent at least part of the solid waste in the second chamber 245 from entering the first chamber 244. Specifically, when the second power device 34 is off, and the liquid level supplied to the clean water box 23 by the external liquid source exceeds the second liquid outlet 235, the liquid in the clean water box 23 overflows from the second liquid outlet 235 into the first chamber 244, passes through the filter element 247, and then enters the second chamber 245.

[0176] Filter element 247 is a component used to filter large-sized substances from a liquid. In one example, filter element 247 is a filter screen located at the through-hole between the first chamber 244 and the second chamber 245, and has multiple holes. The size of the holes can be set as needed, only requiring that liquid can pass through but larger-sized substances (solid waste) cannot. As mentioned earlier, wastewater is usually stored in the second chamber 245. There is no wastewater in the first chamber 244, and the first chamber 244 is for the passage of clean water from the clean water box 23, which flows out from the drain port 242 to the spray bar 26, and finally discharges from the spray bar 26 to the cleaning element 22 to clean the cleaning element 22. Therefore, when the cleaning device 100 is in the state of cleaning the cleaning element 22, the liquid passing through the first chamber 244 needs to be clean water and cannot be mixed with solid waste. Based on this, a filter element 247 is provided between the second chamber 245 and the first chamber 244. On the one hand, it can prevent the clean water flowing into the spray bar 26 through the first chamber 244 from being contaminated by solid waste in the second chamber 245, thereby ensuring the cleaning effect of the cleaning element 22.

[0177] On the other hand, liquids usually flow from high to low. Therefore, when the cleaning device 100 is in the state of cleaning the cleaning component 22, the liquid entering the first chamber 244 from the inlet 241 tends to flow into the second chamber 245. Although the second power device 34 can have the driving force to drive the fluid to the outlet 242, a certain amount of liquid will still enter the second chamber 245, thereby reducing the amount of liquid flowing to the spray bar 26 through the second passage 33 and reducing the effect of cleaning the cleaning component 22. In this embodiment, compared to the through hole between the first chamber 244 and the second chamber 245, a filter element 247 is provided between the first chamber 244 and the second chamber 245. This makes it less likely for clean water entering the first chamber 244 from the liquid inlet 241 to flow into the second chamber 245. Instead, the water flows laterally through the first chamber 244 and flows out from the liquid outlet 242 to the spray bar 26. This ensures that a larger amount of liquid is supplied to the cleaning component 22 when cleaning the cleaning component 22, thereby improving the cleaning effect of the cleaning component 22. When the cleaning equipment 100 is in the initial cleaning state of the wastewater box 24, the equipment control panel 50 controls the second power unit 34 to shut down, and the liquid level supplied by the external liquid source to the clean water box 23 exceeds the second outlet 235. The liquid in the clean water box 23 overflows from the second outlet 235 into the first chamber 244, passes through the filter element 247, and enters the second chamber 245 to clean the filter element 247, flushing solid debris adhering to the filter element 247 into the second chamber 245, thereby cleaning at least a portion of the second chamber 245. Similarly, before performing the initial cleaning of the wastewater box 24, the cleaning equipment 100 usually performs a sludge discharge, as detailed above.

[0178] In some embodiments, before performing the cleaning operation 22, a sewage discharge operation can be performed by introducing positive pressure into the sewage box 24. Then, a preliminary cleaning operation of the sewage box is performed: that is, the second power device 34 is turned off, and the liquid level supplied by the external liquid source to the clean water box 23 exceeds the second liquid outlet 235. The liquid in the clean water box 23 overflows from the second liquid outlet 235 into the first chamber 244, and enters the second chamber 245 after passing through the filter element 247. During this process, the filter element 247 is cleaned so that the solid waste attached to the filter element 247 is cleaned. This further avoids the possibility that a small amount of waste attached to the filter element 247 will be sucked into the second power device 34 under the driving force provided by the second power device 34 during the cleaning operation 22, thus preventing damage to the second power device 34. Furthermore, when initial cleaning of the wastewater box is required, air and water can be injected simultaneously into the clean water box 23, making the fluid overflowing from the clean water box 23 into the wastewater box 24 a liquid aerated with bubbles. This is equivalent to pressurizing the water, thereby further increasing the impact force on the filter element 247 and more effectively cleaning the solid dirt on the filter element 247. It is worth noting that the above-mentioned "drainage state" and "initial cleaning of the wastewater box" operations can also be performed simultaneously. For example, when there is still wastewater in the wastewater box 24, air and water can be injected simultaneously into the clean water box 23, making the fluid overflowing from the clean water box 23 into the wastewater box 24 a liquid aerated with bubbles, which can effectively improve the cleaning efficiency of the wastewater box 34.

[0179] Furthermore, when the second power unit 34 applies negative pressure to the sewage box 24 to extract sewage from the recovery unit 251, the filter element 247 can also prevent particulate waste from entering the second power unit 34 and affecting its service life. Simultaneously, when the cleaning equipment 100 is flipped and inverted, the sewage in the second chamber 245 flows towards the first chamber 244, and the filter element 247 can again prevent particulate waste from entering the second power unit 34 and affecting its service life.

[0180] For more details, please refer to Figure 18 , Figure 20 and Figure 21In some embodiments, the wastewater container 24 includes a container body 248 and a cover 249. The cover 249 covers the top wall of the container body 248, and a through hole is provided in the top wall of the container body 248. A second chamber 245 is formed in the container body 248, and a first chamber 244 is located in the space enclosed by the cover 249 and the container body 248. This is one way in which the first chamber 244 and the second chamber 245 are formed. Of course, the first chamber 244 and the second chamber 245 can also be formed in other ways. For example, the first chamber 244 is located in the cover 249, the through hole is provided in the bottom wall of the cover 249, and the second chamber 245 is located in the space enclosed by the cover 249 and the container body 248. Another example: the first chamber 244 is located in the cover 249, the second chamber 245 is located in the container body 248, and the through hole is located at the connection between the cover 249 and the container body 248.

[0181] Further, please refer to Figure 18 , Figure 21 and Figure 23 In some embodiments, a sealing structure 2480 is provided between the cover 249 and the box 248. The sealing structure 2480 is at least used to form a first chamber 244 between the cover 249 and the box 248, and the through hole is located in the area enclosed by the sealing structure 2480.

[0182] The sealing structure 2480 is a structure used to prevent liquid from flowing out. In this disclosure, the first chamber 244 is surrounded by the sealing structure 2480 so that the liquid in the first chamber 244 is blocked by the sealing structure 2480 and will not leak. The sealing structure 2480 can be a sealing soft rubber or other structure that performs a sealing function. The phrase "a sealing structure 2480 is provided between the cover 249 and the box 248" can be: The sealing structure 2480 is provided only on the cover 249; when the cover 249 and the box 248 are combined, the sealing structure 2480 and the top plate of the box 248 together form a first chamber 244. In this case, the sealing structure 2480 can be a sealing ring or a rib. Alternatively, the sealing structure 2480 is provided only on the box 248; when the cover 249 and the box 248 are combined, the sealing structure 2480 and the top plate of the box 248 together form the first chamber 244. In this case, the sealing structure 2480 can also be a sealing ring or a rib. Or, the cover 249 can have a first sealing structure 2481 (e.g., ...). Figure 23 The housing 248 is provided with a second sealing structure 2483. The first sealing structure 2481 and the second sealing structure 2483 cooperate to form a first chamber 244, as disclosed in this disclosure. Figure 21 and Figure 23As shown, the first sealing structure 2481 can specifically be a raised rib, and the second sealing structure 2483 can specifically be a groove. The raised rib is inserted into the groove, and the raised rib and the groove are bonded together with an adhesive. Alternatively, the first sealing structure 2481 can specifically be a groove, and the second sealing structure 2483 can specifically be a raised rib. The raised rib is inserted into the groove, and the raised rib and the groove are bonded together with an adhesive. The through hole is located within the area enclosed by the sealing structure 2480, that is, within the area of ​​the first chamber 244, or within the area enclosed by the raised rib and the groove. Therefore, when the sealing structure 2480 is completely sealed on all sides, the liquid in the first chamber 244 will only flow downwards and will not leak to the surroundings; when the sealing structure 2480 only has openings at specific locations (such as the fluid inlet 2485 or fluid outlet 2487 mentioned later), the liquid in the first chamber 244 has a tendency to flow downwards and also a tendency to flow out from the fluid inlet 2485 to the fluid outlet 2487, and there will be no liquid leakage in the area other than the openings.

[0183] Please see Figures 17 to 19 In some embodiments, the housing 248 is further provided with a third chamber 246, which is independent of the second chamber 245 and is connected to the second power device 34. The top wall of the housing 248 is provided with a third chamber inlet 2461 that communicates with the third chamber 246, and the third chamber inlet 2461 is located inside the first chamber 244. When the cleaning device 100 is in the state of cleaning the cleaning component 22, and the liquid level supplied to the clean water box 23 by the external liquid source exceeds the second liquid outlet 235, the second power device 34 drives the liquid in the clean water box 23 to overflow from the second liquid outlet 235 to the first chamber 244, and then flows to the cleaning component 22 through the third chamber inlet 2461, the third chamber 246, the drain outlet 242, and the second power device.

[0184] The phrase "the third chamber 246 and the second chamber 245 are independent of each other" means that the third chamber 246 and the second chamber 245 are not directly connected. Since the first chamber 244 and the second chamber 245 are connected, the third chamber 246 can be indirectly connected to the second chamber 245 through the first chamber 244. The phrase "the third chamber 246 is connected to the second power device 34" specifically means that the outlet 2463 of the third chamber is connected to the inlet of the second power device 34. Therefore, the "drain outlet 242" is the outlet 2463 of the third chamber, and the aforementioned "third section of pipe" can be omitted. The outlet of the second power device 34 is connected to the spray bar 26 through the fourth section of pipe. In this embodiment, the "fourth section of pipe" is a channel within the sewage box 24, and its outlet is the second outlet 333 connected to the spray bar 26.

[0185] When the cleaning equipment 100 is in the state of cleaning the cleaning component 22, and the liquid level supplied by the external liquid source to the clean water box 23 exceeds the second liquid outlet 235, the equipment control board 50 controls the second power unit 34 to start. The second power unit 34 drives the liquid in the clean water box 23 to overflow from the second liquid outlet 235 into the first chamber 244. The liquid in the first chamber 244 enters the third chamber 246 through the third chamber inlet 2461, and then enters the second power unit 34 from the third chamber outlet 2463. It then passes through the fourth section of pipe and reaches the spray bar 26 from the second outlet 333. Finally, it is sprayed from the spray nozzle 261 of the spray bar 26 onto the cleaning component 22 to clean it.

[0186] Furthermore, please refer to Figure 18 , Figure 19 and Figure 23 In some embodiments, the first chamber 244 is divided by a sealing structure 2480 to form a first sub-chamber 2441 and a second sub-chamber 2443. A through hole O is located in the first sub-chamber 2441, and a third chamber inlet 2461 is located in the second sub-chamber 2443. The sealing structure 2480 is provided with a fluid outlet 2485 communicating with the first sub-chamber 2441 and a fluid inlet 2487 communicating with the second sub-chamber 2443. The fluid outlet 2485 and the fluid inlet 2487 are spaced apart and in fluid communication.

[0187] The sealing structure 2480 has a cross-sectional outer contour comprising two closed (end-to-end) annular rings. The first annular ring corresponds to the first sub-chamber 2441, and the second annular ring corresponds to the second sub-chamber 2443. The "fluid outlet 2485" is an opening allowing liquid to flow into the first chamber 244, and the "fluid inlet 2487" is an opening allowing liquid from the first chamber 244 to enter the second sub-chamber 2443. "Fluid communication" means that liquid can flow between the fluid outlet 2485 and the fluid inlet 2487, typically from the fluid outlet 2485 to the fluid inlet 2487.

[0188] By using a sealing structure 2480 to divide the first chamber 244 into two independent sub-chambers (first sub-chamber 2441 and second sub-chamber 2443), and by setting a "fluid inlet 2487" and a "fluid outlet 2485" that are far apart, the fluid in the two first chambers 244 can only flow in the direction from the "fluid outlet 2485" to the "fluid inlet 2487". When the wastewater box 24 needs to be initially cleaned, the second power unit 34 is turned off. Since the second power unit 34 is connected to the second sub-chamber 2443, when the second power unit 34 is turned off, the second power unit 34 will not generate suction force at the second sub-chamber 2443. The first sub-chamber 2441 and the second sub-chamber 2443 are mostly isolated from each other by the sealing structure 2480, and are only connected by the spaced "fluid inlet 2487" and "fluid outlet 2485". This makes it difficult for the liquid in the first sub-chamber 2441 to flow into the second sub-chamber 2443, thereby ensuring the amount of liquid flowing into the second chamber 245 when the wastewater box 24 is initially cleaned.

[0189] When the second power unit 34 is activated, since the first sub-chamber 2441 and the second sub-chamber 2443 are mostly isolated from each other by the sealing structure 2480 and are only connected by the spaced "fluid inlet 2487" and "fluid outlet 2485", the cross-sectional area of ​​the channel flowing from the first sub-chamber 2441 to the second sub-chamber 2443 is small. For fluid, the smaller the cross-sectional area of ​​its flow channel, the greater the suction force generated, making it easier to draw the fluid in the first sub-chamber 2441 to the second sub-chamber 2443. This allows for a rapid response and faster provision of a large flow of liquid to clean the cleaning component 22 when a large flow rate is required.

[0190] Please see Figure 5 , Figure 9 and Figure 12In some embodiments, the cleaning component 22 is a tracked cleaning component. In the traveling direction Y of the cleaning device 100, the spray nozzle 261 of the water spray bar 26 of the liquid system 30 is located on the front side of the cleaning component 22, and the recovery component 251 of the liquid system 30 is located on the rear side of the cleaning component 22. It should be noted that the above-mentioned "front side" and "rear side" are relative. In the embodiments of this disclosure, the tracked cleaning component typically includes a mounting bracket and a mop 223. The mounting bracket includes two rollers spaced apart, namely a front roller 221 and a rear roller 222. The two rollers are arranged relatively apart, and the mop 223 is arranged around the outside of the mounting bracket. The rotation of the two rollers can drive the mop 223 to rotate around the rotation axis X. The spray nozzle 261 of the water spraying strip 26 is located on the front side of the cleaning component 22, meaning that the spray nozzle 261 of the water spraying strip 26 is close to the front roller 221 of the cleaning component 22. The recovery component 251 is located on the rear side of the cleaning component 22, meaning that the recovery component 251 is located on the rear roller 222 of the cleaning component 22. The clean water on the front side wets the cleaning component 22, and after contacting the dirt on the cleaning component 22, it becomes wastewater and rotates with the cleaning component 22 to the rear side, where it can be scraped off and recovered by the recovery component 251. It is then drawn into the wastewater box 24 by the second power device 34 under negative pressure for storage. On the one hand, when the cleaning equipment 100 is mopping the surface to be cleaned, the liquid on the cleaning component 22 can remain in a relatively clean state, avoiding the accumulation of dirt that leads to incomplete mopping and improving the cleaning effect on the surface to be cleaned. On the other hand, the wastewater formed on the cleaning component 22 can be efficiently recovered by the recovery component 251 into the wastewater box 24, preventing it from overflowing onto the surface to be cleaned.

[0191] Furthermore, if the spray bar 26 is positioned directly above or near the rear of the cleaning component 22, the distance between the spray nozzle 261 and the retrieval component 251 is too close. The water sprayed from the nozzle 261 is not fully wetted before being scraped off by the scraping part 2512 and entering the dirt-holding chamber 25115, resulting in insufficient wetting of the mop 223 and ultimately affecting the cleaning effect of the cleaning component 22 on the surface to be cleaned. In this embodiment, since the spray nozzle 261 of the spray bar 26 is located on the front of the cleaning component 22 and the retrieval component 251 is located on the rear of the cleaning component 22, the distance between the spray nozzle 261 and the retrieval component 251 is relatively large. The water sprayed from the nozzle 261 takes a longer time to reach the scraping part 2512, and by this time, the water has fully wetted the mop 223, ensuring a better cleaning effect of the cleaning component 22 on the surface to be cleaned.

[0192] Furthermore, please combine Figures 13 to 16The spray bar 26 has a flow channel with two inlet ends. One inlet end communicates with the first outlet 313 to allow fluid from the first channel 31 to enter the flow channel, and the other inlet end communicates with the second outlet 333 to allow fluid from the second channel 33 to enter the flow channel. The flow channel also has multiple outlet ends 260, which protrude relative to the housing 21 toward the cleaning member 22 to press against it. Spray nozzles 261 are disposed on the sidewalls of the outlet ends 260. The flow channel can be meandering between the inlet and outlet ends 260, for example, including a main channel and multiple branch channels, each branch channel including at least two branches. Exemplarily, this disclosure... Figure 13 As shown, the flow channel of the spray bar 26 includes a main flow channel and four branch flow channels. Each branch flow channel includes branches flowing to both sides, and the outlet end 260 is the end of the fourth branch flow channel.

[0193] The outlet end 260 protrudes towards the cleaning component 22 relative to the housing 21 and presses against the cleaning component 22. Compared to a spaced-apart arrangement between the outlet end 260 and the cleaning component 22, the outlet end 260, the cleaning component 22, and the inner wall of the housing 21 of this disclosure are more easily filled with liquid, and the liquid stays in this area for a longer time, thus more fully wetting the cleaning component 22. In addition, the spray nozzle 261 is provided on the side wall of the outlet end 260, so that the direction S of the liquid sprayed from the spray nozzle 261 forms an angle with the rotation axis X of the cleaning component 22. Compared to placing the spray nozzle directly above the cleaning component 22 (where the direction of the liquid is perpendicular to the cleaning component 22), the spray nozzle 261 of this disclosure has a wider spray direction and a larger wetting area, thereby improving the wetting efficiency of the cleaning component 22. Furthermore, since the dust and debris in the sewage tend to move along the circumferential contour of the cleaning component 22 when the cleaning component 22 rotates carrying dirt, the water nozzle 261 is set on the side wall of the outlet end 260, so that the dust and debris in the sewage will not be thrown onto the water nozzle 261, making the water nozzle 261 less prone to clogging and improving the overall reliability of the machine.

[0194] Please see Figures 3a-3c Or attached Figures 4a-4cThis disclosure also provides another cleaning device 100, which includes a cleaning component 22 and a liquid system 30. The cleaning component 22 is used to mop the surface to be cleaned. The liquid system 30 includes a first chamber 244, a second chamber 245, and a second power unit 32. The first chamber 244 is provided with a liquid inlet 241 and a liquid outlet 242. The liquid inlet 241 is used to allow liquid from an external liquid source to enter the first chamber 244, and the liquid outlet 242 is used to discharge the liquid entering the first chamber 244 to the cleaning component 22. The second chamber 245 is used to contain sewage. The second chamber 245 is provided with a connecting port 243 for sewage on the cleaning component 22 to enter the second chamber 245. The second chamber 245 is separated from the first chamber 244 and is fluidly connected through a through hole O. The maximum allowable liquid level in the second chamber 245 is lower than the location of the through hole O. The second power unit 34 is connected to the first chamber 244 and is used to provide driving power to drive the sewage on the cleaning component 22 into the second chamber 245, and to provide driving power to discharge the liquid in the first chamber 244 into the cleaning component 22. When the cleaning device 100 is cleaning the surface to be cleaned, the second power unit 34 is in the start state, drawing air from the first chamber 244 and the second chamber 245 to create a negative pressure in the second chamber 245, thereby driving the wastewater on the cleaning component 22 into the second chamber 245; when the cleaning device 100 is cleaning the cleaning component, the first chamber 244 is connected to an external liquid source to supply liquid to the first chamber 244, and the second power unit 34 is in the start state to draw the liquid from the first chamber 244 into the cleaning component 22.

[0195] This embodiment is basically the same as the above embodiment, except that the liquid system 30 provided in this embodiment is not limited to the source of the liquid in the first chamber 244 being the clean water box 23. It can be that the first chamber 244 of the cleaning device 100 is directly connected to the base station 200, and the liquid supply system 70 of the base station 200 directly supplies water to the first chamber 244. As long as the cleaning component 22 needs to be cleaned, the liquid can be supplied to the first chamber 244 through the liquid source outside the first chamber 244. The specific implementation and effects of other structures in this embodiment are the same as those in the above embodiment, which uses a second power device 34 to simultaneously collect the wastewater generated by the cleaning device 100 in cleaning the surface to be cleaned by the cleaning component 22, and to meet the large flow rate liquid supply requirements in cleaning the cleaning component 22. These will not be described in detail in this embodiment.

[0196] Similar to the above embodiments, the liquid system 30 includes a wastewater box 24; a first chamber 244 and a second chamber 245 may both be formed on the wastewater box 24. When the second power device 34 is off and an external liquid source supplies liquid to the first chamber 244, at least a portion of the liquid in the first chamber 244 is discharged into the second chamber 245 through the through hole O between the first chamber 244 and the second chamber 245.

[0197] Figures 4a-4c Other structures and functions in the illustrated embodiment are the same as those in the aforementioned embodiment where water overflows from the clear water box 23 to the first chamber 244 and / or the second chamber 245. For details, please refer to the description of the aforementioned embodiment. This embodiment will not repeat the description.

[0198] like Figures 5-6 As shown, this disclosure also provides a cleaning device 100, including: a body 10, a cleaning component 22, and a liquid circuit system 30 provided in any of the above embodiments, wherein the liquid circuit system 30 is disposed on the body 10.

[0199] For example, the cleaning component 22 is a tracked cleaning component. In the travel direction Y of the cleaning equipment 100, the spray nozzle 261 of the water spray bar 26 of the liquid system 30 is located on the front side of the cleaning component 22, and the recovery component 251 of the liquid system 30 is located on the rear side of the cleaning component 22.

[0200] It should be noted that the structure and function of the liquid circuit system 30 in the cleaning equipment 100 provided in this embodiment are the same as those in the above embodiments. For details, please refer to the specific description of the above embodiments. This embodiment will not repeat the description.

[0201] like Figure 1 and Figures 2b to 4a As shown in the illustration, this embodiment also provides a base station 200 for maintaining the cleaning equipment 100 provided in the above embodiments. The base station 200 is equipped with a liquid supply system 70 for supplying liquid.

[0202] For example, the clean water box 20 is provided with a liquid replenishment port 231, and the base station 200 is provided with a docking interface 63 that communicates with the liquid supply system 70. The docking interface 63 is used to connect with the liquid replenishment port 231. When the cleaning equipment 100 is docked at the base station 200 and the docking interface 63 is connected with the liquid replenishment port 231, the liquid supply system 70 of the base station 200 supplies liquid to the clean water box 20 of the cleaning equipment 100. When the liquid supply system 30 supplies liquid to the clean water box 20 until the liquid level exceeds the second liquid outlet 235, the liquid in the clean water box 20 overflows into the second passage 33.

[0203] This disclosure also provides a cleaning system 1000, including: the cleaning device 100 provided in the above embodiments; and / or, a base station 200 provided in any of the above embodiments, the base station 200 being used to maintain the cleaning device 100.

[0204] It should be noted that the structure and function of the liquid circuit system 30 in the cleaning system 1000 provided in this embodiment are the same as those in the above embodiments. For details, please refer to the specific description of the above embodiments. This embodiment will not repeat the description.

[0205] The technical features of the embodiments described above can be combined arbitrarily. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as the combination of these technical features does not contradict each other, it should be considered within the scope of this specification. Furthermore, other implementation methods can be derived from the above embodiments, allowing for structural and logical substitutions and changes without departing from the scope of this disclosure.

[0206] The embodiments described above are merely illustrative of several implementations of this disclosure, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of the patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this disclosure, and these all fall within the scope of protection of this disclosure. Therefore, the scope of protection of this patent should be determined by the appended claims.

Claims

1. A cleaning device, comprising a cleaning component and a fluid system, wherein the cleaning component is used to mop the surface to be cleaned, characterized in that, The fluid circuit system includes: A clear water box is provided with a first liquid outlet and a second liquid outlet, wherein the height of the first liquid outlet on the clear water box is lower than the height of the second liquid outlet on the clear water box; The first passage is provided with a first inlet and a first outlet. The first inlet is connected to the first liquid outlet, and the first outlet is used to allow the liquid from the clear water box to flow out from the first passage. A first power unit, the first power unit being used to provide driving power for discharging liquid from the water tank into the first passage; and The second passage is provided with a second inlet and a second outlet. The second inlet is connected to the second liquid outlet, and the second outlet is used to allow the liquid from the clear water box to flow out from the second passage. When the cleaning device is in the state of mopping the surface to be cleaned, the liquid in the clean water box is driven by the first power device to flow from the first outlet into the first passage and out from the first outlet to supply liquid to the cleaning component; When the cleaning equipment is in the state of cleaning the cleaning component, liquid is supplied to the clean water box through an external liquid source so that the liquid level in the clean water box exceeds the second liquid outlet. When this happens, the liquid in the clean water box overflows from the second liquid outlet into the second passage and flows out from the second outlet to drain liquid to the cleaning component and clean it.

2. The cleaning equipment according to claim 1, characterized in that, When the cleaning device is in the state of mopping the surface to be cleaned, the liquid level in the clean water box does not exceed the second liquid outlet.

3. The cleaning equipment according to claim 1, characterized in that, The first power unit is located at the first passage or the first liquid outlet; and / or, When the cleaning device is in the state of cleaning the cleaning component, and the liquid level supplied by the external liquid source to the water tank exceeds the second outlet, the first power device drives the liquid in the water tank to flow from the first outlet into the first passage and out from the first outlet to discharge liquid to the cleaning component.

4. The cleaning equipment according to any one of claims 1 to 3, characterized in that, The second passage is a pipe through which liquid overflowing from the second outlet flows to the pipe and flows directly out to the cleaning component to clean it.

5. The cleaning equipment according to claim 1, characterized in that, The second path is equipped with: The first chamber is provided with a liquid inlet and a liquid outlet. The liquid inlet is used to allow liquid from an external liquid source to enter the first chamber, and the liquid outlet is used to allow liquid entering the first chamber to be discharged to the cleaning component. The second chamber is used to contain sewage. The second chamber is provided with a communication port for sewage on the cleaning component to enter the second chamber. The second chamber is separated from the first chamber but is fluidly connected to it through a through hole. The maximum allowable liquid level in the second chamber is lower than the location of the through hole. The second power unit is connected to the drain port and is used to provide driving power to drive the sewage on the cleaning component into the second chamber, and driving power to discharge the liquid in the clean water box into the second passage. When the cleaning device is in the state of cleaning the cleaning component, and the liquid level supplied by the external liquid source to the water box exceeds the second liquid outlet, the second power device drives the liquid in the water box to overflow from the second liquid outlet to the second passage, and flows out from the second passage through the inlet, the first chamber, the outlet, and the second outlet in sequence to discharge liquid to the cleaning component and clean the cleaning component.

6. The cleaning equipment according to claim 5, characterized in that, When the cleaning equipment is in the state of cleaning the surface to be cleaned, the second power unit is in the start state, and draws air from the first chamber and the second chamber to make the second chamber negative pressure, thereby driving the sewage on the cleaning component into the second chamber.

7. The cleaning equipment according to claim 5, characterized in that, The liquid circuit system also includes a wastewater box; both the first chamber and the second chamber are formed on the wastewater box; And / or, along the height direction of the cleaning equipment, the first chamber is located above the second chamber; And / or, when the second power device is off and the liquid in the water box overflows from the second outlet into the first chamber, at least a portion of the liquid in the first chamber is discharged into the second chamber through the through hole between the first chamber and the second chamber.

8. The cleaning equipment according to any one of claims 5 to 7, characterized in that, A filter element is provided at the through hole between the first chamber and the second chamber. The first chamber and the second chamber are in fluid communication through the pores on the filter element. The filter element is used to prevent at least part of the solid waste in the second chamber from entering the first chamber. In the case where the second power device is off and the liquid level supplied to the water box by the external liquid source exceeds the second liquid outlet, the liquid in the water box overflows from the second liquid outlet into the first chamber and enters the second chamber after passing through the filter element.

9. The cleaning equipment according to claim 7, characterized in that, The liquid circuit system also includes a wastewater box; the wastewater box includes a box body and a cover, the cover is disposed on the top wall of the box body, the through hole is disposed on the top wall of the box body, the second chamber is formed in the box body, and the first chamber is located in the space enclosed by the cover and the box body.

10. The cleaning equipment according to claim 9, characterized in that, A sealing structure is provided between the cover and the box, the sealing structure being at least used to form the first chamber between the cover and the box, and the through hole is located within the area enclosed by the sealing structure.

11. The cleaning equipment according to claim 10, characterized in that, The box body is also provided with a third chamber, which is independent of the second chamber and is connected to the second power device. The top wall of the box body is provided with a third chamber entrance that is connected to the third chamber, and the third chamber entrance is located inside the first chamber. When the cleaning device is in the state of cleaning the cleaning component, and the liquid level supplied by the external liquid source to the water tank exceeds the second liquid outlet, the second power device drives the liquid in the water tank to overflow from the second liquid outlet into the first chamber, and then flows to the cleaning component through the inlet of the third chamber, the third chamber, the drain outlet, and the second power device.

12. The cleaning equipment according to claim 11, characterized in that, The first chamber is divided into a first sub-chamber and a second sub-chamber by the sealing structure. The through hole is located in the first sub-chamber, and the inlet of the third chamber is located in the second sub-chamber. The sealing structure has a fluid outlet communicating with the first sub-chamber and a fluid inlet communicating with the second sub-chamber. The fluid outlet and the fluid inlet are spaced apart and in fluid communication.

13. The cleaning equipment according to claim 5, characterized in that, Also includes: The recycling component includes a scraping part and a dirt-receiving cavity, wherein the scraping part is used to abut against the cleaning component to scrape dirt on the cleaning component into the dirt-receiving cavity; The connecting port of the second chamber is connected to the dirt-containing chamber. The connecting port is used to allow wastewater on the cleaning component to enter the second chamber through the dirt-containing chamber, and to allow wastewater in the second chamber to enter the dirt-containing chamber and be discharged to the outside of the cleaning equipment. Wherein, the rotation axis of the cleaning component is parallel to the surface to be cleaned; and / or, the cleaning component includes a tracked cleaning component or a roller-type cleaning component.

14. The cleaning equipment according to claim 13, characterized in that, The sludge-holding cavity extends along the rotation axis of the cleaning component. One end of the sludge-holding cavity along its length is provided with a first sewage outlet, and the other end of the sludge-holding cavity along its length is provided with a second sewage outlet. The first sewage outlet is connected to the communication port of the second chamber. The cleaning device also includes a control structure, which is used to connect the inside of the sludge-holding cavity with the outside when the cleaning device is in the sewage discharge state.

15. The cleaning equipment according to claim 5, characterized in that, The flow rate of the second power unit is greater than the flow rate of the first power unit; And / or, the first power unit includes a peristaltic pump, and the second power unit includes a water-air pump.

16. The cleaning equipment according to claim 1, characterized in that, The cleaning component includes a tracked cleaning component or a roller cleaning component, and the hydraulic system further includes: The water spray bar has a first outlet of the first passage connected to the water spray bar, and a second outlet of the second passage connected to the water spray bar. The water spray bar has multiple spray nozzles, which are spaced apart along the rotation axis of the cleaning component.

17. A cleaning device, comprising a cleaning component and a fluid system, the cleaning component being used to mop a surface to be cleaned, characterized in that, The fluid circuit system includes: The first chamber is provided with a liquid inlet and a liquid outlet. The liquid inlet is used to allow liquid from an external liquid source to enter the first chamber, and the liquid outlet is used to allow liquid entering the first chamber to be discharged to the cleaning component. The second chamber is used to contain sewage. The second chamber is provided with a communication port for sewage on the cleaning component to enter the second chamber. The second chamber is separated from the first chamber but is fluidly connected to it through a through hole. The maximum allowable liquid level in the second chamber is lower than the location of the through hole. A second power unit is connected to the first chamber and is used to provide driving power to drive the sewage on the cleaning component into the second chamber, and to provide driving power to discharge the liquid in the first chamber into the cleaning component. When the cleaning equipment is in the state of cleaning the surface to be cleaned, the second power unit is in the start state, drawing air out of the first chamber and the second chamber to create a negative pressure state in the second chamber, thereby driving the wastewater on the cleaning component into the second chamber; when the cleaning equipment is in the state of cleaning the cleaning component, the first chamber is connected to an external liquid source to supply liquid to the first chamber, and the second power unit is in the start state to draw the liquid from the first chamber to the cleaning component.

18. The cleaning equipment according to claim 17, characterized in that, The liquid circuit system further includes a clean water box and a wastewater box; both the first chamber and the second chamber are formed on the wastewater box; And / or, when the second power device is off, and the liquid in the water box overflows from the second outlet of the water box into the first chamber, at least a portion of the liquid in the first chamber is discharged into the second chamber through the through hole between the first chamber and the second chamber.

19. A control method for a cleaning device, applied to the cleaning device, the cleaning device comprising a cleaning component and a wastewater box, the wastewater box being used to contain wastewater generated by the cleaning component during cleaning of a surface to be cleaned, characterized in that, The cleaning equipment includes a dirt detection sensor, and the control method includes: The degree of soiling in the wastewater along the wastewater recycling path from the cleaning unit to the wastewater box is detected by the soiling detection sensor; and The fluid parameters and supply strategy for the fluid supplied to the wastewater box are determined based on the degree of contamination of the wastewater.

20. The control method according to claim 19, characterized in that, The method for determining the fluid supply strategy to the wastewater tank based on the degree of contamination of the wastewater includes: If the degree of contamination of the wastewater is less than or equal to a first preset contamination threshold, it is determined to provide positive pressure gas to the wastewater box to perform sewage discharge.

21. The control method according to claim 19, characterized in that, The step of determining the fluid parameters and supply strategy to be provided to the wastewater tank based on the degree of contamination of the wastewater includes: When the degree of contamination of the wastewater is greater than a first preset contamination threshold and less than or equal to a second preset contamination threshold, it is determined that gas should first be supplied to the wastewater box to discharge the wastewater, and then liquid should be supplied to the wastewater box to flush the wastewater. At least one of the following is determined based on the degree of contamination of the wastewater: liquid pressure, liquid flow rate, and liquid supply duration.

22. The control method according to claim 19, characterized in that, The step of determining the fluid parameters and supply strategy for the fluid supplied to the wastewater tank based on the degree of contamination of the wastewater includes: When the degree of contamination of the wastewater exceeds a second preset contamination threshold, the wastewater box is first supplied with a gas-liquid mixture to flush it. At least one of the following parameters is determined based on the degree of contamination: pressure of the gas-liquid mixture, flow rate of the gas-liquid mixture, supply duration of the gas-liquid mixture, and the ratio of gas to liquid. Then, gas is supplied to the wastewater box to discharge it. Finally, liquid is supplied to flush the wastewater box, and at least one of the following parameters is determined based on the degree of contamination: pressure of the liquid, flow rate of the liquid, and supply duration of the liquid.

23. A cleaning system, characterized in that, include: A base station and cleaning equipment, wherein the base station is used for maintaining the cleaning equipment; The cleaning equipment includes a cleaning component and a liquid system. The cleaning component is used to mop the surface to be cleaned, and the liquid system includes: A clear water box is provided with a first liquid outlet and a second liquid outlet, wherein the height of the first liquid outlet on the clear water box is lower than the height of the second liquid outlet on the clear water box; The first passage is provided with a first inlet and a first outlet. The first inlet is connected to the first liquid outlet, and the first outlet is used to allow the liquid from the clear water box to flow out from the first passage. A first power unit, the first power unit being used to provide driving power for discharging liquid from the water tank into the first passage; and The second passage is provided with a second inlet and a second outlet. The second inlet is connected to the second liquid outlet, and the second outlet is used to allow the liquid from the clear water box to flow out from the second passage. When the cleaning device is in the state of mopping the surface to be cleaned, the liquid in the clean water box is driven by the first power device to flow from the first outlet into the first passage and out from the first outlet to supply liquid to the cleaning component; When the cleaning equipment is in the state of cleaning the cleaning component, liquid is supplied to the clean water box through an external liquid source so that the liquid level in the clean water box exceeds the second liquid outlet. When this happens, the liquid in the clean water box overflows from the second liquid outlet into the second passage and flows out from the second outlet to drain liquid to the cleaning component and clean it.

24. A cleaning system, characterized in that, It includes a base station and cleaning equipment, wherein the base station is used for maintaining the cleaning equipment; The cleaning equipment includes a cleaning component and a liquid system. The cleaning component is used to mop the surface to be cleaned, and the liquid system includes: The first chamber is provided with a liquid inlet and a liquid outlet. The liquid inlet is used to allow liquid from an external liquid source to enter the first chamber, and the liquid outlet is used to allow liquid entering the first chamber to be discharged to the cleaning component. The second chamber is used to contain sewage. The second chamber is provided with a communication port for sewage on the cleaning component to enter the second chamber. The second chamber is separated from the first chamber but is fluidly connected to it through a through hole. The maximum allowable liquid level in the second chamber is lower than the location of the through hole. A second power unit is connected to the first chamber and is used to provide driving power to drive the sewage on the cleaning component into the second chamber, and to provide driving power to discharge the liquid in the first chamber into the cleaning component. When the cleaning equipment is in the state of cleaning the surface to be cleaned, the second power unit is in the start state, drawing air out of the first chamber and the second chamber to create a negative pressure state in the second chamber, thereby driving the wastewater on the cleaning component into the second chamber; when the cleaning equipment is in the state of cleaning the cleaning component, the first chamber is connected to an external liquid source to supply liquid to the first chamber, and the second power unit is in the start state to draw the liquid from the first chamber to the cleaning component.

25. The cleaning system according to claim 24, characterized in that, The liquid circuit system further includes a clean water box and a wastewater box; both the first chamber and the second chamber are formed on the wastewater box; And / or, when the second power device is off, and the liquid in the water box overflows from the second outlet of the water box into the first chamber, at least a portion of the liquid in the first chamber is discharged into the second chamber through the through hole between the first chamber and the second chamber.

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