Cleaning station for a mowing robot

Abstract

The application relates to the technical field of garden robots, and discloses a cleaning base station of a mowing robot, which comprises a base station main body, a cleaning mechanism, a dirt detection device, a recycling mechanism and a control unit. The cleaning mechanism is used for high-pressure spray cleaning of a to-be-cleaned part of the mowing robot; the recycling mechanism is used for collecting the mixture after cleaning and performing solid-liquid separation; the control unit is electrically connected with the cleaning mechanism and is configured to determine a cleaning mode of the cleaning mechanism according to dirt degree information of the mowing robot and control the cleaning mechanism to operate according to the cleaning mode. The application realizes efficient cleaning through high-pressure spray cleaning, realizes automatic collection of grass clippings through the recycling mechanism, intelligently adjusts the cleaning intensity according to the dirt degree, and saves water resources and electric energy while guaranteeing the cleaning effect.

Description

Technical Field

[0001] This invention relates to the field of garden robot technology, and more particularly to a cleaning base station for a lawn mowing robot. Background Technology

[0002] Automated lawnmowers are gradually entering ordinary households, replacing manual lawn mowing. During operation, the chassis, blades, and rollers of these lawnmowers easily accumulate grass clippings, dirt, and other debris. If not cleaned regularly, this not only affects the appearance of the equipment but can also lead to dull blades, stuck rollers, and even bacterial growth and unpleasant odors. Therefore, cleaning and maintaining lawnmowers has become an unavoidable issue for users.

[0003] Currently, some robotic lawnmowers on the market are equipped with cleaning base stations in an attempt to solve the problem of manual cleaning. However, the functions of existing cleaning base stations are generally quite limited, with most only providing charging capabilities, and even those that do have cleaning functions often have significant shortcomings.

[0004] First, existing methods for cleaning base stations typically use normal or low-pressure water flow for rinsing. This method is ineffective against stubborn stains such as dried grass pulp and compacted soil, requiring users to manually clean them a second time. Second, the wastewater and grass clippings generated during the cleaning process are often discharged directly onto the ground around the base station, requiring users to clean up the scattered debris themselves. Summary of the Invention

[0005] Based on this, it is necessary to address the technical problem of poor cleaning effect and efficiency of existing lawnmower cleaning base stations, and propose a cleaning base station for a lawnmower robot.

[0006] In a first aspect, this application provides a cleaning base station for a lawnmower robot, comprising: Base station main body; A cleaning mechanism, located on the main body of the base station, is used to perform high-pressure spraying on the parts of the lawnmower robot to be cleaned. A recycling mechanism, located in the main body of the base station, is used to collect the mixture generated after cleaning and to perform solid-liquid separation on the mixture; A dirt detection device is distributed throughout the base station body, and the dirt detection device is used to collect feature information of the area to be cleaned by the lawnmower robot; The control unit is electrically connected to the dirt detection device and the cleaning mechanism; The control unit is configured to: determine the degree of dirtiness information based on the data collected by the dirt detection device; and determine the cleaning mode of the cleaning mechanism based on the degree of dirtiness information of the lawnmower robot, wherein the cleaning mode includes a deep cleaning mode, a fast cleaning mode, and an energy-saving cleaning mode.

[0007] Secondly, a cleaning base station for a lawnmower robot is provided, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, it performs the following: determining the degree of dirt information based on the collection results of the dirt detection device; and determining the cleaning mode of the cleaning mechanism based on the degree of dirt information of the lawnmower robot. The cleaning mode includes a deep cleaning mode, a fast cleaning mode, and an energy-saving cleaning mode.

[0008] Thirdly, a computer storage medium is provided, which stores a computer program that, when executed by a processor, implements the aforementioned cleaning method for the lawnmower robot.

[0009] This application employs a high-pressure spray washing method. Compared to existing technologies using atmospheric or low-pressure water flow rinsing, the high-pressure water flow generates a stronger impact force, effectively removing stubborn stains such as grass pulp and compacted soil adhering to the chassis, blades, and rollers of the lawnmower robot after drying. This ensures efficient cleaning of the areas to be cleaned and reduces the hassle of secondary manual cleaning for users. The base station is equipped with a recycling mechanism that collects the wastewater and grass clipping mixture generated during the cleaning process. Through solid-liquid separation, the grass clippings are retained, and the wastewater is stored. Users no longer need to perform secondary cleaning of the grass clippings scattered around the base station, truly achieving full automation from cleaning to recycling and improving ease of use. This application can automatically adjust the output pressure and cleaning time of the high-pressure water pump according to the actual degree of dirt on the lawnmower robot. When the dirt is severe, high-pressure long-duration cleaning is used to ensure cleaning effect, while low-pressure short-duration cleaning is used when the dirt is slight to avoid wasting water and electricity. This intelligent matching method significantly improves energy efficiency while ensuring cleaning effect and extends the number of cleaning cycles after a single water replenishment of the base station. This application integrates the cleaning mechanism, recycling mechanism, and control unit into a single base station body, resulting in a compact structure, small footprint, and easy installation. Users do not need to configure separate equipment for cleaning and charging, simplifying the layout of backyard equipment. Attached Figure Description

[0010] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0011] in: Figure 1A This is an application environment diagram of the cleaning method for a lawnmower robot in one embodiment; Figure 1B This is an overall schematic diagram of a clean base station in one embodiment; Figure 1C This is a structural block diagram of a lawnmower robot in one embodiment; Figure 1D This is a structural block diagram of a clean base station in one embodiment; Figure 2 This is a flowchart illustrating the cleaning method of a lawnmower robot in one embodiment; Figure 3 This is a structural block diagram of the cleaning device of a lawnmower robot in one embodiment; Figure 4 This is a structural block diagram of a clean base station in one embodiment. Detailed Implementation

[0012] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0013] This application provides an example of an application scenario diagram, such as... Figure 1A and Figure 1B As shown, this application scenario can be applied to home courtyards or gardens. Taking the cleaning base station 20 as a supporting device for the lawn mowing robot 10 as an example, after the lawn mowing robot 10 completes the lawn mowing operation, it automatically drives back to the location of the cleaning base station 20 through autonomous navigation technology to prepare to start the cleaning operation.

[0014] The lawnmower robot 10, relying on its own positioning system and the guidance signal from the cleaning base station 20, travels along a preset path to the entrance of the cleaning base station 20. The bottom of the cleaning base station 20 is equipped with a guide ramp 203 and a guide groove. The lawnmower robot 10 slowly drives in along the guide ramp until its chassis, blades, and rollers, which are waiting to be cleaned, are aligned with the preset cleaning positions inside the cleaning base station 20. The positioning sensor on the cleaning base station 20 confirms that it has stopped in place.

[0015] After the lawnmower robot 10 is accurately positioned at the cleaning station, the control unit of the cleaning base station 20, upon detecting the robot's presence signal, does not immediately activate the high-pressure water pump and other cleaning components for spraying. Instead, it first executes a pre-inspection procedure. This involves using a vision sensor to collect image information at the cleaning station to determine if the area to be cleaned by the lawnmower robot 10 is within the preset cleaning area. Simultaneously, a water level sensor inside the clean water tank 201 detects the water level information to determine if there is sufficient cleaning water in the tank.

[0016] If the pre-inspection results simultaneously meet two conditions—that is, the lawnmower robot 10 is accurately positioned at the cleaning station and the water level in the clean water tank is higher than a preset lower threshold—the control unit then controls the cleaning base station 20 to perform the cleaning task. At this time, the vision sensor begins acquiring images of the lawnmower robot 10's chassis, blades, and wheels. The control unit calculates the dirt coverage rate and determines the cleaning mode based on this rate. Different cleaning modes have different high-pressure water pump output pressures and cleaning durations. Subsequently, the high-pressure water pump pressurizes the water in the clean water tank 201 and delivers it to multiple nozzles 204. The nozzles 204 spray high-pressure water towards the areas of the lawnmower robot 10 to be cleaned. The resulting mixture falls into a recycling tank, where it undergoes solid-liquid separation via a filtration system, and the wastewater is stored in the wastewater tank 202. After cleaning, the control unit can selectively activate the drying module to dry the areas of the lawnmower robot 10 to be cleaned. The lawnmower robot 10 then automatically leaves the cleaning station and moves to the charging port to recharge, awaiting its next task.

[0017] If the positioning information indicates that the lawnmower robot 10 is not accurately positioned at the cleaning station, the cleaning base station 20 will issue a reminder via a display interface or voice prompt, such as by flashing indicator lights or sounding an alarm, to indicate that the lawnmower robot 10 is not positioned correctly. Simultaneously, the cleaning base station 20 can send a guidance signal to assist the lawnmower robot 10 in readjusting its position until it correctly enters the cleaning station. If the water level information indicates that the water level in the clean water tank 201 is below a preset lower threshold, the cleaning base station 20 will remind the user via a display interface or push a message to the terminal device, such as by flashing a clean water tank icon, to indicate that the user needs to add clean water, and will control the cleaning task to be interrupted until the user completes the water refilling operation.

[0018] In this application, the cleaning base station 20 of the lawnmower robot includes: a base station body, a cleaning mechanism, a recycling mechanism, a dirt detection device, and a control unit.

[0019] The system includes a cleaning mechanism, located on the main body of the base station, for high-pressure spraying of the areas of the lawnmower robot to be cleaned. A recycling mechanism, also located on the main body of the base station, collects the mixture generated after cleaning and performs solid-liquid separation on the mixture. A dirt detection device, located on the main body of the base station and electrically connected to the control unit, collects characteristic information of the areas of the lawnmower robot to be cleaned, allowing the control unit to determine the degree of dirtiness based on the collected results. The control unit is electrically connected to the cleaning mechanism and the dirt detection device. The control unit is configured to: determine the cleaning mode of the cleaning mechanism based on the degree of dirtiness of the lawnmower robot; the cleaning modes include: deep cleaning mode, fast cleaning mode, and energy-saving cleaning mode; different cleaning modes have different operating parameters, including the output pressure of the high-pressure water pump and / or the cleaning duration; and control the cleaning mechanism to operate according to the operating parameters to perform high-pressure spraying of the areas of the lawnmower robot to be cleaned.

[0020] Specifically, the base station body constitutes the supporting structure of the entire clean base station, used to support and install the cleaning mechanism, recycling mechanism, control unit, and other optional functional modules. The base station body can be integrally molded or assembled from metal or high-strength plastic materials, and its interior has a space to accommodate the various functional components.

[0021] The base station body has a guide structure, such as a guide ramp or guide trough, at its bottom to guide the lawnmower robot to a preset cleaning station. At the cleaning station, the base station body has cleaning windows or openings corresponding to the areas of the lawnmower robot's chassis, blades, and wheels that need cleaning, so that the high-pressure water jets sprayed by the cleaning mechanism can effectively cover these areas. The base station body can also integrate a charging interface for charging the lawnmower robot after cleaning or while in standby mode.

[0022] In one possible embodiment, the dirt detection device includes a vision sensor; the vision sensor is used to acquire an image of a target object on a part of the lawnmower robot to be cleaned, the part to be cleaned including: a chassis, a blade disc, and rollers, and the target object including: grass clippings and soil residue; the control unit is configured to: determine the dirt coverage rate based on the feature information of the target object to generate the dirt level information.

[0023] See Figure 1C The diagram shows the structural block of the lawnmower robot. The target objects of the cutting mechanism (including the chassis and the blade) of the lawnmower robot are mainly grass clippings, while the target objects on the rollers (left drive wheel and right drive wheel, etc.) are mainly soil.

[0024] Furthermore, when the target object is soil, the feature information includes at least color and texture; when the target object is grass clippings, the feature information includes at least shape, color, and distribution location.

[0025] The visual sensor collects images of the area to be cleaned by the lawnmower robot and uses image recognition technology to determine the degree of dirtiness.

[0026] The vision sensor is located inside the base station and its image capture direction is directed towards the area to be cleaned by the lawnmower robot at the cleaning station. Specifically, the vision sensor can be installed above, to the side, or at the bottom of the cleaning station, with the aim of clearly capturing images of at least one of the lawnmower robot's chassis, blades, and wheels.

[0027] To ensure clear images are captured under various lighting conditions, the vision sensor can be equipped with a supplementary light. This supplementary light can use an LED light source with adjustable intensity. The control unit can automatically adjust the brightness of the supplementary light according to the ambient light intensity, ensuring moderate image brightness and clear details. The supplementary light can be positioned around the vision sensor lens or independently near the vision sensor.

[0028] After receiving the image, the control unit first performs image preprocessing to improve the accuracy of subsequent recognition and analysis. Preprocessing operations may include at least one of the following: Noise reduction: Algorithms such as Gaussian filtering, median filtering, or bilateral filtering are used to remove noise from the image and improve image quality. Contrast enhancement: Methods such as histogram equalization, adaptive histogram equalization, or gamma correction are used to enhance image contrast, making the boundary between dirty and clean areas more distinct. Illumination correction: Illumination correction algorithms are used to eliminate illumination differences in the image, addressing potential uneven illumination caused by supplementary lighting. Image segmentation: The area to be cleaned is segmented from the background, and regions of interest (ROIs) such as the chassis area, cutter head, and roller area are extracted to reduce the computational load for subsequent recognition.

[0029] The control unit extracts and identifies feature information from the preprocessed image to distinguish between soil and / or grass clipping areas. Specifically: Soil Recognition: Recognition is based on color and texture features. Soil typically appears dark brown, black, or yellowish-brown, and its color characteristics can be characterized by the range of hue (H), saturation (S), and lightness (V) values ​​in the HSV color space. The texture characteristics of soil areas usually exhibit a uniform, irregular granular or blocky distribution. The control unit identifies regions in the image that match soil characteristics through color thresholding segmentation and texture analysis algorithms.

[0030] Grass clipping recognition: Identification is based on shape and color features. Grass clippings are typically green, yellowish-green, or yellow, and their shape characteristics include strips, flakes, or filaments. The control unit identifies regions in the image that match the characteristics of grass clippings through color thresholding combined with morphological analysis (such as edge detection and contour extraction).

[0031] The control unit can employ machine learning algorithms (such as support vector machines and convolutional neural networks) for dirt identification. A large number of images of the areas to be cleaned, containing varying degrees of dirt and under different lighting conditions, are pre-collected, and the mud and grass clipping areas are labeled to train a recognition model. In practical applications, the control unit inputs the acquired images into the recognition model, and the model outputs pixel-level recognition results for the mud and grass clipping areas.

[0032] Based on the identification results, the control unit calculates the dirt coverage rate as information on the degree of dirtiness. Specifically, the dirt coverage rate can be calculated using the following formula: Dirt Coverage Rate = (Total number of pixels in the identified dirty area / Total number of pixels in the detection area) × 100%. The detection area can be set as needed, including the chassis area, cutter head, roller area, or the entire area to be cleaned. The control unit can calculate the dirt coverage rate for each area separately, or it can calculate the overall dirt coverage rate.

[0033] The control unit generates dirt level information based on the dirt coverage rate. The control unit compares the dirt coverage rate with a preset threshold to generate discrete dirt levels (e.g., light, moderate, heavy). Alternatively, the control unit can directly use the dirt coverage rate as continuous dirt level information for precise adjustment of subsequent operating parameters. In another embodiment, the dirt detection device includes an infrared sensor to help determine the moisture or thickness of the stain. The infrared sensor can be housed inside the base station body, with its detection direction facing the area to be cleaned by the lawnmower robot, working in conjunction with a vision sensor or used independently. The infrared sensor can be an active infrared sensor, including an infrared emitter and an infrared receiver.

[0034] In another embodiment, the dirt detection device includes a pressure sensor for detecting the degree of clogging or the thickness of grass clippings buildup in the filtration system, indirectly reflecting the level of dirt. The pressure sensor can be located upstream and downstream of the filtration system, for example, between the recovery tank and the filtration system, or between the filtration system and the wastewater tank, to detect the pressure difference before and after the filtration system. The pressure sensor is electrically connected to the control unit, transmitting the detected pressure value to the control unit in real time.

[0035] In one alternative implementation, the dirt detection device includes at least two of a visual sensor, an infrared sensor, and a pressure sensor. The control unit fuses the data collected by the multiple sensors to generate comprehensive dirt level information, thereby improving the accuracy and robustness of the judgment.

[0036] For example, visual sensors provide information on dirt coverage and distribution; infrared sensors provide information on dirt moisture; and pressure sensors provide information on the total amount of grass clippings. The control unit uses a weighted fusion or decision-level fusion algorithm to integrate the above information into a comprehensive dirt score, which serves as the basis for selecting the cleaning mode and adjusting operating parameters. For example, when visual recognition shows a high dirt coverage, infrared detection shows that the dirt is wet and sticky, and the pressure sensor shows a large amount of grass clippings accumulated, the comprehensive dirt score reaches the highest level, and the control unit selects the cleaning parameters of maximum output pressure and longest cleaning time.

[0037] In one implementation, the dirt detection device can also combine data transmitted back by the lawnmower robot to help determine the degree of dirtiness. Specifically, the control unit of the cleaning base station establishes a communication connection with the lawnmower robot via a wireless communication module, and receives information about the current mowing operation transmitted back by the lawnmower robot, including but not limited to: Mowing area: The larger the mowing area, the longer the robot is in contact with the grass, and the more grass clippings may adhere to the chassis and wheels; Grassland moisture: The higher the grass moisture, the easier it is for soil to adhere to the robot's wheels and chassis; Working time: The longer the working time, the higher the degree of dirt accumulation may be; Grass clipping bin status: When the grass clipping bin is full, there may be a lot of grass clippings left on the robot chassis.

[0038] The control unit integrates the data transmitted back by the lawnmower robot with the results collected by the dirt detection device to further improve the accuracy of dirt level assessment. For example, when the mowing area is large and the grass is moist, even if the visual recognition shows a low dirt coverage, the control unit can appropriately increase the cleaning intensity to prevent the presence of stubborn stains.

[0039] In one possible embodiment, the cleaning mechanism includes: Clean water tank; A high-pressure water pump is connected to the clean water tank; Multiple nozzles are connected to the high-pressure water pump. The nozzles are positioned toward at least one of the chassis, blade, and rollers of the mowing robot, and the spray angle of the nozzles is adjustable to cover a preset cleaning area.

[0040] Specifically, the clean water tank is located inside or outside the base station body to store cleaning water and provide a water source for the cleaning process. The clean water tank can be a one-piece molded hollow container structure, and its material can be a corrosion-resistant and aging-resistant plastic material (such as high-density polyethylene, polypropylene) or stainless steel. The clean water tank can be fixedly installed in the internal storage space of the base station body, or it can be set as a detachable structure so that users can manually remove it for adding water or cleaning.

[0041] The clean water tank is equipped with a water inlet for filling the tank with clean water. In one embodiment, the water inlet is equipped with an openable sealing cap, allowing the user to manually add water. In another embodiment, the water inlet of the clean water tank is connected to an external water source via a pipeline equipped with an automatic water inlet valve. This automatic water inlet valve is electrically connected to a control unit, which automatically controls the opening and closing of the water inlet valve based on the water level information in the clean water tank, thereby achieving automatic water replenishment.

[0042] To monitor the water level in the clean water tank in real time, a water level sensor can be installed inside or outside the tank. The water level sensor is electrically connected to the control unit to detect the water level information and feed it back to the control unit. When the water level is below a preset lower threshold, the control unit can issue a water shortage warning (e.g., via indicator light, buzzer, or by sending a notification to the user terminal); when the water level is above a preset upper threshold, the control unit can control the automatic inlet valve to close to prevent overflow. The water level sensor can be any of a float-type, capacitive, or photoelectric type. An outlet is located at the bottom or side of the clean water tank, which is connected to the inlet of the high-pressure water pump via a pipeline. For easy pipeline connection, a quick connector or threaded interface can be provided at the outlet, equipped with a sealing ring to ensure a tight seal and prevent leakage. In an optional embodiment, a water filtration assembly (such as a primary filter at the inlet) can also be installed inside the clean water tank to intercept large particles of impurities in the water during filling, preventing them from entering the high-pressure water pump and causing blockage or damage.

[0043] A high-pressure water pump is installed inside the base station body. Its inlet is connected to the outlet of the clean water tank, and the outlet is connected to the nozzle pipeline. It is used to pressurize the water output from the clean water tank, forming a high-pressure water flow to provide sufficient impact force to remove grass clippings, dirt, and other debris adhering to the areas to be cleaned by the lawnmower robot. The high-pressure water pump can be any of a plunger pump, centrifugal pump, or diaphragm pump; the specific selection depends on the required output pressure and flow rate. In one optional embodiment, the high-pressure water pump is a DC diaphragm pump with a rated operating voltage of 12V or 24V, an output pressure range of 0.2MPa to 1.0MPa, and a flow rate range of 1L / min to 5L / min. This type of pump is characterized by its small size, low noise, and strong self-priming capability, making it suitable for garden machinery applications.

[0044] The high-pressure water pump is electrically connected to the control unit, and its start / stop, output pressure, and operating time are controlled by the control unit. Specifically, the control unit controls the power supply to the high-pressure water pump through a relay or motor drive circuit, and adjusts the pump motor speed through pulse width modulation (PWM) signals or voltage regulation, thereby achieving precise regulation of the output pressure. In one embodiment, a pressure sensor is installed at the outlet of the high-pressure water pump. This pressure sensor is electrically connected to the control unit and is used to provide real-time feedback of the output pressure value. The control unit performs closed-loop control based on the deviation between the feedback value and the target value to ensure that the output pressure remains stable within a preset range. To reduce the vibration and noise generated during the operation of the high-pressure water pump, shock-absorbing pads (such as rubber pads or silicone pads) or shock-absorbing springs can be installed at the installation connection between the high-pressure water pump and the base station body. Simultaneously, the inlet and outlet pipes of the high-pressure water pump can be connected using flexible hoses to isolate vibration transmission. In an optional embodiment, a water flow sensor can be installed at the inlet of the high-pressure water pump to detect whether water is flowing in. When the water flow sensor detects no water inflow (e.g., the clean water tank is low on water), the control unit prevents the high-pressure water pump from starting or forces it to stop to prevent the pump from running dry and being damaged.

[0045] Multiple nozzles are connected to the outlet of a high-pressure water pump via pipelines, used to spray high-pressure water from the pump at a specific angle and shape onto the areas of the lawnmower robot to be cleaned, thereby achieving high-pressure spraying. The number of nozzles can be determined according to the size and distribution of the cleaning area. In one specific embodiment, the nozzles include at least three: a first nozzle is located at the bottom of the cleaning station, spraying upwards, for cleaning the chassis and blades of the lawnmower robot; a second and a third nozzle are located on both sides of the cleaning station, spraying towards the left and right rollers of the lawnmower robot, for cleaning the rollers and hub areas. Each nozzle can be set independently or integrated into a nozzle bracket for easy installation and angle adjustment. The spray direction of the nozzles is directed towards at least one of the chassis, blades, and rollers of the lawnmower robot. By reasonably arranging the position and spray angle of the nozzles, the high-pressure water jets sprayed from the nozzles can directly act on the areas to be cleaned, avoiding the water flow being blocked by structural components and affecting the cleaning effect.

[0046] The nozzle's spray angle is adjustable to cover a preset cleaning area. Angle adjustment can be achieved through at least one of the following methods: Ball-head hinged structure: The nozzle body is connected to the pipeline via a ball joint. The ball joint contains a ball head and a ball seat structure. The nozzle's orientation angle can be adjusted by loosening the locking nut, and the angle can be fixed by tightening the locking nut after adjustment. This structure allows for flexible adjustment in multiple directions and angles.

[0047] Rotary structure: The nozzle body is mounted on a rotating base, which can rotate around its axis. By rotating the rotating base, the spray direction of the nozzle can be changed. The rotating base may be equipped with a limit structure to limit the adjustable angle range.

[0048] Universal joint structure: The nozzle and the pipeline are connected by a universal joint, which can achieve adjustment at any angle in space.

[0049] Different types of nozzles can be used to create the desired spray pattern. In one embodiment, a fan-shaped nozzle is used, which sprays water in a fan shape, covering a large area and suitable for cleaning large areas such as chassis and cutter discs. In another embodiment, a jet nozzle is used, which sprays water in a columnar shape with concentrated impact force, suitable for cleaning stubborn stains in localized areas such as rollers and hubs. The type of nozzle can be selected and combined according to the characteristics of the area to be cleaned.

[0050] The nozzle can be made of corrosion-resistant and wear-resistant metal materials (such as stainless steel and brass) or engineering plastics (such as polyoxymethylene and polyamide) to ensure that it will not deform or wear under long-term high-pressure water flow impact.

[0051] To reduce the risk of nozzle clogging, a filter screen can be installed at the nozzle inlet to intercept any minute impurities that may be present in the pipeline. Simultaneously, the internal flow channel of the nozzle can be designed with a smooth surface to prevent impurities from accumulating. In an optional embodiment, the nozzle has a detachable structure, allowing the user to easily remove it for cleaning or replacement.

[0052] The clean water tank, high-pressure water pump, and nozzles are sequentially connected via pipelines to form a complete water supply path. Specifically, the outlet of the clean water tank is connected to the inlet of the high-pressure water pump via an inlet pipe, and the outlet of the high-pressure water pump is connected to the inlet of each nozzle via an outlet pipe. The inlet and outlet pipes can be flexible pipes such as nylon pipes, polyurethane pipes, or rubber pipes, and are sealed using pipe clamps, quick-connect fittings, or other methods.

[0053] Under the control of the control unit, the water in the clean water tank is pressurized by the high-pressure water pump to form a high-pressure water flow. The high-pressure water flow is delivered to each nozzle through the water outlet pipe. The nozzles spray the water onto the area to be cleaned on the lawnmower robot in a preset spray direction and spray pattern to complete the high-pressure spray washing.

[0054] Figure 1D As shown, Figure 1D This is a structural block diagram of a clean base station provided in an embodiment of this application. Figure 1D As shown, the cleaning base station includes the base station body, a visual sensor, and multiple spraying areas.

[0055] The main body of the base station forms the supporting frame of the entire cleaning base station, and its interior contains components such as a cleaning mechanism, a recycling mechanism, and a control unit. The bottom of the main body of the base station has a guide structure for the lawnmower robot to enter. When the lawnmower robot enters the preset cleaning station along the guide structure, the part to be cleaned is exactly within the coverage area of ​​the spraying zone.

[0056] The vision sensor is installed inside the base station, with its lens facing the cleaning station to capture images of the areas to be cleaned by the lawnmower robot. The vision sensor is electrically connected to the control unit, transmitting the captured image data to the control unit for identification of dirt levels and determination of the cleaning mode.

[0057] The spray washing area includes spray washing area 1, spray washing area 2, and spray washing area 3, which correspond to different parts of the lawnmower robot that need to be cleaned. In one specific embodiment, spray washing area 1 corresponds to the chassis area of ​​the lawnmower robot, spray washing area 2 corresponds to the blade head, and spray washing area 3 corresponds to the roller area. Each spray washing area is equipped with one or more nozzles, which are connected to a high-pressure water pump to spray high-pressure water onto the corresponding area to be cleaned. By partitioning the spray washing areas, the control unit can selectively activate some spray washing areas based on the degree of dirtiness, for example, only activating spray washing area 2 corresponding to the blade head for localized cleaning, thereby improving cleaning efficiency and saving water.

[0058] In one possible embodiment, the control unit is configured to: S21. When it is detected that the dirt coverage of the wheels or chassis exceeds the first preset threshold, the cleaning mode is determined to be the deep cleaning mode, the output pressure of the high-pressure water pump is determined to be the first pressure value, and / or the cleaning time is determined to be the first time value.

[0059] Specifically, after performing image recognition, the control unit obtains the dirt coverage rate of the wheel area, chassis area, blade head, and overall area of ​​the lawnmower robot. For the wheel area and chassis area, the control unit compares the dirt coverage rate of these two areas with a preset first threshold. The first preset threshold is a value pre-set and stored in the control unit's memory, such as 50% or 60%, which represents the critical point for determining whether the wheels or chassis are in deep cleaning mode.

[0060] When the control unit determines that the dirt coverage in the wheel area exceeds a first preset threshold, or the dirt coverage in the chassis area exceeds a first preset threshold, or the dirt coverage in both areas exceeds a first preset threshold, the control unit triggers the deep cleaning mode. The core of the deep cleaning mode is that the wheels and chassis are the parts of the lawnmower robot most prone to stubborn stains. The wheel grooves often contain compacted soil, and the chassis surface often has dried grass pulp adhering to it. These stains require high water pressure and a long time to be effectively removed.

[0061] Based on the deep cleaning mode, the control unit determines the output pressure of the high-pressure water pump as the first pressure value and the cleaning duration as the first time value. The first pressure value and the first time value are two preset parameters in the control unit; for example, the first pressure value can be set to 0.8 MPa to 1.0 MPa, and the first time value can be set to 60 seconds to 90 seconds. The first pressure value is the highest pressure setting that the control unit can output, generating sufficient impact force to strip compacted soil from the wheel grooves and disperse dried grass pulp from the chassis surface. The first time value is the longest cleaning duration setting, providing ample time for the high-pressure water flow to fully penetrate and soften stubborn stains.

[0062] When determining the output pressure, the control unit achieves precise pressure control by adjusting the drive voltage or pulse width modulation signal of the high-pressure water pump. When determining the cleaning duration, the control unit achieves precise duration control by setting a timer. The control unit can also select to adjust only the output pressure, only the cleaning duration, or both, depending on the preset cleaning strategy.

[0063] For example, suppose a lawnmower robot returns to its base station after completing a lawnmower job following rain. Images captured by its vision sensors show that the dirt coverage in the wheel area is 75%, the dirt coverage in the chassis area is 68%, and the dirt coverage in the blade head is 30%. The first preset threshold inside the control unit is 50%. Since the dirt coverage in the wheel area (75%) exceeds 50%, and the dirt coverage in the chassis area (68%) also exceeds 50%, the control unit determines that deep cleaning is required.

[0064] The control unit sets the output pressure of the high-pressure water pump to a first pressure value of 0.9 MPa and the cleaning duration to a first time value of 80 seconds. The control unit then adjusts the output pressure of the high-pressure water pump to 0.9 MPa through the drive circuit and sets the timer duration to 80 seconds. When cleaning begins, the high-pressure water stream continuously impacts the wheels and chassis area at a pressure of 0.9 MPa for 80 seconds, effectively washing away the mud embedded in the wheel grooves and the grass pulp adhering to the chassis.

[0065] S22. When it is identified that the dirt coverage rate of only the blade disc exceeds the second preset threshold, and the dirt coverage rates of the wheels and chassis do not exceed the third preset threshold, the cleaning mode is determined to be a fast cleaning mode, the output pressure of the high-pressure water pump is determined as the second pressure value, and / or the cleaning time is determined as the second time value.

[0066] Specifically, after performing image recognition, the control unit obtains the dirt coverage rates of the wheel area, chassis area, and cutter head. The control unit first determines whether the dirt coverage rate of the cutter head exceeds a second preset threshold. The second preset threshold is a pre-set value stored in the control unit's memory, such as 40% or 45%, which represents the critical point at which the cutter head needs intensive cleaning. The cutter head directly contacts the grass blades during mowing and is most prone to entanglement with grass clippings, but the dirt in this area is usually fresh grass clippings, which are easier to wash away than the compacted mud on the wheels and chassis.

[0067] The control unit simultaneously determines whether the dirt coverage of both the wheel area and the chassis area exceeds a third preset threshold. This third preset threshold is a pre-set value stored in the control unit's memory, such as 15% or 20%, representing the critical point at which the wheels and chassis are considered basically clean. When the dirt coverage of both the wheel and chassis areas is below the third preset threshold, it indicates that there is no significant dirt accumulation in these areas, and deep cleaning is not required.

[0068] When both of the above conditions are met simultaneously—that is, the dirt coverage of the blade disc exceeds the second preset threshold, and the dirt coverage of the wheel area does not exceed the third preset threshold, and the dirt coverage of the chassis area also does not exceed the third preset threshold—the control unit triggers the quick cleaning mode. The core of the quick cleaning mode is that the dirt is concentrated only on the blade disc, and the dirt type is mainly fresh grass clippings. This type of dirt does not require the highest water pressure or the longest time to be effectively removed; medium pressure and medium duration are sufficient to achieve good cleaning results, while saving water and electricity.

[0069] The control unit determines the output pressure of the high-pressure water pump as the second pressure value and the cleaning duration as the second time value based on the rapid cleaning mode. The second pressure value and the second time value are two preset parameters in the control unit; for example, the second pressure value can be set to 0.4 MPa to 0.6 MPa, and the second time value can be set to 25 seconds to 40 seconds. The second pressure value, between the first and third pressure values, generates sufficient impact force to disperse grass clippings entangled on the cutter head without consuming excessive energy. The second time value, between the first and third time values, provides sufficient time for the high-pressure water flow to cover the cutter head without over-cleaning the already cleaned wheels and chassis area.

[0070] After determining the output pressure and cleaning duration, the control unit can further configure the nozzle's operating mode. For example, the control unit can select to activate only the nozzles facing the cutter head, while closing the nozzles facing the wheels and chassis, thus concentrating the high-pressure water flow on the cutter head, further improving cleaning efficiency and saving water.

[0071] For example, suppose a lawnmower robot returns to its base station after completing a mowing operation in dry weather. Images captured by its vision sensors show that the blades are covered in a large amount of fresh grass clippings, with a dirt coverage rate of 55%, while the wheel area has a dirt coverage rate of only 8%, and the chassis area has a dirt coverage rate of only 5%. The control unit has a second preset threshold of 40% and a third preset threshold of 15%. Both conditions must be met simultaneously: a blade dirt coverage rate of 55% exceeding 40%, a wheel area dirt coverage rate of 8% not exceeding 15%, and a chassis area dirt coverage rate of 5% not exceeding 15%.

[0072] The control unit sets the output pressure of the high-pressure water pump to a second pressure value of 0.5 MPa and the cleaning duration to a second time value of 30 seconds. Simultaneously, the control unit selects to activate only the nozzles directed towards the cutter head, while closing the nozzles directed towards the wheels and chassis. When cleaning begins, a concentrated jet of high-pressure water at 0.5 MPa is sprayed onto the cutter head for 30 seconds, rapidly dispersing any tangled grass clippings and causing them to fall into the recycling tank. Since the wheel and chassis areas are already relatively clean, they do not require additional treatment as they were not subjected to high-pressure spraying; the cutter head returns to a clean state after cleaning.

[0073] S23. When the overall dirt coverage rate is identified to be lower than the fourth preset threshold, the cleaning mode is determined to be the energy-saving cleaning mode, the output pressure of the high-pressure water pump is determined to be the third pressure value, and / or the cleaning time is determined to be the third time value.

[0074] Specifically, after performing image recognition, the control unit obtains the overall dirt coverage rate. The overall dirt coverage rate can be obtained by calculating the proportion of dirty pixels in the wheel area, chassis area, and blade area to the total number of pixels in the three areas, or by calculating each area separately and then performing a weighted average. The control unit compares the overall dirt coverage rate with a preset fourth threshold. The fourth preset threshold is a pre-set value stored in the control unit's memory, such as 10% or 15%, which represents the critical point at which the lawnmower robot is in a basically clean state.

[0075] When the control unit determines that the overall dirt coverage is below the fourth preset threshold, it triggers the energy-saving cleaning mode. The core of the energy-saving cleaning mode is that the area to be cleaned by the lawnmower robot has only minor stains, such as a small amount of dust, scattered grass clippings, or slight water stains. These stains can be effectively removed without high-pressure, long-term cleaning. The cleaning purpose can be achieved with lower pressure and shorter time, thereby maximizing the conservation of water and electricity and extending the number of cleaning cycles after a single water replenishment of the base station.

[0076] Based on the energy-saving cleaning mode, the control unit sets the output pressure of the high-pressure water pump to the third pressure value and the cleaning duration to the third time value. The third pressure value and the third time value are two preset parameters in the control unit. For example, the third pressure value can be set to 0.2 MPa to 0.3 MPa, and the third time value can be set to 10 seconds to 20 seconds. The third pressure value is the lowest effective pressure level that the control unit can output, sufficient to generate enough water flow to flush away floating dust and loose grass clippings from the area to be cleaned, without causing unnecessary energy consumption due to excessive pressure. The third time value is the shortest cleaning duration, reducing water consumption while completing cleaning quickly.

[0077] In energy-saving cleaning mode, the control unit can also incorporate other energy-saving measures. For example, the control unit can choose to activate only some nozzles to cover the main areas to be cleaned, while shutting down other nozzles; or the control unit can reduce the image acquisition frequency of the visual sensor to reduce the consumption of computing resources. The control unit can also further adjust based on the base station's power status. When the power is low, even if the overall dirt coverage is slightly higher than the fourth preset threshold, the control unit may choose to adopt energy-saving cleaning mode to prioritize the basic operation of the base station.

[0078] For example, suppose a lawnmower robot returns to its base station after a short mowing operation. Images captured by the vision sensors show that the chassis area has only a small amount of dust (3% dirt coverage), the wheel area has scattered grass clippings (2% dirt coverage), and the blades are mostly clean (1% dirt coverage). The total number of dirty pixels in these three areas accounts for 2.5% of the total number of pixels in the three areas. The fourth preset threshold within the control unit is 10%. Since the overall dirt coverage of 2.5% is lower than 10%, the control unit determines that it should trigger the energy-saving cleaning mode.

[0079] The control unit sets the output pressure of the high-pressure water pump to a third pressure value of 0.2 MPa and the cleaning duration to a third time value of 12 seconds. When cleaning begins, a high-pressure water stream at a pressure of 0.2 MPa rapidly sprays the lawnmower robot's chassis, blades, and wheel areas for 12 seconds. Since the dirt consists only of dust and scattered grass clippings, the low-pressure water stream is sufficient to remove them from the areas to be cleaned. After cleaning, all parts of the lawnmower robot are restored to a clean state. The entire cleaning process consumes only a small amount of water and electricity, achieving energy-saving operation.

[0080] This embodiment utilizes a graded cleaning strategy to achieve precise matching between cleaning intensity and stain severity, significantly improving energy efficiency while ensuring cleaning effectiveness, extending the continuous working capacity of the base station after a single water replenishment, and reducing the maintenance burden on users.

[0081] In one possible embodiment, the control unit is configured to: A1. Obtain the current battery level information of the cleaning base station of the lawnmower robot.

[0082] Specifically, the control unit obtains the current power information of the cleaning base station through a power management module electrically connected to it. The power management module, located inside the base station body, manages the base station's power supply, including providing operating power to various functional components such as the control unit, cleaning mechanism, recycling mechanism, dirt detection device, drying module, and disinfection module. The power management module contains a power monitoring circuit that calculates the remaining power in real time by detecting the voltage, current, and charging / discharging status of the base station's energy storage battery.

[0083] Base stations are typically equipped with rechargeable battery packs as energy storage units to maintain normal operation when no external power source is available. These battery packs can be lithium-ion, lithium iron phosphate, or lead-acid, with their rated voltage and capacity determined by the base station's design power consumption. When the base station is connected to an external AC power source via a charging interface, the power management module converts the external power into the DC voltage required by the components and simultaneously charges the battery pack. When the external power source is disconnected, the base station continues to operate using the energy stored in the battery pack.

[0084] The specific implementation of the power monitoring circuit can include a voltage sampling circuit and a current sampling circuit. The voltage sampling circuit acquires the terminal voltage of the battery pack through a resistor divider, converts the analog voltage signal into a digital signal, and transmits it to the control unit. The current sampling circuit detects the charging and discharging current of the battery pack through a sampling resistor or a Hall sensor, similarly converting the current signal into a digital signal and transmitting it to the control unit. Based on the battery pack's voltage and current data, and combined with the battery pack's discharge characteristic curve, the control unit calculates the remaining percentage of power using a coulomb integral algorithm or a voltage lookup table method. This percentage represents the current power level.

[0085] The frequency at which the control unit acquires current power information can be set according to actual needs. In base station standby mode, the control unit can collect power information every 30 seconds or every minute to reduce energy consumption; during cleaning operations, the control unit can collect power information every second or less to promptly detect and respond to insufficient power. The control unit temporarily stores the acquired current power information in its memory for use by subsequent decision-making logic.

[0086] A2. When the current power information is lower than the preset power threshold, the cleaning mode is determined to be the forced energy-saving mode, the output pressure of the high-pressure water pump is adjusted to the fourth pressure value, and / or the cleaning time is adjusted to the fourth time value. The control unit compares the current battery level information with a preset battery level threshold. This preset threshold is a value pre-set and stored in the control unit's memory, such as 30% or 40%. It represents the minimum battery reserve required by the base station to ensure basic functionality. This threshold can be calibrated based on the base station's design power consumption and battery capacity; for example, it can be set as the minimum battery level required for the base station to complete a full charge and standby cycle.

[0087] When the control unit determines that the current battery level is below a preset threshold, it triggers a forced energy-saving mode. The core of this mode is to prioritize the basic functions of the base station, especially charging management. If the base station depletes its battery during the cleaning process, the lawnmower robot may not be able to recharge properly upon returning, affecting the overall availability of the equipment. Therefore, when the battery is insufficient, the energy consumption of the cleaning operation must be minimized; even if the lawnmower robot is heavily soiled, the energy-saving mode must be used for cleaning.

[0088] According to the forced energy-saving mode, the control unit adjusts the output pressure of the high-pressure water pump to a fourth pressure value and the cleaning duration to a fourth time value. The fourth pressure value and the fourth time value are two preset parameters in the control unit, where the fourth pressure value is less than or equal to the third pressure value in step S23, and the fourth time value is less than or equal to the third time value in step S23. This means that the cleaning intensity in the forced energy-saving mode is no higher than the minimum cleaning intensity under normal conditions, and may even be further reduced.

[0089] The specific values ​​for the fourth pressure and fourth time values ​​can be calibrated based on the minimum functional requirements of the base station. For example, the fourth pressure value can be set to 0.1 MPa to 0.2 MPa, which is sufficient to generate enough water flow to wash away surface dust and loose grass clippings, but may not be effective in removing stubborn stains. The fourth time value can be set to 5 to 10 seconds, which allows basic cleaning to be completed in a very short time, maximizing energy and water conservation.

[0090] In forced energy-saving mode, the pressure and duration adjustments performed by the control unit can override the operating parameters determined in steps S21 to S23. That is, regardless of the level of dirt or whether the control unit originally planned to use deep cleaning mode or another mode, once the current power level falls below a preset threshold, the control unit will ignore the original cleaning mode selection and forcibly use the fourth pressure and fourth time values ​​for cleaning. This priority design ensures that the base station will never run out of power due to cleaning operations.

[0091] After adjusting the operating parameters, the control unit can also be combined with other energy-saving measures. For example, the control unit can shut down some nozzles, leaving only the minimum number of nozzles for cleaning; or the control unit can reduce the image acquisition frequency of the vision sensor to reduce the computational load of image processing; or the control unit can suspend the operation of non-essential optional functions such as the drying module or the disinfection module, prioritizing the use of limited power for cleaning and charging management.

[0092] For example, the control unit obtains the current battery level information as 30%. Suppose the control unit's internal preset battery level threshold is 40%. Since the current battery level of 30% is lower than 40%, the control unit determines that a forced power-saving mode needs to be triggered.

[0093] In this cleaning operation, based on the level of dirt, the control unit had already determined in step S21 that deep cleaning was required, using a first pressure value of 0.9 MPa and a first time value of 80 seconds. However, after the forced energy-saving mode was triggered, the control unit adjusted the output pressure of the high-pressure water pump to a fourth pressure value of 0.15 MPa and the cleaning duration to a fourth time value of 8 seconds. The control unit reduced the output pressure of the high-pressure water pump from 0.9 MPa to 0.15 MPa through the drive circuit and modified the timer duration from 80 seconds to 8 seconds.

[0094] Simultaneously, the control unit shuts off some nozzles facing the wheel and chassis areas, leaving only one nozzle operating towards the blade head to further reduce energy consumption. Once cleaning begins, a high-pressure water jet sprays the blade head for 8 seconds at a pressure of 0.15 MPa. Although the cleaning intensity is far lower than the deep cleaning mode, this compromise ensures the base station still has enough power to manage the lawnmower's charging. After cleaning, the base station has approximately 25% battery remaining, sufficient to support the charging circuit's normal operation. Once external power is connected again, the battery pack will be fully charged, and the base station will resume normal cleaning capabilities.

[0095] This embodiment avoids the awkward situation where the base station runs out of energy during cleaning operations, preventing the lawnmower robot from charging and thus improving the reliability and availability of the entire system. Meanwhile, the extremely low-power cleaning in the forced energy-saving mode still removes surface dust and loose debris, maintaining basic cleaning and maintenance functions, achieving an optimal compromise under energy constraints.

[0096] In one possible embodiment, the recycling facility includes: A recycling tank, located at the bottom of the base station body, is used to hold the mixture generated after cleaning; A filtration system, connected to the recovery tank, is used for solid-liquid separation of the mixture; The wastewater tank is connected to the outlet of the filtration system and is used to store the separated wastewater.

[0097] Specifically, the recycling bin is located at the bottom of the base station body, directly below or diagonally below the cleaning station, to collect and hold the mixture washed down from the area to be cleaned by the lawnmower robot during the cleaning process. The recycling bin can be a one-piece molded hollow container structure, made of corrosion-resistant and aging-resistant plastic materials (such as polypropylene, ABS) or stainless steel, to withstand long-term working conditions in humid and dirty environments. The recycling bin can be fixedly installed at the bottom of the base station body, or it can be designed as a detachable structure for easy removal by the user for deep cleaning.

[0098] The opening size of the recycling trough should be greater than or equal to the projected area of ​​the lawnmower's chassis to ensure that the mixture generated during rinsing falls into the recycling trough and avoids splashing outside the base station. In an optional embodiment, the opening edge of the recycling trough is provided with outwardly extending guide plates to expand the receiving range and prevent the mixture from overflowing from the edge.

[0099] To facilitate the flow of the mixture towards the filtration system, the bottom of the recovery tank can be designed with an inclined structure, with an inclination angle of 5° to 15°, allowing the mixture to automatically flow to the lower part of the recovery tank under gravity. A drain outlet is provided at the lower part of the recovery tank, which is connected to the inlet of the filtration system to discharge the mixture to the filtration system for further treatment.

[0100] In one embodiment, the opening of the recycling tank can be covered with a splash guard or coarse filter screen to prevent large pieces of grass clippings, pebbles, and other debris from falling directly into the bottom of the recycling tank and clogging the drain outlet. The splash guard can be removable for easy cleaning. To monitor the liquid level in the recycling tank and prevent overflow, a liquid level sensor can be installed inside or outside the recycling tank. The liquid level sensor is electrically connected to the control unit. When the liquid level in the recycling tank is detected to be higher than a preset threshold, the control unit can issue a warning message or pause the cleaning operation until the mixture is discharged or processed.

[0101] The filtration system is connected to the drain outlet of the recycling tank and is used to separate the solids and liquids of the mixture discharged from the recycling tank, trapping solid impurities (such as grass clippings, soil particles, etc.) to purify the separated water for subsequent recycling or direct discharge. The filtration system can be installed inside the base station body, located between the recycling tank and the wastewater tank. The filtration system can adopt an integrated filtration module or a split multi-stage filtration structure. In one optional embodiment, the filtration system includes multi-stage filtration units arranged sequentially along the flow direction of the mixture to achieve progressive filtration from coarse to fine, improving the solid-liquid separation effect and preventing clogging.

[0102] The wastewater tank is connected to the outlet of the filtration system and is used to store the wastewater generated after solid-liquid separation, awaiting subsequent discharge or treatment. The wastewater tank can be a one-piece molded hollow container structure, made of the same or similar material as the clean water tank, and can be made of corrosion-resistant and aging-resistant plastic. The wastewater tank can be fixedly installed inside the base station body, or it can be designed as a detachable structure for easy manual removal and emptying by the user. The volume of the wastewater tank can be determined based on the cleaning frequency of the base station and the water consumption per cleaning cycle, for example, designed to be 5L to 10L.

[0103] The wastewater tank is equipped with an inlet, which is connected to the outlet of the filtration system via a pipe. A drain outlet is located at the bottom or side of the wastewater tank to discharge the stored wastewater to the base station. In one embodiment, a manual drain valve is installed at the drain outlet, allowing the user to manually discharge wastewater into a designated container or sewer. In another embodiment, the wastewater tank's drain outlet is connected to an automatic drain interface via a pipe. This automatic drain interface can be connected to the household drainage system, and the control unit automatically controls the opening and closing of the drain valve based on the wastewater level information in the tank, achieving automatic wastewater discharge. To monitor the wastewater level in the tank in real time and prevent overflow, a level sensor can be installed inside or outside the tank. The level sensor is electrically connected to the control unit. When the tank level is detected to be higher than a preset upper threshold, the control unit can issue a full water warning (e.g., via an indicator light, buzzer, or by sending a notification to the user terminal) and, if necessary, pause the cleaning operation until the wastewater is discharged. When the tank level is detected to be lower than a preset lower threshold, the control unit can issue a signal allowing cleaning. In one optional embodiment, the wastewater tank may be equipped with an antibacterial coating or a deodorizing module to inhibit bacterial growth and reduce odor generation. The sealing cover of the wastewater tank may have vents and an activated carbon filter layer to absorb emitted odorous gases while balancing the air pressure inside and outside the tank. In another optional embodiment, a circulation pipeline may be installed between the outlet of the filtration system and the clean water tank. Water that has undergone solid-liquid separation can flow back to the clean water tank through the circulation pipeline, achieving water recycling and saving water resources. A one-way valve and a solenoid valve may be installed on the circulation pipeline, with their on / off state controlled by a control unit.

[0104] In one possible embodiment, the filtration system includes a multi-stage filtration unit, said multi-stage filtration unit comprising at least: Primary filter screen, with a pore size ranging from 1mm to 3mm; The secondary filter has a pore size ranging from 0.5 mm to 1 mm.

[0105] Specifically, a primary filter screen is installed at the inlet of the filtration system, with a pore size ranging from 1mm to 3mm. This primary filter screen is used to intercept larger debris such as grass clippings, leaves, and stems, preventing them from entering subsequent, finer filtration units and causing blockages. The primary filter screen can be made of stainless steel woven mesh or perforated plate and is designed to be removable for easy removal, cleaning, or replacement by the user. In one embodiment, the primary filter screen is inclined, with the angle allowing intercepted debris to slide down into the collection area under gravity, preventing debris from accumulating and clogging the mesh.

[0106] The secondary filter is located downstream of the primary filter, with a pore size ranging from 0.5mm to 1mm. This stage of the filter traps finer grass clippings, small leaf debris, and some soil particles. The secondary filter can be made of materials such as sintered stainless steel mesh, nylon mesh, or polyester mesh, offering high filtration accuracy and good corrosion resistance. The secondary filter is also designed to be removable for easy cleaning.

[0107] Both the primary and secondary filters are designed to be washable or replaceable. Specifically, the filters can be configured as a drawer, allowing users to easily pull them out from the side of the base station body for rinsing, cleaning, and reinsertion. The filters can be made of stainless steel or corrosion-resistant synthetic materials to ensure structural stability and filtration performance during long-term use.

[0108] To further improve water quality, especially to separate fine suspended particles (such as silt), the filtration system can also be equipped with a centrifugal separator.

[0109] Centrifuges utilize the principle of centrifugal force, causing denser solid particles to be thrown against the walls and settle during high-speed rotation of the mixed liquid, while less dense water is discharged from the center. Centrifuges can separate suspended particulate matter with a diameter greater than or equal to 0.05 mm, effectively reducing turbidity in water and improving the cleanliness of circulating water. The centrifuge's inlet is connected to the outlet of the secondary filter, and its outlet is connected to the wastewater tank. Its sludge discharge port can be connected to a sludge collection container or returned to a recycling tank for further treatment.

[0110] In one alternative embodiment, the filtration system is also equipped with an automatic cleaning device. For example, a backwashing pipeline can be installed upstream of the filter screen. When filter screen blockage is detected, the control unit controls the backwashing pipeline to open, using high-pressure water flow to backwash the filter screen, removing debris attached to the mesh and restoring filtration performance. The wastewater generated during backwashing can be returned to the recovery tank for re-filtration.

[0111] In one possible embodiment, the cleaning base station of the lawnmower robot further includes: A drying module, located in the base station body, is used to dry the lawnmower robot after cleaning. The drying module, electrically connected to the control unit, effectively removes residual moisture from the robot's chassis, blades, and rollers, preventing rust and corrosion of metal parts, while inhibiting the growth of bacteria and mold, thus extending the equipment's lifespan and improving its hygiene. The drying module includes a heating unit and an air supply unit. The heating unit can employ resistance heating, infrared radiation heating, or heat pump heating, while the air supply unit delivers hot air generated by the heating unit to the areas of the lawnmower robot to be cleaned, and can use centrifugal fans, axial fans, or vortex fans. The control unit automatically starts the drying module after the cleaning mechanism completes the spraying operation. Specifically, when the control unit determines that the cleaning time has reached a preset value, or when the dirt detection device confirms that the area to be cleaned is clean, the control unit shuts down the cleaning mechanism and starts the drying module after a few seconds to prevent residual moisture from affecting the drying effect.

[0112] In one possible embodiment, the cleaning base station of the lawnmower robot further includes: The disinfection module is located in the main body of the base station and is connected to the clean water tank or water outlet of the cleaning mechanism. It is used to add disinfection medium to the cleaning water.

[0113] The disinfection module is located in the main body of the base station and is connected to the clean water tank or outlet of the cleaning mechanism. It adds a disinfectant to the cleaning water, allowing for simultaneous disinfection of the areas of the lawnmower robot to be cleaned during the cleaning process. By adding the disinfectant, bacteria, fungi, and other microorganisms attached to the chassis, blades, and rollers can be effectively killed, preventing odors and improving the hygiene of the equipment. The disinfectant can be a chlorine-based disinfectant, a quaternary ammonium salt disinfectant, a silver ion disinfectant, or a plant extract disinfectant. The disinfection module is equipped with a concentration sensor, located in the clean water tank or on the outlet pipe, to monitor the concentration of the disinfectant in real time. The concentration sensor is electrically connected to the control unit. When the detected concentration is too low, the control unit increases the amount of disinfectant added; when the concentration exceeds a preset upper limit threshold, the control unit reduces the amount added or pauses the addition, achieving closed-loop control to ensure disinfection effectiveness while avoiding waste or corrosion caused by excessive disinfectant.

[0114] Please see Figure 2 As shown, Figure 2 A schematic flowchart of a cleaning method based on a lawnmower robot provided in an embodiment of the present invention includes the following steps: S1. The lawnmower robot has been detected entering the cleaning base station.

[0115] S2, Obtain the power level of the clean base station.

[0116] S3. Determine if the battery level is less than the battery threshold, for example: the battery threshold is 50% of the total battery level.

[0117] If the result of S3 is yes, execute S4; if the result of S3 is no, execute S5.

[0118] S4. Forced Energy Saving Mode. The clean base station is set to forced energy saving mode. The execution process of forced energy saving mode can be referred to the description in the above embodiments and will not be repeated here.

[0119] S5. Acquire images via a vision sensor. The vision sensor can acquire images of the area to be cleaned, such as the cutter head, rollers, or chassis.

[0120] S6. Determine the type and degree of dirt based on the image. The main type of dirt is caused by soil or grass clippings.

[0121] S7. Deep Cleaning Mode. The clean base station is set to deep cleaning mode. The execution process of deep cleaning mode can be referred to the description in the above embodiments and will not be repeated here.

[0122] S8. Fast Cleaning Mode. The cleaning base station is set to fast cleaning mode. The execution process of fast cleaning mode can be referred to the description in the above embodiments and will not be repeated here.

[0123] S9. Energy-saving cleaning mode. Set the cleaning base station to energy-saving cleaning mode. The execution process of energy-saving cleaning mode can be referred to the description in the above embodiments and will not be repeated here.

[0124] S10. Perform cleaning according to the operating parameters corresponding to different modes. The operating parameters are different for different modes, including the output pressure of the high-pressure water pump and / or the cleaning time.

[0125] S11. After cleaning, perform drying and / or disinfection. The drying and / or disinfection operations may be performed selectively based on actual needs or user settings.

[0126] S12, the lawnmower robot returns to its charging station.

[0127] In this embodiment, the system automatically senses the degree of dirt on the lawnmower robot and precisely matches cleaning parameters. The dirt coverage rate is calculated, and the output pressure and cleaning duration of the high-pressure water pump are dynamically adjusted accordingly to ensure the cleaning intensity is appropriate for the degree of dirt. High-pressure, long-duration cleaning is used when the dirt is severe to ensure efficient cleaning, while low-pressure, short-duration cleaning is used when the dirt is light to save water and energy, achieving intelligent control for on-demand cleaning. This cleaning method requires no user intervention; the entire cleaning process is completed automatically. While ensuring cleaning effectiveness, it significantly improves energy efficiency, extends the number of cleaning cycles after a single water replenishment of the base station, and improves the user experience.

[0128] Please see Figure 3 As shown, in one embodiment, a cleaning device for a lawnmower robot is provided, the device comprising: The acquisition module is used to acquire information about the degree of dirtiness of the lawnmower robot through a dirt detection device; The determination module is used to determine the cleaning mode of the cleaning mechanism based on the dirt level information. The cleaning mode includes a deep cleaning mode, a fast cleaning mode, and an energy-saving cleaning mode. The control module is used to control the cleaning mechanism to perform high-pressure spraying on the parts of the lawnmower robot to be cleaned according to the cleaning mode.

[0129] For further details regarding the implementation of the above technical solution by each module in the cleaning device of the lawnmower robot, please refer to the description of the cleaning method of the lawnmower robot provided in the above embodiments of the invention, which will not be repeated here.

[0130] In one embodiment, a clean base station is provided, the internal structure of which can be shown in the following diagram. Figure 4 As shown, the clean base station includes a processor, memory, network interface, and database connected via a system bus. The processor provides computing and control capabilities. The memory includes non-volatile and / or volatile storage media and internal memory. The non-volatile storage media stores an operating system, computer programs, and a database. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage media. The network interface of the clean base station is used to communicate with external clients via a network connection. When the computer program is executed by the processor, it implements the methods described in any of the foregoing embodiments of this application.

[0131] This application also provides a computer-readable storage medium storing computer-executable instructions that, when executed by a processor, are used to implement the methods described in any of the foregoing embodiments of this application.

[0132] This application also provides a chip for executing instructions, which is used to perform the methods described in any of the foregoing embodiments executed by an electronic device as described in any of the foregoing embodiments of this application.

[0133] This application also provides a computer program product, which includes a computer program that, when executed by a processor, can implement the methods described in any of the foregoing embodiments executed by an electronic device as described in any of the foregoing embodiments of this application.

[0134] It should be noted that the functions or steps that the computer-readable storage medium or clean base station can achieve are described in the relevant descriptions in the foregoing method embodiments. To avoid repetition, they will not be described one by one here.

[0135] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium, and when executed, it can include the processes of the embodiments of the above methods. Any references to memory, storage, databases, or other media used in the embodiments provided in this application can include non-volatile and / or volatile memory. Non-volatile memory can include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), or flash memory. Volatile memory can include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in various forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), dual data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link DRAM (SLDRAM), Rambus direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), etc.

[0136] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the above-described division of functional units and modules is used as an example. In practical applications, the above functions can be assigned to different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above.

[0137] The above-described embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit it. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention, and should all be included within the protection scope of the present invention.

Claims

1. A cleaning base station for a lawnmower robot, characterized in that, include: Base station main body; A cleaning mechanism, located on the main body of the base station, is used to perform high-pressure spraying on the parts of the lawnmower robot to be cleaned. A recycling mechanism, located in the main body of the base station, is used to collect the mixture generated after cleaning and to perform solid-liquid separation on the mixture; A dirt detection device is distributed throughout the base station body, and the dirt detection device is used to collect feature information of the area to be cleaned by the lawnmower robot; The control unit is electrically connected to the dirt detection device and the cleaning mechanism; The control unit is configured to: determine the degree of dirtiness information based on the data collected by the dirt detection device; and determine the cleaning mode of the cleaning mechanism based on the degree of dirtiness information of the lawnmower robot, wherein the cleaning mode includes a deep cleaning mode, a fast cleaning mode, and an energy-saving cleaning mode.

2. The cleaning base station of the lawnmower robot according to claim 1, characterized in that, The dirt detection device includes a vision sensor; the vision sensor is used to acquire images of target objects on the part of the lawnmower robot to be cleaned, the part to be cleaned includes: chassis, blade disc and rollers, the target objects include: grass clippings and soil residue; the control unit is configured to: determine the dirt coverage rate based on the feature information of the target objects to generate the dirt level information.

3. The cleaning base station for the lawnmower robot according to claim 2, characterized in that, When the target object is a soil deposit, the feature information includes at least color and texture; When the target object is grass clippings, the feature information includes at least: shape, color, and distribution location.

4. The cleaning base station for the lawnmower robot according to claim 2, characterized in that, The cleaning mechanism includes: Clean water tank; A high-pressure water pump is connected to the clean water tank; Multiple nozzles are connected to the high-pressure water pump. The nozzles are positioned toward at least one of the chassis, blade, and rollers of the mowing robot, and the spray angle of the nozzles is adjustable to cover a preset cleaning area.

5. The cleaning base station for the lawnmower robot according to claim 4, characterized in that, When it is detected that the dirt coverage of the wheels or chassis exceeds a first preset threshold, the cleaning mode is determined to be a deep cleaning mode, the output pressure of the high-pressure water pump is determined to be a first pressure value, and / or the cleaning duration is determined to be a first time value. When it is identified that the dirt coverage rate of the blade disc exceeds the second preset threshold, and the dirt coverage rates of the wheels and chassis do not exceed the third preset threshold, the cleaning mode is determined to be a fast cleaning mode, the output pressure of the high-pressure water pump is determined to be the second pressure value, and / or the cleaning duration is determined to be the second time value. When the overall dirt coverage rate is identified as being lower than the fourth preset threshold, the cleaning mode is determined to be an energy-saving cleaning mode, the output pressure of the high-pressure water pump is determined to be the third pressure value, and / or the cleaning duration is determined to be the third time value. Wherein, the first pressure value is greater than the second pressure value, and the second pressure value is greater than the third pressure value; the first time value is greater than the second time value, and the second time value is greater than the third time value.

6. The cleaning base station for the lawnmower robot according to claim 5, characterized in that, The cleaning modes also include: forced energy-saving mode; The control unit is configured as follows: Obtain the current battery level information of the cleaning base station of the lawnmower robot; When the current power information is lower than the preset power threshold, the cleaning mode is determined to be a forced energy-saving mode, the output pressure of the high-pressure water pump is adjusted to the fourth pressure value, and / or the cleaning duration is adjusted to the fourth time value; Wherein, the fourth pressure value is less than or equal to the third pressure value, and the fourth time value is less than or equal to the third time value.

7. The cleaning base station for the lawnmower robot according to claim 1, characterized in that, The recycling facility includes: A recycling tank, located at the bottom of the base station body, is used to hold the mixture generated after cleaning; A filtration system, connected to the recovery tank, is used for solid-liquid separation of the mixture; The wastewater tank is connected to the outlet of the filtration system and is used to store the separated wastewater. A circulation pipeline is installed at the outlet of the filtration system.

8. The cleaning base station for the lawnmower robot according to claim 7, characterized in that, The filtration system includes a multi-stage filtration unit, and the multi-stage filtration unit includes at least: Primary filter screen, with a pore size ranging from 1mm to 3mm; The secondary filter has a pore size ranging from 0.5 mm to 1 mm.

9. The cleaning base station for the lawnmower robot according to claim 8, characterized in that, The filtration system also includes a centrifugal separator; The centrifuge is used to separate suspended particulate matter with a particle size greater than or equal to 0.05 mm.

10. The cleaning base station of the lawnmower robot according to claim 1, characterized in that, The cleaning base station for the lawnmower robot also includes: A drying module, located on the main body of the base station, is used to dry the lawnmower robot after cleaning.

11. The cleaning base station of the lawnmower robot according to claim 1, characterized in that, The cleaning base station for the lawnmower robot also includes: The disinfection module is located in the main body of the base station and is connected to the clean water tank or water outlet of the cleaning mechanism. It is used to add disinfection medium to the cleaning water.

12. A cleaning base station for a lawnmower, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor, when executing the computer program, performs the following: determining the degree of dirt information based on the collection results of the dirt detection device; and determining a cleaning mode of the cleaning mechanism based on the degree of dirt information of the lawnmower, wherein the cleaning mode includes a deep cleaning mode, a fast cleaning mode, and an energy-saving cleaning mode.

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