Cleaning robot and cleaning system

Abstract

A cleaning robot (1) and a cleaning system, the cleaning robot (1) comprising: a chassis (11) including a water purification tank (110) integrally formed on the top of the chassis (11); the sewage tank (12) is nested on the clean water tank (110) so as to be combined with the chassis (11), the sewage tank (12) comprises a built-in accommodating space (120) used for recycling sewage collected by the cleaning robot (1), and the built-in accommodating space (120) and the accommodating space (1100) of the clean water tank (110) have an overlapping area in the vertical direction; wherein an external containing space used for containing a battery (410) is integrally formed in the sewage tank (12), and the battery (410) is used for supplying power to the cleaning robot (1). The arrangement mode of the clean water tank (110) and the sewage tank (12) optimizes the spatial layout of the cleaning robot (1), and reduces the risk of rollover caused by emergency parking.

Description

Technical Field

[0001] This application relates to the field of cleaning robot technology, specifically to a cleaning robot and cleaning system. Background Technology

[0002] Maintaining clean floor surfaces in high-volume water usage areas or areas requiring extensive cleaning, such as commercial, industrial, institutional, and public buildings, is a continuous and time-consuming process. With the development of automation and artificial intelligence, robots are widely used in these applications to replace manual cleaning of floor surfaces, including tile, stone, brick, wood, concrete, carpet, and other common surfaces.

[0003] Considering the large surface area to be cleaned in areas requiring high water volume or extensive cleaning, and the need for robots with high cleaning power, these robots typically have high water requirements to meet these demands. Therefore, these robots are generally designed with a large volume to carry water, resulting in low efficiency and inadequate cleaning of narrow areas such as corridors and passageways. Alternatively, frequent manual water changes are necessary, requiring operators to constantly monitor the water level, and the high frequency of changes increases the human burden, negating the robot's purpose of replacing manual labor. Another option is to modify the existing water system to enable automatic water changes. While this alleviates the human burden, modifying the existing water system presents significant challenges for operators, and in some cases, such modifications are not feasible or permitted.

[0004] During the cleaning process, the trash on the surface to be cleaned cannot be effectively collected into the trash can or dust collection chamber. As a result, the uncollected trash will hinder the cleaning robot's cleaning work.

[0005] Therefore, in areas with high water usage or requiring large-area cleaning, miniaturizing robots without altering the original environment and addressing the ineffective collection of waste by cleaning devices are the technical problems that this application urgently needs to solve.

[0006] In addition, robots typically need to be equipped with energy storage batteries and water tanks such as fresh water tanks and wastewater tanks in their internal space. Commonly, the fresh water tank is usually placed at a lower position, while the wastewater tank is placed above the fresh water tank, so that the wastewater generated during the operation of the robot can be collected into the wastewater tank and discharged when appropriate. In order to prevent wastewater from overflowing and to prevent internal components such as batteries from being exposed, the top of the robot is usually equipped with a cover plate to seal the internal space of the robot.

[0007] The wastewater tank is usually equipped with a built-in filter box to prevent larger solid waste particles from entering the tank and clogging the drainage pipes. However, in practice, it is often found that after users open the cover and clean the filter box, they forget to put the filter box back into the wastewater tank and close the cover to let the robot continue working. This still results in solid waste clogging the sewage channel.

[0008] Therefore, how to set up a detection method to prompt the user to clean the garbage in the filter box and to check whether the built-in filter box is installed when the cover is closed is also a technical problem that this application urgently needs to solve. Summary of the Invention

[0009] In view of the shortcomings of the above-mentioned related technologies, the purpose of this application is to provide a cleaning robot and cleaning system to overcome the technical problem of imbalance caused by unreasonable layout of the clean water tank and wastewater tank in the related technologies.

[0010] To achieve the above and other related objectives, the first aspect of this application discloses a cleaning robot, comprising: a chassis, including a clean water tank integrally formed on the top of the chassis; and a wastewater tank nested on the clean water tank to be combined with the chassis, including an internal receiving space for recycling wastewater collected by the cleaning robot, wherein the internal receiving space and the receiving space of the clean water tank have an overlapping area in the vertical direction; wherein the wastewater tank integrally forms an external receiving space for accommodating a battery for powering the cleaning robot.

[0011] The second aspect of this application discloses a cleaning system for docking with a cleaning robot including a clean water tank and a wastewater tank. The workstation includes: a workstation body, at least two detachable liquid storage tanks, and a water flow control component connecting each liquid storage tank; wherein, a base is also provided at the bottom of the workstation body for the cleaning robot to dock; the workstation body is also provided with a control device electrically connected to the water flow control component, the control device being used to execute the circulating water replacement method disclosed in the first aspect of this application.

[0012] In summary, the cleaning robot and cleaning system disclosed in this application, by having an overlapping area between the built-in accommodating space and the accommodating space of the clean water tank in the vertical direction, ensures that, from a vertical spatial distribution perspective, the collected wastewater will sink to the space where the clean water tank is located. This not only ensures space utilization but also maintains the vertical weight balance of the cleaning robot. Furthermore, the stored wastewater is stored at a relatively lower position on the cleaning robot, mitigating the risk of tipping over due to water rushing forward. Additionally, by forming an external accommodating space within the wastewater tank to more rationally place the heavier battery, placing the battery at the center of the overall cleaning robot, further stabilizes the overall weight distribution of the cleaning robot.

[0013] Other aspects and advantages of this application will readily be apparent to those skilled in the art from the detailed description below. Only exemplary embodiments of this application are shown and described in the following detailed description. As will be appreciated by those skilled in the art, the content of this application enables them to make modifications to the disclosed specific embodiments without departing from the spirit and scope of the invention to which this application pertains. Accordingly, the descriptions in the accompanying drawings and specification of this application are merely exemplary and not restrictive. Attached Figure Description

[0014] The specific features of the invention involved in this application are shown in the appended claims. The features and advantages of the invention can be better understood by referring to the exemplary embodiments and drawings described in detail below. A brief description of the drawings is as follows:

[0015] Figure 1 The diagram shown is a schematic representation of the external structure of a workstation in one embodiment of this application.

[0016] Figure 2 The diagram shown illustrates the docking of a workstation with a cleaning robot in one embodiment of this application.

[0017] Figure 3 The diagram shown is a schematic representation of the internal structure of a workstation in one embodiment of this application.

[0018] Figure 4 The diagram shown is a flowchart illustrating the circulating water replacement method and the automatic water replacement method in one embodiment of this application.

[0019] Figure 5 The diagram shows a process in one embodiment of this application for determining the target storage tank containing purified water according to the numbering order of four storage tanks.

[0020] Figure 6 This is a schematic diagram of historical event information in one example of this application.

[0021] Figure 7This is a schematic diagram of historical event information in another example of this application.

[0022] Figure 8 The diagram shown is a flowchart illustrating the cleaning device for a cleaning robot in one embodiment of this application.

[0023] Figure 9 The diagram shown is a schematic representation of the process by which a cleaning robot performs a cleaning device in one embodiment of this application.

[0024] Figure 10 The diagram shows a process for detecting whether a wastewater recycling pathway is blocked in one embodiment of this application.

[0025] Figure 11 The diagram shown is a structural block diagram of the power management system included in the workstation in one embodiment of this application.

[0026] Figure 12 The diagram shown is a schematic of the power management module outputting electrical signals in one embodiment of this application.

[0027] Figure 13 The diagram shown is a structural block diagram of the power management module in one embodiment of this application.

[0028] Figure 14 The diagram shown is a structural block diagram of an energy conversion unit according to one embodiment of this application.

[0029] Figure 15 The diagram shown is a structural block diagram of a robot according to one embodiment of this application.

[0030] Figure 16 The diagram shown is a structural block diagram of a power supply management system according to one embodiment of this application.

[0031] Figure 17 The diagram shown is a schematic of a power supply management system forming a charging circuit in one embodiment of this application.

[0032] Figure 18 The diagram shown is a schematic diagram of a power supply management system forming a first power supply circuit in one embodiment of this application.

[0033] Figure 19 The diagram shown illustrates the formation of a second power supply circuit in a power supply management system according to one embodiment of this application.

[0034] Figure 20 The diagram shown is a structural block diagram of a power management module in one embodiment of this application.

[0035] Figure 21 The diagram shown is a schematic diagram of the circuit structure of a switching unit in one embodiment of this application.

[0036] Figure 22The diagram shown is a three-dimensional structural schematic of a cleaning robot according to one embodiment of this application.

[0037] Figure 23 The diagram shown is a disassembled structural diagram of a cleaning robot according to one embodiment of this application.

[0038] Figure 24 The diagram shown is a three-dimensional structural schematic of the cleaning robot in one embodiment of this application from another perspective.

[0039] Figure 25 The diagram shown is a schematic representation of the horizontal plane projection of a cleaning robot in one embodiment of this application.

[0040] Figure 26 The diagram shown is a structural schematic of the bottom of a cleaning robot in one embodiment of this application.

[0041] Figure 27 Displayed as Figure 26 A close-up view of the bottom of the cleaning robot.

[0042] Figure 28 The diagram shown is a three-dimensional structural schematic of a cleaning device according to one embodiment of this application.

[0043] Figure 29 The diagram shown is a schematic representation of the structure of the cleaning device after the roller brush has been removed in one embodiment of this application.

[0044] Figure 30 The diagram shown is a schematic representation of the side cover of the roller brush assembly in one embodiment of this application.

[0045] Figure 31 The diagram shown is a three-dimensional structural schematic of a cleaning device according to one embodiment of this application.

[0046] Figure 32 This application is displayed. Figure 31 A schematic diagram of the BB cross-section of the cleaning device shown.

[0047] Figure 33 The diagram shown is a three-dimensional structural schematic of the blocking mechanism in one embodiment of this application.

[0048] Figure 34 This application is displayed as being in Figure 33 A side view of the blocking mechanism in the illustrated embodiment.

[0049] Figure 35 The diagram shown is a three-dimensional structural schematic of the blocking mechanism in one embodiment of this application.

[0050] Figure 36 The diagram shown is a three-dimensional structural schematic of the blocking mechanism in one embodiment of this application.

[0051] Figure 37 This application is displayed as being in Figure 36 A partially enlarged view of the blocking mechanism in the illustrated embodiment.

[0052] Figure 38 The diagram shown is a three-dimensional structural schematic of the blocking mechanism in one embodiment of this application.

[0053] Figure 39 This application is displayed as being in Figure 38 A partially enlarged view of the blocking mechanism in the illustrated embodiment.

[0054] Figure 40 The diagram shown is a schematic representation of the adapter structure in another embodiment of this application.

[0055] Figure 41 The diagram shown is an installation schematic of the blocking mechanism in another embodiment of this application.

[0056] Figures 42 to 43 The diagram shows the deformation of the lower edge of the blocking structure when the robot walks in one embodiment.

[0057] Figure 44 The diagram shown is a three-dimensional structural schematic diagram of the cleaning device from the rear view in one embodiment of this application.

[0058] Figure 45 The diagram shown is an exploded view of the water spray structure and the second roller brush provided in one embodiment of this application.

[0059] Figure 46 The diagram shows the position of the water spray structure provided in one embodiment of this application installed in the mounting base.

[0060] Figure 47 The diagram shown is a schematic representation of the setup of the dirt collection component in a robot according to one embodiment of this application.

[0061] Figure 48 The diagram shown is a structural schematic of a dirt collection component in one embodiment of this application.

[0062] Figure 49 The diagram shown is a schematic representation of the assembly structure of the sludge collection component and the suction rake in one embodiment of this application.

[0063] Figure 50 The diagram shown is an exploded view of the dirt collection component in one embodiment of this application.

[0064] Figure 51 The diagram shown is a cross-sectional view of the dirt collection component in one embodiment of this application.

[0065] Figure 52 The diagram shown is a structural schematic of the chassis in one embodiment of this application.

[0066] Figure 53 The diagram shown is a structural schematic of a horizontal cross-section of a sewage tank in one embodiment of this application.

[0067] Figure 54 The diagram shown is a structural schematic of a vertical cross-section of a cleaning robot according to one embodiment of this application.

[0068] Figure 55 The diagram shown is a top view of the sewage tank in one embodiment of this application.

[0069] Figure 56 The diagram shown is a structural schematic of a wastewater tank fitted into a clean water tank in one embodiment of this application.

[0070] Figure 57 The diagram shown is a schematic of a drainage component configured on a cleaning robot in one embodiment of this application.

[0071] Figure 58 The diagram shown is a three-dimensional structural schematic of a drainage component in one embodiment of this application.

[0072] Figure 59 This application is displayed as being in Figure 58 A schematic diagram of the CC section of the drainage component in the illustrated embodiment.

[0073] Figure 60 This application is displayed as being in Figure 58 A schematic diagram of the DD cross-section of the drainage component in the illustrated embodiment.

[0074] Figure 61 This application is displayed as being in Figure 58 A schematic diagram of the EE cross-section of the drainage component in the illustrated embodiment.

[0075] Figure 62 The diagram shown is a schematic representation of drainage using a second inlet section and a second outlet section in another embodiment of this application.

[0076] Figure 63 The diagram shown is an exploded view of the battery and internal housing of the cleaning robot of this application in one embodiment.

[0077] Figure 64 The diagram shown is a cross-sectional view of the internal structure of the built-in box in one embodiment of this application.

[0078] Figure 65 The diagram shown is a cross-sectional view of the internal structure of the built-in box in another embodiment of this application.

[0079] Figure 66 The diagram shown is a schematic of a dust collection bag fixed to an internal box in one embodiment of this application.

[0080] Figure 67 The diagram shown is a schematic representation of a detection element disposed on a cover plate in a hanging state in one embodiment of this application.

[0081] Figure 68 The diagram shown is a schematic representation of a detection element disposed on a cover plate in a flat position according to one embodiment of this application.

[0082] Figure 69 The diagram shown is a frontal view of a detection element in one embodiment of this application.

[0083] Figure 70 The diagram shown is a side view of the detection element in one embodiment of this application.

[0084] Figure 71 The diagram shows the detection element drooping when the cover is lifted in one embodiment of this application.

[0085] Figure 72 The diagram shows a detection element flipped into a horizontal state when the cover is closed in one embodiment of this application.

[0086] Figure 73 The diagram shows a state where the cover plate fails to close completely in one embodiment of this application.

[0087] Figure 74 The diagram shown is an exploded view of the built-in box in another embodiment of this application.

[0088] Figure 75 The diagram shown is a schematic representation of the built-in box assembly structure in another embodiment of this application.

[0089] Figure 76 The diagram shows a contact schematic of the detection element and the element under test in one embodiment of this application.

[0090] Figure 77 The diagram shown is a schematic of a cover handle in one embodiment of this application.

[0091] Figure 78 The diagram shown is a schematic of the cover handle flipping in one embodiment of this application.

[0092] Figures 79 to 81 This is a schematic diagram showing the flipping of the cover handle in another embodiment of this application.

[0093] Figure 82 The diagram shown is a schematic representation of the engagement method of the flip arm in one embodiment of this application.

[0094] Figure 83 The diagram shown is an exploded view illustrating the connection relationship between the flip arm and the extension arm in one embodiment of this application.

[0095] Figure 84The diagram shown is an assembly schematic illustrating the connection relationship between the flip arm and the extension arm in one embodiment of this application. Detailed Implementation

[0096] The following specific embodiments illustrate the implementation of this application. Those skilled in the art can easily understand other advantages and effects of this application from the content disclosed in this specification.

[0097] In the following description, reference is made to the accompanying drawings, which illustrate several embodiments of the present application. It should be understood that other embodiments may also be used, and changes in module or unit composition, electrical and operational aspects may be made without departing from the spirit and scope of this disclosure. The following detailed description should not be considered limiting, and the scope of the embodiments of the present application is defined solely by the claims of the published patents. The terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the present application.

[0098] While the terms first, second, etc., are used in some instances herein to describe various elements or parameters, these elements or parameters should not be limited by these terms. These terms are used only to distinguish one element or parameter from another. For example, a first liquid volume state may be referred to as a second liquid volume state, and similarly, a second liquid volume state may be referred to as a first liquid volume state, without departing from the scope of the various described embodiments. Both the first liquid volume state and the second liquid volume state describe a liquid volume state, but they are not the same liquid volume state unless the context otherwise explicitly indicates otherwise.

[0099] Furthermore, as used herein, the singular forms “a,” “an,” and “the” are intended to include the plural forms as well, unless the context indicates otherwise. It should be further understood that the terms “comprising,” “including,” indicate the presence of the stated feature, step, operation, element, component, item, kind, and / or group, but do not preclude the presence, occurrence, or addition of one or more other features, steps, operations, elements, components, items, kinds, and / or groups. The terms “or” and “and / or” as used herein are to be interpreted inclusively, or mean any one or any combination thereof. Thus, “A, B, or C” or “A, B, and / or C” means “any one of: A; B; C; A and B; A and C; B and C; A, B, and C.” Exceptions to this definition occur only when combinations of elements, functions, steps, or operations are inherently mutually exclusive in some way.

[0100] As described in the background section, in areas requiring high water usage or large-area cleaning, such as commercial areas like hotels, supermarkets, and airports; industrial areas like production workshops and warehouses of mining enterprises; institutional areas like nursing homes and offices; or other public buildings like schools, hospitals, stadiums, and theaters, existing technologies may require sacrificing the efficiency and convenience of robots to meet the dual demands of cleaning area and cleaning intensity. This may involve increasing the robot's water capacity or size, frequently changing the water supply manually, or altering the original building's internal environment. All of these factors hinder the widespread use of robots.

[0101] In view of this, this application proposes a water-changing method and workstation in some embodiments. By setting up a workstation with multiple interchangeable storage tanks and a corresponding method for changing the water for the robot, the large water-carrying task of a large robot is transferred to the workstation. The robot only needs to retain enough water to meet a certain cleaning requirement, which allows for the miniaturization of robots used for cleaning high-volume water usage or large-area cleaning areas, thereby improving work efficiency and cleaning effect. In addition, the multiple storage tanks of the workstation are detachable, and the corresponding method for changing the water for the robot eliminates the need to lay or modify the existing building's water system. After all the clean water in all the storage tanks is used up, an operator, such as a cleaning staff member, can change the water in all the storage tanks at once, without requiring the operator to monitor the water usage or frequently change the water for the robot.

[0102] The workstation described in this application is a device or apparatus for robots to dock and provide robot services. Depending on the functions and application scenarios it provides, the workstation may also be referred to as a base station, charging station, charging pile, recycling station, water exchange station, etc. The workstation can perform various service tasks for the robot by running pre-programmed procedures or rules, and also allows operators to intervene and operate the workstation.

[0103] In this application, the robot docked with the workstation may also be referred to as a mobile robot, floor scrubbing robot, floor cleaning machine, automatic floor mopping machine, or cleaning robot in some application scenarios. The robot can be commanded by the user, such as by an operator pushing, pulling, or driving it to complete the work; or, for example, by an operator controlling the robot to perform the work via a handheld remote control or an application installed on a smart terminal. The robot can also complete the work autonomously, for example, by running pre-programmed programs or rules. In the following embodiments of this application, a cleaning robot capable of autonomously locating and navigating and autonomously completing the cleaning work on the surface to be cleaned will be used as an example.

[0104] The robot system described in this application is a combination of a robot and a workstation. In some application examples, the robot system may also include a remote control for operation or interaction, a smart terminal with an application installed, and / or a cloud server / cluster for data storage and processing in the cloud. It should be understood that, in the example where the robot is configured as a cleaning robot for performing cleaning tasks, the robot system may also be referred to as a cleaning system, which means a combination of a cleaning robot and a workstation.

[0105] The surface to be cleaned refers to the floor surface, including tiles, stone, bricks, wood, concrete, carpet, and other common surfaces. The surface to be cleaned may also be referred to as the cleaning surface, floor, surface, walking surface, etc. It should be noted that, in this application, for ease of description and understanding, a plane parallel to the surface to be cleaned, i.e., the floor surface, is referred to as a horizontal plane or horizontal direction, and a plane perpendicular to the surface to be cleaned, i.e., the floor surface, is referred to as a vertical plane or vertical direction.

[0106] Furthermore, for ease of description and understanding, in this application, the direction of movement of the cleaning robot during operation is defined as forward (e.g., ...). Figure 22 The direction indicated by the dashed line X is defined as follows: the opposite direction of the forward movement during operation is defined as the rearward direction. It should be understood that the side of the cleaning robot's forward movement during operation is defined as the front side or front end, and the side of the cleaning robot in the opposite direction from the front side or front end is defined as the rear side or rear end. For ease of distinction between the left and right sides, the left and right sides are distinguished based on the cleaning robot's forward movement during operation.

[0107] In some embodiments, the workstation disclosed in this application is used to dock with a cleaning robot including a sewage tank and a clean water tank. The workstation is equipped with at least two detachable liquid storage tanks, which can be used alternately to change the water for the cleaning robot and facilitate the operator to change the water for the workstation.

[0108] Please see Figure 1 and Figure 2 , Figure 1 The diagram shown is a schematic representation of the external structure of a workstation in one embodiment of this application. Figure 2 The diagram shown illustrates the docking of a workstation and a cleaning robot in one embodiment of this application. Figure 1 and Figure 2 As shown, the workstation 2 includes a workstation body 20, and the bottom of the workstation body 20 is provided with a base 21 for the cleaning robot to dock.

[0109] In example Figure 1In the illustrated embodiment, the workstation body 20 is provided with a docking space 200, which is located above the base 21 to allow all or part of the cleaning robot 1 to enter the workstation 2; in a manner as shown Figure 2 In the example shown, where the cleaning robot 1 is allowed to fully enter the workstation 2, after the cleaning robot 1 completes docking with the workstation 2, the cleaning robot 1 enters the docking space 200 to dock on the base 21. The docking space 200 is not smaller than the volume of the cleaning robot 1 so that when the cleaning robot 1 docks on the base 21, it can fully enter the docking space 200.

[0110] Please see Figure 3 The figure shows a schematic diagram of the internal structure of a workstation in one embodiment of this application. As shown, a wastewater containing area 210 is provided on the base 21. The wastewater containing area 210 is used to provide temporary storage space for wastewater discharged by the cleaning robot. The temporary storage space refers to an area that allows water to flow in and out. Depending on the difference in the flow rate of water entering and leaving the temporary storage space, the wastewater containing space may experience water accumulation or non-accumulation.

[0111] In one embodiment, the workstation is equipped with at least two detachable liquid storage tanks. In some examples, the water capacity of each storage tank is equal, set to be the same as or less than the water capacity of the cleaning robot's clean water tank. For example, the water capacity of each storage tank is set to any value between 8L and 12L (e.g., 8L, 9L, 10L, 11L, or 12L). The range of values ​​for the number of storage tanks and their water capacity is sufficient to support the cleaning robot's operation for a certain period of time and meet the physical demands of the operator. Thus, the operator only needs to change the water in the workstation's storage tanks at a low frequency, without needing to modify the water system structure or manually push the cleaning robot to change the water at a higher frequency. The water capacity refers to the predefined volume of liquid that can be stored in the storage space, which is the space formed by the container for storing liquid, such as the space inside the storage tank in this embodiment. It should be understood that the predefined allowable volume of liquid to be stored is not necessarily equal to the liquid storage space, and is usually smaller than the liquid storage space. For example, if a liquid volume threshold is set for the container in advance, the standard volume of liquid allowed to be stored in the liquid storage space should be consistent with the threshold. The liquid volume threshold set for the container in advance can be represented, for example, by a capacity scale. This application does not limit this, and the water capacity mentioned thereafter will also be understood in this way, without further elaboration.

[0112] Taking a cleaning robot working in an area of ​​2000 square meters or less with high water usage or requiring large-area cleaning as an example, the workstation can be equipped with two storage tanks, each with a capacity of 8L to 12L, for a total capacity of 16L to 24L. When the water in the cleaning robot's clean water tank runs out, the cleaning robot can automatically return to the workstation to refill. The total water capacity of the workstation at this time can meet the water usage of the cleaning robot for half a day. By dividing the large water volume of 16L to 24L into two storage tanks, a single storage tank can meet the physical requirements of the operator. In other words, during a day's work of the cleaning robot, the operator only needs to change the water in the storage tank of the workstation twice.

[0113] Again Figure 3 The illustrated embodiment is used as an example. The workstation 2 is equipped with four detachable liquid storage tanks 22. Furthermore, each liquid storage tank 22 has an equal water capacity, which can be set to any value between 8L and 12L. In this embodiment, 10L is used as an example, that is, a total water capacity of 40L. The water capacity of a single liquid storage tank 22 is the same as or less than the water capacity of the cleaning robot's clean water tank. When the water in the cleaning robot's clean water tank is depleted, the cleaning robot can automatically return to the workstation to refill. The total water capacity of the workstation at this time can meet the water consumption of the cleaning robot for one day, and the water capacity of a single tank can also meet the physical requirements of the operator. That is, during a day's work of the cleaning robot, the operator only needs to change the water in the liquid storage tank of the workstation once. It should be understood that... Figure 3 The number of liquid storage tanks shown is only an example and does not represent a limitation of this application. Depending on the actual application scenario, the liquid storage tanks 22 can also be set to three, five, six, etc.

[0114] As described above, the numerical range of the number and capacity of the storage tanks can ensure the water consumption requirements of the cleaning robot in areas with high water volume or large areas that need cleaning, and the frequency of water changes by operators is low, which reduces labor costs and improves cleaning efficiency.

[0115] In some embodiments, the workstation body is further provided with a water flow control component communicating with the at least two liquid storage tanks and a control device (not shown) electrically connected to the water flow control component. The control device is used to control the water flow control component to execute the circulating water replacement method disclosed in this application. Of course, the circulating water replacement method disclosed in this application can also be executed by other control devices, such as a control device located in a smart terminal that can communicate with the workstation. This application does not limit this.

[0116] Please see Figure 4The diagram shows a flowchart of a circulating water replacement method and an automatic water replacement method according to one embodiment of this application. The circulating water replacement method is executed by a workstation disclosed in any embodiment of this application. As shown in the diagram, the circulating water replacement method includes steps S110, S120, and S130. The automatic water replacement method can be executed by a cleaning robot disclosed in any embodiment of this application. The cleaning robot is used to dock with the workstation, and the automatic water replacement method includes steps S210 and S220. It should be noted that... Figure 4 The flowcharts for steps S110 to S130 shown are for illustrative purposes only and do not imply a necessary sequential order between steps S110 and S130.

[0117] In step S210, during the operation of the cleaning robot or when docking with the workstation, the cleaning robot sends liquid level status information to the workstation based on the liquid level detection of its clean water tank and / or wastewater tank.

[0118] Correspondingly, in step S110, during the operation of the cleaning robot or when docking with the workstation, the liquid level status information of the cleaning robot is obtained.

[0119] In one embodiment, the cleaning robot's operation refers to the process of the cleaning robot performing floor surface cleaning work, during which the cleaning robot can send its liquid level status information to the workstation. For example, the cleaning robot can send the liquid level status information to the workstation via wireless transmission.

[0120] In one embodiment, the docking of the cleaning robot with the workstation refers to the entire process from when the cleaning robot returns to and docks at the workstation until it leaves the workstation again. During this process, the cleaning robot sends its liquid level status information to the workstation. For example, the cleaning robot sends the liquid level status information wirelessly when returning to the workstation, or it can send the liquid level status information via a wired connection interface or wirelessly when docking at the workstation.

[0121] The liquid level status information includes at least one of the clean water tank liquid level status information and the wastewater tank liquid level status information. The clean water tank liquid level status information is used to reflect the liquid level status of the clean water tank of the cleaning robot, and the wastewater tank liquid level status information is used to reflect the liquid level status of the wastewater tank of the cleaning robot.

[0122] In some examples, the liquid status information sent by the cleaning robot at one time may include both the liquid status information of the clean water tank and the liquid status information of the wastewater tank. Thus, in step S110, the liquid status information acquired by the workstation at one time can reflect the liquid status of the clean water tank and the wastewater tank.

[0123] In other examples, the liquid status information sent by the cleaning robot at one time may only include the status information of one of the clean water tank and the wastewater tank. In this case, the workstation can obtain the clean water tank liquid status information and the wastewater tank status information separately in multiple steps. It should also be noted that in the examples of obtaining the clean water tank liquid status information and the wastewater tank status information in multiple steps, the two acquisitions do not necessarily have to be in a specific order, nor do they necessarily have to be before steps S120 and S130. It is only necessary that the clean water tank liquid status information is obtained before step S120 and the wastewater tank liquid status information is obtained before step S130.

[0124] In step S120, when the purified water tank is determined to be in the first liquid volume state based on the liquid volume status information, the liquid storage information of the at least two storage tanks is detected so as to control one of the target storage tanks containing purified water to deliver purified water to the purified water tank.

[0125] In one embodiment, the liquid storage information includes liquid type and liquid volume status. The liquid type refers to the type of liquid stored in the storage tank. For example, the liquid type includes purified water and wastewater, and the liquid type reflects whether the storage tank contains purified water or wastewater. The liquid volume status mentioned in the preceding embodiments and this embodiment indicates the liquid volume in the container. The liquid volume status includes a first liquid volume status and a second liquid volume status. The first liquid volume status indicates that the liquid volume in the container is not greater than a first preset threshold, indicating that the container is in a low liquid volume or even empty state. The second liquid volume status indicates that the liquid volume in the container is not less than a second preset threshold, indicating that the container is in a high liquid volume state, in other words, that the container has sufficient liquid. It should be understood that the first and second preset thresholds are only reference benchmarks. In different embodiments, the first or second preset thresholds are not necessarily the same or different, and those skilled in the art can set them according to actual needs. In different embodiments, the container is a corresponding component in the respective embodiment. For example, in the description of the relevant embodiments of the cleaning robot, the container refers to a clean water tank or a sewage tank. In this embodiment, the container refers to a liquid storage tank. When the liquid volume state of the liquid storage tank meets the second liquid volume state and the liquid type is clean water, it can be determined as a target liquid storage tank storing clean water. When the liquid volume state of the liquid storage tank meets the first liquid volume state, it can be determined as a target liquid storage tank for storing sewage.

[0126] In one embodiment, the workstation 2 detects the storage information of the at least two storage tanks to control one of the target storage tanks containing purified water to deliver purified water to the purified water tank, which includes: detecting the storage information of the storage tanks in the corresponding order of the at least two storage tanks according to a preset cycle sequence to determine the target storage tank containing purified water.

[0127] The pre-set cycle order is, for example, the numbering order or positional order of the at least two storage tanks.

[0128] Taking a scenario where four storage tanks are set up in a cyclical order based on their numbering, with the four storage tanks being storage tank 1, storage tank 2, storage tank 3, and storage tank 4, the preset cyclical order is as follows: During each docking, the system starts testing from the next storage tank containing purified water as determined in the previous docking. During testing, the system checks the storage tanks in ascending order of their numbers until a storage tank containing purified water is identified, which is then designated as the target storage tank containing purified water. The following is combined with… Figure 5 Explain the process. Figure 5 The diagram illustrates the process of determining the target storage tank containing purified water based on the numbering order of four storage tanks in one embodiment of this application. First, during the m-th water exchange cycle performed by the cleaning robot at the workstation, the storage information of storage tank n is detected. Then, it is determined whether storage tank n contains purified water. If it does, storage tank n is identified as the target storage tank containing purified water. If not, the number of storage tank n is incremented by one, and the process continues to determine whether it contains purified water until the storage tank containing purified water is identified. It should be noted that, since this embodiment takes four storage tanks as an example, the maximum number of the storage tank n is 4. Therefore, in the flowchart shown in this embodiment, after determining the storage tank n, regardless of whether it contains clean water, it is necessary to determine whether the number of the storage tank n is already 4. If the number of the storage tank n is already 4, the next test (for example, the next test in this docking, or the first test in the next water exchange cycle, i.e., the m=m+1th water exchange cycle) should be initially numbered 1. Otherwise, the number can be directly incremented by one.

[0129] Taking a scenario where four storage tanks are configured and the cycle sequence is the order in which the four storage tanks are positioned, for example, the four storage tanks are arranged side by side. The preset cycle sequence is to detect them sequentially from left to right, repeating this process until a storage tank containing purified water is identified and designated as the target storage tank. The cycle process can be illustrated as follows: Figure 5 The only difference in the method shown is that the number of the storage tank is set to the location of the storage tank, which will not be elaborated here.

[0130] It should be understood that the preset loop order can also be set in specific ways according to different application scenarios, and is not limited to the numbering order and position order. Moreover, the numbering order or position order given are only examples. In scenarios with different numbering methods or different position arrangements, those skilled in the art can design the corresponding order and method themselves. For example, in some examples, based on the scenario or physical environment in which workstation 2 is located, in order to better balance the stability affected by the weight of workstation 2, the position order can be sorted in a diagonal manner, or in a side-by-side or parallel manner.

[0131] In one embodiment, during the step of workstation 2 detecting the liquid storage information of the at least two storage tanks to control one of the target storage tanks containing purified water to deliver purified water to the purified water tank, the liquid storage information can be detected by a sensor placed near the storage tank to determine the target storage tank containing purified water. For example, the sensor can be placed inside or around the storage tank to detect the type and volume of liquid stored in the storage tank, thereby determining whether the storage tank currently stores sewage or purified water, and identifying the storage tank containing purified water as the target storage tank.

[0132] In another embodiment, in the step of detecting the liquid storage information of the at least two storage tanks to control one of the target storage tanks containing purified water to deliver purified water to the purified water tank, the liquid storage information can be determined by querying the historical event information of the storage tanks, thereby identifying the target storage tank containing purified water. The historical event information of the storage tanks is stored, for example, in the storage device of the workstation or in the storage device of the cleaning robot; the historical event information is stored, for example, in the form of a work log.

[0133] In one example, please refer to Figure 6 The diagram illustrates historical event information in one example of this application. Taking storage tanks numbered 1 to 4 as an example, the historical event information includes the operating status of the water flow control component in the workstation. The operating status of the water flow control component includes the last control action performed on each storage tank, including not started, discharging water, and pumping water. Therefore, in this example, the storage information can be determined based on the operating status of the water flow control component in the historical event information. Combined with... Figure 6 The process is explained as follows: the last control action of the water flow control component for storage tank 1 was to release water, and storage tanks 2 to 4 were not started. Therefore, the liquid volume information of storage tank 1 is determined to be the first liquid volume state (e.g., empty state), and storage tanks 2 to 4 are storing purified water in the second liquid volume state. One of storage tanks 2 to 4 is selected as the target storage tank storing purified water.

[0134] In another example, please refer to Figure 7The diagram shows historical event information in another example of this application. The diagram uses four storage tanks numbered 1 to 4 as an example. The historical event information includes stored storage information, such as... Figure 7 As shown, the target storage tank containing purified water can be identified by directly querying the storage information stored in historical event information. The stored storage information can be determined, for example, by the operating status of the water flow control component. Figure 6 As shown, based on the information obtained, the stored liquid information is determined as follows: liquid storage tank 1 is in the first liquid volume state, and liquid storage tanks 2 to 4 all contain purified water in the second liquid volume state. The stored liquid information will be updated when a change in the operating state of the water flow control component is detected, or when a change in the liquid information is detected by a sensor.

[0135] Therefore, in some embodiments, the circulating water replacement method disclosed in this application further includes the step of updating the historical event information of each storage tank. The updating of the historical event information of each storage tank can be stored each time the liquid type or volume status of the storage tank changes. This change can occur, for example, when the workstation automatically changes the water for the cleaning robot, or it can occur, for example, when the operator intervenes and causes a change in the liquid type or volume status of the storage tank. This application does not limit this. Taking the change occurring when the workstation automatically changes the water for the cleaning robot as an example, and combining... Figure 6 Once step S120 is completed, meaning the purified water from storage tank 2 (which serves as the target storage tank) has been delivered to the purified water tank, the water flow control component updates the action of storage tank 2 to release water in this cycle.

[0136] To avoid errors in historical event information, in some embodiments, the step of workstation 2 detecting the storage information of at least two storage tanks to control the delivery of purified water from one of the target storage tanks containing purified water to the purified water tank includes: querying the historical event information of the storage tanks to determine the storage information; and when a storage tank containing purified water is determined based on the storage information, detecting the storage information of the storage tank containing purified water using a sensor to confirm that it is indeed the target storage tank containing purified water. In other words, in this embodiment, the tanks that may contain purified water can be determined first by querying the historical event information, and then the storage tank containing purified water determined by the historical event information can be verified by the sensor to confirm that it is indeed the target storage tank containing purified water. This avoids the situation where the queried target storage tank does not contain purified water due to errors in the historical event information, thus ensuring reliability.

[0137] It should be noted that in the aforementioned embodiments involving detecting the liquid storage information of at least two storage tanks to control the delivery of purified water from one of the target storage tanks containing purified water to the purified water tank, the detection may be performed according to a pre-set cycle order. Thus, whether detection is achieved through sensors or by querying historical event information, the pre-set cycle order can be followed, and once a storage tank containing purified water is detected, it is identified as the target storage tank. However, in some other embodiments, where there is no pre-set cycle order, and all storage tanks are detected through sensor detection or querying historical event information, multiple storage tanks containing purified water can be detected. In such cases, any one of them can be designated as the target storage tank, or one can be selected according to pre-set rules. This application does not impose any restrictions on this.

[0138] Given that operators sometimes add more water than the storage tank's capacity when changing the water in the workstation's reservoir (e.g., the reservoir's capacity is marked as 10L), directly transferring the purified water from the reservoir to the cleaning robot's water tank could lead to an excessively high water level, even exceeding a warning threshold. Therefore, in some embodiments, step S120 includes controlling the target storage tank containing purified water to deliver a preset volume of water to the cleaning robot's water tank. This preset volume must not exceed the cleaning robot's water tank's capacity; for example, it might be set to 10L. That is, the workstation will control the target storage tank to deliver 10L of water to the water tank and then stop discharging.

[0139] Considering that only a portion of the water in the target storage tank containing purified water is transported out at the workstation, there will still be purified water remaining in the target storage tank. In some examples, the amount of purified water remaining in the target storage tank is small, for example, causing the liquid level of the target storage tank to be in the first liquid level state (i.e., below the first preset threshold). In subsequent step S130, based on its liquid level state, it can be determined that it can be used to store wastewater. In other examples, the amount of purified water remaining in the target storage tank is large, for example, causing the liquid level of the target storage tank to be above the first liquid level state (above the first preset threshold). In this case, the liquid level state also includes a third liquid level state, which refers to the liquid level of the container being above the first preset threshold and below the second preset threshold. Therefore, step S120 includes: determining that the liquid level state of the storage tank is in the third liquid level state based on the storage information, and if the storage type is purified water, then using this storage tank as the target storage tank for storing purified water. In some other examples, to ensure that a preset volume of water is delivered to the cleaning robot, step S120 includes controlling a first target storage tank containing purified water and a second target storage tank containing purified water to deliver purified water to the cleaning robot's purified water tank. The first target storage tank, for example, is in a third liquid volume state and contains purified water, while the second target storage tank, for example, is in a second liquid volume state and contains purified water. Of course, the first and second target storage tanks are not limited to these specific types; it is sufficient that both can jointly provide the preset volume of water required by the cleaning robot's purified water tank.

[0140] In one embodiment, the workstation is further provided with a solvent storage component, and step S120 further includes: controlling the solvent storage component to open so as to add a predetermined dose of solvent to the purified water delivered to the purified water tank.

[0141] As described in the foregoing embodiments, in step S120, the target storage tank containing purified water can be identified by detecting the storage information of the storage tank, and then the purified water in the target storage tank can be transported to the purified water tank. Therefore, the predetermined dose of solvent added to the purified water transported to the purified water tank can be, for example, added to the target storage tank containing purified water, or, for example, added to the connecting pipeline between the target storage tank and the purified water tank. This application does not limit the location of the predetermined dose of solvent addition, as long as the solvent is ultimately mixed with the purified water transported to the purified water tank.

[0142] In some embodiments, the predetermined dose of solvent can be set by controlling the opening duration of the solvent storage component. Therefore, the step of controlling the opening of the solvent storage component to add the predetermined dose of solvent to the purified water delivered to the purified water tank includes: closing the solvent storage component when it is determined that the solvent storage component has been open for a predetermined time. It should be understood that the predetermined dose of solvent can also be set in other ways. For example, in an application scenario where the solvent storage component is a pump-type storage component, it can also be set by controlling the number of pumps of the solvent storage component. Furthermore, the solvent storage component can be provided with an adjustable outlet, and the predetermined dose of solvent can be determined by controlling the size of the outlet and the opening duration. This application does not limit this. It should also be noted that the solvent storage component can contain different types of solvents or can be replaced with different types of solvents. Therefore, the setting of the predetermined dose is also related to the fluidity of the solvent. Thus, depending on the application scenario, the predetermined dose can be determined by setting the corresponding opening duration, pumping frequency, or outlet size for different types of solvents. In some embodiments, the method for pumping the solvent can be, for example, a peristaltic pump, a metering pump, or a flow meter to control the pumping of the solvent.

[0143] Please continue reading. Figure 4 In step S130, when the workstation determines that the wastewater tank is in the second liquid level state based on the liquid level status information, it issues a first control command to the cleaning robot to recycle the wastewater in the wastewater tank into a target storage tank for storing wastewater. Correspondingly, in step S220, the cleaning robot receives the first control command sent by the workstation to discharge the wastewater from the wastewater tank based on the first control command.

[0144] In different application scenarios, step S130 can be performed after, before, or simultaneously with step S120. That is, the workstation can first add water to the clean water tank and then recycle the wastewater in the wastewater tank; it can also first recycle the wastewater in the cleaning robot's wastewater tank and then add water to the clean water tank; or it can add water to the clean water tank while simultaneously recycling the wastewater in the wastewater tank. For example, when both storage tanks of the workstation have clean water at a level higher than the first liquid volume state, step S130 is performed after step S120. The workstation first adds water to the clean water tank and then recycles the wastewater in the wastewater tank. Taking a cleaning robot with two storage tanks, storage tank 1 and storage tank 2, as an example, if the cleaning robot initially carries clean water for cleaning operations and then needs to change the water, the workstation can, for example, first transfer the clean water from one of the storage tanks to the clean water tank, and then use that storage tank to recycle the wastewater in the wastewater tank. For example, if at least one of the liquid levels in the workstation's storage tank is in the first liquid level state, step S130 can be performed after, before, or simultaneously with step S120. Taking a cleaning robot with two storage tanks, storage tank 1 in the first liquid level state and storage tank 2 in the second liquid level state, as an example, if the cleaning robot needs to change the water, the workstation only needs to deliver the clean water in storage tank 2 to the clean water tank and use storage tank 1 to recycle sewage. There is no requirement in the order. Of course, if the clean water in storage tank 2 is delivered to the clean water tank first, either storage tank 1 or storage tank 2 can be selected to recycle sewage.

[0145] The second liquid level state of the sewage tank indicates that the liquid level in the sewage tank is higher than a second preset threshold, reflecting that the liquid level in the sewage tank is sufficient. In one embodiment, a first control command issued by the workstation instructs the cleaning robot to open the sewage tank's drain outlet to discharge sewage. Based on the first control command, the cleaning robot discharges the sewage into the sewage receiving area of ​​the workstation. Therefore, the process of recycling the sewage from the sewage tank into a target storage tank for storing sewage is achieved by controlling the water flow control component to draw the sewage from the sewage receiving area into the target storage tank.

[0146] In one embodiment, the target storage tank for storing wastewater is determined by detecting the liquid storage information of the storage tank using a sensor disposed near the storage tank, thereby identifying the storage tank with a first liquid volume state as the target storage tank for storing wastewater. For example, the sensor may be disposed inside or around the storage tank to detect the type and volume state of the liquid stored in the storage tank, thereby determining that the storage tank currently in the first liquid volume state is the target storage tank for storing wastewater.

[0147] In another embodiment, the target storage tank for storing wastewater is determined by querying historical event information of the storage tank.

[0148] In one example, querying the historical event information of the storage tank to determine the target storage tank for storing wastewater includes: determining the target storage tank for storing wastewater based on the operating status of the water flow control component in the historical event information. In this example, using... Figure 6 As shown in the example, the working state of the water flow control component includes: the last control action for each storage tank, which includes not starting, discharging water, and pumping water. In this example, the storage information can be determined based on the working state of the water flow control component in the historical event information. Figure 6 As shown, the previous control action of the water flow control component for storage tank 1 was to release water, while storage tanks 2 to 4 were not activated. Therefore, the liquid volume information of storage tank 1 is determined to be in the first liquid volume state, and storage tanks 2 to 4 contain purified water in the second liquid volume state. Storage tank 1 is selected as the target storage tank for storing wastewater. It should be noted that in some embodiments, step S130 is executed after step S120. For example, in step S120, if storage tank 2 is selected to deliver purified water to the purified water tank, then... Figure 6 In the working state shown, the corresponding liquid storage tank 2 will be updated to the water discharge action in step S120. Then in step S130, the liquid volume information of liquid storage tank 1 and liquid storage tank 2 will be determined as the first liquid volume state, and liquid storage tank 2 and liquid storage tank 4 will be storing purified water in the second liquid volume state. The workstation can select one of liquid storage tank 1 and liquid storage tank 2 as the target liquid storage tank for recycling sewage according to the pre-designed rules.

[0149] In another example, querying the historical event information of the storage tank to determine the target storage tank for storing sewage includes: querying the storage information stored in the historical event information to determine the storage tank having a first liquid volume state as the target storage tank for storing sewage. In this example, with Figure 7 Taking the example shown, the storage tank with the first liquid volume state can be determined directly by querying the storage information stored in the historical event information, and it can be used as the target storage tank for storing sewage. It should be noted that in some embodiments, step S130 is executed after step S120. For example, in step S120, if storage tank 2 is selected to deliver purified water to the purified water tank, then... Figure 7 In the liquid storage information shown, the liquid volume information corresponding to the liquid storage tank 2 will be updated to the first liquid volume state in step S120. Then, in step S130, the liquid volume information of the liquid storage tank 1 and the liquid storage tank 2 is found to be in the first liquid volume state. The workstation can select one of the liquid storage tank 1 and the liquid storage tank 2 as the target liquid storage tank for recycling sewage according to the pre-designed rules.

[0150] To avoid errors in historical event information, in some embodiments, the method for determining the target storage tank for storing sewage includes: when querying the historical event information of the storage tank to determine which storage tank has a first liquid volume state, detecting the storage tank with the first liquid volume state using a sensor to confirm that it is indeed the target storage tank for storing sewage. In other words, in this embodiment, the storage tank with the first liquid volume state can be determined first by querying the historical event information, and then the storage tank with the first liquid volume state determined by the historical event information can be verified by sensor detection to confirm that it is indeed in the first liquid volume state, thus determining it as the target storage tank for storing sewage, ensuring reliability.

[0151] It should be noted that in the aforementioned embodiments concerning the determination of target storage tanks for storing sewage, detection may be performed according to a pre-set cyclic sequence. Thus, whether detection is achieved through sensors or by querying historical event information, the pre-set cyclic sequence can be followed, and once a storage tank with a first liquid volume is detected, it is determined as the target storage tank. However, in some other embodiments, where there is no pre-set cyclic sequence, and all storage tanks are detected through sensor detection or querying historical event information, multiple storage tanks with a first liquid volume can be detected. Any one of these can be used as the target storage tank, or one can be selected according to a pre-set rule. This application does not impose any restrictions on this. The cyclic sequence can be, for example, the numbering order or positional sequence of the storage tanks. For details, please refer to the description in the embodiment of step S120 mentioned above regarding detecting the liquid storage information of storage tanks according to a pre-set cyclic sequence to determine the storage tank containing purified water. The only difference is that in this embodiment, the detection target is simply to determine the storage tank with the first liquid volume, which will not be elaborated upon here.

[0152] Considering the recycling of water resources, in some embodiments, the workstation and the cleaning robot also cooperate to perform the cleaning work of the cleaning robot's cleaning device. Therefore, in this embodiment, please refer to... Figure 8 The diagram shows a flowchart of the cleaning device of a cleaning robot in one embodiment of this application. Step S130 further includes step S131, in which the workstation sends a second control command to the cleaning robot to clean the cleaning device of the cleaning robot when it determines that the liquid volume in the sewage containment area is greater than a threshold.

[0153] As mentioned above, the wastewater containment area provides a temporary storage space for wastewater discharged by the cleaning robot. When the cleaning robot releases wastewater, the workstation can control the wastewater containment area to prevent water from flowing out (for example, by controlling the water flow control component to stop pumping wastewater or closing the water outlet of the wastewater containment area), thereby causing the wastewater to accumulate in the wastewater containment area. The workstation can detect the liquid volume in the wastewater containment area, for example, through a sensor. If the workstation determines that the liquid volume in the wastewater containment area is greater than a first threshold (the first threshold is a set reference benchmark used to indicate that the wastewater containment area has accumulated a certain amount of liquid, which is sufficient for the cleaning device of the cleaning robot to clean), the workstation sends a second control command to the cleaning robot.

[0154] Please continue reading. Figure 8 Correspondingly, the automatic water changing method performed by the cleaning robot further includes step S230, in which the cleaning robot receives a second control command to clean the cleaning device.

[0155] Please see Figure 9 The figure shows a schematic diagram of the cleaning robot performing a cleaning device in one embodiment of the present application. As shown in the figure, step S230 further includes steps S2301 and S2302.

[0156] In step S2301, the cleaning robot stops discharging wastewater based on the second control command and drives the cleaning device to descend into the wastewater receiving area and rotate. Here, the cleaning robot can use the wastewater accumulated in the wastewater receiving area to clean the cleaning device.

[0157] In step S2302, after determining that the cleaning device has rotated for a predetermined time, the cleaning device is controlled to rise. The predetermined rotation time is a pre-designed cleaning time, which can be any value from 1 minute to 5 minutes (e.g., 1 min, 2 min, 3 min, 4 min, or 5 min). More specifically, 3 minutes can be selected as the cleaning time.

[0158] After the cleaning work of the above-mentioned cleaning device is completed, in step S130, the workstation controls the cleaning robot to continue discharging sewage and controls the water flow control component of the workstation to continue pumping sewage.

[0159] Given that sewage usually contains a lot of impurities, in order to ensure that the workstation can recycle sewage normally, in some embodiments, the step of recycling sewage from the sewage tank to the target storage tank for storing sewage also includes step S132 (not shown). In step S132, the workstation detects whether the sewage recycling passage is blocked.

[0160] Please see Figure 10The figure shows a flowchart of detecting whether the sewage recycling passage is blocked in one embodiment of the present application. As shown in the figure, the steps of detecting whether the sewage recycling passage is blocked include steps S1321 and S1322.

[0161] In step S132, when it is determined that the liquid volume in the wastewater containing area is greater than a second threshold, a third control command is sent to the cleaning robot to stop the robot from discharging wastewater. The second threshold is a set reference standard; a liquid volume in the wastewater containing area exceeding the second threshold indicates excessive liquid accumulation, potentially leading to blockage of the wastewater recycling path. The wastewater recycling path is a pathway from the wastewater containing area to a target storage tank for storing wastewater, and may include at least some components of the water flow control assembly (such as a pipe structure) and / or at least some components of the wastewater containing area (such as a water outlet). This application does not limit this.

[0162] In step S133, after the water flow control component continues to pump for a predetermined time, if the volume of liquid in the sewage containment area is greater than the third threshold, it is determined that the sewage recycling passage is blocked.

[0163] The third threshold is also a reference standard for measuring the liquid volume in the wastewater containment area. It is no greater than the second threshold. If the liquid volume in the wastewater containment area is greater than the third threshold, it means that the accumulated liquid volume in the wastewater containment area has not significantly decreased after a predetermined pumping time, thus indicating that the wastewater recycling path is blocked. In some examples, when a blockage is detected in the wastewater recycling path, a prompt message (e.g., a display message, flashing lights, or audible warning) is issued to remind the operator to intervene manually, such as by manually clearing the blockage or performing maintenance. In other examples, when a blockage is detected in the wastewater recycling path, the workstation can also automatically operate to clear the path, such as by increasing the pumping power of the water flow control component.

[0164] Considering that after multiple water exchange cycles, there may be situations where no target storage tank is available in the storage tanks, in some embodiments, the circulating water exchange method further includes: issuing a prompt message to remind the operator to change the water in the storage tanks when it is determined that there is no target storage tank among at least two storage tanks. The target storage tank may be, for example, a target storage tank storing clean water or a target storage tank for storing wastewater. In step S120 or step S130, once it is determined that there is no target storage tank storing clean water or no target storage tank for storing wastewater among at least two storage tanks, the workstation issues a prompt message. This prompt message may be, for example, an audible prompt (e.g., a buzzer or voice prompt), a visual prompt (e.g., flashing lights), or a screen display prompt (text or icons displayed on the screen), etc. The operator can then change the water in the storage tanks in a timely manner based on this prompt message.

[0165] In some embodiments, since the robot needs to have its own battery to provide the power required for its work, but the robot's own battery capacity is limited, the workstation is also used to charge the robot's battery. Since the robot does not always work continuously, the workstation can also serve as a robot docking point. After the robot is fully charged, it can still remain docked to the workstation. In this non-working state, the robot generally needs to remain in standby mode to respond to work at any time.

[0166] Due to limitations in the robot's circuitry, in related technologies, the electrical signal path between the workstation and the robot is typically disconnected after the robot's battery is fully charged, with the robot's battery powering the robot for standby mode. This results in two problems: firstly, the battery is depleted when the robot leaves the workstation, reducing its operating time and requiring frequent returns to the workstation for recharging; secondly, while the robot is on the workstation, the battery is constantly being recharged, significantly impacting its lifespan.

[0167] Therefore, in some embodiments of this application, a workstation may include a power management system (not shown). When the power management system determines that the battery is fully charged and the robot is still docked to the workstation based on the robot's battery power information, it will switch its output electrical signal (for example, switching from a first electrical signal to charge the robot's battery to a second electrical signal to power the robot in standby mode). This allows the workstation to power the robot in standby mode, and the battery remains fully charged after being fully charged. This can greatly improve the battery life and the robot's working time.

[0168] It should be noted that, in this embodiment, the workstation may include, based on the power management system, features such as... Figures 1 to 10 The structure of the workstation in any embodiment described herein, in conjunction with, for example Figures 1 to 10 As shown in the description, the power management system can be installed on the workstation body 20. Some components / modules / units of the power management system can be further installed on the control device installed within the workstation body 20, or they can be electrically connected to the control device as independent parts. Of course, the workstation can also adopt other structures, as long as the workstation includes the power management system.

[0169] Please see Figure 11 The figure shows a structural block diagram of the power management system included in the workstation in one embodiment of this application. As shown, the power management system 23 includes: two power supply terminals ( Figure 11These are respectively labeled as the first power supply terminal 231, the second power supply terminal 232, and the power management module 230. This is particularly important when the robot docks with the workstation (e.g., ...). Figure 2 As shown in the diagram, the first power supply terminal 231 and the second power supply terminal 232 are respectively connected to the corresponding power terminals (not shown) on the robot. For example, the robot includes a first power terminal and a second power terminal. The first power supply terminal 231 is connected to the corresponding first power terminal, and the second power supply terminal 232 is connected to the corresponding second power terminal.

[0170] In one embodiment, the first power supply terminal 231 and the second power supply terminal 232 are used to form the necessary electrical connection between the power supply terminal and the robot during the power supply process. They can be configured to be made of conductive material so that they can be contacted by the robot to form an electrical connection. One power supply terminal is configured as a positive terminal and the other power supply terminal is configured as a negative terminal.

[0171] In one embodiment, the first power supply terminal 231 and the second power supply terminal 232 each include electrodes, wherein the electrode included in the first power supply terminal 231, which is a positive terminal, is a positive electrode, and the electrode included in the second power supply terminal 232, which is a negative terminal, is a negative electrode. The electrodes may be configured as metal sheets, metal strips, metal rods, or metal wheels, etc.

[0172] In one embodiment, the first power supply terminal 231 and the second power supply terminal 232 further include elastic structures, which provide elastic force to the electrodes. Specifically, during the process of the robot docking with the workstation, the robot's power-connecting terminal contacts the electrodes and further pushes the electrodes so that the elastic structure is squeezed, which further causes the circuit of the power management system 23 to supply power to the robot to conduct, thereby providing power to the robot; during the process of the robot leaving the workstation, that is, during the process of the robot's power-connecting terminal separating from the electrodes, the elastic structure pushes the electrodes to reset by means of the restoring force, which further causes the circuit of the power management system 23 to disconnect the power supply to the robot.

[0173] Please continue reading. Figure 11 As shown in the figure, the power management module 230 is electrically connected to the first power supply terminal 231 and the second power supply terminal 232. When it detects that the robot is docking with the workstation, it outputs a first electrical signal to charge the robot's battery. When it determines that the robot's battery is fully charged based on the robot's battery power information and when it determines that the robot is still docked, it switches to outputting a second electrical signal to supply power to the power-consuming components of the robot in standby mode.

[0174] The first and second electrical signals respectively include voltage and current. In one embodiment, to protect the battery and facilitate and simplify the control of related circuit structures on the robot, the second electrical signal is set to have a voltage slightly lower than the first electrical signal but greater than the battery's rated voltage. Please refer to [link to relevant documentation]. Figure 12The diagram shown is a schematic of the power management module outputting electrical signals in one embodiment of this application. Figure 12 The horizontal axis represents the signal switching timing, and the vertical axis represents the electrical signal Sig output by the power management module 230. The electrical signal Sig includes voltage V and current C. Before time t, i.e., during the battery charging phase, the power management module 230 outputs a first electrical signal Sig1, which includes voltage v1 and current c1. The power management module 230 charges the robot's battery through the first electrical signal Sig1. At time t, the battery is fully charged and the robot is still docked to the workstation. The power management module 230 then switches to outputting a second electrical signal Sig2, which includes voltage v2 and current c1. The power management module 230 outputs the second electrical signal Sig2 to supply power to the power-consuming components of the robot in standby mode. In other embodiments, the voltage of the second electrical signal can be set to be lower than the rated voltage of the battery. Only corresponding control of the relevant circuit structure on the robot is needed. The specific control of the robot's relevant circuit structure will be detailed in the robot-related embodiments later and will not be repeated here.

[0175] To ensure that the power management module 230 of the workstation supplies power to the power-consuming components of the robot in standby mode, the current of the second electrical signal is further set to not exceed 10A, for example, it can be set to 2A, 4A, 6A, 8A, or 10A, etc.

[0176] To conserve energy, in some embodiments, the power management module can also stop outputting the electrical signal when the current of the second electrical signal is lower than a preset load value. This allows for timely power supply interruption when the robot leaves the workstation or when no power is needed (i.e., when the power management module has no load). Specifically, when the power management module detects that the current of the second electrical signal is lower than the preset load value, it assumes that the connected robot has left or no longer needs power, and the power management module will cut off the power, i.e., stop outputting the electrical signal. The preset load value can be set to any value between 0 and 400mA, preferably, for example, 300mA.

[0177] Please see Figure 13The figure shows a structural block diagram of a power management module in one embodiment of this application. As shown, the power management module 230 includes a detection unit 2300 and a power conversion unit 2301. The detection unit 2300 can be communicatively connected to the robot and is used to detect the robot's state. For example, the detection unit 2300 may include an interface circuit, which can be communicatively connected to the robot via wired or wireless transmission. Detecting the robot's state includes the robot sending its state to the interface circuit or the interface circuit acquiring and identifying the robot's state. The robot's state includes, but is not limited to, battery power information, docking status information, and electrical signal information on the docking terminal. The power conversion unit 2301 is electrically connected to the first power supply terminal 231, the second power supply terminal 232, and the detection unit 2300, and is used to output a first electrical signal or a second electrical signal based on the robot's state. For example, the power conversion unit 2301 can output a first electrical signal when the robot's state indicates that the robot is docking with the workstation and the battery power is insufficient, and output a second electrical signal when the robot's state indicates that the robot's battery power is full and it is docking with the workstation.

[0178] Please see Figure 14 The figure shows a structural block diagram of a power conversion unit in one embodiment of this application. As shown, the power conversion unit 2301 includes a first power conversion circuit 23010 and a second power conversion circuit 23011, which are respectively electrically connected to an external power source. The first power conversion circuit 23010 is also electrically connected to a detection unit 2300, used to convert the power supplied by the external power source into power suitable for use by the detection unit 2300. The second power conversion circuit 23011 is also electrically connected to a first power supply terminal 231 and a second power supply terminal 232, used to convert the power supplied by the external power source into a first electrical signal or a second electrical signal to provide the robot with power to meet its power needs through the first power supply terminal 231 and the second power supply terminal 232. For example, the first power conversion circuit 23010 and the second power conversion circuit 23011 can be respectively configured as switching power supplies.

[0179] In such Figure 14 The illustrated power conversion unit architecture requires at least two power conversion circuits to meet the power needs of the workstation's power management system and the robot. This makes the workstation's power management system circuit structure complex and increases the difficulty of design and layout. Therefore, in some embodiments, the power conversion unit 2301 may include a power conversion circuit (not shown). To distinguish it from the aforementioned first and second power conversion circuits, this power conversion circuit is referred to here as the third power conversion circuit. The third power conversion circuit can output a first or second electrical signal based on the robot's state and can also provide power to the detection unit.

[0180] In some embodiments of this application, a robot is also disclosed that can interface with the workstation described in any of the foregoing embodiments so that the workstation can provide services to the robot.

[0181] In one embodiment, the robot may include a power management system that can switch power circuits to supply power to power-consuming components of the robot in standby mode from a workstation when the robot's battery is fully charged. The robot may be, for example, a cleaning robot, which may employ subsequent methods such as... Figures 22 to 83 The cleaning robot configured in any of the embodiments described herein.

[0182] Please see Figure 15 The figure shows a structural block diagram of a robot in one embodiment of this application. As shown, the robot 4 includes a control device 40 and a power supply management system 41, wherein the control device 40 provides or coordinates the power supply for each electrical component on the robot 4.

[0183] Please see Figure 16 The figure shows a structural block diagram of a power supply management system in one embodiment of this application. As shown, the power supply management system 41 includes: a battery 410, two power terminals ( Figure 16 The first power terminal (411), the second power terminal (412), and the power management module (413) are respectively identified in the middle.

[0184] like Figure 16 As shown, the first power terminal 411 and the second power terminal 412 are respectively electrically connected to the battery 410 to form a charging circuit, and are also respectively electrically connected to the robot's control device 40 to form a first power supply circuit from the first power terminal 411 and the second power terminal 412 to the control device 40. In one embodiment, the first power terminal 411 and the second power terminal 412 may be configured to be made of conductive material to form an electrical connection with the workstation, wherein one power terminal is configured as a positive power terminal and the other power terminal is configured as a negative power terminal. Figure 16 As shown in the example, the first power terminal 411 is configured as a positive power terminal, and the second power terminal 412 is configured as a negative power terminal. In one embodiment, the first power terminal 411 and the second power terminal 412 each include electrodes, wherein the electrode included in the first power terminal 411, which is a positive power terminal, is a positive electrode, and the electrode included in the second power terminal 412, which is a negative power terminal, is a negative electrode. The electrodes can be configured as metal sheets, metal strips, metal rods, or metal wheels, etc.

[0185] The power management module 413 is electrically connected to the battery 410 and at least one power terminal, for example... Figure 16In this configuration, the power management module 413 is electrically connected to the negative terminal and the second power terminal 412 of the battery 410. The power management module 413 is used to activate the charging circuit when the robot docks with the workstation, allowing the workstation to charge the battery 410 through the first power terminal 411 and the second power terminal 412. It also deactivates the charging circuit when the battery is fully charged, based on battery power information, so that the workstation supplies power to the power-consuming components of the robot in standby mode through the first power supply circuit. In conjunction with the aforementioned control device 40 providing or coordinating power supply to the various power-consuming components on the robot 4, it should be understood that the workstation supplying power to the power-consuming components in standby mode through the first power supply circuit means that the workstation supplies power to the control device 40 through the first power supply circuit, and the control device 40 determines which components (i.e., power-consuming components) are still operating in standby mode and supplies power to these components. For example, the power-consuming components include: the control device itself, the parking device, the sensor device, or the communication device, etc. The parking device includes, for example, a parking motor, and the sensor includes, for example, a liquid level detection sensor.

[0186] In one embodiment, the workstation may be configured as described above in this application. Figures 11 to 14 The workstation described in any embodiment of the invention, when the robot docks with the workstation, has its first power supply terminal 231 connected as follows: Figure 16 The robot shown has its first power terminal 411 and second power supply terminal 232 connected as follows: Figure 16 The second power terminal 412 of the robot shown can be used by the workstation to output a first electrical signal to charge the robot's battery 410, or to output a second electrical signal to power the power-consuming components of the robot in standby mode, depending on the robot's state. The structure and working principle of the workstation outputting the first and second electrical signals can be found in the aforementioned section on... Figures 11 to 14 The description of any of the embodiments described herein will not be repeated here.

[0187] The following combination Figure 17 and Figure 18 The process of switching between the charging circuit and the first power supply circuit by the robot in cooperation with the workstation is explained.

[0188] Please see Figure 17 The figure shows a schematic diagram of the power management system forming a charging circuit in one embodiment of this application. As shown, when the robot docks with the workstation, that is, the first power supply terminal 231 of the workstation is connected to the first power receiving terminal 411 of the robot, and the second power supply terminal 232 is connected to the second power receiving terminal 412 of the robot, the power management module 413 will conduct the charging circuit composed of the first power receiving terminal 411, the battery 410, and the second power receiving terminal 412. Figure 17The arrows indicate the direction of the electrical signal flow in the charging circuit. Here, the workstation outputs a first electrical signal Sig1 through the first power supply terminal 231, which flows through the first power connection terminal 411, the battery 410, the second power connection terminal 412, and finally to the second power supply terminal 232 to charge the battery 410. It should be understood that, in such cases... Figure 17 During the charging process of battery 410, as shown, the workstation can also supply power to the robot's control device 40 through the first power supply circuit. Figure 17 The text describes the charging process but does not indicate the flow of other circuits during the charging process; therefore, it should not be considered as such. Figure 17 It can be understood as a limitation.

[0189] Please see Figure 18 The figure shows a schematic diagram of the power management system forming a first power supply circuit in one embodiment of this application. As shown, when the battery 410 is fully charged, on the one hand, the workstation can determine that the battery 410 is fully charged through the battery power information, and when it determines that the robot is still in the docking state, it will switch to output the second electrical signal Sig2; on the other hand, the robot's power management module 413 can determine that it will disconnect when the battery is fully charged. Figure 17 The aforementioned charging circuit, that is, the power management module 413, will disconnect the battery 410 from at least one power terminal (e.g., Figure 17 (The connection between the negative terminal of battery 410 and the second power terminal 412 is cut off). Since the control device 40 is connected to the first power terminal 411 and the second power terminal 412, cutting off the line between battery 410 and the second power terminal 412 also means that the electrical connection channel between battery 410 and control device 40 is cut off. The second electrical signal Sig2 output by the workstation through the first power supply terminal 231 flows through the first power terminal 411, the control device 40, the second power terminal 412 and the second power supply terminal 232, so that the workstation supplies power to the power-consuming components of the robot in standby mode through the first power supply circuit.

[0190] According to such Figure 18 As described above, when the robot is docked with the workstation, the workstation can output a second electrical signal Sig2 to power the robot's power-consuming components in standby mode. As described in the previous embodiment of the power management system in the workstation, in some embodiments, the voltage of the second electrical signal Sig2 is greater than the rated voltage of the battery 410. Therefore, in one embodiment, the power management module 413 is further configured to, when determining that the power supply to the first power terminal 411 and the second power terminal 412 is abnormal, activate the second power supply circuit composed of the battery 410 and the control device 40. The abnormal power supply refers to the situation where the voltage of the second electrical signal Sig2 received by the first power terminal 411 and the second power terminal 412 is less than the rated voltage of the battery 410.

[0191] Please see Figure 19The figure shows a schematic diagram of the power management system forming a second power supply circuit in one embodiment of this application. As shown, when the robot docks with the workstation and the battery 410 is fully charged, the power management module 413 detects that the voltage between the first terminal 411 and the second terminal 412 is less than the rated voltage of the battery 410. It then conducts a path between the negative terminal of the battery 410 and the second terminal 412, thereby forming a second power supply circuit from the positive terminal of the battery 410 to the control device 40 and then to the negative terminal of the battery 410. It should be understood that when the robot leaves the workstation, if... Figure 18 The connection between the first power supply terminal 231 and the first power connection terminal 411, and between the second power supply terminal 232 and the second power connection terminal 412, will be disconnected. The power management module 413 detects that the voltage between the first power connection terminal 411 and the second power connection terminal 412 is necessarily less than the rated voltage of the battery 410. The power management module 413 will control the conduction of the path between the negative terminal of the battery 410 and the second power connection terminal 412. That is, the battery 410 supplies power to the robot during its operation.

[0192] As described above regarding embodiments of the power management system in a workstation, in some embodiments, the voltage of the second electrical signal Sig2 may also be less than the rated voltage of the battery 410. Here, it is only necessary to ensure that the power management module 413 maintains a disconnect between the battery 410 and the second power terminal 412, as shown in the image. Figure 18 As shown, the possibility of high-voltage priority power supply caused by the rated voltage of battery 410 being greater than the second electrical signal Sig2 should be avoided.

[0193] Please see Figure 20 The figure shows a structural block diagram of a power management module in one embodiment of this application. As shown, the power management module 413 includes a switching unit 4130 and a control unit 4131. The switching unit 4130 is used to turn on or off the electrical connection between the battery 410 and at least one power terminal. Figure 20 As shown, the switch unit 4130 can be used to turn on or off the electrical connection between the negative terminal of the battery 410 and the second power terminal 412. The control unit 4131 is used to control the switching unit to turn on or off according to the robot's state. The robot's state includes, but is not limited to, battery power information, docking status information, and electrical signal information on the power terminal.

[0194] Please see Figure 21 The figure shows a schematic diagram of the circuit structure of a switching unit in one embodiment of this application. As shown, the switching unit 4130 includes at least two switching transistors connected in reverse series. Specifically, as shown... Figure 21As shown, the switching unit 4130 includes a first switching transistor N1 and a second switching transistor N2. Taking both the first switching transistor N1 and the second switching transistor N2 as N-type field-effect transistors as an example, the gate g of the control terminals of the first switching transistor N1 and the second switching transistor N2 are electrically connected to the control unit 4131. The source s of the first switching transistor N1 is electrically connected to the negative terminal of the battery 410, the drain d of the first switching transistor N1 is electrically connected to the drain d of the second switching transistor N2, and the source s of the second switching transistor N2 is electrically connected to the second terminal 412. When the battery 410 is being charged (i.e., the charging circuit is turned on), the control unit 4131 controls the second switching transistor N2 to turn on, so as to form a path between the negative terminal of the battery 410 and the second terminal 412, from the body diode D1 of the first switching transistor N1, the drain d of the second switching transistor N2 to the source s. When the battery 410 is not supplying power (i.e., powered by the first power supply circuit), the control unit 4131 controls both the first switch N1 and the second switch N2 to turn off, and the battery 410 cannot supply power to the control device 40. When the battery 410 supplies power to the control device 40 (i.e., powered by the second power supply circuit), the control unit 4131 controls the first switch N1 to turn on, so as to form a path between the negative terminal of the battery 410 and the second terminal 412, consisting of the body diode D2 of the second switch, the drain d of the first switch N1, and the source s. It should be understood that... Figure 21 The N-type switch shown is only one example. The first switch N1 and the second switch can also be set as P-type field-effect transistors. It is only necessary to adjust the connection and control according to the characteristics of the P-type field-effect transistor. This application will not elaborate on this.

[0195] In some embodiments, such as Figures 15 to 21 The robot described in any embodiment of the related description may be, for example, a cleaning robot for performing cleaning tasks. The structure of the robot may adopt, for example, the structure of a cleaning robot or robot mentioned in any embodiment of this application, wherein, as... Figures 15 to 21 Some components / modules / units of the power supply management system described herein can be further mounted on the control device to share the same circuit board with the control device, or they can be used as independent parts with their own circuit boards and connected to the corresponding circuit boards of the control device. Of course, the robot may also be a robot for other application scenarios or adopt other structures, and this application does not limit this.

[0196] In some scenarios, for areas requiring high water usage or large-area cleaning, the cleaning robots typically used (hereinafter referred to as cleaning robots) are large in size and unsuitable for cleaning areas, such as those under 2000 square meters. This is because their large size makes it impossible to clean narrow areas (such as aisles and corners) formed by objects within the area, and it also hinders the free movement of people in the area. In some embodiments, the robot's size can be reduced by directly decreasing the capacity of its water tank. However, this reduction in size is predictable and will lead to an imbalance in the robot's overall weight distribution. Furthermore, during operation, cleaning robots are frequently disturbed by external factors (such as sudden obstacles or people appearing in the route) and must stop or brake suddenly. Due to inertia, the water in the cleaning robot's tank will surge forward, potentially causing the robot to tip over.

[0197] Therefore, some embodiments of this application disclose a robot that integrates a clean water tank into a part of its chassis, integrates a battery compartment into a wastewater tank, and has overlapping areas between the clean water and wastewater tanks in the vertical direction. This further optimizes the robot's spatial layout, significantly reducing its size while balancing its weight and water capacity. Furthermore, this application considers the risk of rollover due to water rushing forward during emergency parking and optimizes the placement space of the clean / wastewater tanks to mitigate this risk. It should be noted that, given that the robot in this embodiment is equipped with both a clean water tank and a wastewater tank for cleaning tasks, this robot will be referred to as a cleaning robot in subsequent embodiments.

[0198] In one embodiment, please refer to Figure 22 and Figure 23 , Figure 22 The diagram shown is a three-dimensional structural schematic of a cleaning robot according to one embodiment of this application. Figure 23 The diagram shows a disassembled structural representation of a cleaning robot according to one embodiment of this application. As shown, the cleaning robot 1 includes a body 10, which includes a chassis 11 and a wastewater tank 12. The chassis 11 includes a clean water tank 110 integrally formed on its top. The wastewater tank 12 is nested within the clean water tank 110 to integrate with the chassis 11. It includes a built-in receiving space 120 for collecting wastewater collected by the cleaning robot. The built-in receiving space 120 and the receiving space 1100 of the clean water tank have an overlapping area in the vertical direction. The overlapping area in the vertical direction means that the projections of the two areas or spaces onto a vertical plane have overlapping portions.

[0199] The chassis may be integrally formed from materials such as plastic, metal or other materials used in the art, and includes multiple pre-formed grooves, recesses, slots or similar structures for mounting or integrating related devices, parts, components or mechanisms onto the chassis.

[0200] Please see Figure 24 The figure shows a three-dimensional structural diagram of the cleaning robot in one embodiment of the present application from another perspective. As shown in the figure, the bottom of the chassis 11 is provided with a moving device 13, a side brush assembly 14, a cleaning device 15, and a dirt collection assembly 16.

[0201] In one embodiment, the mobile device 13 includes a first drive assembly 130 and drive wheels 131 disposed on opposite sides of the bottom of the chassis. The drive wheels 131 are driven by the first drive assembly 130 to move the cleaning robot 1. Specifically, the drive wheels are driven to cause the cleaning robot 1 to perform reciprocating motion, rotational motion, or curvilinear motion according to a planned movement trajectory, or to drive the cleaning robot 1 to adjust its posture, and to provide two contact points between the cleaning robot 1 and the cleaning surface. In other embodiments, the mobile device 13 further includes a driven wheel 132 located in front of the drive wheels 131. The driven wheel 132 and the drive wheels 131 together maintain the balance of the cleaning robot 1 in motion.

[0202] The side brush assembly 14 is located at the bottom edge of the chassis 11. In some embodiments, the side brush assembly 14 may include a cleaning side brush and a side brush motor for controlling the cleaning side brush. Figure 13 In the illustrated embodiment, at least one cleaning brush is provided on opposite sides of the front of the cleaning robot. The cleaning brushes can be rotary, rotating under the control of a brush motor. In some embodiments, the rotation axis of the rotary cleaning brush forms an angle with respect to the surface to be cleaned (which can be set to be parallel to the bottom surface of the robot's chassis). For example, this angle ensures that the bristles on the outer side of the cleaning brush are lower than those on the inner side, allowing the outer bristles to be closer to the surface to be cleaned, thus facilitating the sweeping of debris into the cleaning area of ​​the cleaning device.

[0203] In some embodiments, the cleaning device is located in the central area of ​​the chassis bottom, and the cleaning device is located within the maximum outer contour of the cleaning robot body on the horizontal plane. That is to say, from the perspective of horizontal projection, the projected contour of the cleaning robot body on the horizontal plane can cover the projected contour of the cleaning device. Thus, when cleaning dead corner areas, the cleaning robot can only rely on the side brush assembly to sweep the debris in the dead corner areas (including corner areas, obstructed areas, etc., the obstructed area can be, for example, the projection area under the sign) into the cleaning area of ​​the cleaning device. However, due to the limited cleaning power of the side brush assembly, it can only clean up large particles of debris. Stains, sticky objects, etc., are still left behind and cannot be cleaned. In fact, the cleaning by the side brush assembly may even further increase the degree of dirt.

[0204] Therefore, in some embodiments, please refer to Figure 25 and combined Figure 24 , Figure 25 The figure shows a schematic diagram of the horizontal projection of a cleaning robot in one embodiment of this application. As shown, the cleaning device 15 is disposed at the bottom of the chassis 11 and protrudes to the right beyond the maximum outer contour of the cleaning robot body 10 on the horizontal plane. That is to say, from the perspective of the horizontal projection, the projection of the cleaning robot body 10 on the horizontal plane cannot encompass the projection contour of the cleaning device 15. Specifically, as shown... Figure 13 The right side wall of the chassis 11 has a recessed area 111 with an opening facing the surface to be cleaned. A cleaning device 15, located at the bottom of the chassis 11, passes through the recessed area 111 and protrudes to the right from the cleaning robot body 10, such that the projection of the cleaning device 15 on the horizontal plane exceeds the maximum outer contour of the projection of the cleaning robot body 10 on the horizontal plane. In some examples, the distance d by which the projection of the cleaning device 15 protrudes to the right from the maximum outer contour of the projection of the cleaning robot body 10 on the horizontal plane is 1 cm to 4 cm. Any value between 1 cm and 4 cm (e.g., 1 cm, 2 cm, 3 cm, or 4 cm) ensures that the cleaning device 15 contacts the aforementioned dead-angle area and cleans it. Furthermore, the distance by which the projection of the cleaning device 15 protrudes to the right from the maximum outer contour of the cleaning robot body 10 on the horizontal plane can be set to 2 cm.

[0205] In one embodiment, such as Figure 24 As shown, the cleaning device 15 includes a mounting base 150 and a roller brush assembly (not labeled). The mounting base 150 is used to mount the cleaning device 15 on the bottom of the chassis 11 to arrange the cleaning device 15 on the cleaning robot 1. The roller brush assembly is disposed on the mounting base 150, and in the cleaning device 15 as... Figure 13When configured on the cleaning robot 1, the roller brush assembly is located in front of the dirt collection assembly 16 to clean the surface to be cleaned when rotating. Thus, the dirt collection assembly 16 can collect the wastewater from the roller brush assembly cleaning the surface to be cleaned, such as the liquid left by the roller brush assembly washing the surface to be cleaned.

[0206] In some embodiments, the roller brush assembly of the cleaning device is typically configured as a dual-roller brush structure, defined with the forward direction of the cleaning robot as the front. The dual-roller brush structure includes a front roller brush and a rear roller brush. The front roller brush, also referred to as the first roller brush, is rotatably mounted on the mounting base and is used to clean the surface to be cleaned during rotation. The rear roller brush, also referred to as the second roller brush, is rotatably mounted on the mounting base and located behind the front / first roller brush; it can be wetted to wash the surface to be cleaned during rotation. In other words, the dual-roller brush structure enables a cleaning method where the front / first roller brush pre-cleans the surface, and the rear / second roller brush then washes the surface.

[0207] It should be understood that the first roller brush for cleaning the surface to be cleaned refers to the first roller brush bringing / sweeping / rolling up the debris on the surface into the debris box / dust collection chamber configured on the cleaning device or cleaning robot body. The second roller brush for washing the surface to be cleaned refers to the second roller brush cleaning the surface with the help of liquid, thus enabling the cleaning device to remove liquids (such as milk, tea, etc.), highly adhesive dirt, wet debris, etc. from the surface to be cleaned.

[0208] However, in this dual-brush structure, the two brushes usually come into contact with each other during operation. As a result, the rear / second brush wets the front / first brush while cleaning the surface, causing the front / first brush to pick up debris. This hinders the debris from entering the dustbin / collection chamber and also carries debris and dirt into the wet rear / second brush. Consequently, the rear / second brush is being used to clean the surface while contaminated by the front / first brush, which severely affects the cleaning effect.

[0209] Therefore, in some embodiments, please refer to Figure 26 , Figure 27 ,and Figure 28 , Figure 26 The diagram shown is a structural schematic of the bottom of a cleaning robot according to one embodiment of this application. Figure 27 Displayed as Figure 26 A close-up view of the bottom of the cleaning robot. Figure 28The figure shows a perspective view of a cleaning device according to one embodiment of the present application. As shown, the cleaning device 15 includes a mounting base 150, a first roller brush 151, and a second roller brush 152. The mounting base 150 is mounted on the bottom of the chassis 11. The first roller brush 151 is rotatably mounted on the mounting base 150 and is used to clean the surface to be cleaned when rotating. The second roller brush 152 is rotatably mounted on the mounting base 150 and can be wetted to wash the surface to be cleaned when rotating. The first roller brush 151 is located at the front, and the second roller brush 152 is located behind the first roller brush 151. The axial distance h between the first roller brush 151 and the second roller brush 152 is greater than the sum of the radius r1 of the first roller brush 151 and the radius r2 of the second roller brush 152, so that the first roller brush 151 and the second roller brush 152 do not contact each other when rotating.

[0210] It should be understood that the radius of the first roller brush refers to the radius of the largest circular outline formed by the rotation of the first roller brush (as shown in the figure). Figure 27 As shown in r1), the radius of the second roller brush refers to the radius of the largest circular profile formed by the rotation of the second roller brush (as shown in r1). Figure 27 As shown in r2), the distance between the axes of the first and second roller brushes is greater than the sum of their radii, ensuring that they do not come into contact with each other when rotating.

[0211] Please continue reading. Figure 28 In one embodiment, a second drive assembly 153 is provided at one end of the mounting base 150. The second drive assembly 153 includes a first drive module 1530 and a second drive module 1531. The first drive module 1530 is electrically connected to the first roller brush 151 to drive the first roller brush 151 to rotate, and the second drive module 1531 is electrically connected to the second roller brush 152 to drive the second roller brush 152 to rotate. This allows the second drive assembly to be miniaturized and distributed, facilitating control, layout, and space saving. Furthermore, in some examples, combined with... Figure 29 The diagram shows a schematic of the cleaning device after the roller brushes are removed in one embodiment of this application. The first drive module 1530 and the second drive module 1531 each include a rotating support member 1532. The rotating support member 1532 provides a placement space for the first roller brush 151 and the second roller brush 152, and enables the first roller brush 151 and the second roller brush 152 to rotate.

[0212] In one embodiment, please refer to Figure 28 and Figure 29The first roller brush 151 and the second roller brush 152 each include a roller shaft 1510 and a brush body 1511. Both ends of the roller shaft 1510 are configured as mounting portions (not shown), which are used to mount the rotating support 1532 and allow the first roller brush 151 and the second roller brush 152 to be selectively removed or mounted from the mounting base 150 for cleaning, maintenance, replacement, etc. The brush body 1511 is spirally arranged around the roller shaft 1510, and the growth direction of the brush body 1511 is substantially consistent with the radial direction of the roller shaft. Here, the radius of the first roller brush 151 or the second roller brush 152 refers to the radius of the circular outline formed by the axis of the roller shaft 1510 as the center and the brush body 1511 as the boundary.

[0213] In one embodiment, the brush body of the first roller brush is a bristle brush body, which sweeps away debris from the surface to be cleaned. In another embodiment, the brush body of the first roller brush is a rubber brush body, which sweeps away debris from the surface to be cleaned. Of course, in other embodiments, the brush body of the first roller brush may also be composed of alternating bristle brush bodies and rubber brush bodies. This application does not limit the material of the brush body, as long as it can effectively sweep away debris from the surface to be cleaned.

[0214] In one embodiment, the brush body of the second roller brush is configured as a bristle brush body or a cloth brush body, so as to be wetted for washing the surface to be cleaned.

[0215] In one embodiment, such as Figure 26 and Figure 27 As shown, the brush bodies of the first roller brush 151 and the second roller brush 152 are respectively configured in a V-shape. Specifically, the first roller brush 151 is configured to rotate counter-clockwise during cleaning operations (e.g., ...). Figure 26 As indicated by the arrow corresponding to the first roller brush 151, the V-shaped tip of the brush body of the first roller brush 151 is located in the middle of the roller shaft and faces forward. Thus, during the rotation of the roller shaft, debris is drawn from the opposite sides of the V-shaped structure towards the center, making it easier to clean some dust, especially large particles. The V-shaped tip of the second roller brush 152 can also face forward, so that the V-shaped opening of the second roller brush aligns with the V-shaped opening of the first roller brush (appearing as...). Figure 28 As shown), it can also be oriented rearward so that the V-shaped opening of the second roller brush is opposite to the V-shaped opening of the first roller brush (as shown). Figure 26 and Figure 27 As shown in the diagram, the second roller brush 152 is configured to rotate counterclockwise or clockwise during cleaning operations. For example, as... Figure 28In the example where the V-shaped opening of the second roller brush corresponds to the V-shaped opening of the first roller brush, the second roller brush 152 is configured to rotate counterclockwise, and the first roller brush 151 is configured to rotate counterclockwise; that is, the second roller brush 152 and the first roller brush 151 rotate in the same direction. Figure 26 and Figure 27 In the example where the V-shaped opening of the second roller brush is opposite to the V-shaped opening of the first roller brush, the second roller brush 152 is configured to rotate clockwise, and the first roller brush 151 is configured to rotate counterclockwise; that is, the second roller brush 152 and the first roller brush 151 rotate in opposite directions. It should be understood that a V-shaped structure does not necessarily mean a standard V-shape. For example, in some scenarios, a U-shaped structure or a herringbone structure can also be referred to as a V-shaped structure.

[0216] In one embodiment, the brush body distribution density of the first roller brush is greater than that of the second roller brush. For example... Figure 26 and Figure 27 As shown, the brush bodies of the first roller brush 151 and the second roller brush 152 are respectively configured as bristle bodies, each composed of multiple rows of V-shaped bristle clusters. The spacing between adjacent rows of bristle clusters in the brush body of the first roller brush 151 is smaller than the spacing between adjacent rows of bristle clusters in the brush body of the second roller brush 152, resulting in a higher distribution density of the brush body in the first roller brush 151 than in the second roller brush 152. Thus, the first roller brush uses a higher density of brush body to pick up debris, while the second roller brush uses a lower density of brush body to wash the surface to be cleaned. This prevents the brush body of the second roller brush from contacting debris and affecting the cleaning work of the first roller brush.

[0217] In one embodiment, during the cleaning operation, the rotational speed of the first roller brush is greater than that of the second roller brush. This speed difference allows the first roller brush to more quickly pick up debris, further preventing the second roller brush from wetting the debris and interfering with its cleaning operation. The speed difference between the two roller brushes can be achieved by the first and second drive modules providing different driving forces.

[0218] In one embodiment, the mounting base of the roller brush assembly includes a side cover, which is openable or closable on one side of the mounting base. The side cover is used to engage the passive ends of the first and second roller brushes in the closed state, and in the open state, the first and second roller brushes of the roller brush assembly can be removed from the outside along their axial direction.

[0219] Please see Figure 30The figure shows a schematic diagram of the side cover of the roller brush assembly in one embodiment of this application. As shown, the side cover 157 is axially connected to the robot body 10. Specifically, the side cover 157 is axially connected to the mounting base 150. The vertical dotted line shown in the figure is the axis of the side cover 157. After the side cover 157 is released or unlocked, it can be rotated around the axis to open, thereby exposing the first roller brush and the second roller brush that are covered inside, so that the first roller brush and the second roller brush can be taken out from the outside along its axial direction.

[0220] exist Figure 30 In the illustrated embodiment, the side cover 157 is located on the side of the roller brush assembly that protrudes from the robot body 10. The side cover 157 includes: a cover body 1570, a hinge portion 1571, and a locking portion 1572.

[0221] The cover body 1570 has a notch 1574 (or groove) for engaging the passive ends of the first and second roller brushes; in this embodiment, the active end of the roller brush assembly is linked to the drive assembly, specifically, as shown in the figure. Figure 28 The second drive assembly 153 described herein is linked, and the second drive assembly 153 includes a first drive module 1530 and a second drive module 1530. The first drive module 1530 is used to drive the first roller brush 151 to rotate, and the second drive module 1530 is used to drive the second roller brush 152 to rotate. The active ends of the first roller brush 151 and the second roller brush 152 of the roller brush assembly are respectively provided with spring elements to provide a continuous abutting force to press the passive end of the roller brush assembly against the notch 1574 of the side cover 157, thereby making the first roller brush 151 and the second roller brush 152 disposed in the mounting base 150.

[0222] The shaft connection 1571 is shafted to the rear side (the side adjacent to the second roller brush) of the cover body 1570, and is used to allow the side cover 157 to rotate outward and open when the cover body 1570 is unlocked, by means of an operation. Figure 30 The rotation direction is shown in the figure.

[0223] The locking part 1572 fixes the cover body 1570 to the mounting base 150 by a locking element, such as an elastic pin. In this embodiment, the mounting base 150 has a top plate located on top of the roller brush assembly. The top plate is provided with a locking hole or locking groove corresponding to the locking part 1572. The locking element passes through the locking part 1572 and is locked in the locking hole or locking groove. When the user needs to disassemble the first and second roller brushes located inside the side cover 157, the locking part 1572 is pulled upward to disengage from the top plate of the roller brush assembly, thereby unlocking the side cover 157. Then, the side cover 157 is rotated around the rotation axis to open outward. As the pressure on the passive ends of the first and second roller brushes of the roller brush assembly is released, and with the help of the spring force of the active ends of the first and second roller brushes of the roller brush assembly, the first and second roller brushes of the roller brush assembly can be easily removed from the outside along their axial direction, which is convenient for the operator to maintain or replace the roller brushes.

[0224] To further secure the connection between the cover body 1570 and the mounting base 150, the cover body 1570 also includes a locking portion 1573, which is located on the front side of the cover body 1570. The locking portion 1572 is located between the shaft connection portion 1571 and the locking portion 1573. In a specific embodiment, the locking portion 1573 may be, for example, a combination of a hook and a locking block.

[0225] The side cover 157 also includes a protective sheet 1575 fixed to the lower side of the cover body 1570 to extend the side cover 157 and shield the roller brush assembly. The protective sheet 1575 is a sheet of flexible material, such as rubber.

[0226] In some embodiments, during the cleaning process, the first roller brush in the cleaning device may not effectively carry / sweep / roll up all debris into the dustbin or collection chamber. For example, uncollected debris may accumulate in front of the dust collection assembly as the cleaning robot moves forward, preventing wastewater left by the second roller brush from entering the dust collection assembly. Uncollected debris may also enter the dust collection assembly, clogging it or its corresponding piping. Furthermore, uncollected debris may enter the contact area between the dust collection assembly and the surface to be cleaned, preventing the dust collection assembly from properly scraping away water.

[0227] Therefore, in some embodiments, please refer to Figure 31 and Figure 32 , Figure 31 The diagram shown is a perspective view of the cleaning device in one embodiment of this application. Figure 32 This application is displayed. Figure 31The schematic diagram of the BB cross-section of the cleaning device shown in the figure illustrates that, in addition to the mounting base 150 and the roller brush assembly, the cleaning device 15 proposed in this application may further include a blocking mechanism 156. The blocking mechanism 156 is disposed on the mounting base 150 and, in the cleaning device 15, as shown in the figure... Figure 13 When configured as shown on the cleaning robot 1, the blocking mechanism 156 is located in front of the dirt collection assembly 16, and is used to block at least part of the debris from flowing towards the dirt collection assembly 16 when the cleaning robot 1 is moving forward. The roller brush assembly includes a first roller brush 151 and a second roller brush 152. The structure and configuration of the first roller brush 151 and the second roller brush 152 can be found in the aforementioned section on... Figures 33 to 18 Any embodiment and its description are not repeated here. The dirt collection component 16 can be configured on the cleaning robot 1 body. When the cleaning device 15 is configured on the cleaning robot 1 body, the cleaning device 15 is located in front of the dirt collection component 16, thus the blocking mechanism 156 is located in front of the dirt collection component 16. The dirt collection component 16 can also be configured on the cleaning device 15 (as shown in...). Figure 31 and Figure 32 As shown in the diagram, the cleaning device 15 includes the dirt collection component 16, which is mounted on the mounting base 150 and located behind the roller brush assembly and the blocking mechanism 156. The specific structure and working principle of the dirt collection component 16 will be described in detail later and will not be repeated here.

[0228] In one embodiment, the blocking mechanism 156 is detachably connected to the mounting base 150, allowing the blocking mechanism 156 to be selectively removed from or installed on the mounting base 150 for easy cleaning, maintenance, or replacement. Alternatively, the blocking mechanism 156 can be non-detachably connected to the mounting base 150, meaning that once fixed to the mounting base 150, the blocking mechanism 156 cannot be easily removed.

[0229] In one embodiment, such as Figure 31 and Figure 32 As shown, the blocking mechanism 156 is disposed between the first roller brush 151 and the second roller brush 152 and is arranged along the length direction of the first roller brush 151 and the second roller brush 152, so as to block at least part of the garbage on the side facing the first roller brush 151 when the cleaning robot 1 is in the forward state.

[0230] In one embodiment, the blocking mechanism 156 is arranged along the length of the first roller brush 151 and extends toward the surface to be cleaned, thereby forming a barrier on the path from the first roller brush 151 to the second roller brush 152 and its rear side, causing uncollected debris to accumulate on the side facing the first roller brush 151. Thus, on the one hand, if too much debris accumulates, it may spread to contact the brush body of the first roller brush 151, giving uncollected debris the opportunity to be carried back into the dustbin / collection chamber by the first roller brush 151; on the other hand, when the robot retreats, the accumulated debris will move relatively closer to the first roller brush 151, allowing the accumulated debris to be cleaned again by the first roller brush 151.

[0231] The blocking mechanism 156 can extend towards the surface to be cleaned to a preset distance from the surface (this preset distance can be set to no more than 1 / 2 of the radius of the first roller brush 151, for example, 2mm), as shown in the figure. Figure 32 As shown in the diagram. The blocking mechanism 156 may also extend to contact the surface to be cleaned. Here, the blocking mechanism 156 may be configured to contact the first roller brush. In the forward state of the cleaning robot, the blocking mechanism 156 will be forcefully deflected in a direction away from the first roller brush 151, allowing debris to be carried into the debris box / dust collection chamber by the first roller brush 151 and blocking uncollected debris. In the reverse state of the cleaning robot, it will be forcefully deflected in a direction closer to the first roller brush 151, thereby further pushing the accumulated debris towards the first roller brush 151. In other words, in the forward state of the cleaning robot, the blocking mechanism 156 and the first roller brush 151 have a distance. The distance refers to the distance between the surface of the blocking mechanism 156 facing the first roller brush 151 and the outer surface of the first roller brush 151 on the same horizontal line. It should be understood that the distance between the blocking mechanism 156 and the first roller brush 151 is not necessarily the same on different horizontal lines. For example... Figure 32 As shown, the upper part of the blocking mechanism 156 has a smaller distance from the first roller brush 151, while the lower part has a larger distance from the first roller brush 151. In one example, in order to reduce the accumulation of garbage and not affect the garbage-sweeping operation of the first roller brush 151, the distance is 0mm to 3mm.

[0232] Furthermore, such as Figure 32 As shown, the blocking mechanism 156 has an arcuate surface 1560, and the curvature direction of the arcuate surface 1560 follows the outer edge of the first roller brush 151. In this way, the blocking mechanism 156 can be as close as possible to the outer surface of the first roller brush 151, reducing the area of ​​garbage accumulation and allowing as much garbage as possible to be swept by the first roller brush 151.

[0233] Please see Figure 33 and Figure 34 and combined Figure 32 , Figure 33The diagram shown is a three-dimensional structural schematic of the blocking mechanism in one embodiment of this application. Figure 34 This application is displayed as being in Figure 33 The diagram shows a side view of the blocking mechanism in the illustrated embodiment. As shown, the blocking mechanism 156 includes a connecting portion 1561 and a blocking portion 1562. The connecting portion 1561 and the blocking portion 1562 may, for example, be an integrally formed structure. The connecting portion 1561 is used to connect to the mounting base 150, so that the blocking mechanism 156 is detachably or non-detachably mounted on the mounting base 150. The blocking portion 1562 is connected to the connecting portion 1561 and is used to block at least a portion of the waste from flowing towards the waste collection assembly 16. When the cleaning robot is moving forward, the blocking portion 1562 may or may not contact the surface to be cleaned. The blocking portion 1562 may, for example, be made of a flexible material (e.g., rubber). Considering that in some embodiments, the blocking part 1562 will contact the surface to be cleaned, the friction between the blocking part 1562 and the surface to be cleaned, collisions with foreign objects or obstacles, etc., when in contact with the surface to be cleaned, may cause the blocking part 1562 to bend due to force. In addition, due to long-term use and gradual aging, the blocking part 1562 is prone to breakage. Therefore, in order to support and strengthen the blocking part 1562, the blocking mechanism 156 may further include a reinforcing part 1563. The reinforcing part 1563 may be provided on the connecting part 1561. By supporting and strengthening the blocking part 1562, the influence of bending force on the blocking part 1562 can be eliminated, thereby extending the service life of the blocking mechanism 156 and extending the replacement cycle.

[0234] To prevent the blocking mechanism 156 from obstructing the cleaning device's cleaning of liquids such as milk and sewage, the blocking mechanism 156 may also have a filtering function when the cleaning robot is in the forward state. This allows liquid or small particulate waste to flow through the blocking mechanism 156 to the waste collection component 16. It should be understood that the filtered liquid or small particulate waste will be recycled by the waste collection component 16 and will not affect the normal operation of the waste collection component 16. In some embodiments, the blocking mechanism 156 is designed to form a filtering channel with the surface to be cleaned. For example, in embodiments where the blocking mechanism 156 extends towards the surface to be cleaned at a preset distance, the blocking mechanism 156 forms a filtering channel with a width equal to the preset distance between it and the surface to be cleaned when the cleaning robot is in the forward state. Thus, liquid or small particulate waste can flow through this filtering channel toward the waste collection component 16 and can ultimately be recycled by the waste collection component 16. In other embodiments, the blocking mechanism 156 has the filtering function by virtue of its own properties. For example, please refer to [link to relevant documentation]. Figure 35 The image shown is a three-dimensional structural schematic diagram of the blocking mechanism in one embodiment of this application, compared to... Figure 33 and Figure 34Here, the blocking part 1562 of the blocking mechanism 156 is configured as a brush body, so that large particles of debris can be blocked, while liquid or small particles of debris can pass through the gaps in the brush body. In some other embodiments, the blocking mechanism 156 can also be designed to form a filter channel with the surface to be cleaned, so as to allow liquid or small particles of debris to pass through. The following describes how... Figures 36 to 39 This method will be explained.

[0235] Please see Figure 36 and Figure 37 , Figure 36 The diagram shown is a three-dimensional structural schematic of the blocking mechanism in one embodiment of this application. Figure 37 This application is displayed as being in Figure 36 A partially enlarged view of the blocking mechanism in the illustrated embodiment is shown in the figure. Compared to Figure 33 and Figure 34 The blocking mechanism 156 has a blocking part 1562 with a filter structure 1564. The filter structure 1564 is configured as holes 15640 (or grooves) opened on the blocking part 1562. When the cleaning robot is moving forward, the blocking part 1562 contacts the surface to be cleaned, so that the holes 15640 and the surface to be cleaned form multiple small filter channels. Thus, liquid or small particulate waste can pass through these filter channels and flow toward the dirt collection component 16, and can eventually be recycled by the dirt collection component 16.

[0236] Please see Figure 38 and Figure 39 , Figure 38 The diagram shown is a three-dimensional structural schematic of the blocking mechanism in one embodiment of this application. Figure 39 This application is displayed as being in Figure 38 A partially enlarged view of the blocking mechanism in the illustrated embodiment is shown in the figure. Compared to Figure 33 and Figure 34 The blocking mechanism 156 has a filtering structure 1564 on its blocking part 1562. Here, the filtering structure 1564 is a protruding structure 15641 on the surface of the blocking part 1562 facing the first roller brush 151. When the cleaning robot is moving forward, the blocking part 1562 contacts the surface to be cleaned and bends under force, so that at least the lower part of the protruding structure 15641 bends from facing the first roller brush to facing and contacting the surface to be cleaned, and the bottom surface of the blocking part 1562 bends from contacting the surface to be cleaned to leaving the surface to be cleaned. Thus, the lower part of the protruding structure 15641 and the surface to be cleaned form multiple filtering channels, so that liquid or small particulate waste can pass through these filtering channels and flow toward the dirt collection assembly 16, and can eventually be recycled by the dirt collection assembly 16.

[0237] To prevent wastewater or other liquids from the second roller brush 152 from moving relative to the first roller brush 151 and affecting it when the cleaning robot is in a reversing state, the blocking mechanism 156 can also be used to block liquid from passing through when the cleaning robot is in a reversing state. In some embodiments, for example Figure 38 and Figure 39 In the embodiment shown, when the cleaning robot is in a backward state, the blocking part 1562 of the blocking mechanism 156 contacts the surface to be cleaned. At this time, the frictional force experienced by the blocking part 1562 in contact with the surface to be cleaned is directed towards the front of the cleaning robot. That is, the side of the blocking part 1562 without the protrusion structure 15641 will be more tightly attached to the surface to be cleaned, thereby blocking the passage from the second roller brush 152 and its rear side towards the first roller brush 151, preventing liquid from passing through. In other words, as shown... Figure 38 and Figure 39 The blocking mechanism 156 shown can block some of the debris from flowing towards the collection assembly 16 when the cleaning robot is moving forward, while allowing liquid or small particulate debris to flow towards the collection assembly 16. When the cleaning robot is moving backward, it can block liquid from flowing towards the first roller brush 151. In some embodiments, for example... Figure 33 and Figure 34 In the illustrated embodiment, the blocking mechanism 156 is configured to extend towards and contact the surface to be cleaned. When the cleaning robot is in a retracted state, the blocking portion 1562 of the blocking mechanism 156 contacts the surface to be cleaned. At this time, the frictional force experienced by the blocking portion 1562 in contact with the surface to be cleaned is directed towards the front of the cleaning robot, blocking the passage from the second roller brush 152 and its rear side towards the first roller brush 151, preventing liquid from passing through. In other words, as shown... Figure 33 and Figure 34 In the example where the blocking mechanism 156 is configured to contact the surface to be cleaned, it blocks the passage from the first roller brush 151 toward the second roller brush 152 and its rear side when the cleaning robot is moving forward, preventing the waste from flowing to the dirt collection assembly 16. When the cleaning robot is moving backward, it blocks the passage from the second roller brush 152 and its rear side toward the first roller brush 151, preventing the liquid from flowing to the first roller brush 151.

[0238] In another embodiment, the roller brush assembly further includes an adapter fixed to the mounting base, and the blocking mechanism is detachably snapped onto the adapter. In this embodiment, the blocking mechanism can be pulled out from the adapter in a direction parallel to the axes of the first and second roller brushes without the use of tools.

[0239] In one embodiment, the adapter is a metal component with a certain degree of rigidity, such as an aluminum alloy component. Please refer to [link to relevant documentation]. Figure 40 and Figure 41 , Figure 40The diagram shown is a schematic representation of the adapter structure in another embodiment of this application. Figure 41 The figure shows an installation schematic of the blocking mechanism in another embodiment of this application. As shown, the adapter 158 includes a fixing part 1580 fixedly connected to the mounting base 150 and a snap-fit ​​part 1581 integrally formed with the fixing part 1580. The adapter 158 includes an upper groove 1582 and a lower groove 1583 formed by bending, and a support part 1584 for supporting the main body of the blocking mechanism 156. Further, the upper groove 1582, the lower groove 1583, and the support part 1584 integrally constitute the snap-fit ​​part 1581. The upper groove 1582 is a groove that limits the blocking mechanism 156' in the horizontal direction, and the lower groove 1583 is a groove that limits the blocking mechanism 156' in the vertical direction.

[0240] In this embodiment, the adapter is fixed to the mounting base by screws, such as... Figure 40 As shown, the fixing part 1580 on the adapter 158 is a screw hole for screwing. In other words, the disassembly or installation of the adapter 158 and the mounting base 150 requires the use of tools such as a screwdriver, while the disassembly or installation of the blocking mechanism 156' and the adapter 158 can be carried out without the use of tools.

[0241] like Figure 41 As shown, the blocking mechanism 156' includes a main body 1560' and a blocking portion 1562' integrally formed with the main body 1560'. The main body 1560' includes a reinforcing portion 1563', an upper connecting portion 1561' correspondingly engaged with the upper groove 1582, and a lower connecting portion 1565' engaged with the lower groove 1583. In this embodiment, the blocking mechanism is made of rubber. When it is installed on the adapter, the lower edge of its blocking portion contacts the ground to be cleaned, and it deforms in different directions due to friction when the robot moves forward or backward.

[0242] As mentioned above, in some embodiments, the blocking part of the blocking mechanism has a smooth surface on one side and a surface with a filtering structure or groove on the other side. The filtering structure is, for example, a groove structure. Specifically, when the blocking mechanism is installed on the adapter, the filtering structure of its blocking part is located on the side of the robot's forward direction, and the smooth surface of its blocking part is located on the side of the robot's backward direction.

[0243] Please see Figures 42 to 43 The diagram shows the deformation of the lower edge of the blocking mechanism during robot movement in one embodiment. Figure 42As shown, when the cleaning robot is in the forward state, the blocking part of the blocking mechanism 156' contacts the surface to be cleaned and bends under force, thereby causing at least the lower part of the filter structure (protruding structure or grooved surface) to bend from facing the first roller brush 151 to facing and contacting the surface to be cleaned, and the bottom surface of the blocking part to bend from contacting the surface to be cleaned to leaving the surface to be cleaned. Thus, the lower part of the filter structure (protruding structure or grooved surface) and the surface to be cleaned form multiple filter channels, thereby blocking large particles of debris 50 within the working area of ​​the first roller brush 151. Liquid or small particles of debris 51 can pass through these filter channels and flow toward the dirt collection component 16 located at the rear, and can eventually be recycled by the dirt collection component 16.

[0244] like Figure 43 As shown, in the backward state of the cleaning robot, the blocking part of the blocking mechanism 156' contacts the surface to be cleaned. At this time, the frictional force on the blocking part in contact with the surface to be cleaned is directed towards the front of the cleaning robot, and its smooth surface contacts the ground, thereby blocking the passage from the second roller brush 152 and its rear side to the first roller brush 151, so that the liquid 52 cannot pass through. In other words, in the backward state of the cleaning robot, the passage from the second roller brush 152 and its rear side to the first roller brush 151 is blocked, preventing the liquid 52 from flowing to the first roller brush 151.

[0245] Please see Figure 44 and combined Figure 28 , Figure 44 The figure shows a three-dimensional structural diagram of the cleaning device from the rear view in one embodiment of this application. As shown, the mounting base 150 is further provided with a water spray structure 154, which is connected to the clean water tank of the cleaning robot. The water spray structure 154 is used to spray water to wet the second roller brush 152, allowing the second roller brush 152 to clean the surface to be cleaned during rotation. In some examples, the water spray structure 154 includes a spray nozzle 1540 through which water flows out. To avoid the sprayed water from interfering with the first roller brush 151, the spray nozzle 1540 is located on the mounting base 150 and is situated on or behind the vertical plane containing the axis of the second roller brush 152. It should be understood that the spray nozzle 1540 being located on or behind the vertical plane containing the axis of the second roller brush 152 is equivalent to the spray nozzle being located in the rear half of the second roller brush 152, thereby avoiding interference with the first roller brush 151. In some examples, the spray nozzles 1540 are provided in multiple configurations, and the multiple spray nozzles 1540 are arranged on the mounting base along the length direction (i.e., the axial direction) of the second roller brush, as shown in the figure. Figure 44 The dashed lines (indicated by the axial direction) are spaced in the same direction to ensure that the water flow is evenly sprayed onto the second roller brush 152.

[0246] Because the water spray structure is a long, narrow component, whether the water inlet is located at one end or in the middle, the water flow may not be evenly distributed to each spray nozzle. This can lead to uneven spray distribution on the second roller brush, affecting the cleaning effect. To ensure that the amount of water flowing from each spray nozzle in most water spray structures is the same, in one embodiment, a buffer structure is provided within the water spray structure to allow each spray nozzle to receive the water flow from the inlet evenly. Please refer to [link / reference]. Figure 45 The figure shows an exploded view of the water spray structure and the second roller brush provided in one embodiment of this application. As shown, the water spray structure 154 is elongated and is arranged along the axial direction of the second roller brush 152. Specifically, the direction in which the water spray structure 154 is arranged in the mounting base is parallel to the axial direction of the second roller brush 152, so that its multiple spray nozzles 1540 are evenly distributed on the upper side of the second roller brush 152. Figure 45 As shown, the water spray structure 154 is a long strip-shaped groove structure or a pipe structure, which is arranged along the axial direction of the second roller brush 152. The water spray structure 154 sprays clean water from the clean water tank of the cleaning robot to wet the second roller brush 152, so that the second roller brush 152 can wash the surface to be cleaned when rotating. The water spray structure 154 includes a water inlet 1541 and a water spray nozzle 1540.

[0247] Please see Figure 46 The image shows a schematic diagram illustrating the position of the water spray structure provided in this application installed in the mounting base in one embodiment. Figure 46 The enlarged portion is also considered Figure 45 The schematic diagram of the cross-section of section AA is shown in the figure. The water spray structure 154 includes a water storage tank 1542. In one embodiment, the water storage tank 1542 includes a separable tank body 15420 and a tank cover 15421 that covers the tank body 15420. The tank cover 15421 is snap-fitted onto the tank body 15420 to form a sealed space inside the water storage tank 1542. Of course, in other embodiments, the water storage tank 1542 can also be a one-piece tubular structure.

[0248] like Figure 46 As shown in the enlarged view, the internal space of the water storage tank 1542 is divided into a buffer tank 1543 and a water outlet tank 1544, wherein the buffer tank 1543 is connected to... Figure 45As shown in the diagram, the inlet 1541 and the bottom of the outlet trough 1544 are each equipped with multiple spray nozzles 1540. A certain height separation is provided between the buffer tank 1543 and the outlet trough 1544. Specifically, a liquid level isolation wall 1545 is provided between the buffer tank 1543 and the outlet trough 1544, ensuring that when water from the inlet 1541 enters the storage tank 1542, it first fills / fills the buffer tank 1543 before spreading to the outlet trough 1544. This prevents the water flow from being unevenly distributed to each spray nozzle 1540. In this embodiment, multiple notches 1546 (or toothed notches) are evenly distributed on the liquid level isolation wall to facilitate the flow of water from the buffer tank 1543 into the outlet trough 1544 after the buffer tank 1543 is full.

[0249] In a preferred embodiment, in order to further ensure that the water volume of each spray nozzle in the water outlet is equal, multiple partition structures can be set in the water outlet to further isolate the water outlet into multiple compartments, and a spray nozzle is opened at the bottom of each compartment to achieve the effect of uniform water output from each spray nozzle.

[0250] Please continue reading to section 28. Figure 32 ,as well as Figure 44 In some embodiments, the cleaning device 15 further includes a detachable waste container 155 disposed on the mounting base 150. The waste container 155 is arranged parallel to the front of the first roller brush 151 and is used to collect waste rolled up by the first roller brush 151. Specifically, the waste container 155 is elongated, and a waste opening 1550 is provided on the side of the waste container 155 facing the first roller brush 151, with the waste opening 1550 located at the upper part of that side (the upper part being the portion of the waste container near the chassis). This allows waste rolled up by the first roller brush 151 to enter the waste opening 1550 and settle at the bottom of the waste container 155, preventing waste from falling off. In some examples, the waste container 155 and the mounting base 150 are provided with corresponding snap-fit ​​structures (not shown), which allow the waste container 155 to be easily detached from and installed on the mounting base 150. Furthermore, in some examples, a handle structure 1551 is also provided on one side of the trash can 155, which makes it easier for operators to remove the trash can for cleaning.

[0251] In some embodiments, the trash can 155 has a drain hole on the side facing the surface to be cleaned. The drain hole is used to discharge liquid from the trash can 155 to the surface to be cleaned, so that the second roller brush 152 of the cleaning device 15 can clean the liquid. In this way, liquid contained in the trash swept in by the first roller brush 151 can be prevented from accumulating in the trash can.

[0252] Please continue reading. Figure 24The chassis 11 is further provided with a wastewater collection component 16 at its bottom, used to collect wastewater from the cleaning robot cleaning the surface to be cleaned. For example, the wastewater is the liquid left by the second roller brush 152 of the cleaning device 15 mentioned in any of the foregoing embodiments when washing the surface to be cleaned. The wastewater collection component 16 is connected to the built-in receiving space of the wastewater tank 12 of the cleaning robot, thereby allowing the wastewater to be collected and transported to the built-in receiving space. In some embodiments, the wastewater collection component 16 may be disposed on the cleaning device 15, or it may be disposed separately from the cleaning device 15, such as being disposed after the drive wheel 131. This application does not limit this; it is sufficient that the wastewater collection component 16 is disposed behind the second roller brush 152 in the cleaning device 15.

[0253] In one embodiment, please refer to Figure 26 The waste collection assembly 16 includes a waste inlet 160 and a scraper structure disposed at the waste inlet. The scraper structure includes a first scraper 161 and a second scraper 162, which are located at the front and rear sides of the waste inlet 160, respectively, to alternately collect wastewater as the cleaning robot moves forward and backward. Specifically, the main bodies of the first scraper 161 and the second scraper 162 are arranged parallel to each other and in contact with the surface to be cleaned. When the cleaning robot moves forward, the first scraper 161 deforms under force to allow wastewater to enter the waste inlet 160, while the second scraper 162 acts as a barrier to the wastewater at the rear, thus the wastewater is collected in the waste inlet 160. When the cleaning robot moves backward, the second scraper 162 deforms under force to allow wastewater from the rear to enter the waste inlet 160, while the first scraper 161 acts as a barrier to the wastewater at the front, thus the wastewater can also be collected in the waste inlet 160. The sewage that gathers at the inlet 160 is sucked into the built-in storage space of the sewage tank 12 by the suction component of the cleaning robot.

[0254] In one embodiment, the sludge collection assembly includes a sludge inlet seat and a suction rake. See also... Figure 47 The figure shows a schematic diagram of the arrangement of the sludge collection component in a robot in one embodiment of this application. As shown, the water suction rake 164 can be pulled out from the sludge inlet seat 163 in a direction parallel to the axis of the first roller brush and the second roller brush for maintenance or replacement.

[0255] The waste inlet seat 163 is mounted on the chassis of the robot 1. For example, the waste inlet seat 163 is fixed to the chassis by locking screws. Please refer to [link to relevant documentation]. Figure 48 and 49 , Figure 48 The diagram shown is a structural schematic of a dirt collection component in one embodiment of this application. Figure 49The figure shows a schematic diagram of the assembly structure of the sludge collection component's inlet seat and suction rake in one embodiment of this application. As shown, in this embodiment, the sludge inlet seat 163 is provided with a locking structure 165 for locking onto the chassis corresponding to the chassis mounting surface. Specifically, the locking structure 165 is, for example, a stud with internal threads. The sludge inlet seat 163 includes a sludge inlet channel 1630 for connecting to a sewage pipe and a first groove 1631.

[0256] like Figure 49 As shown, the suction rake 164 is slidably and detachably mounted on the sludge inlet seat 163. The suction rake 164 includes a second sliding groove 1641, a sludge inlet 1640, and a scraper structure 1642. The second sliding groove 1641 corresponds to the first sliding groove 1631 and is used to engage with the first sliding groove 1631 when the suction rake 164 is slidably inserted into the sludge inlet seat 163. The sludge inlet 1640 connects the sludge inlet channel 1630 of the sludge inlet seat 163 and the sludge suction space of the scraper structure 1642, allowing wastewater collected in the sludge suction space to enter the sewage tank through the sludge inlet 1640 and the sludge inlet channel 1630.

[0257] In this embodiment, the first end of the sludge inlet seat 163 is configured for the second slide groove 1641 to insert into the first insertion portion 1632 of the first slide groove 1631, and the second end is provided with a first stop portion 1633. The first end of the water suction rake 164 is provided with a second stop portion 1643, and the second end is configured for the second slide groove 1641 to insert into the second insertion portion 1644 of the first slide groove 1631.

[0258] Please see Figure 50 and Figure 51 , Figure 50 The diagram shown is an exploded view of the dirt collection component in one embodiment of this application. Figure 51 The figure shows a cross-sectional view of the sludge collection assembly in one embodiment of the present application. As shown, the water-absorbing rake 164 includes: a scraper seat 1645, a pressure plate 1646, and a scraper structure 1642.

[0259] The scraper seat 1645 is slidably and detachably mounted on the sludge inlet seat 163, including the second slide groove 1641 and a first connecting part 1647 for mounting the scraper structure 1642; the first connecting part 1647 is a stepped structure, and the scraper seat 1645 is provided with multiple locking holes.

[0260] The pressure plate 1646 is fixed on the scraper seat 1645 and is used to restrict the scraper structure 1642 on the scraper seat 1645; the pressure plate 1646 is provided with hooks 16460 corresponding to the plurality of locking holes, which are used to fix the pressure plate 1646 through the locking holes of the scraper seat 1645 to lock the scraper structure 1642 on the scraper seat 1645.

[0261] The scraper structure 1642 includes a second joint 1648 for engaging the first joint 1647, and a first scraper and a second scraper located on the front and rear sides of the inlet, respectively, forming a suction space for the inlet. In this embodiment, the first joint 1647 is a stepped structure, the second joint 1648 is a folded edge structure conforming to and fitting the stepped structure, and a protective structure 16450 for protecting the folded edge structure is formed on the scraper seat 1645. The first and second scrapers are integrally formed.

[0262] The first and second scraper blades have constricted ends at their first and second ends, respectively, and are arranged parallel to each other between the constricted ends. The first scraper blade has multiple notches spaced apart to allow wastewater to enter the suction space.

[0263] Please continue reading. Figure 52 The diagram shows a schematic of the chassis structure in one embodiment of this application. The chassis 11 has an integrally formed water tank 110 on top, and a suction assembly 112 is installed on the chassis.

[0264] In one embodiment, such as Figure 52 and combined Figure 23 As shown, a groove formed by a sidewall 1101 is formed on the top surface of the chassis 11. This groove is an integrally formed clean water tank 110. A first positioning structure 1102 is provided on the clean water tank 110. The first positioning structure 1102 corresponds to a second positioning structure (not shown) provided on the wastewater tank 12, and is used to limit the relative movement between the wastewater tank 12 and the clean water tank 110. Specifically, the first positioning structure 1102 is, for example, a groove structure provided on the sidewall 1101 of the clean water tank 110, and the second positioning structure is a protrusion structure provided on the wastewater tank 12 that complements the groove structure. Of course, the first positioning structure 1102 can also be a protrusion structure, and the second positioning structure can also be a protrusion structure. This application does not limit the specific form of the positioning structure. It should be understood that in some other embodiments, a water supply component can also be installed on the top of the chassis. The water supply component is connected to the clean water tank to help deliver water from the clean water tank to the cleaning device.

[0265] In one embodiment, such as Figure 52 and combined Figure 23 As shown, the clean water tank 110 is provided with a first pipe structure 1103 that is connected to the sludge collection component 16. When the sewage tank 12 is combined with the chassis 11, the first pipe structure 1103 is connected to the built-in receiving space 120 to provide a water flow path from the sludge collection component to the built-in receiving space 120. The sewage collected at the inlet of the sludge collection component enters the built-in receiving space 120 of the sewage tank 12 through the first pipe structure 1103.

[0266] In one embodiment, such as Figure 52 and combined Figure 23 As shown, the outer edge of the top of the chassis 11 extends upward at least partially to form a recessed area 113 together with the side wall 1101 of the clean water tank 110. The recessed area 113 is used to install the suction assembly 112. When the wastewater tank 12 is attached to the chassis 11, the suction assembly 112 communicates with the internal receiving space 120 of the wastewater tank 12 to create a negative pressure within the internal receiving space 120, thereby allowing the wastewater collected by the wastewater collection assembly 16 to be transported into the internal receiving space 120 through the first pipe structure 1103.

[0267] Specifically, in one embodiment, the wastewater tank may also be integrally molded from materials such as plastic, metal, or other materials used in the art, and configured to complement the chassis. When combined with the chassis, the wastewater tank is capable of enclosing the clean water tank and providing protection for associated devices, components, assemblies, or mechanisms / structures mounted or integrated onto the chassis. In some examples, the wastewater tank and the chassis can be detachably combined using various suitable means (e.g., screws, clips, etc.).

[0268] In one embodiment, please refer to Figures 52 to 54 and combined Figure 23 , Figure 53 The diagram shown is a schematic structural diagram of a horizontal cross-section of a sewage tank in one embodiment of this application. Figure 54 The diagram shown is a structural schematic of a vertical cross-section of a cleaning robot according to one embodiment of this application. The wastewater tank 12 includes an outer shell 121, which is configured as a hollow structure with an upward-facing opening to form an internal receiving space 120 for recycling wastewater collected by the cleaning robot. When the wastewater tank 12 is nested within the clean water tank 110 and combined with the chassis 11, the internal receiving space 120 overlaps with the receiving space 1100 of the clean water tank 110 in the vertical direction. For example, nesting the outer shell 121 within the clean water tank 110 means that at least a portion of the area of ​​the outer shell 121 constituting the internal receiving space 120 encloses the clean water tank 110, as shown in the diagram. Figure 54As shown, the internal receiving space 120 of the outer shell 121 is U-shaped, enclosing the water purification tank 110. That is, at least a portion of the inner receiving space 120 in the outer shell 121 can fit against the side wall 1101 of the water purification tank 110, thereby forming the overlapping area in the vertical direction, as shown. Figure 54 The area shown in the diagram is the region corresponding to P.

[0269] like Figure 52 As shown, in one embodiment, the rear outer edge of the top of the chassis 11 extends upward so that the sidewall of the chassis 11 is stepped relative to the sidewall 1101 of the water tank 110, with a lower front and a higher rear. Therefore, as Figure 23 and Figure 53 As shown, the outer shell 121 of the sewage tank 12 can be configured as an inverted stepped shape that complements the side wall 114 of the chassis 11. Thus, when the sewage tank 12 is nested within the clean water tank 110 to be combined with the chassis 11, an overlapping area can be formed where the sewage tank 12 is nested within the clean water tank 110. Specifically, as... Figure 54 As shown, the inverted stepped portion of the outer shell 121, at least the raised step, extends downward along the side wall 1101 of the water purification tank 110 to the side wall 114 of the chassis 11, thus, from a vertical plane perspective, the outer shell 121 and the side wall 1101 of the water purification tank 110 have an overlapping area. Furthermore, the hollow structure of the outer shell 121 forms an internal storage space 120 for storing wastewater, and the side wall 1101 of the water purification tank 110 encloses and forms a storage space 1100 for accommodating purified water. That is to say, the internal storage space 120 and the storage space 1100 of the water purification tank have an overlapping area in the vertical direction, as shown... Figure 54 The area shown in the diagram is the region corresponding to P.

[0270] It should be understood that in embodiments where the built-in accommodating space and the accommodating space of the clean water tank overlap in the vertical direction, space utilization is ensured on the one hand, and the vertical weight balance of the cleaning robot is ensured on the other hand. Taking the outer shell of the sewage tank as an example, which can be configured as an inverted stepped shape that complements the side wall of the chassis, the clean water in the clean water tank decreases continuously as it is used, causing the water level to drop continuously. At the same time, the sewage collected by the cleaning robot increases continuously in the sewage tank. Since the two have an overlapping area, the collected sewage will also sink to the space where the clean water tank is located in the vertical space distribution, thereby ensuring the weight balance of the cleaning robot.

[0271] In one embodiment, such as Figure 23As shown, the outer side of the outer shell 121 is provided with a handle structure 122 to facilitate the operation of the cleaning robot. For example, the handle structure 122 is symmetrically arranged on the left and right sides of the outer shell 121, which makes it convenient for operators or installers to connect or disassemble the sewage tank with the chassis, and also makes it convenient for operators to move the cleaning robot.

[0272] In one embodiment, such as Figure 24 and Figure 53 As shown, the outer shell 121 is provided with a water inlet 123, and the internal accommodating space 120 is provided with a second pipeline structure 124 connected to the water inlet 123. When the wastewater tank 12 is combined with the chassis 11, the second pipeline structure 124 is connected to the clean water tank 110 to provide a water flow path from the water inlet 123 to the clean water tank 110. For example, the water inlet 123 is used to dock with a workstation, thereby adding water to the clean water tank 110 of the cleaning robot through the workstation. The water flows from the workstation through the second pipeline structure 124 and then into the clean water tank 110. The workstation can be, for example, the workstation disclosed in any embodiment of this application or other workstations. The workstation can add water to the cleaning robot through the circulating water replacement method described in any embodiment of this application, or it can use other methods to add water to the cleaning robot.

[0273] In some embodiments, such as Figure 23 and Figure 53 As shown, the wastewater tank 12 also includes a bottom plate 125 integrally formed inside the outer casing 121. The inner surface of the outer casing 121 cooperates with the bottom plate 125 to form an external receiving space 126 for accommodating the battery 17. Furthermore, a limiting structure 127 is provided on the inner surface of the outer casing 121 to limit the position of the battery 17 in the external receiving space 126. The battery 17 is used to supply power to other electrical components (e.g., control devices, moving devices, cleaning devices, etc.). In one embodiment, the battery 17 may be, for example, a conventional nickel-metal hydride (NiMH) battery or a lithium battery.

[0274] As previously mentioned, the wastewater tank is configured as an integrally molded structure complementary to the chassis, thereby enabling the clean water tank to be sealed when assembled. Further, in embodiments where the wastewater tank includes an outer shell and a base plate integrally formed inside the outer shell, the outer shell and the base plate together seal the clean water tank. To prevent leakage from the clean water tank, in some embodiments, a sealing strip is provided at the bottom of the clean water tank, thereby enabling the clean water tank to be sealed when the wastewater tank is assembled with the chassis. In other embodiments, a sealing strip is provided at the point where the wastewater tank meets the opening of the clean water tank, thereby enabling the clean water tank to be sealed; for example, a sealing strip is provided at the bottom of the outer shell and the base plate in the area corresponding to the opening of the clean water tank. In this application, when the wastewater tank 12 is nested on the clean water tank 110 and combined with the chassis 11, it covers the top opening of the clean water tank 110. In this configuration, the wastewater tank 12 acts as a cover for the clean water tank 110 to seal it. In a specific implementation, a sealing structure is provided between the wastewater tank 12 and the clean water tank 110, for example, a groove structure formed on the wastewater tank 12 corresponding to the top edge of the side wall of the clean water tank 110. A sealing ring (e.g., a rubber ring) is provided in the groove structure. When the wastewater tank 12 covers the clean water tank 110, the opening at the top of the clean water tank 110 can be sealed by the sealing structure.

[0275] It should be noted that the classification of the various devices, components, modules, or parts of the cleaning robot in any of the above embodiments is not restrictive, and those skilled in the art can redefine them according to specific application scenarios. For example, in some embodiments, at least one of the clean water tank, wastewater tank, suction component, water supply component, and waste collection component of the cleaning robot can also be used as a component of the water system. That is to say, the cleaning robot includes a water system, and the water system includes at least one of the clean water tank, wastewater tank, suction component, water supply component, and waste collection component.

[0276] In some embodiments, please refer to Figure 55 and Figure 56 and combined Figure 23 , Figure 55 The diagram shown is a top view of the sewage tank in one embodiment of this application. Figure 56 The figure shows a schematic diagram of a wastewater tank fitted into a clean water tank in one embodiment of this application. As shown, the front of the outer casing 121 has a vertically extending receiving area 128. When the wastewater tank 12 is fitted into the clean water tank to be combined with the chassis 11, the receiving area 128 is located in the front area of ​​the clean water tank 110 to provide installation space for the control device 18 (as shown in the figure). Figure 56(Illustrative). Specifically, in some examples, the receiving area 128 is, for example, part of the external receiving space 126, and the receiving area 128 is separated from the external receiving space 126 by the limiting structure 127. In other examples, the receiving area 128 may also be, for example, connected to the external receiving space 126. It should be understood that the receiving area 128 is configured to be vertically continuous to facilitate electrical connection between the control device 18 and related devices, components, assemblies, or mechanisms / structures mounted on the chassis 11. The receiving area 128, as part of or connected to the external receiving space 126, allows the control device 18 to easily connect to the battery 17, thereby making the space layout more reasonable.

[0277] In this application, by changing the shape of the sewage tank 12, a receiving area 128 and an external receiving space 126 are formed in the external space of the sewage tank 12. This not only makes the distribution of water in the storage space inside the sewage tank 12 relatively dispersed, but also makes the stored sewage relatively dispersed around the cleaning robot and in a relatively low position. Even if the cleaning robot stops / brakes suddenly during operation, it will not have excessive overall inertia due to the forward flow of water. In other words, by changing the external space of the sewage tank 12, the internal space of the sewage tank 12 is also optimized, thereby reducing the risk of tipping over caused by the forward flow of water. At the same time, the receiving area 128 and the external receiving space 126 formed in the external space of the sewage tank 12 more reasonably arrange heavy components such as batteries, so that the batteries are placed in the center of the overall cleaning robot, which further stabilizes the overall weight of the cleaning robot.

[0278] In some application scenarios, it is necessary to empty the water tanks of the cleaning robot's clean water tank and wastewater tank. For example, when the wastewater tank is full and needs to be changed, the water in the wastewater tank needs to be emptied and then clean / purified water added; or, if the cleaning robot is not used for a long time, the water in each tank needs to be emptied to prevent the water in each tank from becoming smelly or affecting the performance of the cleaning robot; or, when the cleaning robot needs to be moved, the water in the tank also needs to be emptied. In some embodiments, the wastewater in the wastewater tank is discharged to the corresponding area on the workstation by means of a suction component and a wastewater outlet, such as... Figure 3 The wastewater containment area 210 shown in the diagram, along with a water supply assembly and a spray structure, discharges water from the clean water tank to the workstation. In other words, the cleaning robot must be connected to a workstation and requires two independent pathways and ports to discharge water from both the clean water tank and the wastewater tank. This limits the cleaning robot's drainage methods, resulting in a complex structure and cumbersome operation.

[0279] Therefore, this application also proposes a drainage component that can be applied to a robot including a first receiving cavity and a second receiving cavity to drain liquid from the robot's first and second receiving cavities. The robot can be, for example, the cleaning robot described in any of the foregoing and subsequent embodiments of this application, or a cleaning robot of other structures or robots with other functions. This application does not limit the robot structure to which the drainage component is applied, as long as it has a first receiving cavity and a second receiving cavity. For ease of understanding and description, the following embodiments use the application of the drainage component to the cleaning robot proposed in this application as an example. Here, the first receiving cavity corresponds to the receiving space corresponding to the clean water tank, and the second receiving cavity corresponds to the receiving space for containing sewage corresponding to the sewage tank. Therefore, in the following description, the first receiving space will also be referred to as the receiving space of the clean water tank, and the second receiving space will be referred to as the built-in receiving space of the sewage tank. When those skilled in the art apply the drainage component to robots with other structures, they can correspond the first and second receiving cavities to their actual structures according to the specific robot structure. The following embodiments of this application are merely examples and should not be construed as limitations on this application.

[0280] Please see Figures 57 to 60 and combined Figure 23 , Figure 57 The diagram shown is a schematic representation of a drainage component configured on a cleaning robot in one embodiment of this application. Figure 58 The diagram shown is a three-dimensional structural schematic of a drainage component in one embodiment of this application. Figure 59 This application is displayed as being in Figure 58 A schematic diagram of the CC section of the drainage component in the illustrated embodiment. Figure 60 This application is displayed as being in Figure 58 A schematic diagram of the DD cross-section of the drainage component in the illustrated embodiment is shown. As shown, the drainage component 3 is disposed on the body 10 of the cleaning robot 1. The drainage component 3 includes a first inlet section 30, a second inlet section 31, and a main body 32. The first inlet section 30 is used to connect to the receiving space 1100 of the clean water tank 110. The second inlet section 31 is used to connect to the internal receiving space 120 of the wastewater tank 12. The main body 32 is provided with a drain outlet 320 and a channel structure (not labeled). The channel structure of the main body 32 is connected to the first inlet section 30, the second inlet section 31, and the drain outlet 320, so that the liquid in the receiving space 1100 of the clean water tank 110 and the internal receiving space 120 of the wastewater tank 12 enters the channel structure through the first inlet section 30 and the second inlet section 31, respectively, and is discharged through the drain outlet 320 when the drain outlet 320 is opened.

[0281] The first water inlet section 30 can be connected to the water purification tank 110 by means of a spiral joint. In order to prevent water leakage, a first sealing structure 300 is provided on the periphery of the first water inlet section 30. When the first water inlet section 30 is configured to be connected to the water purification tank 110, the first sealing structure 300 seals the gap between the first water inlet section 30 and the water purification tank 110. The first sealing structure 300 can be set as a sealing ring or other structure adapted to the first water inlet section 30, such as rubber material.

[0282] In order to ensure that the waste in the sewage tank 12 can smoothly enter the channel structure (such as the second liquid flow channel 35 mentioned later) through the second water inlet section 31, the inlet diameter of the second water inlet section 31 must be adapted to the size of the inlet of the cleaning robot's dirt collection component 16 and its corresponding pipeline. In other words, the inlet diameter of the second water inlet section 31 must not be smaller than the size of the dirt collection component 16 and its corresponding pipeline that can allow the waste to enter. This ensures that during the process of discharging sewage from the sewage tank 12, the waste in the sewage can smoothly enter the channel structure and be discharged, avoiding the situation where the waste in the sewage gets stuck / accumulates at the second water inlet section 31 and blocks the liquid flow path.

[0283] The drain outlet 320 can be opened or closed via a cover 33 that can be opened or closed. For example, manually opening the cover 33 opens the drain outlet 320, and manually closing the cover closes the drain outlet 320. To facilitate manual opening of the cover 33, in one embodiment, such as... Figure 58 As shown, a handle 330 is provided on the cover 33. The cover 33 is, for example, threaded onto the drain outlet 320, so that the cover 33 can be opened or closed by gripping and turning the handle 330. To avoid liquid leakage and cross-contamination between clean water and wastewater, in one embodiment, a third sealing structure 331 is provided on the side of the cover 33 facing the drain outlet 320. The third sealing structure 331 is adapted to the structural design of the drain outlet 320 and the cover 33, and may include multiple or a single seal, which may be made of, for example, rubber.

[0284] Furthermore, in one embodiment, as Figures 57 to 60 and combined Figure 23 As shown, the drainage component 3 can be tilted on the cleaning robot 1 and is located below the containment space 1100 of the clean water tank 110 and the built-in containment space 120 of the wastewater tank 12. Thus, when the drain outlet 320 is opened, the liquid in the containment space 1100 and the built-in containment space 120 can be discharged through the channel structure and the drain outlet 320 by gravity.

[0285] In one embodiment, such as Figure 58 and Figure 59 and combined Figure 23As shown, the channel structure includes a first liquid flow channel 34 and a second liquid flow channel 35. The first liquid flow channel 34 connects the first water inlet section 30 and the drain outlet 320. The second liquid flow channel 35 connects the second water inlet section 31 and the drain outlet 320. In this embodiment, when the drain outlet 320 is open, the liquid flowing into the first liquid flow channel 34 from the receiving space 1100 via the first water inlet section 30 is discharged, and the liquid flowing into the second liquid flow channel 35 from the built-in receiving space 120 via the second water inlet section 31 is discharged. In this embodiment, the drain outlet 320 may be formed, for example, at the end of the two liquid flow channels (34, 35), or it may be an opening connecting the two liquid flow channels (34, 35) at the end of the two liquid flow channels (34, 35). Wherein, the end of the two liquid flow channels (34, 35) refers to the end of the drainage component 3 away from the receiving space 1100 for connecting the water tank 110 and the built-in receiving space 120 of the sewage tank 12, so as to be configured on the cleaning robot, that is, the end of the drainage component 3 facing the outside of the cleaning robot.

[0286] For example, the first liquid flow channel 34 and the second liquid flow channel 35 may be arranged side by side within the main body 32, or one may surround the other within the main body 32. Please refer to [link / reference]. Figure 61 This application is shown as being in Figure 58 A schematic diagram of the EE cross-section of the drainage component in the illustrated embodiment, combined with... Figures 58 to 61 In such Figures 58 to 61 In the embodiment shown, the second liquid flow channel 35 is arranged around the first liquid flow channel 34. Of course, the first liquid flow channel 34 can also be arranged around the second liquid flow channel 35. This application does not limit this.

[0287] In some embodiments, such as Figures 57 to 61 As shown, the drainage assembly 3 further includes a first water outlet section 36 disposed on the main body 32. The first water outlet section 36 is connected to the first liquid flow channel 34, so that when the drain outlet 320 is closed, the liquid in the containing space 1100 of the clean water tank 110 can flow out from the first water inlet section 30 through the first liquid flow channel 34 and the first water outlet section 36 (in the form of...). Figure 59 (The arrows in the diagram indicate the direction of liquid flow). When the drainage component 3 is configured on the cleaning robot, the first water outlet section 36 is also connected to the water spray structure of the cleaning robot 1, so that the liquid in the water tank 1100 of the cleaning robot 1 is pumped through the first water inlet section 30, the first liquid flow channel 34 and the first water outlet section 36 to the water spray structure for discharge. In this way, the cleaning robot 1 can also drain water by docking with the workstation.

[0288] Furthermore, to prevent impurities in the liquid within the containment space 1100 of the water tank 110 from affecting the performance of the water supply components or contaminating the pipes in the cleaning robot 1, in one embodiment, a first filter structure 340 is provided in the first liquid flow channel 34 in the liquid flow direction toward the first water outlet section 36 to filter the liquid flowing into the first water outlet section 36 from the first liquid flow channel 34. It should be understood that since the first filter structure 340 is only provided in the liquid flow direction toward the first water outlet section 36, it does not have a filtering function for the liquid flowing from the first liquid flow channel 34 toward the drain outlet 320. When discharging liquid through the drain outlet 320, impurities in the liquid output from the containment space 1100 of the water tank 110 can be discharged along with it, and impurities in the liquid previously filtered and flowing into the first water outlet section 36 from the first liquid flow channel 34 can also be discharged.

[0289] In some embodiments, such as Figures 57 to 61 As shown, the drainage assembly further includes a second outlet section 37 disposed on the main body 32. The second outlet section 37 is connected to the second liquid flow channel 35, so that when the drain outlet 320 is closed, the liquid in the built-in receiving space 120 of the sewage tank 12 can flow out from the second inlet section 31 through the second liquid flow channel 35 and the second outlet section 37 (in the form of...). Figure 60 (The arrows in the diagram indicate the direction of liquid flow). When the drainage component 3 is mounted on the cleaning robot 1, the second water outlet section 37 is also connected to the sewage outlet of the cleaning robot 1, so that the liquid flowing out of the second water outlet section 37 is discharged through the sewage outlet. For example, when the cleaning robot 1 docks with the workstation and uses the suction component to discharge sewage, the suction component can use a pumping method to transport the liquid in the built-in receiving space 120 from the second water inlet section 31 through the second liquid flow channel 35 and the second water outlet section 37 to the sewage outlet for discharge. Of course, when the cleaning robot 1 docks with the workstation, it can also use gravity to flow the liquid in the built-in receiving space 120 from the second water inlet section 31 through the second liquid flow channel 35 and the second water outlet section 37 to the sewage outlet for discharge.

[0290] Furthermore, to prevent impurities in the liquid within the built-in containment space 120 of the wastewater tank 12 from affecting the performance of the suction assembly or contaminating the pipes in the cleaning robot 1, in one embodiment, a second filter structure 350 is provided in the second liquid flow channel 35 in the liquid flow direction toward the second outlet section 37 to filter the liquid flowing into the second outlet section 37 from the second liquid flow channel 35. It should be understood that since the second filter structure 350 is only provided in the liquid flow direction toward the second outlet section 37, it does not have a filtering function for the liquid flowing from the second liquid flow channel 35 toward the drain outlet 320. When discharging liquid using the drain outlet 320, impurities in the liquid output from the built-in containment space 120 of the wastewater tank 12 can be discharged along with it, and impurities in the liquid flowing into the second outlet section 37 from the second liquid flow channel 35 that were previously filtered can also be discharged.

[0291] To prevent sewage from leaking through the second filtration structure 350 and flowing directly to the second outlet section 37, in some embodiments, a second sealing structure 310 is provided at the connection between the second liquid flow channel 35 and the second inlet section 31. The second sealing structure 310 is used to seal the passage of the second liquid flow channel 35 into the second inlet section 37 without the second filtration structure 350, so that the sewage in the sewage tank must pass through the second filtration structure 350 in the second liquid flow channel 35 before entering the second inlet section.

[0292] It should be understood that the above Figures 57 to 61 In any embodiment and its description, the first inlet section, second inlet section, first outlet section, and second outlet section refer to ports used to connect other components, chambers, etc., for liquid inflow or outflow. These can be a pipe structure extending from the main body, or simply an opening on the main body; this application does not limit this. Furthermore, Figures 57 to 61 The structures, shapes, or positional relationships of the first inlet section, second inlet section, first outlet section, and second outlet section shown are merely illustrative for ease of understanding and are not intended to limit this application. For example, such as... Figure 60 The second inlet section 31 and the second outlet section 37 shown in the diagram can be interchanged to achieve the above functions, that is, Figure 60 The second inlet section 31 can serve as the second outlet section 37, and the second outlet section 37 serves as the second inlet section 31, as shown in the figure. Figure 62 As shown, Figure 62 This is a schematic diagram of drainage using a second inlet section and a second outlet section in another embodiment of this application. Here, as the arrows in the figure indicate the liquid flow direction, the liquid in the built-in containment space 120 of the sewage tank 12 is transported from the second inlet section 31 through the second liquid flow channel 35 and the second outlet section 37 to the sewage outlet for discharge.

[0293] The following combination Figure 23 ,as well as Figures 57 to 62 The process of configuring the drainage component on the cleaning robot 1 and working in conjunction with it as part of the cleaning robot 1 is described.

[0294] When the cleaning robot 1 is draining water through the docking workstation, the water supply component pumps the liquid in the clean water tank 110, thereby transporting the liquid in the containment space 1100 of the clean water tank 110 through the first water inlet section 30, the first liquid flow channel 34 and the first water outlet section 36 to the spray structure for discharge. Due to the action of the first filter structure 340, impurities in the liquid in the clean water tank 110 are filtered into the drainage component 3. In addition, the suction component pumps the liquid in the sewage tank 12, thereby transporting the liquid in the internal containment space 120 of the sewage tank 12 through the second water inlet section 31, the second liquid flow channel 35 and the second water outlet section 37 to the sewage outlet for discharge. Due to the action of the second filter structure 350, impurities in the liquid in the sewage tank 12 are also filtered into the drainage component 3.

[0295] When the cleaning robot 1 is not draining water through the docking workstation, water can be manually drained. In this case, simply push the cleaning robot 1 to a suitable location, open the cover 33, and the liquid in the clean water tank 1100 and the wastewater tank 120 will flow under gravity through the first inlet section 30 into the first liquid flow channel 34 and through the second inlet section 31 into the second liquid flow channel 35, respectively. The liquid in the two liquid flow channels (34, 35), impurities in the liquid, and impurities remaining in the drainage component 3 are discharged through the drain outlet 320. Thus, in addition to its drainage function, the drainage component 3 can also collect impurities from the various water paths of the cleaning robot 1 for easy cleaning. Of course, when both the clean water tank 110 and the wastewater tank 12 of the cleaning robot 1 are empty, the impurities remaining in the drainage component 3 can also be cleaned directly through the drain outlet 320 by opening the cover 33.

[0296] In one embodiment, the control device 18 of the cleaning robot is used to control the operation of various components on the cleaning robot body. For example, the control device 18 can be used to control the cleaning robot to perform the automatic water changing method disclosed in any embodiment of this application, and can also perform cleaning work, as well as positioning, mapping, and navigation using navigation technology. Furthermore, the control device 18 can be used with... Figures 15 to 21 The robot's power management system in any embodiment is electrically connected to provide or coordinate power supply to the various electrical components on the robot. In this example, the control device 18 may be equivalent to... Figures 15 to 21For the control device 40 in any embodiment, please refer to the foregoing description of the control device 40, which will not be repeated here. In some embodiments, the control device 18 includes a memory (e.g., a hard disk, flash memory, random access memory) and a processor (e.g., a central processing unit, application processor), etc.

[0297] In one embodiment, the cleaning robot further includes a cover structure. In some examples, such as Figure 23 As shown, the cover structure includes a front cover 190 that covers the front of the wastewater tank 12 to protect the control device 18 disposed within the trough at the front of the wastewater tank 12. In some examples, such as Figure 23 As shown, the cover structure includes a top cover (cover plate) 191, which covers the top of the sewage tank 12 to seal the internal accommodating space 120 and the external accommodating space 126. The top cover 191 can be magnetically attached to the top of the sewage tank 12. For example, a first magnetic component is provided on the top cover 191, and a second magnetic component is provided on a corresponding portion of the top of the sewage tank, so that the top cover 191 can be magnetically attached to the top of the sewage tank 12. Of course, in other embodiments, the top cover 191 can also be attached to the top of the sewage tank 12 by snap-fit ​​or axial connection; this application does not limit this. In other examples, such as... Figure 23 As shown, the cover structure includes a sensing module 193, which is disposed on the top of the sewage tank 12 to cover the top of the sewage tank 12 together with the top cover 191. The sensing module 193 is used to sense the surrounding environment of the cleaning robot, and the sensing module 193 includes sensing components such as a vision sensor and a laser sensor. In the following embodiments, the top cover is also referred to as a cover plate.

[0298] This application also provides a built-in box detection mechanism for a cleaning robot, the built-in box detection mechanism comprising: an element to be inspected and a detection element.

[0299] The element to be tested is disposed on the built-in box; the detection element is movably disposed on the cover plate on top of the cleaning robot. The detection element detects the presence of the built-in box through mechanical contact. When the element to be tested is detected, it does not affect the closing of the cover plate to the receiving space; however, when the element to be tested is not in contact, it prevents the cover plate from closing the receiving space. In this application, preventing the cover plate from closing the receiving space means that the cover plate is blocked by the detection element when closing the receiving space, preventing the cover plate from completely closing the top of the receiving space. That is, a noticeable gap remains between the cover plate and the top of the receiving space, indicating to the operator that the cover plate has not been completely closed, thereby prompting the operator to check whether the built-in box is placed in the receiving space.

[0300] In one embodiment, the cleaning robot's housing includes a battery compartment and a wastewater tank isolated from the battery compartment. See also... Figure 63 The figure shows an exploded view of the battery and internal housing of the cleaning robot according to one embodiment of this application. As shown, the wastewater tank 12 also includes a base plate integrally formed inside the outer shell. The inner surface of the outer shell cooperates with the base plate to form an external receiving space 126 for accommodating the battery 17. The external receiving space 126 forms the battery compartment 126. Furthermore, the inner surface of the outer shell is provided with a limiting structure to restrict the position of the battery 17 in the external receiving space 126. The battery 17 is used to supply power to other electrical components (e.g., control devices, moving devices, cleaning devices, etc.). In one embodiment, the battery 17 may be, for example, a conventional nickel-metal hydride (NiMH) battery or a lithium battery. The wastewater tank 12 is spatially isolated from the battery compartment 126.

[0301] The built-in box 192 is detachably installed in the built-in receiving space 120 of the sewage tank 12, that is, the built-in box 192 can be removed relative to the built-in receiving space 120 of the sewage tank 12 so that the user can clean the solid waste collected in the built-in box 192. In this embodiment, a first mounting part 1201 is provided on the inner wall of the built-in receiving space 120 of the sewage tank 12, and a second mounting part 1921 is provided on the side wall of the built-in box 192 for cooperating with the first mounting part 1201. Specifically, the first mounting part 1201 is a guide rail structure or a raised rib structure formed on the inner wall of the sewage tank, and the second mounting part 1921 is a guide groove structure that cooperates with the guide rail structure or the raised rib structure. The built-in box 192 is installed in a predetermined position in the sewage tank 12 through the cooperation of the protrusion and the recess.

[0302] In one embodiment, the built-in box 192 is a filter box for filtering solid waste from sewage. The filter box has multiple filter holes on its side wall or bottom to trap large particles of solid waste from the sewage inlet pipe inside. The top of the filter box has a test element corresponding to the detection element. Please refer to [link to relevant documentation]. Figure 64The figure shows a cross-sectional view of the internal structure of the built-in box in one embodiment of this application. As shown, the built-in box 192 includes a box body 1922 and a cover 1923. The box body 1922 provides a space for accommodating retained waste. The cover 1923 includes a top cover and a sewage inlet channel 19230 integrally formed with the top cover for sewage to flow in. The sewage inlet 19230 connects to the sewage inlet and a first pipe structure 1103. Sewage collected at the sewage inlet of the sewage collection component enters the sewage inlet channel 19230 through the first pipe structure 1103, and then enters the accommodating space provided by the box body 1922 of the built-in box 192 (in the direction shown by the arrow in the figure). Solid waste in the sewage is retained inside the box body, while the sewage enters the built-in accommodating space 120 of the sewage tank 12 through the filter holes. In this embodiment, as shown in the figure... Figure 64 As indicated by the middle arrow, the wastewater entering the built-in box 192 flows from bottom to top through the wastewater inlet channel 19230 and falls from top to bottom into the receiving space provided by the box body 1922 through the opening 19231 of the cover of the built-in box.

[0303] In another embodiment, the built-in box is a dust collection box equipped with a dust collection bag, which is a microporous filter bag. In this embodiment, when a disposable filter bag is used, the user only needs to discard the disposable filter bag and replace it with a new one to clean the garbage collected in the built-in box. This facilitates cleaning the garbage in the built-in box, avoids secondary pollution, and provides a better user experience. Please refer to [link / reference]. Figure 65 The figure shows a cross-sectional view of the internal structure of the built-in box in another embodiment of this application. As shown, the built-in box 192 includes a box body 1922 and a cover 1923. The box body 1922 provides a receiving space for receiving a dust collection bag 1924 that has expanded under negative pressure. The cover 1923 includes a top cover and a sludge inlet channel 19230 integrally formed with the top cover for the inflow of airflow carrying garbage.

[0304] Please see again Figure 66 The figure shows a schematic diagram of a dust collection bag fixed to an internal box in one embodiment of this application. As shown, the dust collection bag 1924 is fixed to the outlet portion of the cover 1923 for receiving solid waste from the inlet channel 19230. In this embodiment, when the cleaning robot is in vacuum mode, the inlet channel 19230 of the internal box 192 is connected to the negative pressure channel of the cleaning robot, collecting waste from the negative pressure channel into the dust collection bag 1924 in the internal box 192.

[0305] In one embodiment, the component under test is disposed on the top surface of the inner box and has a first guide portion. In this embodiment, the component under test is a slope structure with an inclined surface of 15°-45°. In some embodiments, the inclined surface is, for example, 15°, 16°, 17°, 18°, 19°, 20°, 21°, 22°, 23°, 24°, 25°, 26°, 27°, 28°, 29°, 30°, 31°, 32°, 33°, 34°, 35°, 36°, 37°, 38°, 39°, 40°, 41°, 42°, 43°, 44°, or 45°. Please refer to further details. Figure 63 The component to be tested 1925 is integrally formed on the top surface of the built-in box 192, and is a ramp structure. The inclined surface of the ramp structure has an inclination angle of about 30°, and the inclined surface forms the first guide portion.

[0306] In one embodiment, the detection element is movably mounted on the cover plate 191 on top of the cleaning robot via a pivot connection. The detection element is passively in different states due to its own gravity when the cover plate 191 is raised or lowered. In this embodiment, the cover plate 191 has a first pivot joint on the surface corresponding to the accommodating space, that is, a first pivot joint is provided on the lower surface of the cover plate 191, and the detection element is pivotally connected to the lower surface of the cover plate 191. In other words, when the cover plate 191 is closed on top of the cleaning robot, the detection element is also covered under the cover plate 191 and is not visible.

[0307] In this embodiment, the detection element includes a second shaft joint that is shaft-connected to the first shaft joint and a detection part connected to the second shaft joint. See also... Figure 67 and Figure 68 , Figure 67 The diagram shown illustrates a detection element mounted on a cover plate in a hanging state according to one embodiment of this application. Figure 68 The figure shows a schematic diagram of the detection element in a flat position on the cover plate in one embodiment of this application. As shown, the detection element 194 includes a second shaft connection portion 1941, a connecting portion 1942, and a detection portion 1943. The detection portion 1943 further includes a counterweight portion 1944 and a second guide portion 1945.

[0308] In this embodiment, the cover plate 191 is further provided with a limiting part 1910 adjacent to the first shaft connection part 1911 on the surface of the accommodating space 120. The limiting part 1910 is a stop or a barrier, disposed on one side of the first shaft connection part 1911. When the second shaft connection part 1941 of the detection element 194 is shaft-connected with the first shaft connection part 1911, the swing amplitude of the detection element 194 is limited. Specifically, in actual design, the swing amplitude of the detection element 194 can be controlled by changing the distance between the limiting part 1910 and the shaft connection point of the second shaft connection part 1941 and the first shaft connection part 1911, or by changing the height of the limiting part 1910. In this embodiment, the swing amplitude range of the detection element 194 is between 0° and 100°, for example... Figure 68 The detection element 194 shown is in a 0° lying position on the cover plate 191. Figure 67 The detection element 194 shown is in a 90° downward position relative to the cover plate 191.

[0309] For example, when the cover plate 191 is opened, the detection element 194 hangs down naturally under the pull of gravity, as if... Figure 67 In the state shown, because the detection element 194 is restricted by the limiting part 1910, it can only swing to one side, thus better ensuring its contact with the element under test 1925. When the detection element 194 contacts the element under test 1925, it is guided by the first guide part of the element under test 1925, and the detection element 194 adjusts from a hanging state to a horizontal state. For example, when the detection element 194 does not detect the element under test 1925, it remains in a hanging state and falls / closes with the cover 191. In order to ensure that the detection element 194 does not swing significantly during this process, the limiting part 1910 can ensure that the detection part 1943 of the detection element 194 contacts the first mounting part formed on one side wall of the receiving space 120 for mounting the inner box, thereby preventing the cover 191 from closing the receiving space 120.

[0310] Please see Figure 69 and Figure 70 , Figure 69 The diagram shown is a frontal view of a detection element in one embodiment of this application. Figure 70The figure shows a side view of the detection element in one embodiment of this application. As shown, one end of the connecting portion 1942 of the detection element 194 is connected to the second shaft connection portion 1941, and the other end is connected to the detection portion 1943. In one embodiment, the length of the connecting portion 1942 determines the degree to which the detection element 194 prevents the cover plate 191 from closing the receiving space 120. In other words, the longer the connecting portion 1942 is designed, the larger the gap when the detection element 194 prevents the cover plate 191 from closing the receiving space 120, and the more obvious the prompt to the user.

[0311] In one embodiment, to ensure that the detection element 194 can quickly or promptly droop naturally under the pull of gravity when the cover 191 is opened, such as Figure 70 In the embodiment shown, the axis O of the second shaft connection 1941 of the detection element 194 is outside the centerline of the connection 1942. That is, the detection element 194 is designed as an eccentric structure, making it easier for the detection element 194 to change from a lying to a vertical position under the pull of gravity. During the process of the detection element 194 changing from a lying to a vertical position, due to the influence of its own eccentric axis, the detection part 1943 has a... Figure 70 The kinetic potential energy indicated by the arrow, to prevent the detection unit 1943 from moving excessively in the direction indicated by the arrow, at this time, the limiting part 1910, which is adjacent to the first shaft connection part 1911 and is a stop or retaining wall, restricts the excessive swing of the detection unit 1943, so that the detection element 194 can be in a downward position of approximately 90° relative to the cover plate 191, thereby ensuring that the first abutment part 1946 of the detection element 194 is well parallel to the second abutment part on the top end face of the first mounting part 1201. Please refer to Figure 71 The image shown is a schematic diagram of the detection element drooping down when the cover is lifted in one embodiment of this application.

[0312] In another embodiment, to ensure that the detection element 194 can quickly or promptly droop naturally under the pull of gravity when the cover plate 191 is lifted, the detection part of the detection element 194 is also provided with a counterweight part 1944. The counterweight part 1944 is used to fix a counterweight element (not shown) by means of snapping, screw fastening or heat fusion. In this embodiment, the counterweight element is, for example, an iron block or an aluminum block, which has a larger mass / weight than the detection part of the plastic material, so as to increase the weight of the detection part 1943 of the detection element 194, so that when the cover plate 191 is lifted, the detection element 194 is subjected to gravity, and its distal detection part 1943 moves downward so that the detection element as a whole droops naturally.

[0313] In one embodiment, the detection portion 1943 of the detection element 194 includes a second guide portion 1945 for contacting the first guide portion of the element under test 1925; the second guide portion 1945 is used to adjust the detection element 194 from a downward state to a horizontal state when it contacts the first guide portion. In this embodiment, it is presented as follows: Figure 67 As shown, the second guide portion 1945 has a curved surface; in other words, the second guide portion 1945 is an arc surface. When the arc-shaped second guide portion contacts the inclined first guide portion of the element to be inspected 1925, as the cover plate 191 continues to be closed, the detection element 194 continues to move downwards. At this time, the second guide portion 1945 of the detection element 194 will slide along the inclined surface under the action of the inclined surface, thereby causing the entire detection element 194 to flip into a horizontal state. During this process, the cover plate 191 is not obstructed by external forces and smoothly closes the opening of the receiving space of the cleaning robot. Please refer to... Figure 72 The image shown is a schematic diagram of the detection element flipping into a horizontal state when the cover is closed in one embodiment of this application.

[0314] In one embodiment, the detection part 1943 of the detection element 194 includes a first abutting part 1946. The first abutting part 1946 is used to abut against a side wall of the accommodating space 120 when the built-in box 192 is not placed in the accommodating space 120. Specifically, a first mounting part 1201 for mounting the built-in box 192 is formed on a side wall of the accommodating space 120. The top surface of the first mounting part 1201 has a second abutting part 1202 for abutting against the first abutting part 1946. In this embodiment, the second abutting part is the top end face of the first mounting part 1201, which is a plane. Correspondingly, in order to ensure that the first abutting part 1946 and the top end face of the first mounting part 1201 are in full contact and abut against each other, the first abutting part 1946 is also a plane.

[0315] Please see Figure 73The figure shows a schematic diagram of a state where the cover plate fails to close completely in one embodiment of this application. As shown in the figure, in this embodiment, when the cover plate 191 is opened, the detection element 194 hangs down naturally due to gravity. When the inner box 192 is not placed in the receiving space 120, the first abutment 1946 on the detection part 1943 of the detection element 194 continues to move downwards as the cover plate 191 closes, and finally lands on the top end face of the first mounting part 1201 formed on the side wall of the receiving space 120, i.e., the second abutment. At this time, the cover plate 191 is blocked by the detection element 194 when closing the receiving space 120, so that the cover plate 191 cannot completely close the top of the receiving space 120; that is, a noticeable gap remains between the cover plate 191 and the top of the receiving space 120. Figure 72 The gap G shown indicates that the cover 191 has failed to close properly, thus prompting the operator to check whether the built-in box is placed in the receiving space 120.

[0316] In another embodiment, the component to be tested is disposed on one side wall of the built-in box, the component to be tested having a first guide portion that passes through and protrudes from the top surface of the built-in box, the top surface of the built-in box having an opening for the first guide portion to pass through.

[0317] Please see Figure 74 The figure shows an exploded view of the built-in box in another embodiment of this application. As shown, the built-in box 192 includes a box body 1922 and a cover 1923 detachably fitted onto the box body 1922. An element to be inspected 1925 protruding from the opening of the box body 1922 is formed on the inner wall of the box body 1922. The element to be inspected 1925 has a first guide portion. In this embodiment, the element to be inspected is a wedge-shaped structure or a ramp structure with an inclined surface of 15°-45°. In some embodiments, the inclined surface of the wedge-shaped structure or ramp structure... For example, 15°, 16°, 17°, 18°, 19°, 20°, 21°, 22°, 23°, 24°, 25°, 26°, 27°, 28°, 29°, 30°, 31°, 32°, 33°, 34°, 35°, 36°, 37°, 38°, 39°, 40°, 41°, 42°, 43°, 44°, 45°, 46°, 47°, 48°, 49°, 50°, 51°, 52°, 53°, 54°, 55°, 56°, 57°, 58°, 59°, or 60°. Figure 74In the illustrated embodiment, the inclined surface of the ramp structure has an inclination angle of approximately 45°, and the inclined surface forms the first guide portion. Correspondingly, the cover 1923 has an opening 19230 (or notch) for the wedge structure or ramp structure to pass through and protrude from the cover 1923.

[0318] In one embodiment, the cover is snap-fitted onto the box body; please also refer to... Figure 75 , Figure 75 The figure shows a schematic diagram of the built-in box assembly structure in another embodiment of this application. As shown, the box body 1922 is provided with a first engaging portion 19220 and a second engaging portion 19221 on opposite side walls. Correspondingly, the cover body 1923 is provided with a third engaging portion 19230 that engages with the first engaging structure 19220 and a fourth engaging portion 19231 that engages with the second engaging structure 19221 on opposite sides.

[0319] The built-in box provides a storage space for accumulating waste. The lower surface of the cover has an inlet channel for connecting to a sewage tank. The inlet of the inlet channel connects to the sewage tank's drain pipe, and the outlet connects to the internal space of the box. The inlet channel connects to the inlet (which connects to the sewage tank's drain pipe) and a first pipe structure. Sewage collected at the inlet of the waste collection assembly enters the inlet channel via the first pipe structure and then flows into the storage space provided by the box. Solid waste in the sewage is retained inside the box, while the sewage enters the built-in storage space of the sewage tank through filter holes.

[0320] In one embodiment, such as Figure 75 As shown, the upper surface of the cover 1923 has two grooves 19232 for the user to hold and operate the cover 1923, and the two grooves 19232 are formed on opposite sides of the access channel.

[0321] Please see Figure 76 The figure shows a schematic diagram of the contact between the detection element and the element to be detected in one embodiment of this application. As shown, when the cover plate 191 is lifted, the detection element 194 hangs down naturally under the pull of gravity, as if... Figure 76 In the state shown, when the detection element 194 contacts the element under test 1925, it is guided by the first guide portion of the element under test 1925, and the detection element 194 is adjusted from a hanging state to a horizontal state. During this process, the cover plate 191 is not blocked by external forces and smoothly covers the opening of the receiving space of the cleaning robot.

[0322] Please see Figure 77The figure shows a schematic diagram of a cover handle in one embodiment of this application. As shown, in this embodiment, a handle 195 that can be flipped relative to the cover 191 is provided on the surface of the cover 191 corresponding to the receiving space 120. In this embodiment, the handle 195 includes a shaft connection portion 1951 and a handle 1952 that are pivotally connected to the cover 191. The handle 195 can be flipped 180° relative to the cover 191. Under normal circumstances, the handle is fixed to the surface of the cover corresponding to the receiving space by a snap-fit ​​or torsion spring. When the cover 191 is closed on top of the cleaning robot, the handle 195 is also hidden under the cover 191 and is not visible.

[0323] Please see Figure 78 The figure shows a schematic diagram of the cover handle flipping in one embodiment of this application. As shown, when the operator needs to move or transfer the cleaning robot, it can be done as follows: Figure 78 Open the cover 191 in the direction indicated by arrow A, and rotate the handle 195 on the inner side of the cover 191 180°, as shown. Figure 78 The direction indicated by arrow B opens the handle 195, allowing the operator to grip the handle 195 to move or drag the cleaning robot as a whole.

[0324] Please see Figures 79 to 81 The figure shows a schematic diagram of the cover handle flipping in another embodiment of this application. As shown, the handle 195 includes a flipping arm 1953 and an extension arm 1954 axially connected to the flipping arm 1953. The distal end of the extension arm 1954 has a handle for the user to pull the robot.

[0325] exist Figures 79 to 81 In the illustrated embodiment, the flipping arm 1953 of the handle 195 rotates in a first-dimensional manner (e.g., Figure 80 (As indicated by the rotating arrow in the image) it is housed on the inner side of the cover plate 191, and the extension arm 1954 rotates in a second dimension (as shown by the rotating arrow in the image). Figure 81 (As indicated by the rotating arrow in the diagram) it is housed on the inner side of the cover plate 191. The rotating arm 1953 of the handle 195 has a rotation range of 180°, and the rotating arm 1954 has a rotation range of 90°.

[0326] like Figure 79As shown, the flipping arm 1953 and extension arm 1954 of the handle 195 are folded and retracted onto the surface of the cover plate 191 corresponding to the receiving space. Under normal circumstances, the handle 195 is fixed to the surface of the cover plate 191 corresponding to the receiving space by means of snap-fit ​​or torsion spring. When the cover plate 191 is closed on the top of the cleaning robot, the flipping arm 1953 and extension arm 1954 of the handle 195 are also covered under the cover plate 191 and are not visible.

[0327] like Figure 80 and Figure 81 As shown, when operators need to move or relocate the cleaning robot, they can do so as follows: Figure 80 The method shown involves rotating the handle 195's flipping arm 1953 180° in a first-dimensional rotation; this stage is the first rotational unfolding. If the operator deems the handle too short due to factors such as arm length, further adjustments can be made. Figure 81 The second rotation unfolding operation is performed in the manner shown, in which the originally retracted extension arm 1954 is rotated 90° in a second dimension, so that the extension arm 1954 unfolds relative to the flipping arm 1953 to further extend the length of the handle 195.

[0328] The inner surface of the cover plate is also provided with a first locking block and a second locking block for engaging the tilting arm in its retracted and tilted states, respectively. The first locking block and the second locking block are respectively located on opposite sides of the tilting axis of the tilting arm. Please refer to [link / reference]. Figure 82 The figure shows a schematic diagram of the engagement method of the flip arm in one embodiment of this application. As shown, the first locking block 1912 is located on the inner side of the flip shaft (or shaft joint) of the flip arm 1953, and is used to engage and fix the flip arm 1953 when it is folded and retracted onto the inner surface of the cover plate 191. The second locking block 1913 is located on the outer side of the flip shaft (or shaft joint) of the flip arm 1953, that is, on the side closer to the edge of the cover plate 191, and is used to engage and fix the flip arm 1953 when it is unfolded after flipping, so as to maintain its unfolded state and facilitate the operator's pulling. It should be understood that the first locking block and the second locking block can be set in the same way on both sides of the flip shaft of the flip arm.

[0329] In one embodiment, the connection between the flip arm and the extension arm of the handle has an interference fit structure. See also... Figure 83 and Figure 84 and combined Figure 82 , Figure 83 The diagram shown is an exploded view illustrating the connection relationship between the flip arm and the extension arm in one embodiment of this application. Figure 84 The diagram shown illustrates the connection relationship between the flip arm and the extension arm in one embodiment of this application. Figure 83 and Figure 84 As shown, the interference fit structure 1955 includes: a connecting seat 19550, a rotating shaft 19551, a positioning part, and a spring pin.

[0330] The connecting seat 19550 is fixed to the distal end of the flip arm 1953. In this embodiment, both the flip arm 1953 and the connecting seat 19550 are metal parts. The connecting seat 19550 is fixed to the middle position of the distal end of the flip arm 1953 by welding. The connecting seat 19550 includes a shaft hole 19552 and a pin seat 19553 adjacent to the shaft hole 19552 for setting a resilient pin.

[0331] In one embodiment, the connecting seat 19550 further includes a stop structure 19554 for preventing the extension arm 1954 from over-twisting.

[0332] The rotating shaft 19551 is disposed in the shaft hole 19552 to connect the connecting seat 19550 and the proximal end of the extension arm 1954, and is used to allow the extension arm 1954 to expand or retract relative to the flip arm 1953 in a second-dimensional rotational manner.

[0333] The positioning part is located at the proximal end of the extension arm 1954. The positioning part consists of two positioning holes, namely a first positioning hole 19555 and a second positioning hole 19556. It should be understood that in some embodiments, the positioning part may also be a groove structure.

[0334] The elastic pin is constrained within a pin seat 19553 on the connecting seat, for engaging with the first positioning hole 19555 in the retracted state of the extension arm 1954, and engaging with the second positioning hole 19556 in the extended state of the extension arm 1954. Figure 83 As shown, the elastic pin includes a pin head 19557 for falling into the first positioning hole when the extension arm 1954 is retracted or into the second positioning hole when the extension arm is extended; a spring 19558 sleeved on the pin head 19557 for elastically setting the pin head 19557 in the pin seat; and a pin cap 19559 for restricting the pin head 19557 and the spring 19558 in the pin seat. In this embodiment, the pin cap is fixed to the pin seat by screw fastening.

[0335] In this embodiment, the end of the pin corresponding to the first or second positioning hole is a conical or spherical structure, so that when the extension arm is subjected to external force, such as when the extension arm is changed from a retracted state to an extended state, the pin slides out of the first positioning hole and falls into the second positioning hole to stabilize the extended state of the extension arm; when the extension arm is changed from an extended state to a retracted state, the pin slides out of the second positioning hole and falls into the first positioning hole to stabilize the retracted state of the extension arm.

[0336] In the built-in box detection mechanism of this application, the detection element detects the presence of the built-in box through mechanical contact. When the element under test is detected, it does not affect the closing of the cover plate to the receiving space. However, when the element under test is not in contact, it prevents the cover plate from closing the receiving space, so that the cover plate cannot completely cover the top of the receiving space. That is, there is still a noticeable gap between the cover plate and the top of the receiving space, so as to prompt the operator that the cover plate has not been closed, and thus prompt the operator to check whether the built-in box is placed in the receiving space.

[0337] In some embodiments, this application also provides a robot system, which includes a workstation and a robot. The workstation can be configured as the workstation with a power management system provided in any of the foregoing embodiments, or it can be configured as... Figures 1 to 10 The workstation described in any of the embodiments in the relevant description, and the specific structure and working principle of the workstation can be found in the foregoing description of the workstation. Figures 1 to 14 The description will not be repeated here. The robot can be configured as follows: Figures 14 to 21 The robot described in any of the embodiments in the relevant description can also be configured as follows: Figures 22 to 83 The robot or cleaning robot described in any of the embodiments in the related description. It should be understood that, in the example where the robot is configured as a cleaning robot for performing cleaning tasks, the robot system may also be referred to as a cleaning system, which means a combination including a cleaning robot and a workstation.

[0338] This application also provides a computer-readable and writable storage medium storing at least one program, which, when invoked, executes and implements the circulating water replacement method or automatic water replacement method described in any of the above embodiments.

[0339] If the aforementioned functions are implemented as software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to enable a mobile robot installed on the storage medium to execute all or part of the steps of the methods described in the various embodiments of this application.

[0340] In the embodiments provided in this application, the computer-readable and writable storage medium may include read-only memory, random access memory, EEPROM, CD-ROM or other optical disc storage devices, disk storage devices or other magnetic storage devices, flash memory, USB flash drive, portable hard drive, or any other medium capable of storing desired program code in the form of instructions or data structures and accessible by a computer. Additionally, any connection may be appropriately referred to as a computer-readable medium. For example, if instructions are transmitted from a website, server, or other remote source using coaxial cable, fiber optic cable, twisted pair, digital subscriber line (DSL), or wireless technologies such as infrared, radio, and microwave, then the coaxial cable, fiber optic cable, twisted pair, DSL, or wireless technologies such as infrared, radio, and microwave are included in the definition of medium. However, it should be understood that computer-readable and writable storage media and data storage media do not include connections, carrier waves, signals, or other transient media, but are intended for non-transient, tangible storage media. The disks and optical discs used in the application include compact optical discs (CDs), laser optical discs, optical discs, digital multifunction optical discs (DVDs), floppy disks, and Blu-ray discs, where disks typically copy data magnetically, while optical discs use lasers to copy data optically.

[0341] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to various embodiments of this application. Accordingly, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions indicated in the blocks may occur in a different order than those indicated in the drawings. For example, two consecutively indicated blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in a block diagram and / or flowchart, and combinations of blocks in block diagrams and / or flowcharts, can be implemented by a dedicated hardware-based system that performs the specified function or operation, or by a combination of dedicated hardware and computer instructions.

[0342] Based on the above examples, this application provides various embodiments, as follows:

[0343] 1. A drainage assembly for a robot, the robot including a first accommodating cavity and a second accommodating cavity, the drainage assembly including: a first inlet section for communicating with the first accommodating cavity; a second inlet section for communicating with the second accommodating cavity; a main body having a drain outlet and a channel structure, the channel structure being connected to the first inlet section, the second inlet section, and the drain outlet, such that liquid in the first accommodating cavity and the second accommodating cavity enters the channel structure through the first inlet section and the second inlet section respectively, and is discharged through the drain outlet when the drain outlet is opened.

[0344] 2. According to the drainage assembly of Embodiment 1, the channel structure includes: a first liquid flow channel connected to the first water inlet section and the drain outlet; a second liquid flow channel connected to the second water inlet section and the drain outlet; wherein, the drain outlet is used to discharge the liquid flowing into the first liquid flow channel and the second liquid flow channel respectively from the first receiving cavity and the second receiving cavity when it is opened.

[0345] 3. In the drainage assembly according to Embodiment 2, the first liquid flow channel and the second liquid flow channel are arranged side by side, or one liquid flow channel is arranged around the other liquid flow channel.

[0346] 4. In the drainage assembly according to Embodiment 2, a second sealing structure is provided at the connection between the second liquid flow channel and the second water inlet section.

[0347] 5. According to the drainage assembly of Embodiment 2, the drainage assembly further includes a first water outlet section disposed on the main body, the first water outlet section being connected to the first liquid flow channel, so that when the drain outlet is closed, the liquid in the first receiving cavity can flow out from the first water inlet section through the first liquid flow channel and the first water outlet section.

[0348] 6. According to the drainage assembly of embodiment 5, a first filter structure is provided in the first liquid flow channel in the direction of liquid flow toward the first water outlet section for filtering the liquid flowing into the first water outlet section from the first liquid flow channel.

[0349] 7. According to the drainage assembly of Embodiment 5, the first water outlet section is further used to connect to the water spray structure on the robot, so that the liquid in the first accommodating cavity is discharged from the water supply assembly of the robot by means of pumping through the first water inlet section, the first liquid flow channel and the first water outlet section to the water spray structure.

[0350] 8. The drainage assembly according to Embodiment 2 further includes a second water outlet section disposed on the main body, the second water outlet section being connected to the second liquid flow channel, so that when the drain outlet is closed, the liquid in the second receiving cavity can flow out from the second water inlet section through the second liquid flow channel and the second water outlet section.

[0351] 9. According to the drainage assembly of embodiment 8, a second filter structure is provided in the second liquid flow channel in the direction of liquid flow toward the second water outlet section for filtering the liquid flowing into the second water outlet section from the second liquid flow channel.

[0352] 10. According to the drainage assembly of embodiment 8, the second water outlet section is further used to connect to the drain port on the robot so that the liquid flowing out through the second water outlet section is discharged through the drain port.

[0353] 11. According to the drainage assembly of Embodiment 10, the robot's suction assembly pumps the liquid in the second accommodating cavity through the second inlet section, the second liquid flow channel, and the second outlet section to the drain outlet for discharge.

[0354] 12. According to the drainage assembly of Embodiment 1, a first sealing structure is provided on the periphery of the first water inlet section.

[0355] 13. According to the drainage assembly of Embodiment 1, the drain outlet is provided with an openable or closable cover so as to open the drain outlet by opening the cover.

[0356] 14. In the drainage assembly according to Embodiment 13, a third sealing structure is provided on the side of the cover facing the drain outlet.

[0357] 15. The drainage assembly according to Embodiment 13, wherein the cover is provided with a handle for easy opening of the cover.

[0358] 16. The drainage assembly according to Embodiment 1, wherein the drainage assembly is inclinedly disposed on the robot and located below the first and second accommodating cavities, such that by opening the drain outlet, the liquid in the first and second accommodating cavities is discharged through the drain outlet by gravity.

[0359] 17. The drainage assembly according to Embodiment 1, wherein the robot is configured as a cleaning robot.

[0360] 18. A cleaning robot, comprising: a mobile device including drive wheels disposed at the bottom of the cleaning robot; a water system including a first receiving cavity, a second receiving cavity, and a drainage component as described in any one of Embodiments 1 to 17, the drainage component being used to output liquid in the first receiving cavity and the second receiving cavity; and a control device for controlling the mobile device and the water system to work together.

[0361] 19. A cleaning system comprising: a cleaning robot as described in Example 18, and a workstation for docking with the cleaning robot.

[0362] 20. A cleaning device for a robot, the robot including a dirt collection assembly, the cleaning device comprising: a mounting base for mounting on the bottom of the robot's chassis; a roller brush assembly disposed on the mounting base and located in front of the dirt collection assembly for cleaning the surface to be cleaned during rotation; and a blocking mechanism disposed on the mounting base and located in front of the dirt collection assembly for blocking at least a portion of the debris from flowing towards the dirt collection assembly when the robot is moving forward.

[0363] 21. In the cleaning apparatus according to Embodiment 20, the blocking mechanism is further configured to allow liquid or small particulate debris to pass through in the robot's forward state, so as to flow toward the dirt collection assembly.

[0364] 22. In the cleaning apparatus according to embodiment 21, the blocking mechanism contacts the surface to be cleaned in the robot's forward state to form a filter channel, the filter channel being used to allow liquid or small particulate debris to pass through.

[0365] 23. In the cleaning apparatus according to Embodiment 20, the blocking mechanism is further configured to contact the surface to be cleaned in the robot's retracted state to block liquid from passing through.

[0366] 24. The cleaning device according to embodiment 20, wherein the cleaning device includes the dirt collection component, the dirt collection component being disposed on the mounting base.

[0367] 25. The cleaning device according to Embodiment 20, wherein the dirt collection assembly is disposed on the chassis of the robot.

[0368] 26. The cleaning device according to Embodiment 20, wherein the roller brush assembly comprises: a first roller brush rotatably disposed on the mounting base for cleaning the surface to be cleaned during rotation; a second roller brush rotatably disposed on the mounting base and located behind the first roller brush, the second roller brush being wettable to wash the surface to be cleaned during rotation; wherein the blocking mechanism is disposed between the first roller brush and the second roller brush to block at least a portion of the debris on the side facing the first roller brush in the robot's forward state.

[0369] 27. In the cleaning apparatus according to Embodiment 26, the blocking mechanism is arranged along the length direction of the first roller brush and in contact with the first roller brush. In the forward state of the robot, the blocking mechanism is subjected to force to deflect away from the first roller brush.

[0370] 28. In the cleaning apparatus according to Embodiment 26, in the robot's forward state, the distance between the blocking mechanism and the first roller brush is 0 mm to 3 mm.

[0371] 29. The cleaning apparatus according to embodiment 26, wherein the blocking mechanism has an arcuate surface whose curvature aligns with the outer edge of the first roller brush.

[0372] 30. The cleaning apparatus according to embodiment 20, wherein the blocking mechanism is detachably connected to the mounting base.

[0373] 31. The cleaning device according to Embodiment 20, wherein the blocking mechanism comprises: a connecting portion and a blocking portion; the connecting portion is used to connect to the mounting base, and the blocking portion is connected to the connecting portion to block at least a portion of the waste from flowing to the waste collection assembly.

[0374] 32. The cleaning device according to embodiment 31, wherein the blocking mechanism further includes a reinforcing part, which may be disposed on the connecting part to support and reinforce the blocking part.

[0375] 33. The cleaning device according to embodiment 31 further includes an adapter fixed on the mounting base, and the blocking mechanism is detachably snapped onto the adapter.

[0376] 34. In the cleaning apparatus according to embodiment 33, the blocking mechanism can be withdrawn from the adapter in a direction parallel to the axes of the first and second roller brushes.

[0377] 35. The cleaning device according to embodiment 33, wherein the adapter includes a fixing part that is fixedly connected to the mounting base and a snap-fit ​​part integrally formed with the fixing part, the adapter includes an upper groove and a lower groove formed by bending, and a support part for supporting the main body of the blocking structure.

[0378] 36. In the cleaning device according to embodiment 35, the upper groove is a groove that limits the blocking structure in the horizontal direction, and the lower groove is a groove that limits the blocking structure in the vertical direction.

[0379] 37. The cleaning device according to embodiment 35, wherein the blocking structure includes a main body and a blocking part integrally formed with the main body, the main body including a reinforcing part and an upper connecting part and a lower connecting part correspondingly engaged with the upper groove and the lower groove.

[0380] 38. In the cleaning device according to Embodiment 31 or Embodiment 37, a filter structure is provided on the blocking part, the filter structure being used to allow liquid or small particulate waste to pass through in the forward state of the robot.

[0381] 39. In the cleaning apparatus according to embodiment 38, the filter structure is configured as a protrusion on the surface of the blocking portion, or as a hole formed in the blocking portion.

[0382] 40. In the cleaning device according to Embodiment 31 or Embodiment 37, the blocking part is made of a flexible material.

[0383] 41. In the cleaning device according to Embodiment 31 or Embodiment 37, the blocking part is configured as a brush body.

[0384] 42. The cleaning device according to Embodiment 20, wherein the sludge collection assembly comprises: a sludge inlet seat disposed on the chassis of the robot, including a sludge inlet channel for connecting to a sewage pipe and a first chute; and a water suction rake slidably and detachably disposed on the sludge inlet seat, including a second chute corresponding to the insertion of the first chute, a sludge inlet communicating with the sludge inlet channel, and a scraper structure for forming a suction space for the sludge inlet.

[0385] 43. According to the cleaning device of embodiment 42, the water-absorbing rake can be pulled out from the sludge inlet seat in a direction parallel to the axis of the roller brush assembly.

[0386] 44. In the cleaning device according to embodiment 42, the dirt inlet seat is provided with a locking structure for locking onto the chassis corresponding to the chassis mounting surface.

[0387] 45. In the cleaning device according to embodiment 42, the first end of the sludge inlet seat is configured to allow the second slide to be inserted into the first slide, and the second end is provided with a first stop. The first end of the water-absorbing rake is provided with a second stop, and the second end is configured to allow the second slide to be inserted into the second slide.

[0388] 46. ​​The cleaning device according to embodiment 42, wherein the suction rake comprises: a scraper seat, slidably and detachably disposed on the sludge inlet seat, including a second groove and a first connecting portion for setting the scraper structure; a pressure plate, fixed on the scraper seat, for restricting the scraper structure on the scraper seat; and a scraper structure, including a second connecting portion for engaging the first connecting portion, and a first scraper and a second scraper respectively located on the front and rear sides of the sludge inlet to form a sludge suction space for the sludge inlet.

[0389] 47. In the cleaning device according to embodiment 46, the first joint is a stepped structure, the second joint is a folded edge structure conforming to and fitting the stepped structure, and a protective structure for protecting the folded edge structure is formed on the scraper seat.

[0390] 48. In the cleaning device according to embodiment 46, the scraper seat is provided with a plurality of locking holes, and the pressure plate is provided with hooks corresponding to the plurality of locking holes for fixing the pressure plate on the scraper seat.

[0391] 49. In the cleaning device according to embodiment 46, the first scraper and the second scraper are integrally formed.

[0392] 50. The cleaning device according to embodiment 46, wherein the first scraper and the second scraper have two constricted ends formed at the first end and the second end, and are arranged in parallel between the two constricted ends.

[0393] 51. The cleaning device according to embodiment 46, wherein the first scraper is provided with a plurality of notches spaced apart for allowing sewage to enter the suction space.

[0394] 52. The cleaning device according to Embodiment 20 further includes a detachable trash box disposed on the mounting base, the trash box being disposed parallel to the front of the roller brush assembly for collecting trash rolled into the roller brush assembly.

[0395] 53. The cleaning device according to Embodiment 20, wherein a water spray structure is provided on the mounting base, the water spray structure being used to spray water to wet the roller brush assembly.

[0396] 54. The cleaning device according to Embodiment 20, wherein the water spray structure includes a water storage tank, an inlet connected to a clean water tank via a pipeline, a buffer tank connected to the inlet, an outlet tank isolated from the buffer tank at a certain height, and a plurality of spray nozzles disposed at the bottom of the outlet tank.

[0397] 55. In the cleaning device according to embodiment 54, a liquid level isolation wall is provided between the buffer tank and the outlet tank.

[0398] 56. In the cleaning device according to Example 55, the liquid level isolation wall has a plurality of notches or tooth-shaped notches evenly distributed.

[0399] 57. The cleaning device according to embodiment 54, wherein the water outlet tank includes multiple compartments separated by multiple partition structures, and each compartment has a corresponding water spray nozzle at its bottom.

[0400] 58. The cleaning apparatus according to embodiment 54, wherein the water storage tank includes a tank body and a tank cover that covers the tank body.

[0401] 59. In the cleaning apparatus according to Embodiment 20, the mounting base of the roller brush assembly includes a side cover, which is closably disposed on one side of the mounting base for engaging the passive ends of the first roller brush and the second roller brush. When the side cover is open, the first roller brush and the second roller brush of the roller brush assembly can be removed from the outside along their axial direction.

[0402] 60. The cleaning apparatus according to embodiment 59, wherein the side cover is located on the side of the roller brush assembly that protrudes from the robot body.

[0403] 61. The cleaning device according to embodiment 59, wherein the side cover comprises: a cover body having a notch or groove for engaging the passive ends of the first roller brush and the second roller brush; a shaft connection portion being shafted to the rear side of the cover body for providing a rotation shaft to allow the side cover to rotate outward and open when the cover body is unlocked; and a locking portion for fixing the cover body to the mounting base by a locking element.

[0404] 62. The cleaning device according to embodiment 61 further includes a locking portion located on the front side of the cover body.

[0405] 63. In the cleaning device according to embodiment 61, the locking part is located between the shaft connection part and the engaging part.

[0406] 64. The cleaning device according to embodiment 59, wherein the mounting base has a top plate located on top of the roller brush assembly, the top plate being provided with a locking hole or locking groove corresponding to the locking part, and the locking element passing through the locking part and being locked in the locking hole or locking groove.

[0407] 65. The cleaning device according to embodiment 61, wherein the locking element is a resilient pin.

[0408] 66. The cleaning apparatus according to embodiment 61, wherein the side cover further includes a protective sheet fixed to the underside of the cover body to extend the side cover to shield the roller brush assembly.

[0409] 67. In the cleaning apparatus according to Example 66, the protective sheet is a sheet of flexible material.

[0410] 68. In the cleaning apparatus according to Embodiment 59, the active end of the roller brush assembly is provided with a spring element for providing a continuous abutting force to press the passive end of the roller brush assembly against the side cover.

[0411] 69. The cleaning apparatus according to Embodiment 20, wherein the robot is configured as a cleaning robot.

[0412] 70. A cleaning robot, comprising: a mobile device including drive wheels disposed at the bottom of the cleaning robot; a cleaning device as described in any one of embodiments 20 to 69, disposed at the bottom of the cleaning robot for performing cleaning operations; and a control device for controlling the mobile device and the cleaning device to work together.

[0413] 71. A cleaning system comprising: a cleaning robot as described in Example 70, and a workstation for docking with the cleaning robot.

[0414] 72. A cleaning device for a robot, the robot including a dirt collection assembly, the cleaning device including: a mounting base for mounting on the bottom of the robot's chassis; a roller brush assembly disposed on the mounting base and located in front of the dirt collection assembly for cleaning the surface to be cleaned when rotating; wherein the dirt collection assembly includes a dirt inlet seat and a suction rake, the dirt inlet seat being disposed on the chassis of the robot and including a dirt inlet channel for connecting to a sewage pipe and a first chute; the suction rake being slidably and detachably disposed on the dirt inlet seat and including a second chute corresponding to the insertion of the first chute, a dirt inlet communicating with the dirt inlet channel, and a scraper structure for forming a suction space for the dirt inlet.

[0415] 73. According to the cleaning apparatus of embodiment 72, the water-absorbing rake can be pulled out from the sludge inlet seat in a direction parallel to the axis of the roller brush assembly.

[0416] 74. In the cleaning device according to embodiment 72, the dirt inlet seat is provided with a locking structure for locking onto the chassis corresponding to the chassis mounting surface.

[0417] 75. In the cleaning device according to embodiment 72, the first end of the sludge inlet seat is configured to allow the second slide to be inserted into the first slide, and the second end is provided with a first stop. The first end of the water-absorbing rake is provided with a second stop, and the second end is configured to allow the second slide to be inserted into the second slide.

[0418] 76. The cleaning device according to embodiment 72, wherein the suction rake comprises: a scraper seat, slidably and detachably disposed on the sludge inlet seat, including a second groove and a first connecting portion for setting the scraper structure; a pressure plate, fixed on the scraper seat, for restricting the scraper structure on the scraper seat; and a scraper structure, including a second connecting portion for engaging the first connecting portion, and a first scraper and a second scraper respectively located on the front and rear sides of the sludge inlet to form a suction space for the sludge inlet.

[0419] 77. The cleaning device according to embodiment 76, wherein the first joint is a stepped structure, the second joint is a folded edge structure conforming to and fitting the stepped structure, and a protective structure for protecting the folded edge structure is formed on the scraper seat.

[0420] 78. In the cleaning device according to embodiment 76, the scraper seat is provided with a plurality of locking holes, and the pressure plate is provided with hooks corresponding to the plurality of locking holes for fixing the pressure plate on the scraper seat.

[0421] 79. In the cleaning device according to embodiment 76, the first scraper and the second scraper are integrally formed.

[0422] 80. The cleaning device according to embodiment 76, wherein the first scraper and the second scraper have two constricted ends formed at the first end and the second end, and are arranged in parallel between the two constricted ends.

[0423] 81. The cleaning device according to embodiment 76, wherein the first scraper is provided with a plurality of notches spaced apart for allowing sewage to enter the suction space.

[0424] 82. The cleaning device according to embodiment 72, wherein the mounting base includes a side cover that is closably disposed on one side of the mounting base for engaging the passive ends of the first and second roller brushes, wherein the first and second roller brushes of the roller brush assembly can be removed from the outside along their axial direction when the side cover is open.

[0425] 83. The cleaning apparatus according to embodiment 82, wherein the side cover is located on the side of the roller brush assembly that protrudes from the robot body.

[0426] 84. The cleaning device according to embodiment 82, wherein the side cover comprises: a cover body having a notch or groove for engaging the passive ends of the first roller brush and the second roller brush; a shaft connection portion being shafted to the rear side of the cover body for providing a rotation shaft to allow the side cover to rotate outward and open when the cover body is unlocked; and a locking portion for fixing the cover body to the mounting base by a locking element.

[0427] 85. The cleaning device according to embodiment 84 further includes a locking portion located on the front side of the cover body.

[0428] 86. In the cleaning device according to embodiment 84, the locking part is located between the shaft connection part and the engaging part.

[0429] 87. The cleaning device according to embodiment 82, wherein the mounting base has a top plate located on top of the roller brush assembly, the top plate being provided with a locking hole or locking groove corresponding to the locking part, and the locking element passing through the locking part and being locked in the locking hole or locking groove.

[0430] 88. The cleaning device according to embodiment 84, wherein the locking element is a resilient pin.

[0431] 89. The cleaning apparatus according to embodiment 84, wherein the side cover further includes a protective sheet fixed to the underside of the cover body to extend the side cover to shield the roller brush assembly.

[0432] 90. In the cleaning apparatus according to Example 89, the protective sheet is a sheet of flexible material.

[0433] 91. In the cleaning apparatus according to embodiment 82, the active end of the roller brush assembly is provided with a spring element for providing a continuous abutting force to press the passive end of the roller brush assembly against the side cover.

[0434] 92. A cleaning device for a cleaning robot, comprising: a mounting base for mounting on the bottom of the chassis of the cleaning robot; a first roller brush rotatably disposed on the mounting base for cleaning a surface to be cleaned during rotation; and a second roller brush rotatably disposed on the mounting base, the second roller brush being wettable to wash the surface to be cleaned during rotation; wherein, with the forward direction of the cleaning robot as the front, the second roller brush is disposed behind the first roller brush, and the axial distance between the first roller brush and the second roller brush is greater than the sum of the radii of the first roller brush and the second roller brush, so that the first roller brush and the second roller brush do not contact each other during rotation.

[0435] 93. The cleaning apparatus according to embodiment 92, wherein the distribution density of the brush body of the first roller brush is less than the distribution density of the brush body of the second roller brush.

[0436] 94. The cleaning device according to embodiment 92 or 93, wherein the brush bodies of the first roller brush and the second roller brush are respectively configured as V-shaped, and the V-shaped openings of the two are arranged opposite to each other.

[0437] 95. The cleaning apparatus according to embodiment 92, wherein, during the cleaning operation, the rotational speed of the first roller brush is greater than the rotational speed of the second roller brush.

[0438] 96. The cleaning apparatus according to embodiment 92, wherein, in the cleaning operation, the first roller brush is configured to rotate counterclockwise and the second roller brush is configured to rotate clockwise.

[0439] 97. The cleaning device according to embodiment 92, wherein the cleaning device further includes a detachable trash box disposed on the mounting base, the trash box being disposed parallel to the front of the first roller brush for collecting trash rolled into the first roller brush.

[0440] 98. The cleaning device according to embodiment 97, wherein the trash box is configured as an elongated shape, and the trash box has a trash opening on the side facing the first roller brush, and the trash opening is located at the upper part of the side facing the first roller brush.

[0441] 99. The cleaning device according to embodiment 97, wherein the trash box is provided with a drain hole on the side facing the surface to be cleaned, the drain hole being used to discharge liquid in the trash box to the surface to be cleaned.

[0442] 100. The cleaning device according to embodiment 92, wherein the mounting base is provided with a water spraying structure for spraying water to wet the second roller brush.

[0443] 101. The cleaning device according to embodiment 100, wherein the water spray structure includes a water spray nozzle, the water spray nozzle being located on or behind the vertical plane containing the axis of the second roller brush.

[0444] 102. The cleaning device according to embodiment 100, wherein the water spray nozzles are provided in a plurality of positions, and the plurality of water spray nozzles are spaced apart on the mounting base in a direction consistent with the length direction of the second roller brush, so that the water flow is evenly sprayed onto the second roller brush.

[0445] 103. A cleaning robot, comprising: a mobile device including drive wheels disposed at the bottom of the cleaning robot; a cleaning device as described in any of embodiments 92 to 102, disposed at the bottom of the cleaning robot for performing cleaning operations; a water system device connected to the cleaning device for providing water flow to the cleaning device and collecting wastewater after the cleaning device performs cleaning operations; and a control device disposed on the cleaning robot for controlling the mobile device, the cleaning device, and the water system device to work together.

[0446] 104. A cleaning system comprising: a cleaning robot as described in Example 103, and a workstation for docking with the cleaning robot.

[0447] 105. A cleaning robot, comprising: a mobile device including drive wheels disposed at the bottom of the cleaning robot; a cleaning device disposed at the bottom of the cleaning robot, with the forward direction of the cleaning robot as the forward direction, the cleaning device protruding to the right from the maximum outer contour of the body of the cleaning robot on the horizontal plane, for cleaning corner areas during cleaning operations; a water system device connected to the cleaning device, for providing water flow to the cleaning device and collecting wastewater after the cleaning device performs cleaning operations; and a control device disposed on the cleaning robot for controlling the mobile device, the cleaning device, and the water system device to work together.

[0448] 106. The cleaning robot according to embodiment 105, wherein the distance by which the cleaning device protrudes to the right from the maximum outer contour of the body of the cleaning robot on the horizontal plane is 1 cm to 4 cm.

[0449] 107. The cleaning robot according to embodiment 106, wherein the distance by which the cleaning device protrudes to the right from the maximum outer contour of the body of the cleaning robot on the horizontal plane is 2 cm.

[0450] 108. The cleaning robot according to Example 105, wherein the cleaning device is configured as described in any one of Examples 20 to 69, Examples 72 to 82, or Examples 92 to 102.

[0451] 109. A cleaning system comprising: a cleaning robot as described in any of embodiments 105 to 108, and a workstation for docking with the cleaning robot.

[0452] 110. A built-in box detection mechanism for a cleaning robot, the cleaning robot including a receiving space for mounting a built-in box and a cover for closing the receiving space: the built-in box detection mechanism includes: a component to be inspected, disposed on the built-in box; and a detection element, movably disposed on the cover on the top of the cleaning robot, for detecting the presence of the built-in box by mechanical contact and preventing the cover from closing the receiving space when the component to be inspected is not in contact.

[0453] 111. According to the built-in box detection mechanism of embodiment 110, the accommodating space of the cleaning robot includes a battery compartment and a sewage tank isolated from the battery compartment space, and the built-in box is installed in the sewage tank.

[0454] 112. The built-in box detection mechanism according to Embodiment 110, wherein the built-in box is a filter box for filtering solid waste in sewage or a dust collection box equipped with a dust collection bag.

[0455] 113. According to the built-in box detection mechanism of embodiment 110, the built-in box has a sewage inlet channel connected inside the box.

[0456] 114. According to the built-in box detection mechanism of embodiment 110, the component to be tested is disposed on the top surface of the built-in box and has a first guide portion.

[0457] 115. According to the built-in box detection mechanism of embodiment 110, the component to be inspected is disposed on one side wall of the built-in box, the component to be inspected has a first guide portion, the first guide portion passes through and protrudes from the top surface of the built-in box, and the top surface of the built-in box has an opening for the first guide portion to pass through.

[0458] 116. According to the built-in box detection mechanism of embodiment 114 or 115, the element to be inspected is a slope structure with an inclined surface of 15°-45°.

[0459] 117. According to the built-in box detection mechanism of embodiment 114 or 115, the cover plate is provided with a first shaft connection portion on the surface corresponding to the accommodating space; the detection element is shaft-connected to the cover plate, and the detection element includes a second shaft connection portion shaft-connected to the first shaft connection portion and a detection portion connected to the second shaft connection portion.

[0460] 118. According to the built-in box detection mechanism of embodiment 117, the surface of the cover plate corresponding to the accommodating space is further provided with a limiting part adjacent to the first shaft connection part to limit the swing amplitude of the detection element.

[0461] 119. According to the built-in box detection mechanism of embodiment 117, the detection element further includes a connecting portion for connecting the second shaft connection portion and the detection portion, the length of the connecting portion determining the degree to which the detection element prevents the cover plate from closing the receiving space.

[0462] 120. According to the built-in box detection mechanism of embodiment 117, the axis of the second shaft connection is outside the center line of the connection.

[0463] 121. According to the built-in box detection mechanism of embodiment 117, the detection part of the detection element is provided with a counterweight element.

[0464] 122. According to the built-in box detection mechanism of embodiment 117, the detection part of the detection element includes a second guide part for contacting the first guide part; the second guide part is used to adjust the detection element from a hanging state to a horizontal state when contacting the first guide part.

[0465] 123. The built-in box detection mechanism according to embodiment 122, wherein the second guide portion has a curved surface.

[0466] 124. According to the built-in box detection mechanism of embodiment 117, the detection part of the detection element includes a first abutment part for abutting against a side wall of the receiving space.

[0467] 125. The built-in box detection mechanism according to embodiment 124, wherein the first abutting part has a plane for abutting against a side wall of the receiving space.

[0468] 126. According to the built-in box detection mechanism of embodiment 124, a first mounting portion for mounting the built-in box is formed on one side wall of the accommodating space, and the top surface of the first mounting portion has a second abutting portion for abutting against the first abutting portion.

[0469] 127. The built-in box detection mechanism according to embodiment 126, wherein the side wall of the built-in box is provided with a second mounting part for cooperating with the first mounting part.

[0470] 128. In the built-in box detection mechanism according to Embodiment 127, the first mounting part is a guide rail structure, and the second mounting part is a guide groove structure that cooperates with the guide rail structure.

[0471] 129. The built-in box detection mechanism according to Embodiment 110, wherein the built-in box includes: a box body, on which a first engaging portion and a second engaging portion are respectively provided on opposite side walls; and a cover body, which is detachably covered on the box body, on which a third engaging portion corresponding to engaging the first engaging structure and a fourth engaging portion corresponding to engaging the second engaging structure are respectively provided on opposite sides.

[0472] 130. According to the built-in box detection mechanism of embodiment 129, the lower surface of the cover is formed with a sewage inlet channel for connecting to the sewage tank, the inlet of the inlet channel is connected to the sewage discharge pipe of the sewage tank, and the outlet of the inlet channel is connected to the internal space of the box.

[0473] 131. According to the built-in box detection mechanism of embodiment 129, the upper surface of the cover has two grooves for the user to hold and operate the cover, and the two grooves are formed on opposite sides of the entry channel.

[0474] 132. According to the built-in box detection mechanism of embodiment 110, the surface of the cover plate corresponding to the accommodating space is provided with a handle that can be flipped relative to the cover plate.

[0475] 133. According to the built-in box detection mechanism of embodiment 132, the handle is disposed on the surface of the cover plate corresponding to the receiving space in a snap-fit ​​manner or in a torsion spring manner.

[0476] 134. According to the built-in box detection mechanism of embodiment 132, the handle includes a flip arm and an extension arm axially connected to the flip arm, the distal end of the extension arm having a handle for the user to pull the robot.

[0477] 135. According to the built-in box detection mechanism of embodiment 134, the flip arm of the handle is housed on the inner side of the cover plate in a first-dimensional rotational manner, and the extension arm is housed on the inner side of the cover plate in a second-dimensional rotational manner.

[0478] 136. According to the built-in box detection mechanism of embodiment 134, the rotation range of the handle's flipping arm is 180°, and the rotation range of the extension arm is 90°.

[0479] 137. According to the built-in box detection mechanism of embodiment 134, the connection between the flip arm of the handle and the extension arm is provided with an interference fit structure.

[0480] 138. According to the built-in box detection mechanism of Embodiment 137, the interference fit structure includes: a connecting seat, fixed to the distal end of the flip arm, including a shaft hole and a pin seat adjacent to the shaft hole; a rotating shaft, disposed in the shaft hole to axially connect the connecting seat and the proximal end of the extension arm, for allowing the extension arm to expand or retract relative to the flip arm in a second-dimensional rotational manner; a positioning part, opened at the proximal end of the extension arm, including a first positioning hole and a second positioning hole; and an elastic pin, disposed in the pin seat, for engaging with the first positioning hole in the retracted state of the extension arm and engaging with the second positioning hole in the expanded state of the extension arm.

[0481] 139. The built-in box detection mechanism according to embodiment 138, the connecting seat further includes a stop structure for preventing the extension arm from over-twisting.

[0482] 140. According to the built-in box detection mechanism of embodiment 134, the inner surface of the cover plate is further provided with a first locking block and a second locking block for engaging the retracted state and the flipped state of the flipping arm, and the first locking block and the second locking block are respectively disposed on opposite sides of the flipping shaft of the flipping arm.

[0483] 141. A cleaning robot including a receiving space formed in the robot body, an inner box disposed in the receiving space, and a cover for closing the receiving space, the cleaning robot further including an inner box detection mechanism as described in any of embodiments 110 to 140 for detecting the presence of the inner box by mechanical contact.

[0484] 142. A robot comprising a power supply management system, the power supply management system comprising: two terminals electrically connected to a control device of the robot to form a first power supply circuit from the terminals to the control device; a battery electrically connected to the two terminals to form a charging circuit; and a power management module electrically connected to the battery and at least one terminal, configured to activate the charging circuit when the robot docks with a workstation so that the workstation charges the battery through the two terminals, and to deactivate the charging circuit when it is determined that the battery is fully charged so that the workstation supplies power to power-consuming components of the robot in standby mode through the first power supply circuit.

[0485] 143. According to the robot of embodiment 142, when the workstation detects docking with the robot, it outputs a first electrical signal to charge the battery.

[0486] 144. According to the robot described in embodiment 143, when the workstation determines that the battery is fully charged based on the battery power information and when it determines that the robot is still docked, it switches to outputting a second electrical signal to supply power to the power-consuming components of the robot in standby mode.

[0487] 145. In the robot according to embodiment 144, the voltage of the second electrical signal is greater than the rated voltage of the battery.

[0488] 146. In the robot according to embodiment 143, the current of the second electrical signal is set to not exceed 10A.

[0489] 147. According to the robot described in Embodiment 143, the workstation further stops outputting electrical signals when it determines that its current is lower than a preset load value based on the second electrical signal.

[0490] 148. The robot according to embodiment 147, wherein the preset load value is 0 to 400 mA.

[0491] 149. In the robot according to embodiment 142, the power management module is further configured to, when it is determined that the power supply of the two power terminals is abnormal, activate the second power supply circuit so that the robot is powered by the second power supply circuit, wherein the second power supply circuit refers to the circuit from the battery to the control device.

[0492] 150. The robot according to embodiment 142, wherein the power management module includes: a switching unit for turning on or off the electrical connection between the battery and at least one power terminal; and a control unit for controlling the turning on or off of the switching unit according to the state of the robot.

[0493] 151. The robot according to embodiment 150, wherein the switching circuit includes at least two switching transistors connected in reverse series.

[0494] 152. The robot according to embodiment 142, wherein the robot is a cleaning robot.

[0495] 153. The robot according to embodiment 142, wherein the power-consuming components include the control device, parking device, sensor device, or communication device.

[0496] 154. A workstation, comprising a power management system, the power management system comprising: two power supply terminals for connecting to two power terminals corresponding to the robot when the robot docks with the workstation; a power management module electrically connected to the two power supply terminals for detecting when the robot docks with the workstation, outputting a first electrical signal to charge the robot's battery, and, based on the robot's battery level information, determining when the robot's battery is fully charged, and determining when the robot is still docked, switching to outputting a second electrical signal to supply power to power-consuming components of the robot in standby mode.

[0497] 155. The workstation according to embodiment 154, wherein the voltage of the second electrical signal is greater than the rated voltage of the battery.

[0498] 156. In the workstation according to embodiment 154, the current of the second electrical signal is set to not exceed 10A.

[0499] 157. In the workstation described in Embodiment 154, the power management system further determines, based on the second electrical signal, that when its current is lower than a preset load value, it stops outputting the electrical signal.

[0500] 158. The workstation according to embodiment 157, wherein the preset load value is 0-400mA.

[0501] 159. The workstation according to Embodiment 154, wherein the power management module includes: a detection unit, communicatively connected to the robot, for detecting the state of the robot; and a power conversion unit, electrically connected to the two power supply terminals and the detection unit, for outputting the first electrical signal or the second electrical signal based on the state of the robot.

[0502] 160. The workstation according to embodiment 154, wherein the power conversion unit includes a power conversion circuit, the power conversion circuit being used to output a first electrical signal or a second electrical signal based on the robot's state, and to provide power to the detection unit.

[0503] 161. A robotic system comprising: a workstation as described in Examples 154 to 160; and a robot as described in Examples 142 to 153, the robot being capable of docking with the workstation.

[0504] The above embodiments are merely illustrative of the principles and effects of this application and are not intended to limit this application. Any person skilled in the art can modify or alter the above embodiments without departing from the spirit and scope of this application. Therefore, all equivalent modifications or alterations made by those skilled in the art without departing from the spirit and technical concept disclosed in this application should still be covered by the claims of this application.

Claims

1. A cleaning robot, characterized in that, The application relates to a cleaning robot, which comprises: a chassis, including a clean water tank integrally formed on the top of the chassis; a sewage tank nested on the clean water tank to combine with the chassis, including an internal containing space for recycling sewage collected by the cleaning robot, the internal containing space having an overlapping area with the containing space of the clean water tank in the vertical direction; wherein the sewage tank is integrally formed with an external containing space for containing a battery for powering the cleaning robot.

2. The cleaning robot according to claim 1, wherein, The front part of the outer shell of the sewage tank forms an up-and-down through containing area, which is located in the front area of the clean water tank when the sewage tank is combined with the chassis, so as to provide a mounting space for a control device.

3. The cleaning robot according to claim 1, wherein, The bottom of the chassis is provided with a sewage collecting assembly, and the clean water tank is provided with a first pipeline structure communicated with the sewage collecting assembly, the first pipeline structure being communicated with the internal containing space to provide a water flow passage from the sewage collecting assembly to the internal containing space when the sewage tank is combined with the chassis.

4. The cleaning robot according to claim 3, wherein, The sewage collecting assembly comprises a sewage inlet and a scraping strip structure arranged on the sewage inlet, the scraping strip structure comprising a first scraping strip and a second scraping strip, the first scraping strip and the second scraping strip being respectively located on the front side and the rear side of the sewage inlet to alternately collect sewage when the cleaning robot moves forward and backward.

5. The cleaning robot according to claim 1, wherein, The outer edge of the top of the chassis at least partially extends upward to jointly form a groove area with the side wall of the clean water tank, the groove area being used for mounting a suction assembly.

6. The cleaning robot according to claim 1, wherein, The rear outer edge of the top of the chassis extends upward so that the side wall of the chassis is in a stepped shape with the front being lower and the rear being higher relative to the side wall of the clean water tank, and the outer shell of the sewage tank is arranged in a complementary inverted stepped shape with the side wall of the chassis so that the sewage tank is nested on the clean water tank to form the overlapping area.

7. The cleaning robot of claim 1, wherein, The clean water tank is provided with a first positioning structure, and the sewage tank is provided with a second positioning structure corresponding to the first positioning structure, the first positioning structure and the second positioning structure being used for limiting the relative movement between the sewage tank and the clean water tank.

8. The cleaning robot according to claim 7, wherein, The first positioning structure is arranged as a groove structure on the side wall of the clean water tank, and the second positioning structure is arranged as a complementary convex structure.

9. The cleaning robot of claim 1, wherein, The right side wall of the chassis is provided with a recessed area with an opening facing the surface to be cleaned, and a cleaning device arranged on the bottom of the chassis protrudes to the right side of the maximum outer contour of the cleaning robot body in the horizontal plane through the recessed area.

10. The cleaning robot of claim 1, wherein, The sewage tank is arranged as a complementary integrally formed structure with the chassis, and the sewage tank is used for closing the clean water tank when combined with the chassis.

11. The cleaning robot according to claim 1, wherein, The sewage tank comprises an outer shell and a bottom plate integrally formed in the inner part of the outer shell, the outer shell is arranged as a hollow structure with an opening facing upward to form the internal containing space, and the inner surface of the outer shell matches the bottom plate to form the external containing space.

12. The cleaning robot of claim 1, wherein, The outer side of the outer shell of the sewage tank is provided with a hand buckle structure to facilitate the operation of the cleaning robot.

13. The cleaning robot of claim 1, wherein, A water inlet is arranged on the outer shell of the sewage tank, and a second pipeline structure is arranged in the built-in accommodation space and communicates with the water inlet. When the sewage tank is combined with the chassis, the second pipeline structure communicates with the clean water tank to provide a water flow path from the water inlet to the clean water tank.

14. The cleaning robot of claim 1, wherein, The cleaning robot further comprises a front cover which covers the front of the sewage tank to protect a control device arranged in a container groove in the front of the sewage tank.

15. The cleaning robot of claim 1, wherein, The cleaning robot further comprises a top cover which covers the top of the sewage tank to enclose the built-in accommodation space and the outer accommodation space.

16. The cleaning robot according to claim 15, wherein, The top cover is magnetically attached to the top of the sewage tank.

17. The cleaning robot of claim 1, wherein, The chassis is provided with a cleaning device, and the clean water tank is used to provide water flow to the cleaning device.

18. The cleaning robot of claim 1, wherein, The cleaning device comprises a mounting seat, a first roller brush rotatably arranged on the mounting seat for cleaning a surface to be cleaned when rotating, and a second roller brush rotatably arranged on the mounting seat, which can be wetted to wash the surface to be cleaned when rotating. The second roller brush is arranged behind the first roller brush, and the distance between the shaft centers of the first and second roller brushes is greater than the sum of the radii of the first and second roller brushes, so that the first and second roller brushes do not contact each other when rotating.

19. The cleaning robot of claim 18, wherein, The brush distribution density of the first roller brush is greater than that of the second roller brush.

20. The cleaning robot according to claim 18 or 19, characterized in that, The brush bodies of the first and second roller brushes are respectively arranged in a V shape, and the V-shaped openings of the two are oppositely arranged.

21. The cleaning robot of claim 18, wherein, During cleaning, the rotation speed of the first roller brush is greater than that of the second roller brush.

22. The cleaning robot of claim 18, wherein, During cleaning, the first and second roller brushes are arranged to rotate in the same direction, or the first and second roller brushes are arranged to rotate in opposite directions.

23. The cleaning robot of claim 18, wherein, The cleaning device further comprises a garbage box which is detachably arranged on the mounting seat and is arranged in parallel in front of the first roller brush to collect garbage cleaned by the first roller brush.

24. The cleaning robot of claim 23, wherein, The garbage box is arranged in a long strip shape, and one side of the garbage box facing the first roller brush is provided with a garbage opening, and the garbage opening is located at the upper part of the side facing the first roller brush.

25. The cleaning robot of claim 18, wherein, A water spraying opening is arranged on the mounting seat, and the water spraying opening is used to spray water flow to wet the second roller brush.

26. The cleaning robot of claim 25, wherein, The water spraying opening is located on a vertical plane where the axis of the second roller brush is located or behind the vertical plane.

27. The cleaning robot of claim 25, wherein, The water spraying opening is arranged in a plurality of water spraying openings which are arranged at intervals along the length direction of the second roller brush to uniformly spray water flow on the second roller brush.

28. A cleaning system characterized by, The cleaning robot comprises: The cleaning robot according to any one of claims 1 to 27, and a workstation used for interfacing with the cleaning robot.

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