Base station and cleaning system

Abstract

This disclosure provides a base station and a cleaning system. The base station includes at least one receiving cavity and a docking cavity for self-propelled cleaning equipment to dock; the height of the base station is less than 350mm. In this embodiment, the base station has a lower height and can be placed in low-ceilinged spaces, improving its adaptability. Furthermore, the integrated housing is movable; if the integrated housing is embedded, there is no need to move the base station out of the embedded space. Consumables can be replaced simply by moving the integrated housing, making consumable replacement more convenient.

Description

[0001] This disclosure is an application filed on September 15, 2023, under PCT international application number PCT / CN2023 / 119229, which claims priority to Chinese patent application number 202310484553.8, filed on April 28, 2023, entitled "Base Station and Robot System," and Chinese patent application number 202310485465.X, filed on April 28, 2023, entitled "Robot Base Station and Robot System," the entire contents of which are incorporated herein by reference. Technical Field

[0002] This disclosure relates to the field of cleaning equipment technology, and more specifically, to a base station and a cleaning system. Background Technology

[0003] When a self-propelled cleaning device receives a cleaning instruction, it can move to the surface to be cleaned and collect the dirt, completing the cleaning task. This automatic cleaning method can reduce or even replace manual cleaning work. Upon completion of the cleaning task or when other conditions are met, the self-propelled cleaning device returns to the base station, where it can perform necessary maintenance operations, such as charging and dust collection.

[0004] When base stations are embedded, they must first be moved out of the embedded space before consumables can be replaced. Replacing consumables typically requires working from above the base station, and given its height, sufficient vertical operating space is needed above it. Therefore, currently, base stations not only present inconvenience for consumable replacement but also suffer from poor adaptability, making them unsuitable for installation in low-ceilinged spaces, such as under cabinets, washbasin cabinets, or balcony cabinets. Utility Model Content

[0005] This disclosure provides a base station and a cleaning system.

[0006] According to a first aspect of the present disclosure, a base station is provided, the base station comprising: at least one receiving cavity, and a docking cavity for a self-propelled cleaning device to dock;

[0007] The height of the base station is less than 350mm. At least a portion of the receiving cavity is located above the docking cavity, or at least a portion of the receiving cavity is located to the side of the docking cavity.

[0008] Optionally, the ratio of the height of the docking cavity to the height of the base station is 1 / 1.5 to 1 / 3.5.

[0009] Optionally, the base station includes:

[0010] A base station body, the base station body having the receiving cavity and the docking cavity;

[0011] The accommodating cavity has functional spaces, which include at least two of the following functional spaces: a dust collection space, a wastewater storage space, and a cleaning agent storage space;

[0012] The functional spaces are distributed in any of the following ways:

[0013] All of the aforementioned functional spaces are arranged horizontally in parallel above the docking cavity; or

[0014] All of the aforementioned functional spaces are arranged horizontally side-by-side on the sides of the docking cavity; or

[0015] Of all the functional spaces, a portion of the functional spaces are arranged horizontally in parallel above the docking cavity, and another portion of the functional spaces are arranged horizontally in parallel to the side of the docking cavity.

[0016] Optionally, the cavity walls of the functional space form an integrated box;

[0017] The base station body further includes: a clearance opening communicating with the receiving cavity, the clearance opening being configured to allow the integrated housing to pass through;

[0018] The integrated housing is at least movable relative to the base station body between a first position and a second position along a first direction, wherein the first direction is substantially parallel to the plane containing the top wall of the base station body, and / or the first direction is substantially parallel to the direction in which the self-moving cleaning device enters and exits the base station.

[0019] Optionally, when the integrated housing is in the first position, the functional space is located inside the receiving cavity; when the integrated housing is in the second position, the functional space is located outside the receiving cavity and is exposed to the external environment.

[0020] Optionally, the base station further includes:

[0021] A movable component connected to the integrated housing, the movable component being configured to drive the integrated housing to switch at least between a first position and a second position.

[0022] Optionally, the integrated enclosure includes:

[0023] The functional module is detachably installed within the functional space. The functional module includes at least one of the following: a dust collection box located in the dust collection space, a wastewater tank located in the wastewater storage space, and a cleaning agent tank located in the cleaning agent storage space.

[0024] Optionally, the base station further includes: a lifting assembly, and / or a rotating assembly;

[0025] The lifting component is configured to drive the functional module to enter and exit the functional space;

[0026] The rotating component is configured to drive the integrated housing to swing relative to the base station body.

[0027] According to a second aspect of this disclosure, a base station is provided, the base station comprising:

[0028] The base station body includes at least one receiving cavity, the receiving cavity having a functional space, and the cavity wall forming the functional space serves as an integrated housing;

[0029] The base station body further includes: a clearance opening for the integrated housing to pass through, and a docking cavity for the self-propelled cleaning equipment to dock; the integrated housing is movable relative to the base station body between a first position and a second position;

[0030] At least one transmission tube is configured to deliver or output fluid to the functional space; one end of the transmission tube is fixed to the integrated housing, and the transmission tube moves under the influence of the integrated housing.

[0031] Optionally, the functional space includes at least two of the following: a dust collection space, a wastewater storage space, and a cleaning agent storage space, and the functional spaces are distributed in any of the following ways:

[0032] All of the aforementioned functional spaces are arranged horizontally in parallel above the docking cavity; or

[0033] All of the aforementioned functional spaces are arranged horizontally side-by-side on the sides of the docking cavity; or

[0034] Of all the functional spaces, a portion of the functional spaces are arranged horizontally in parallel above the docking cavity, and another portion of the functional spaces are arranged horizontally in parallel to the side of the docking cavity.

[0035] Optionally, the transmission tube includes at least one of the following:

[0036] A sewage inlet pipe through which sewage flows to the sewage storage space;

[0037] A drain pipe through which wastewater flows out of the wastewater storage space passes;

[0038] A cleaning agent delivery pipe through which the cleaning agent flowing out of the cleaning agent storage space passes;

[0039] A dust collection pipe through which airflow passes to the dust collection space.

[0040] Optionally, the inner wall of the docking cavity also has air outlets and dust collection outlets distributed at intervals;

[0041] The base station further includes: a dust collection fan that provides suction for dust collection, and a blower pipe that connects the blower outlet and the dust collection fan; the dust collection pipe connects the dust collection space and the dust collection outlet;

[0042] The dust collection pipe includes a first pipe and a second pipe. The first pipe is connected to the base station body and communicates with the dust collection port. The second pipe is connected to the integrated housing and communicates with the dust collection space. The first pipe and the second pipe can move relative to each other.

[0043] Optionally, one end of the inlet pipe is fixed to the integrated housing and communicates with the inlet of the sewage storage space; the inlet pipe moves as the integrated housing moves; or,

[0044] The base station further includes: a connecting pipe, which is connected to the integrated housing and communicates with the sewage storage space; the sewage inlet pipe is connected to the connecting pipe and moves relative to the connecting pipe.

[0045] Optionally, the base station further includes:

[0046] A sewage pump is installed on the bottom wall of the integrated housing and moves with the integrated housing. The sewage pump is configured to provide driving force for discharging sewage from the sewage storage space.

[0047] Optionally, the sewage pump includes: a pump body and an inlet for introducing liquid into the pump body;

[0048] The liquid inlet is connected to the bottom wall of the integrated box and communicates with the sewage storage space.

[0049] Optionally, the base station further includes:

[0050] A liquid inlet pipe, configured to provide cleaning fluid for at least cleaning components of the self-moving cleaning device;

[0051] A liquid inlet connector, connected to the liquid inlet pipe, configured to communicate with an external water source to deliver cleaning fluid from the external water source to the liquid inlet pipe, the liquid inlet connector being rotatably connected to the liquid inlet pipe; and / or,

[0052] The base station further includes: a liquid outlet connector, which is connected to a sewage pipe. The sewage pipe is configured to allow sewage flowing out of the functional space to pass through. The liquid outlet connector is configured to allow sewage flowing out of the sewage pipe to pass through. The liquid outlet connector is rotatably connected to the sewage pipe.

[0053] Optionally, the base station further includes:

[0054] A relay board is connected to the base station body;

[0055] A first wire, one end of which is connected to an electrical component fixed on the integrated housing, and the other end of which is connected to the transfer plate;

[0056] The second wire is connected to the relay board and the main control module respectively.

[0057] Optionally, the base station body includes:

[0058] A housing having the receiving cavity;

[0059] A base, which is detachably connected to the housing and located inside the docking cavity, has a cleaning tank.

[0060] Optionally, the base station body further includes:

[0061] A locking assembly is connected to the base and the housing respectively, and the locking assembly is configured to: lock the connection between the base and the housing, and unlock the connection between the base and the housing.

[0062] A cleaning system is provided according to a third aspect embodiment of the present disclosure, the cleaning system comprising: a self-cleaning mobile device, and a base station as described in the first aspect embodiment or the second aspect embodiment.

[0063] In this embodiment, the base station is lower in height and can be placed in low-ceilinged spaces, improving its adaptability. Furthermore, the integrated enclosure is movable; if it is embedded, the base station does not need to be moved out of its embedded space. Consumables can be replaced simply by moving the integrated enclosure, making consumable replacement more convenient. Attached Figure Description

[0064] The accompanying drawings, which form part of this application, are used to provide a further understanding of this disclosure. The illustrative embodiments of this disclosure and their descriptions are used to explain this disclosure and do not constitute an undue limitation of this disclosure. In the drawings:

[0065] Figure 1 A schematic diagram of the structure of a self-moving cleaning device provided in an optional embodiment of this disclosure is shown;

[0066] Figure 2 This illustration shows one of the structural schematic diagrams of a base station provided in an optional embodiment of the present disclosure;

[0067] Figure 3 It shows Figure 2 A partial structural diagram of a mid-range base station;

[0068] Figure 4a This is a second schematic diagram of the structure of a base station provided in an optional embodiment of the present disclosure;

[0069] Figure 4b This is shown as a third schematic diagram of the structure of a base station provided in an optional embodiment of the present disclosure;

[0070] Figure 5a This illustration shows one of the schematic diagrams showing the distribution relationship between functional space and docking cavity in a base station provided in an optional embodiment of this disclosure;

[0071] Figure 5b This is shown as a second schematic diagram illustrating the distribution relationship between functional space and docking cavity in a base station provided in an optional embodiment of this disclosure;

[0072] Figure 6a It shows Figure 2 In the diagram, the integrated enclosure is in the second position, showing the structure of the base station.

[0073] Figure 6b A schematic diagram showing the relative positional relationship between the moving component and the sliding rail component in a base station provided in an optional embodiment of this disclosure is shown.

[0074] Figure 6c A cross-sectional view of the first fixed track and the first moving track cooperating in a base station provided in an optional embodiment of the present disclosure is shown;

[0075] Figure 6d A cross-sectional view of the second fixed track and the second moving track cooperating in a base station provided in an optional embodiment of the present disclosure is shown.

[0076] Figure 7 This illustration shows one of the partial structural diagrams of a base station provided in an optional embodiment of the present disclosure;

[0077] Figure 8a This is a second schematic diagram of a partial structure of a base station provided in an optional embodiment of the present disclosure;

[0078] Figure 8b This illustration shows one of the structural schematic diagrams of a base station including a conveyor belt, provided in an optional embodiment of the present disclosure;

[0079] Figure 8c This illustration shows a second schematic diagram of a partial structure of a base station including a conveyor belt, provided in an optional embodiment of this disclosure;

[0080] Figure 8d This diagram illustrates the cooperative operation of the rotating component and the integrated housing in a base station provided by an optional embodiment of the present disclosure.

[0081] Figure 8e This illustration shows a schematic diagram of the specific structure of the mobile component in a base station provided in an optional embodiment of the present disclosure;

[0082] Figure 8f The diagram shows a partial structural schematic of a base station including a first positioning sensor, provided in an optional embodiment of the present disclosure.

[0083] Figure 9a This is shown as a third schematic diagram of a partial structure of a base station provided in an optional embodiment of this disclosure;

[0084] Figure 9b This is shown as a fourth partial structural schematic diagram of a base station provided in an optional embodiment of the present disclosure;

[0085] Figure 9c Fifth of the schematic diagrams shows a partial structure of a base station provided in an optional embodiment of this disclosure;

[0086] Figure 9d This is shown as a partial structural schematic diagram of a base station provided in an optional embodiment of the present disclosure;

[0087] Figure 9e A schematic diagram showing the distribution of functional spaces within an integrated enclosure according to an optional embodiment of this disclosure is provided.

[0088] Figure 10a This is shown as a partial structural schematic diagram of a base station provided in an optional embodiment of the present disclosure;

[0089] Figure 10b It shows Figure 10a In the middle, a partial structural cross-sectional view of the base station when the integrated enclosure is in the first position;

[0090] Figure 10c It shows Figure 10a In the middle, a partial structural cross-sectional view of the base station when the integrated enclosure is in the second position;

[0091] Figure 11aThis is shown as a partial structural schematic diagram of a base station provided in an optional embodiment of the present disclosure;

[0092] Figure 11b A partial structural schematic diagram of a base station provided in an optional embodiment of this disclosure is shown in Figure 9.

[0093] Figure 11c A partial structural schematic diagram of a base station provided in an optional embodiment of this disclosure is shown in Figure 10.

[0094] Figure 11d It shows Figure 11c A sectional view;

[0095] Figure 11e This illustration shows a partial structural diagram of a base station provided in an optional embodiment of the present disclosure;

[0096] Figure 11f This is illustrated as 12, a partial structural schematic diagram of a base station provided in an optional embodiment of this disclosure;

[0097] Figure 12a This illustration shows a partial structural cross-sectional view of the base station in the sewage storage space when the integrated housing is in the first position, according to an optional embodiment of this disclosure.

[0098] Figure 12b This illustration shows a partial structural cross-sectional view of the base station in the sewage storage space when the integrated enclosure is in the second position, according to an optional embodiment of this disclosure.

[0099] Figure 12c This illustration shows a partial structural diagram of a base station provided in an optional embodiment of the present disclosure;

[0100] Figure 12d Fourteenth of the schematic diagrams showing a partial structure of a base station provided in an optional embodiment of this disclosure;

[0101] Figure 12e A partial structural cross-sectional view of a base station provided in an optional embodiment of this disclosure, located near a sewage pump, is shown.

[0102] Figure 12f It shows Figure 12e Enlarged view of part A;

[0103] Figure 13a This illustration shows a partial structural diagram of a base station provided in an optional embodiment of the present disclosure;

[0104] Figure 13b A partial structural schematic diagram of a base station provided in an optional embodiment of this disclosure is shown in Figure 16.

[0105] Figure 14aThis diagram illustrates a partial structural schematic of a base station with a built-in water tank, provided in an optional embodiment of this disclosure.

[0106] Figure 14b The diagram illustrates the relative positions of the base station and the water tank in an optional embodiment of this disclosure when the water tank is externally located.

[0107] Figure 14c This illustration shows a schematic diagram of an automatic water supply and drainage system in a base station provided in an optional embodiment of the present disclosure;

[0108] Figure 14d This is illustrated in Figure 17, a partial structural diagram of a base station provided in an optional embodiment of this disclosure;

[0109] Figure 14e This illustration shows a partial structural diagram of a base station, including the top wall of a clean water tank, provided in an optional embodiment of this disclosure.

[0110] Figure 15 A schematic diagram of a base station portion structure with an integrated module bracket is shown in one optional embodiment of this disclosure;

[0111] Figure 16a This illustration shows eighteen of a partial structural diagram of a base station provided in an optional embodiment of the present disclosure;

[0112] Figure 16b It shows Figure 16a Enlarged view of point B in the middle;

[0113] Figure 17 A schematic diagram of a base station section with a relay board is shown in one optional embodiment of this disclosure.

[0114] Figure 18 A partial structural cross-sectional view of a base station at the cleaning agent detector according to an optional embodiment of this disclosure is shown;

[0115] Figure 19 A schematic diagram of a partial structure of a base station provided in an optional embodiment of this disclosure is shown as number nineteen.

[0116] Figure 20 An exploded view of a portion of the base station structure is shown in one alternative embodiment of this disclosure;

[0117] Figure 21a This illustration shows one of the partial structural diagrams of the base station in an optional embodiment of the present disclosure;

[0118] Figure 21b It shows Figure 21a Enlarged view of the local structure at point C;

[0119] Figure 21cThis illustration shows a second schematic diagram of a partial structure of the base station in an optional embodiment of the present disclosure;

[0120] Figure 21d It shows the relationship with Figure 21b A schematic diagram of the mating shell components;

[0121] Figure 21e A schematic diagram of a portion of the structure of a base station including a rotating shaft, provided in an optional embodiment of this disclosure, is shown.

[0122] Figure 22 The twentieth diagram shows a partial structural schematic of a base station provided in an optional embodiment of this disclosure;

[0123] Figure 23a This illustration shows a partial structural diagram of a base station provided in an optional embodiment of the present disclosure;

[0124] Figure 23b It shows Figure 23a Enlarged view of the structure at point D;

[0125] Figure 24 A schematic diagram of a base station section structure with rollers is shown in one optional embodiment of this disclosure;

[0126] Figure 25a One of the flowcharts of the control method in an optional embodiment of this disclosure is shown;

[0127] Figure 25b A second schematic flowchart of the control method is shown in one optional embodiment of this disclosure;

[0128] Figure 25c The third schematic flowchart of the control method is shown in one optional embodiment of this disclosure;

[0129] Figure 26 A block diagram of the control device is shown in one alternative embodiment of this disclosure.

[0130] The above figures include the following reference numerals:

[0131] 100. Base station; 101. Air duct; 101a. Vent hole; 110. Base station body; 102. Mounting cavity; 103. Second handle structure; 103a. Handle; 103b. Drive torsion spring; 104. Groove; 104a. First limiting groove; 104b. Second limiting groove; 105. Dust collection module bracket; 106. Transmitter plate; 107. First mounting slot; 107a. High-voltage module; 108. Second mounting slot; 108a. Low-voltage module; 109. Third mounting slot; 110a. Base station body Top wall of the body; 110b, cable slot; 110c, inner shell; 110d, outer shell; 110e, rear shell; 110f, left shell; 110g, right shell; 110h, upper shell; 110i, bottom plate; 110j, reinforcing plate; 111, docking cavity; 111a, air outlet; 111b, dust collection port; 111c, cleaning tank; 112, receiving cavity; 112a, clearance opening; 113, shell of the base station body; 113a, fixed shell; 113b, door panel; 113c, movable cover; 113d, Fourth mounting slot; 120, Integrated housing; 120a, Dust collection box; 120b, Wastewater tank; 120c, Cleaning agent tank; 120d, Operation window; 120e, Exterior panel; 120f, Functional cover; 120g, Main body of housing; 121, Dust collection space; 121a, Air outlet; 122, Wastewater storage space; 122a, Wastewater level detector; 122b, Detection probe; 123, Cleaning agent storage space; 123a, Float guide groove; 124, Functional space; 130, Sliding... Rail assembly; 140, First handle structure; 141, Self-tapping screw; 150, Moving assembly; 151, First drive mechanism; 152, Conveyor belt; 153, Connecting seat; 154, Second drive shaft; 155, First positioning detector; 160, Warehouse door; 170, Dust collection fan; 171, Shock-absorbing pad; 172, First seal; 180, Dust collection pipe; 181, Second pipe; 182, First pipe; 183, Second seal; 191, Connecting pipe; 192, Sewage inlet pipe; 193, Third seal;

[0132] 200, Sewage pump; 200a, First check valve; 210, Liquid inlet; 230, Liquid outlet; 240, Connecting pipe;

[0133] 300. Air pump; 310. Sewage pipe; 320. Cleaning agent delivery pipe; 330. Delivery pipe;

[0134] 400. Cleaning agent detector; 410. Hall effect sensor; 420. Magnetic float;

[0135] 500. Self-propelled cleaning equipment; 510. Cleaning components; 511. Roller brush; 512. Cleaning parts;

[0136] 600. Clean water tank; 600a. Second check valve; 600b. Overflow hole; 600c. Overflow pipe; 600d. Second check valve; 601. Liquid connection; 602. Three-way pipe; 603. Three-way valve; 603a. Liquid replenishment pipe; 604. Four-way valve; 605. Anti-siphon valve; 606. Electromagnetic pressure reducing valve; 610. Clean water tank inlet; 620. Five-way valve; 620a. Cleaning agent inlet; 602b. Cleaning liquid outlet; 630. Liquid inlet connector; 640. Liquid outlet connector; 650. Temperature detection element; 660. Heating module; 670. Cleaning liquid delivery pump; 680. Float valve;

[0137] 700, Base; 701, Drainage pipe; 702, Insertion post; 703, Light-transmitting sheet; 704, Insertion hole; 705, Clearance hole; 710, Locking assembly; 711, Elastic element; 712, Locking element; 713, Roller; 720, Sound pickup module; 730, Interaction module; 740, Mounting shaft; 750, Liquid inlet pipe; 770, Cleaning agent delivery pump; 780, Cleaning tray; 781, Cleaning bracket; 781a, Shaft hole; 782, Transmission assembly; 783, Rotating shaft; 784, Filter element;

[0138] 10. Control device; 11. First determining module; 12. Second determining module; 13. Control module;

[0139] 31. Elastic torsion spring; 32. First driving gear; 33. First driven rack; 34. Constraint member; 341. Constraint groove;

[0140] 40. Rotating assembly; 41. First motor; 42. First gear; 43. First rack;

[0141] 51. First fixed track; 52. Second fixed track; 53. First moving track; 54. Second moving track. Detailed Implementation

[0142] The technical solutions of the embodiments of this disclosure will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this disclosure, and not all embodiments. The following description of at least one exemplary embodiment is merely illustrative and is in no way intended to limit this disclosure or its application or use. All other embodiments obtained by those skilled in the art based on the embodiments of this disclosure without creative effort are within the scope of protection of this disclosure.

[0143] like Figure 1 and Figure 2 As shown, the cleaning system in this embodiment includes a self-propelled cleaning device 500 and a base station 100.

[0144] The self-propelled cleaning device 500 is a device that automatically performs cleaning operations in a designated area without user intervention. When the self-propelled cleaning device 500 completes its cleaning task or when it needs to terminate the cleaning task, it can return to the base station 100 for charging, / or water replenishment, / or cleaning, / or dust collection, etc.

[0145] like Figure 1 As shown, the self-propelled cleaning device 500 may include a machine body 520, and a sensing system, a control system, a drive system, and a cleaning system mounted on the machine body 520. The sensing system senses environmental information surrounding the self-propelled cleaning device 500 and the movement status information of the self-propelled cleaning device 500, and provides this information to the control system. The control system can create a real-time map of the environment in which the self-propelled cleaning device 500 is located based on the information provided by the sensing system, and, combined with information such as the current movement status of the self-propelled cleaning device 500, provide action strategies for the self-propelled cleaning device 500. The drive system drives the self-propelled cleaning device to move on the surface to be cleaned according to the instructions of the control system.

[0146] The self-propelled cleaning device 500 also includes a cleaning system, which may include a wet cleaning system and a dry cleaning system.

[0147] The dry cleaning system provided in this embodiment may include a roller brush 511, a dust box, a fan, and an air outlet. The roller brush contacts the surface to be cleaned, sweeping up and carrying debris from the surface to the front of the dust inlet duct. Then, under the negative pressure generated by the fan, the debris enters the dust box from the suction port in front of the roller brush through the dust inlet duct. The dry cleaning system may also include a side brush with a rotating shaft at an angle relative to the ground to move debris into the area of ​​the roller brush 511 in the cleaning system. The roller brush 511 may be a bristle brush, a rubber brush, or a hybrid bristle-rubber brush, etc.

[0148] The wet cleaning system may include a cleaning component 510, a liquid delivery mechanism, and a liquid storage tank. The cleaning component 510 may be positioned below the liquid storage tank. Cleaning liquid inside the tank is delivered to the cleaning component 510 via the liquid delivery mechanism, allowing the cleaning component 510 to perform wet cleaning of the surface to be cleaned. In other embodiments of this disclosure, the cleaning liquid inside the tank may also be directly sprayed onto the surface to be cleaned, and the cleaning component cleans the surface by spreading the cleaning liquid evenly. It is understood that the self-propelled cleaning device 500 is provided with a liquid inlet communicating with the liquid storage tank. Using the liquid inlet, liquid from outside the self-propelled cleaning device 500 can be added to the liquid storage tank to achieve liquid replenishment.

[0149] The cleaning assembly 510 provided in this embodiment includes a motion mechanism (not shown in the figure) and a cleaning component 512 disposed on the machine body 520. The entire cleaning assembly 510 can be mounted on the machine body 520 via the motion mechanism, and the cleaning assembly 510 moves with the movement of the machine body 520 to achieve the mopping function. The motion mechanism drives the cleaning component 512 to move, such as raising and lowering it, or driving it to move in various directions, such as reciprocating motion and rotation, to meet the different functional requirements of the cleaning component 512. This enables the processing of differentiating strategies for the cleaning component 512, improving the cleaning performance, efficiency, and user experience of the self-cleaning device. In the forward direction of the self-moving cleaning device 100, the cleaning component 512 can be located at the rear of the roller brush 511. The material of the cleaning component 512 is typically a flexible material with absorbency, such as fabric or sponge.

[0150] When the self-mobile cleaning device 500 reaches the specified cleaning time, the specified cleaning area, the battery power of the self-mobile cleaning device is lower than the threshold, or the dirt in the dust box of the self-mobile cleaning device 500 reaches a certain amount, the self-mobile cleaning device 500 can return to the base station 100 for corresponding maintenance.

[0151] If the maintenance of the self-moving cleaning device 500 by the base station 100 includes dust collection, then the base station 100 needs to set up a dust collection box and build a dust collection channel between the dust collection box and the dust box of the self-moving cleaning device 500. The dust collection channel is used to transport the dirt in the dust box to the dust collection box to achieve the dust collection function.

[0152] If the maintenance of the self-moving cleaning device 500 by the base station 100 includes cleaning in addition to dust collection, then the base station 100 needs, in addition to the dust collection box, a wastewater tank 120b, a base 700, liquid pipelines, and sewage discharge pipelines, etc. After the self-moving cleaning device 500 returns to the base station 100, it is carried on the base 700, and the base 700 is at least partially in contact with the cleaning components in the cleaning assembly 510. Figure 2 As shown, the liquid pipeline delivers the cleaning liquid from the liquid source to the docking cavity 111, wetting the cleaning component 512 located in the docking cavity 111. The cleaning component 512 rotates or swings under the drive of the motion mechanism. The dirt on the cleaning component 512 can be scraped off by the contact between the base 700 and the cleaning component 512. The generated dirty liquid is delivered to the sewage tank through the sewage pipe.

[0153] Therefore, as the functions of base station 100 become more diverse, its structure becomes increasingly complex, and its height increases, making it impossible to place it in low-ceilinged spaces. Furthermore, in current home environments, it is undesirable for base station 100 to occupy excessive space.

[0154] like Figure 2 and Figure 3 As shown, this embodiment of the disclosure provides a base station 100, which includes: a base station body 110 and at least one integrated housing 120. The base station body 110 has: a receiving cavity 112 for accommodating the integrated housing 120, and a docking cavity 111 for a self-propelled cleaning device 500 to dock. The integrated housing 120 has at least one of: a dust collection space 121, a sewage storage space 122, and a cleaning agent storage space 123. The height of the base station 100 is less than 350 mm.

[0155] In this embodiment of the disclosure, the integrated housing 120 can integrate one, two or even three of the functional spaces 124 such as dust collection space 121, sewage storage space 122 and cleaning agent storage space 123. The more of these functional spaces 124 integrated by the integrated housing 120, the more beneficial it is to make full use of the space inside the base station body 110, and the more beneficial it is to reduce the height of the base station 100.

[0156] The functional space 124 within the integrated housing 120 is not limited to the dust collection space 121, the wastewater storage space 122, and the cleaning agent storage space 123. The functional space 124 may also include other spaces such as a clean water storage space and a storage space. Among them, the storage space can be used to store cleaning brushes, cleaning cloths, dust bags, etc.

[0157] In some alternative embodiments, the integrated housing 120 has more than three functional spaces 124.

[0158] The base station 100, which is less than 350mm in height, is relatively low and can therefore be placed in low spaces, such as under cabinets, washbasin cabinets, balcony cabinets, etc.

[0159] In some alternative embodiments, the height of base station 100 is 300-350mm. For example, the height of base station 100 is 300mm, 305mm, 310mm, 315mm, 320mm, 325mm, 330mm, 335mm, 340mm, 345mm or 350mm.

[0160] In some alternative embodiments, the height of base station 100 is less than 300mm, for example, the height of base station 100 is 280mm, 290mm, 295mm, or 298mm. Without limitation, in this embodiment of the disclosure, the height of docking cavity 111 is 100mm to 200mm. For example, the height of docking cavity 111 can be 100mm, 120mm, 130mm, 140mm, 150mm, 170mm, or 180mm, etc.

[0161] In some alternative embodiments, the height ratio of the docking cavity 111 to the height of the integrated housing 120 is 1 / 0.55 to 1 / 2.5. For example, the height of the docking cavity 111 is 1 / 2 of the height of the integrated housing 120. Or, the height of the docking cavity 111 is 1 / 1 of the height of the integrated housing 120.

[0162] In some alternative embodiments, the ratio of the height of the docking cavity 111 to the overall height of the base station 100 is 1 / 1.5 to 1 / 3.5. For example, the ratio of the height of the docking cavity 111 to the overall height of the base station 100 is 1 / 2 to 1 / 2.8.

[0163] In some alternative embodiments, the height of the docking cavity 111 is 140mm, the height of the base station 100 is 280mm, and the ratio of the height of the docking cavity 111 to the height of the base station 100 is approximately 0.5.

[0164] In this embodiment, the cavity wall of the functional space 124 constitutes an integrated enclosure 120. The integrated enclosure 120 may be part of the base station body 110. For example, the accommodating cavity 112 in the base station body 110 may be considered as a functional space 124, or the accommodating cavity 124 may be divided into at least two functional spaces 124, with the cavity wall of the accommodating cavity 112 and the cavity wall of the functional space 124 being the same cavity wall, and the cavity wall of the accommodating cavity 112 forming the integrated enclosure 120. Alternatively, the integrated enclosure 120 and the base station body 110 may be two different components, in which case the cavity wall of the accommodating cavity 112 and the cavity wall of the functional space 124 are two different cavity walls.

[0165] like Figure 3 and Figure 5a As shown, in some alternative embodiments, at least a portion of the space of the receiving cavity 112 is located above the docking cavity 111. This location of at least a portion of the space of the receiving cavity 112 above the docking cavity 111 includes, but is not limited to, in some alternative embodiments, being directly above or diagonally above the docking cavity 111.

[0166] like Figure 3 As shown, the receiving cavity 112 is located directly above the docking cavity 111, or, as... Figure 5a As shown, the partial receiving cavity 112 is located diagonally above the docking cavity 111.

[0167] In some alternative embodiments, at least a portion of the space of the receiving cavity 112 is located to the side of the docking cavity 111. Figure 5a As exemplarily shown, a portion of the space of the receiving cavity 112 is located above the docking cavity 111, and another portion of the space is located to the side of the docking cavity 111. Figure 5b An exemplary illustration shows that the entire space of the receiving cavity 112 is located to the side of the docking cavity 111.

[0168] It is understood that, in this embodiment of the disclosure, the functional space 124 is distributed in any of the following ways:

[0169] like Figure 3 As shown, all the functional spaces 124 are arranged side by side in the horizontal direction above the docking cavity 111;

[0170] like Figure 5b As shown, all the functional spaces 124 are arranged side by side in the horizontal direction on the side of the docking cavity 111;

[0171] like Figure 5a As shown, of all the functional spaces 124, a portion of the functional spaces 124 are arranged horizontally above the docking cavity 111, and another portion of the functional spaces 124 are arranged horizontally on the side of the docking cavity 111.

[0172] like Figures 3 to 6a As shown, according to some optional embodiments of this disclosure, the top walls of at least one integrated enclosure 120 are on the same horizontal plane or substantially on the same horizontal plane, or the top wall of at least one integrated enclosure 120 is parallel or substantially parallel to the top wall of the base station body 110. This structure of the integrated enclosure 120 allows the aforementioned multiple functional spaces 124 to be distributed horizontally, rather than stacked vertically, thereby reducing the increase in the height of the base station 100 and facilitating a reduction in the height of the base station 100.

[0173] In this embodiment of the disclosure, all functional spaces 124 include at least: a dust collection space 121, a wastewater storage space 122, and a cleaning agent storage space 123.

[0174] The functional spaces 124 arranged side-by-side in the horizontal direction above the docking cavity 111 include: when there are at least two functional spaces 124 within an integrated enclosure 120, the multiple functional spaces 124 are arranged side-by-side in a first direction in the horizontal direction, or, as... Figure 7 and Figure 8a As shown, multiple functional spaces 124 are arranged side-by-side in a second direction in the horizontal direction, or, as... Figure 9e As shown, multiple functional spaces 124 can be distributed along both a first direction and a second direction, wherein the second direction is perpendicular or approximately perpendicular to the first direction, and both the first and second directions are partial directions within the horizontal direction.

[0175] Figure 3 , Figure 4a , Figure 4b and Figure 6a In the optional embodiment shown, the integrated enclosure 120 is located above the docking cavity 111, and the integrated enclosure 120 is located between the top wall 110a of the base station body 110 and the top wall of the docking cavity 111. For example, as... Figure 3, Figure 4a , Figure 4b and Figure 6a As shown, the base station 100 has an integrated housing 120, which has a dust collection space 121, a sewage storage space 122 and a cleaning agent storage space 123. The integrated housing 120 is located above the docking cavity 111.

[0176] When at least a portion of the space accommodating cavity 112 is located to the side of the docking cavity 111, or when all the functional spaces 124 are arranged horizontally side-by-side to the side of the docking cavity 111, such as... Figure 5b As shown, in some alternative embodiments, the top wall of the integrated housing 120 may be located on the same horizontal plane or substantially on the same horizontal plane as the top wall of the docking cavity 111. For example, Figure 5b In the optional embodiment shown, the base station 100 has two integrated housings 120, which are located on both sides of the docking cavity 111. One integrated housing 120 has a dust collection space 121, and the other integrated housing 120 has a sewage storage space 122 and a cleaning agent storage space 123. The dust collection space 121, the docking cavity 111, the sewage storage space 122 and the cleaning agent storage space 122 are arranged side by side in a first horizontal direction of the horizontal plane. The top walls of the two integrated housings 120 and the top wall of the docking cavity 111 are approximately on the same horizontal plane.

[0177] It is understood that the distribution of the functional space 124 within the integrated enclosure 120 is not limited to the above methods, nor is the number of integrated enclosures 120 or the distribution of integrated enclosures 120 on the base station body 110 limited to the above methods.

[0178] In some alternative embodiments, such as Figure 3 As shown, the functional space 124 of the integrated housing 120 can be used to accommodate consumables, including but not limited to at least one of dust bags, filters, and cleaning agent replacement packs. For example, a dust bag can be placed in the dust collection space 121. The dust bag filters the airflow containing dirt entering the dust collection space 121. When the amount of dirt remaining on the dust bag reaches a certain level, the user can remove the dust bag from the dust collection space 121 of the base station 100 and install a new, clean dust bag in the dust collection space 121 to maintain the continuous working capability of the base station 100. Alternatively, a filter can be placed in the wastewater storage space 122. The user can periodically remove the filter, clean it, and then put it back into the wastewater storage space 122. A cleaning agent replacement pack can be placed in the cleaning agent storage space 123. When the cleaning agent is exhausted, the user can replace the old cleaning agent replacement pack in the cleaning agent storage space 123 with a new pack full of cleaning agent to replenish the cleaning agent of the base station 100.

[0179] In some alternative embodiments, the functional space 124 of the integrated housing 120 is used to accommodate functional modules, with consumables located within the functional modules. The functional modules include at least one of a dust collection box 120a, a wastewater tank 120c, and a cleaning agent tank 120b. The dust collection box 120a is located within the dust collection space 121 and contains a dust bag. The wastewater tank 120c is located within the wastewater storage space 122 and contains a filter screen. The cleaning agent tank 120b is located within the cleaning agent storage space 123 and contains a cleaning agent replacement container.

[0180] Optionally, the functional modules can be detachably placed within the corresponding functional space 124.

[0181] like Figure 6a As shown, in some optional embodiments, the functional module includes: a functional body and a functional cover 120f. The functional body has a storage space, and the functional cover 120f is detachably mounted on the functional body. Alternatively, the functional cover 120f can be pivotally connected to the functional body so that the functional cover 120f can close onto the storage space. When it is necessary to replace the consumables, the functional cover 120f can be removed or rotated to expose the storage space and facilitate the removal of the consumables.

[0182] For example, the functional cover 120f includes at least: a dust collection box cover, a wastewater tank cover, and a cleaning agent tank cover.

[0183] In addition to holding consumables, the storage space can also be used to hold residual dirt from the airflow in the dust collection box 120a, to hold wastewater in the wastewater box 120c, and to hold cleaning agent in the cleaning agent box 120b.

[0184] like Figure 4a and Figure 4bAs shown, in some optional embodiments, the integrated housing 120 can be fixed to the base station body 110. The integrated housing 120 also has an operation window 120d communicating with the functional space 124. To facilitate maintenance operations such as replacing consumables and cleaning dirt in the functional space 124 through the operation window 120d, the housing 113 of the base station body 110 may include a fixed housing 113a and a movable cover 113c. The movable cover 113c has a closed state and an open state relative to the integrated housing 120. When the movable cover 113c is in the closed state, it covers the operation window 120d; when the movable cover 113c is in the open state, it cannot cover the operation window 120d, and the operation window 120d is exposed to the external environment. If base station 100 needs to be maintained, the movable cover 113c can be opened to expose the operation window 120d, allowing for the replacement of consumables such as the dust bag in the dust collection space 121, the filter in the sewage storage space 122, and the cleaning agent in the cleaning agent storage space 123.

[0185] Unrestricted, the movable cover 113c can be as follows: Figure 4a As shown, it can be horizontally slidably mounted on the fixed housing 113a, or, as... Figure 4b As shown, the movable cover 113c is pivotally connected to the fixed housing 113a.

[0186] Without limitation, the number of operating windows 120d is the same as the number of functional spaces 124 in the integrated housing 120. At least two operating windows 120d are on the same horizontal plane or approximately on the same horizontal plane.

[0187] If the integrated enclosure 120 has a functional cover 120f, opening the movable cover 113c will first expose the operation window 120d to the external environment, followed by the functional cover 120f. After opening the functional cover 120f, the consumables for the corresponding functional module memory can be retrieved. If the integrated enclosure 120 does not have a functional cover 120f, when the operation window 120d is exposed to the external environment, the consumables can be retrieved directly from the functional space 124.

[0188] like Figure 4aAs shown, the movable cover 113c can be located on the side of the base station body 110, allowing the functional space 124 to be opened from the side of the base station 100 for maintenance. In this case, the base station 100 cannot be placed in a low-ceilinged space; appliances can be placed on the top wall 110a of the base station body 110, or the base station 100 can be embedded, for example, embedded in the bottom space of an appliance. Appliances include, but are not limited to, home appliances or cabinets, where home appliances include, but are not limited to, washing machines, and cabinets include, but are not limited to, kitchen cabinets, sinks, balcony cabinets, and bathroom cabinets. When maintenance of the base station 100 is required, consumables can be replaced while keeping the base station 100 in its original position.

[0189] like Figure 4b As shown, the movable cover 113c can also be located on top of the base station body 110, and the movable cover 113c can serve as part of the top wall 110a of the base station body 110. In this case, although the base station 100 can be placed in a low-ceilinged space, it is not suitable to place other equipment above the top wall 110a of the base station body 110, nor is it suitable for embedded placement of the base station 100. If equipment is placed above the base station 100 or the base station 100 is embedded, the base station 100 needs to be removed from under these equipment and the consumables replaced.

[0190] like Figure 6a As shown, in some optional embodiments, the base station body 110 also has a clearance opening 112a communicating with the receiving cavity 112. The clearance opening 112a is used for the integrated housing 120 to pass through. The integrated housing 120 is movable relative to the base station body 110 between a first position and a second position along a first direction. The first direction is substantially parallel to the plane where the top wall 110a of the base station body 110 is located, and / or, the first direction is substantially parallel to the direction in which the self-moving cleaning device 500 enters and exits the base station 100.

[0191] and Figure 4a Compared to the embodiments shown, such as Figure 6a As shown, the integrated housing 120 can move relative to the base station body 110, and the integrated housing 120 will pass through the avoidance opening 112a during the movement, so as to realize the switching of the integrated housing 120 between the first position and the second position.

[0192] and Figure 4a Compared to the embodiments shown, Figure 6aIn the embodiment shown, the integrated housing 120 can not only open the functional space 124 on the side, but also can move at least one functional space 124 horizontally between a first position and a second position. The moved functional space 124 can be exposed more on the side of the base station body 110, so that consumables can be replaced from the side above the base station 100, making it easier to maintain the base station 100 and making the base station 100 more adaptable.

[0193] For example, the operation window 120d of the integrated housing 120 faces the top wall 110a of the base station body 110, and the functional cover 120f is adjacent to the top wall 110a of the base station body 110. This distribution allows the operation window 120d and the functional cover 120f to be exposed above the side of the base station 100 when the integrated housing 120 is in the second position, making it easier to replace consumables.

[0194] Figure 2 An exemplary schematic diagram of the base station 100 is shown when the integrated housing 120 is in the first position; Figure 6a An exemplary schematic diagram of the base station 100 is shown when the integrated housing 120 is in the second position.

[0195] The integrated housing 120 has at least one operating window 120d, such as Figure 2 As shown, when the integrated housing 120 is in the first position, it is located within the receiving cavity 112 of the base station body 110, and the operation window 120d is not exposed outside the base station body 110. The functional space 124 can provide the necessary functions for the self-cleaning mobile device. Figure 6a As shown, when the integrated enclosure 120 is in the second position, the operation window 120d is exposed outside the base station body 110. Users can replace consumables for the functional space 124 through the operation window 120d, which is simple and convenient.

[0196] If the integrated cabinet 120 integrates two or more functional spaces 124, moving the integrated cabinet 120 to the second position allows for simultaneous replacement of consumables in two or more functional spaces 124 without requiring the user to individually retrieve each functional space 124, simplifying operation and improving work efficiency. If the integrated cabinet 120 integrates only one functional space 124, moving the integrated cabinet 120 to the second position allows the user to individually move the integrated cabinet 120 requiring consumable replacement as needed, facilitating operation.

[0197] In this embodiment of the disclosure, the integrated housing 120 can be switched manually or automatically between a first position and a second position.

[0198] like Figure 7As shown, in some optional embodiments, the base station 100 further includes a first handle structure 140, which is disposed on the integrated housing 120 and exposed outside the receiving cavity 112. When force is applied to the first handle structure 140, the integrated housing 120 can switch between a first position and a second position. For example, pulling the first handle structure 140 can switch the integrated housing 120 from the first position to the second position, and pushing the first handle structure 140 can switch the integrated housing 120 from the second position to the first position. The user can easily and manually move the integrated housing 120 by operating the first handle structure 140.

[0199] For example, such as Figure 7 As shown, the first handle structure 140 is located on the front side of the integrated housing 120 at the clearance opening 112a. If the integrated housing 120 adopts... Figure 5b As shown in the distribution pattern, the pull ring structure can also be set on the left or right side of the integrated box 120 adjacent to the avoidance opening 112a, wherein the left or right side is a side that is adjacent to and approximately perpendicular to the front side.

[0200] The first handle structure 140 can be as follows: Figure 7 As shown, the pull ring can be fixed to the integrated housing 120 by two self-tapping screws 141, making the pull ring and the integrated housing 120 an integral unit. In addition, the first handle structure 140 can also be a groove or protrusion formed on the integrated housing 120, or the first handle structure 140 can also be selected in other forms.

[0201] like Figure 7 and Figure 8a As shown, in some optional embodiments, the base station 100 further includes a slide rail assembly 130, which is connected to both the base station body 110 and the integrated housing 120. The integrated housing 120 switches between a first position and a second position via the slide rail assembly 130. That is, the integrated housing 120 is slidably disposed within the receiving cavity 112 and reciprocates along the extending direction of the slide rail assembly 130. The slide rail assembly 130 has a guiding function, effectively constraining the degree of freedom of movement of the integrated housing 120 and improving the reliability and stability of the integrated housing 120 switching between the first and second positions.

[0202] In some alternative embodiments, the slide rail assembly 130 may be omitted, and a structure with guiding and constraining functions may be constructed using the inherent structures of the integrated housing 120 and the base station body 110. For example, a slide groove may be provided on the outside of the integrated housing 120, and a protruding slider may be provided on the inner wall of the receiving cavity 112 of the base station body 110. The slider is located in the slide groove, and when the integrated housing 120 moves under the action of external force, the slider moves along the slide groove.

[0203] In this embodiment of the disclosure, the movement of the integrated housing 120 relative to the base station body 110 includes: horizontal movement and / or rotation.

[0204] like Figure 6a As shown, guided by the linear guide rail assembly 130, the integrated housing 120 can move horizontally along a straight line in the horizontal direction to switch between a first position and a second position. The rotation of the integrated housing 120 can be achieved by changing the shape of the guide rail assembly 130, for example: Figure 6a The linear slide rail assembly 130 is replaced with an arc slide rail assembly 130. The integrated housing 120 can be moved manually or automatically by using the moving assembly 150, so that the movement trajectory of the integrated housing 120 can be arc-shaped, thereby realizing the rotation of the integrated housing 120.

[0205] Figure 9d As exemplarily shown, the movement of the integrated housing 120 relative to the base station body 110 is a rotation. When the integrated housing 120 moves from the first position to the second position, the movement trajectory is as follows: Figure 9d The arc shape shown.

[0206] like Figures 6a to 6d As shown, in some optional embodiments, the slide rail assembly 130 includes: a first fixed rail 51 and a second fixed rail 52, which are respectively disposed on the inner wall of the receiving cavity 112; a first moving rail 53 and a second moving rail 54, wherein the first moving rail 53 is slidably engaged with the first fixed rail 51, and the second moving rail 54 is slidably engaged with the second fixed rail 52; the first moving rail 53 and the second moving rail 54 are respectively fixedly connected to both sides of the integrated housing 120. This arrangement ensures both the simplification of the structure of the slide rail assembly 130 and the reliable operation of the slide rail assembly 130.

[0207] Optionally, the slide rail assembly 130 further includes a limiting member disposed on the first fixed rail 51 to constrain the movement range of the first moving rail 53 on the first fixed rail 51; or, the limiting member is disposed on the second fixed rail 52 to constrain the movement range of the second moving rail 54 on the second fixed rail 52; or, at least two limiting members are disposed on the first fixed rail 51 and the second fixed rail 52 respectively to jointly constrain the movement range of the first moving rail 53 on the first fixed rail 51 and the movement range of the second moving rail 54 on the second fixed rail 52. The stopping constraint of the limiting member ensures reliable meshing between the first rack 43 and the first gear 42.

[0208] like Figure 8aAs shown, in some optional embodiments, the base station 100 further includes a mobile component 150, which is connected to the integrated housing 120. The mobile component 150 is used to drive the integrated housing 120 to switch at least between a first position and a second position. The mobile component 150 enables the integrated housing 120 to automatically switch to the first or second position, making it easier for users to replace consumables inside the integrated housing 120, reducing the labor intensity of replacement work, thereby improving the long-term user experience and facilitating subsequent product promotion and sales.

[0209] If the base station 100 has both a slide rail assembly 130 and a moving assembly 150, the guiding and constraining effect of the slide rail assembly 130 can further improve the reliability of the moving assembly 150.

[0210] like Figure 8a As shown, in some optional embodiments, the moving component 150 includes a first driving mechanism 151 and a conversion mechanism. The first driving mechanism 151 provides driving force, and the conversion mechanism is connected to the first driving mechanism 151 and the integrated housing 120 respectively to convert the driving force generated by the first driving mechanism 151 into the reciprocating motion of the integrated housing 120.

[0211] For example, the first drive mechanism 151 may include: a motor or an elastic element (such as an elastic torsion spring), etc.

[0212] For example, the conversion mechanism can be a lead screw mechanism, a worm gear drive mechanism, a gear drive mechanism, a conveyor belt drive mechanism, etc. Figure 8b and Figure 8c An exemplary embodiment is shown, in which an integrated housing 120 is moved using a conveyor belt mechanism. Figure 8b and Figure 8c In the illustrated embodiment, the moving component 150 includes: a first drive mechanism 151, a first drive shaft (not shown), a conveyor belt 152, a second drive shaft 154, and a connecting seat 153, wherein the first drive shaft, the conveyor belt 152, the second drive shaft 154, and the connecting seat 153 together form a conveyor belt drive mechanism. The first drive mechanism 151 is connected to the first drive shaft to drive the first drive shaft to rotate; both ends of the conveyor belt 152 are connected to the first drive shaft and the second drive shaft 154, respectively, and the connecting seat 153 is connected to the conveyor belt 152 and the integrated housing 120, respectively; the rotating first drive shaft can drive the conveyor belt 152 to move around the second drive shaft 154, and the moving conveyor belt 152 in turn drives the connecting seat 153 to switch between a third position and a fourth position, wherein when the connecting seat 153 is in the third position, the integrated housing 120 is in the first position; when the conveyor belt 152 drives the connecting seat 153 to move to the fourth position, the integrated housing 120 is in the second position.

[0213] For example, such as Figure 8b and Figure 8c As shown, compared to the first drive shaft, the second drive shaft 154 is closer to the integrated housing 120. The conveyor belt 152 is annular and rotates cyclically between the first and second drive shafts 154. The third and fourth positions can be two different positions located between the first and second drive shafts 154. The third position is located between the fourth position and the first drive shaft, meaning that the fourth position is closer to the second drive shaft 154 than the third position.

[0214] Optionally, the conveyor belt 152 is a toothed belt with conveying teeth, and the first drive shaft and the second drive shaft 154 are both toothed shafts, with the conveyor belt meshing with the first drive shaft and the second drive shaft 154 respectively.

[0215] Without limitation, the first drive mechanism 151 includes a motor, or the first drive mechanism 151 includes a motor and gears.

[0216] In a non-restrictive manner, when it is necessary to move the integrated housing 120 from the first position to the second position, the motor of the first drive mechanism 151 can be controlled to rotate forward. The motor drives the conveyor belt 152 to rotate in a preset direction (the preset direction can be counterclockwise or clockwise) via the first transmission shaft. The rotating transmission belt drives the connecting seat 153 to move from the third position to the fourth position, and then the connecting seat 153 drives the integrated housing 120 from the first position to the second position. If it is necessary to return the integrated housing 120 to the first position, the motor of the first drive mechanism 151 can be controlled to rotate in reverse. The conveyor belt 152 will rotate in the opposite direction of the preset direction. The connecting seat 153 returns from the fourth position to the third position along with the conveyor belt 152, and then the connecting seat 153 drives the integrated housing 120 from the second position back to the first position. The way the conveyor belt 152 mechanism moves the integrated housing 120 is not limited to this.

[0217] Alternatively, if the conversion mechanism is a gear transmission mechanism, the moving component 150 can achieve its function through the following technical solutions: such as Figure 8a , Figure 8d and Figure 8e As shown, the mobile component 150 includes: an elastic torsion spring 31 disposed on the base station body 110; a first driving gear 32 connected to the elastic torsion spring 31; and a first driven rack 33 meshing with the first driving gear 32 and fixedly connected to the integrated housing 120. When the elastic torsion spring 31 releases its elastic force, it drives the first driving gear 32 to rotate, thereby causing the first driven rack 33 and the integrated housing 120 to move linearly. By incorporating the elastic torsion spring 31, the overall structure of the mobile component 150 is simplified and its cost reduced, while the integrated housing 120 can reliably move linearly under the action of the elastic force.

[0218] For example, a common elastic buckle structure can be provided between the integrated housing 120 and the base station body 110. The elastic buckle structure has a locked state and a released state. In the locked state, the elastic buckle structure fixes the integrated housing 120 to the base station body 110, and the elastic torsion spring 31 does not work at this time. The user can press the integrated housing 120 to switch the elastic buckle structure from the locked state to the released state. Under the elastic force of the elastic buckle, the integrated housing 120 is disengaged from the base station body 110. At this time, the elastic torsion spring 31 begins to release its elastic force and automatically pushes the integrated housing 120 to move linearly, so as to realize the automatic pop-out of the integrated housing 120.

[0219] exist Figures 8a to 8e Based on the illustrated embodiment, the moving component 150 further includes a constraint member 34 with a constraint groove 341. A first driven rack 33 is slidably disposed within the constraint groove 341, and the extending direction of the constraint groove 341 is parallel to the extending direction of the first driven rack 33. The inner wall of the constraint groove 341 abuts against both sides of the first driven rack 33 to constrain the first driven rack 33 to slide along the extending direction of the constraint groove 341. By providing the constraint member 34, the sliding of the first driven rack 33 along the extending direction of the constraint groove 341 is effectively ensured, thereby improving the reliability of the linear movement of the integrated housing 120.

[0220] It is worth noting that, in order to further ensure the cooperation effect between the constraint member 34 and the first driven rack 33, optionally, the bottom surface of the driven rack (the surface facing away from the plane where the gear teeth are located) can be provided with a protrusion, and the bottom wall of the constraint groove 341 can be provided with a groove, the extension direction of the groove being parallel to the extension direction of the constraint groove 341, the protrusion being disposed in the groove and slidingly engaging with the groove. Obviously, there can be multiple protrusions and grooves, which will not be elaborated further here.

[0221] Optionally, if the conversion mechanism is a worm gear transmission mechanism, the moving component 150 can achieve its function through the following technical solution: The moving component 150 includes: a first drive motor, fixedly mounted on the integrated housing 120; an active worm gear, connected to the rotating shaft of the first drive motor; and a fixed worm gear, fixedly mounted on the base station body 110; the threaded teeth on the fixed worm gear mesh with the threaded teeth on the active worm gear, and the central axis of the fixed worm gear is perpendicular to the central axis of the active worm gear; wherein, the first drive motor drives the active worm gear to rotate, and the first drive motor, the integrated housing 120, and the active worm gear reciprocate linearly along the axial direction of the fixed worm gear. By adopting the existing method of two vertical worm gears cooperating (the specific working principle is commonly found in mechanical books and will not be elaborated here), the reliability of the linear motion of the integrated housing 120 is effectively guaranteed. At the same time, based on the structural advantages of the worm gear cooperation, the worm gear cooperation method can significantly improve the transmission strength, making it more suitable for the heavier integrated housing 120.

[0222] It should be noted that in the implementation of worm gear transmission mechanisms, the cooperation of two worms usually requires a guide structure to constrain the motion trajectory of the active worm. The slide rail assembly 130 can serve as a guide structure. When some technical solutions do not include the slide rail assembly 130, an additional guide structure is required to constrain the motion trajectory of the active worm in order to ensure the working reliability of the technical solution in the worm gear transmission mechanism.

[0223] Optionally, if the conversion mechanism is a rack and pinion transmission mechanism, the moving component 150 can achieve its function through the following technical solution: The conversion mechanism includes: a first driving gear 32 connected to the rotating shaft of a first drive motor; a first driven rack 33 meshing with the first driving gear 32 and fixedly connected to the integrated housing 120; wherein, the first drive motor drives the first driving gear 32 to rotate, thereby driving the first driven rack 33 and the integrated housing 120 to reciprocate linearly. By adopting a rack and pinion connection, the structure of the conversion mechanism is simplified, and the assembly of the conversion mechanism is facilitated.

[0224] Optionally, if the conversion mechanism is a lead screw mechanism, the moving component 150 can achieve its function through the following technical solution: the conversion mechanism includes: a transmission lead screw connected to the rotating shaft of the first drive motor; a threaded component movably mounted on the transmission lead screw; the threaded component is threadedly engaged with the transmission lead screw and fixedly connected to the integrated housing 120; wherein, the first drive motor drives the transmission lead screw to rotate, causing the threaded component and the integrated housing 120 to reciprocate linearly along the axial direction of the transmission lead screw. Compared with worm gear transmission mechanisms, lead screw transmission is quieter and more efficient. Figure 8b and Figure 8f As shown, the base station 100 further includes at least one first position detector 155 for detecting whether the integrated housing 120 has reached a first position and / or a second position. The at least one first position detector 155 is mounted on the base station body 110, and / or the first position detector 155 is distributed near the mobile component 150.

[0225] For example, such as Figure 8d and Figure 8f As shown, a first positioning detector can be set to detect whether the integrated housing 120 has reached the first position. In this structure, as... Figure 8f As shown, the first positioning detector 155 can be installed on the base station body 110 and adjacent to the integrated housing 120.

[0226] In an embodiment where base station 100 includes only one first position detector 155, the first position detector 155 is not used to detect whether the integrated housing 120 has reached the second position. The determination of whether the integrated housing 120 has reached the second position can be made using software. For example, the time it takes for the integrated housing 120 to leave the first position can be used to determine whether it has reached the second position. If the time it takes for the integrated housing 120 to leave the first position reaches a first preset duration, it indicates that the integrated housing 120 has reached the second position; conversely, if the time it takes for the integrated housing 120 to leave the first position does not reach the first preset duration, it indicates that the integrated housing 120 has not reached the second position. Other methods can also be used to determine whether the integrated housing 120 has reached the second position, which will not be described in detail here.

[0227] For example, two first positioning detectors, A and B, can be set. First positioning detector A is located near the first position of the integrated housing 120, or near the third position of the connecting seat 153; first positioning detector B is located near the second position of the integrated housing 120, or near the fourth position of the connecting seat 153. When first positioning detector A detects the first detection signal, it can be determined that the integrated housing 120 is in the first position. At this time, the control system of base station 100 can control the first drive mechanism 151 of the moving component 150 to stop outputting driving force according to the received first detection signal, so as to ensure that the integrated housing 120 can stay in the first position more accurately and reduce the collision between the integrated housing 120 and the base station body 110. Similarly, when first positioning detector B detects the second detection signal, it can be determined that the integrated housing 120 is in the second position. At this time, the control system of base station 100 can control the first drive mechanism 151 of the moving component 150 to stop outputting driving force according to the received second detection signal, so as to ensure that the integrated housing 120 can stay in the second position more accurately.

[0228] For example, the first position detector 155 is a Hall sensor. Unrestricted, the Hall sensor can be mounted on the housing 113. The first position detector A is denoted as the first Hall sensor, and the first position detector B is denoted as the second Hall sensor. The first Hall sensor is positioned near the first position, and the second Hall sensor is positioned near the second position. A magnetic element is provided on the dust collection box 120. Both the first and second Hall sensors can sense the magnetic element to generate a magnetic field and obtain detection information. The detection information detected by the first Hall sensor can determine the position of the magnetic element; that is, the first Hall sensor can be used to detect whether the dust collection box 120 has reached the first position; similarly, the second Hall sensor can be used to detect whether the dust collection box 120 has reached the second position.

[0229] In another alternative example, a first positioning detector 155 can be used to determine whether the integrated housing 120 is in both a first and a second position. This first positioning detector can detect the relative distance between itself and the integrated housing 120, and determine the position of the integrated housing 120 based on this relative distance. For example, if the first positioning detector 155 detects a relative distance of a first preset distance, it can determine that the integrated housing 120 is in the first position. In this case, through communication between the control system and the positioning detector, the integrated housing 120 can be kept in the first position. If the first positioning detector 155 detects a relative distance of a second preset distance, it can determine that the integrated housing 120 is in the second position. In this case, through communication between the main control module and the positioning detector, the integrated housing 120 can be kept in the second position.

[0230] In some alternative embodiments, the base station 100 further includes a lifting assembly for driving the functional modules within the integrated housing 120 to move in and out of the functional space 124. The lifting assembly enables the functional modules to move automatically in and out of the functional space 124, facilitating the replacement of the functional modules.

[0231] For example, the lifting assembly includes a second drive mechanism and a transmission assembly. Under the drive of the second drive mechanism, the transmission assembly moves the functional module in and out of the functional space 124.

[0232] In one specific embodiment of this disclosure, a lifting assembly simultaneously drives multiple functional modules to rise and fall; for example, there is a movable support plate below the dust collection box 120a, the sewage box 120b, and the cleaning agent box 120c. The support plate simultaneously abuts against the bottom surfaces of the dust collection box 120a, the sewage box 120b, and the cleaning agent box 120c. The lifting assembly controls the rise and fall of the support plate to push the dust collection box 120a, the sewage box 120b, and the cleaning agent box 120c to rise and fall simultaneously.

[0233] In another specific embodiment of this disclosure, there can be three sets of lifting components. The operation of the three sets of lifting components does not affect each other. The three sets of lifting components drive the dust collection box 120a, the sewage box 120b, and the cleaning agent box 120c to lift and lower respectively. For example, each set of lifting components includes a retractable support rod. The support rods in the three sets of lifting components abut against the bottom surfaces of the dust collection box 120a, the sewage box 120b, and the cleaning agent box 120c respectively. By extending and retracting the support rods, the dust collection box 120a, the sewage box 120b, and the cleaning agent box 120c are controlled to lift and lower respectively.

[0234] In addition, the structures of the lifting components (i.e., the support plate structure and the support rod structure) in the two embodiments above can be interchanged, and the selection should be made flexibly according to the actual internal space size of the base and the usage requirements.

[0235] like Figure 8d As shown, in some optional embodiments, the base station 100 further includes a rotating component 40, which drives the integrated housing 120 to swing relative to the base station body 110. By setting the rotating component 40, the integrated housing 120 has the freedom to swing relative to the base station body 110. When in use, the direction of the swing of the integrated housing 120 ensures that the openings of the dust collection box 120a, the wastewater box 120b, and the cleaning agent box 120c for loading and unloading materials face the user, further facilitating the user to observe the usage status of the functional housings (e.g., whether the dust collection box 120a is full). At the same time, it also facilitates the replacement of the dust collection box 120a, the wastewater box 120b, and the cleaning agent box 120c.

[0236] Optionally, in some embodiments, the operation of the rotating component 40 can be controlled by setting a main control module. Based on this condition, the triggering condition for the swing of the integrated housing 120 relative to the base station body 110 can be set. For example, when the integrated housing 120 is outside the receiving cavity 112, the rotating component 40 will start to control the swing of the integrated housing 120 relative to the base station body 110, so as to ensure that the integrated housing 120 does not interfere with other structures during the swinging motion, thereby ensuring the reliability and safety of the rotating component 40.

[0237] like Figure 8d As shown, the rotating assembly 40 includes: a first motor 41, fixedly mounted on the base station body 110; a first gear 42 connected to the rotating shaft of the first motor 41; and a first rack 43 fixedly connected to the integrated housing 120. When the integrated housing 120 is located outside the receiving cavity 112 (i.e., the integrated housing 120 is in the second position), the first rack 43 meshes with the first gear 42, the first motor 41 drives the first gear 42 to rotate, and the first rack 43 causes the integrated housing 120 to swing relative to the base station body 110. This configuration simplifies the structure of the rotating assembly 40 and reduces its cost.

[0238] It should be noted that, in order to ensure reliable meshing between the first rack 43 and the first gear 42, in a specific embodiment of this disclosure, the opening between the teeth of the first rack 43 can be set to face the same direction as the movement direction of the integrated housing 120, that is, the movement direction of the teeth of the first rack 43 is perpendicular to the outer circumferential surface of the first gear 42.

[0239] like Figure 6a and Figure 7As shown, the integrated enclosure 120 includes: an enclosure body 120g and an outer panel 120e. The enclosure body 120g has at least one functional space 124 as described above. The outer panel 120e is connected to the outside of the enclosure body 120g. When the integrated enclosure 120 is in a first position, the outer panel 120e covers the clearance opening 112a. When the integrated enclosure 120 is in a second position, the outer panel 120e is separated from the base station body 110, and the clearance opening 112a is exposed to the external environment.

[0240] The outer panel 120e can form the outer surface of the base station 100 together with the shell 113 of the base station body 110 to ensure the integrity of the outer surface of the base station 100.

[0241] When the base station 100 is embedded into the bottom of the device in an embedded manner, the outer panel 120e can be made of the same appearance material as the device to improve the integrity of the base station 100 and the device and improve the user experience of the base station.

[0242] The aforementioned first handle structure 140 can be mounted on the exterior panel 120e.

[0243] like Figure 9b and Figure 9c As shown, in some optional embodiments, the base station 100 further includes: a door panel 113b for covering the clearance opening 112a, the door panel 113b being mounted on the base station body 110, and the door panel 113b having a covered state and an open state relative to the base station body 110; when the integrated housing 120 is in a first position, the door panel 113b is in the covered state, and the door panel 113b covers the clearance opening 112a; when the integrated housing 120 is in a second position, the door panel 113b is in the open state, and the clearance opening 112a is exposed outside the door panel 113b. In this structure, the integrated housing 120 may not have an outer decorative panel 120e.

[0244] The door panel 113b and the housing 113 of the base station body 110 together form the outer surface of the base station 100. The door panel 113b can not only effectively ensure the integrity of the outer surface of the base station 100, but also protect the integrated box 120.

[0245] For example, the door panel 113b is pivotally or slidably connected to the base station body 110.

[0246] Door panel 113b can be installed on the bottom wall of base station body 110; or, as... Figure 9b and Figure 9c The door panel 113b can be installed on the top wall 110a of the base station body 110, or the door panel 113b can also be installed on the side wall of the base station body 110.

[0247] Unrestricted, such as Figure 9b and Figure 9cAs shown, there can be no connection between the door panel 113b and the integrated cabinet 120, so the movement of the door panel 113b and the movement of the integrated cabinet 120 can be independent of each other. When it is necessary to pull the integrated cabinet 120 out of the receiving cavity 112, the door panel 113b can be opened first, and then the integrated cabinet 120 can be moved. Alternatively, the integrated cabinet 120 can be moved directly, and the integrated cabinet 120 can be used to push open the door panel 113b, so that the door panel 113b is in the open state.

[0248] In some alternative embodiments, the door panel 113b can also be connected to the integrated housing 120, so that the movement of the door panel 113b can be synchronized with the movement of the integrated housing 120. If an external force is applied to the door panel 113b, moving the door panel 113b can drive the integrated housing 120 to move. For example, when the door panel 113b is pulled, the door panel 113b can switch from a closed state to an open state, and at the same time, the integrated housing 120 switches from a first position to a second position.

[0249] like Figure 9a As shown, in some alternative embodiments, base station 100 further includes a door 160 for covering docking cavity 111.

[0250] For example, the door 160 can be pivotally connected to the cavity wall of the docking cavity 111 (i.e., pivotally connected to the base station body 110), and the door 160 can be independent of the door panel 113b (or the integrated housing 120). In this way, by rotating the door 160, the docking cavity 111 can be opened or closed. When the docking cavity 111 is opened, the self-propelled cleaning device 500 can easily enter the docking cavity 111; when the docking cavity 111 is closed, the noise generated when the self-propelled cleaning device 500 located in the docking cavity 111 performs dust collection and / or cleaning can be reduced.

[0251] Alternatively, the door 160 may not be connected to the base station body 110, but may be slidably connected to the integrated housing 120.

[0252] For example, the door 160 is slidably connected to the outer panel 120e of the integrated box 120. The sliding direction of the door 160 relative to the outer panel 120e can be perpendicular to the horizontal plane. When it is necessary to open the docking cavity 111, the door 160 can be moved upward to expose the docking cavity 111; when it is necessary to close the docking cavity 111, the door 160 can be moved downward.

[0253] In some optional embodiments, the integrated housing 120 includes at least a dust collection space 121. The volume of the dust collection space 121 is related to the distance between the integrated housing 120 and the base station body 110 when the integrated housing 120 is in the second position. Generally, the greater the distance between the integrated housing 120 and the base station body 110, that is, the farther the integrated housing 120 extends from the receiving cavity 112, the larger the volume of the dust collection space 121, and the longer the interval between when the user needs to replace the dust bag in the dust collection space 121.

[0254] Without limitation, when the integrated enclosure 120 is in the second position, the distance between the integrated enclosure 120 and the base station body 110 is directly proportional to, or approximately directly proportional to, the volume of the dust collection space 121.

[0255] like Figure 10a As shown, in some optional embodiments of this disclosure, the base station 100 further includes: a dust collection fan 170 providing suction for dust collection, and a first sealing member 172. The dust collection space 121 of the integrated housing 120 has an air outlet 121a on its inner wall. The dust collection fan 170 draws air to create a negative pressure, drawing dirt from the dust box of the self-propelled cleaning device 500 into the dust collection space 121 through a pipe. The dirt entering the dust collection space 121 is filtered by a filter bag and flows out of the dust collection space 121 through the air outlet 121a. The first sealing member 172 is installed on the integrated housing 120 and surrounds the air outlet 121a; the integrated housing 120 is in a first position, such as... Figure 10b As shown, the dust collection fan 170 is connected to the air outlet 121a and is sealed to the first sealing element 172; the integrated housing 120 is in the second position, as shown. Figure 10c As shown, the dust collection fan 170 is separated from the first seal 172.

[0256] In this embodiment of the disclosure, the dust collection fan 170 and the integrated housing 120 together form part of the airflow channel.

[0257] The dust collection fan 170 draws air to form a negative pressure. The airflow enters the dust collection space 121 from the docking cavity 111 through the pipeline (i.e., the dust collection pipe 180 below), and then blows from the outlet of the dust collection space 121 through another pipeline (i.e., the blower pipe 101 below) towards the docking cavity 111. The channel formed in this process is the airflow channel.

[0258] The first sealing element 172 ensures the airtight connection between the dust collecting fan 170 and the integrated housing 120, effectively guaranteeing the airtightness of the dust collection channel during dust collection and ensuring the dust collection effect. Moreover, the first sealing element 172 can both separate from the integrated housing 120 and achieve a seal after contacting the integrated housing 120, effectively adapting to the mobility of the integrated housing 120.

[0259] like Figure 10b and Figure 10cAs shown, in some optional embodiments, the dust collection fan 170 includes a fan body and a shock-absorbing pad 171, the shock-absorbing pad 171 being mounted on the fan body, and the integrated housing 120 being in a first position, as shown. Figure 10b As shown, the dust collection fan 170 is sealed to the first seal 172 via a shock-absorbing pad 171; the integrated housing 120 is in the second position, as shown. Figure 10c As shown, the shock-absorbing pad 171 is separated from the first seal 172. The shock-absorbing pad 171 can absorb the impact force of the integrated housing 120 on the fan body, thus protecting the fan body. In addition, the shock-absorbing pad 171 can also reduce the impact noise generated during the movement of the integrated housing 120 from the second position back to the first position.

[0260] like Figure 11a and Figure 11b As shown, the inner wall of the docking cavity 111 also has air blowing ports 111a and dust collection ports 111b distributed at intervals. The base station 100 also includes: an air blowing pipe 101 connecting the air blowing port 111a and the dust collection fan 170, and a dust collection pipe 180 connecting the dust collection space 121 and the dust collection port 111b.

[0261] The dirt in the dust box of the self-propelled cleaning equipment 500 can enter the dust collection pipe 180 through the dust collection port 111b, and then enter the dust collection space 121 through the dust collection pipe 180. The gas filtered by the dust bag enters the blowing pipe 101 from the outlet of the dust collection fan 170 and is then blown into the dust box through the blowing port 111.

[0262] like Figure 11dAs shown, in some optional embodiments, the dust collection pipe 180 includes a first pipe 182, a second pipe 181, and a second seal 183. The first pipe 182 is connected to the base station body 110 and communicates with the dust collection port 111b; the second pipe 181 is connected to the integrated housing 120 and communicates with the dust collection space 121. The second pipe 181 and the first pipe 181 are movable relative to each other, for example, the first pipe 182 and the second pipe 181 are connected by a sleeve to achieve relative movement. The second seal 183 seals the connection between the first pipe 182 and the second pipe 181. Since one end of the dust collection pipe 180 is fixed to the base station body 110 and the other end is fixed to the integrated housing 120, when the integrated housing 120 moves, the movable first pipe 182 can accommodate the movement of the integrated housing 120. For example: when the integrated housing 120 moves from the first position to the second position, the second tube 181 moves with the integrated housing 120, the second tube 181 moves away from the first tube 181, and the length of the part where the first tube 182 and the second tube 181 are connected gradually decreases, or the first tube 182 and the second tube 181 separate; when the integrated housing 120 moves from the second position to the first position, the integrated housing 120 drives the second tube 181 to move closer to the first tube 182, and the length of the part where the first tube 182 and the second tube 181 are connected gradually increases, or the first tube 182 and the second tube 181 gradually change from a separated state to a connected state.

[0263] Unrestricted, the connection between the first tube 182 and the second tube 181 includes: Figure 11c and Figure 11d As shown, the first tube 182 is partially located inside the second tube 181. Alternatively, in other optional embodiments, the connection between the first tube 182 and the second tube 181 can also be such that the second tube 181 is partially located inside the first tube 182.

[0264] Optionally, the first pipe 182 can be a telescopic pipe, and the second pipe 181 can be a non-telescopic pipe. For example, the first pipe 182 can be a corrugated pipe.

[0265] In some alternative embodiments, such as Figure 13a As shown, the dust collection pipe 180 does not use the inner and outer connection method of the first pipe 182 and the second pipe 181, but uses only a single pipe. That is, the dust collection pipe 180 is a single, retractable pipe. Figure 11e As shown, the dust collection pipe 180 is at least partially corrugated. The flexibility of the corrugated pipe can accommodate the movement of the integrated housing 120. When the integrated housing 120 is pulled out of the receiving cavity 112, the corrugated pipe can be stretched as a whole. When the integrated housing 120 returns to the receiving cavity 112, the corrugated pipe will retract. Using a corrugated dust collection pipe 180 can ensure that the dust collection pipe 180 has no gaps, prevent dirt leakage, effectively ensure the sealing of the dust collection pipe 180, has high reliability, low cost, and occupies less space within the base station 100.

[0266] Optionally, the second seal 183 can be fitted onto the first tube 182, since the first tube 182 does not move with the movement of the integrated housing 120. When the integrated housing 120 is in the first position, the first tube 182 and the second seal 183 are pressed together to achieve a seal. When the integrated housing 120 leaves the first position, the first tube 182 can be separated from the second seal 183, and the second seal 183 does not need to provide a sealing function.

[0267] Optionally, the second seal 183 can also be fitted onto the second tube 181, or the second seal 182 can be fitted onto both the first tube 182 and the second tube 181 simultaneously.

[0268] Without limitation, when the second seal 183 is fitted onto the first tube 182 or the second tube 182, the second seal 183 may not be elastic.

[0269] In addition, the second seal 183 can also be elastic. For example, when the second seal 183 is simultaneously fitted onto the first tube 182 and the second tube 181, the second seal 183 can be elastic. The second seal 183 can elastically stretch and deform as the first tube 182 stretches, and it can also recover its elastic deformation as the first tube 182 shortens, so as to ensure the radial sealing of the connection between the first tube 182 and the second tube 181 when the integrated housing 120 moves.

[0270] like Figure 11f As shown, in some optional embodiments, the air outlet duct 101 has a plurality of vent holes 101a. Typically, when air is blown into the dust box through the air outlet duct 101, the vent holes 101a can reduce the pressure of the airflow, thereby reducing the amount of air blown towards the dust box, and reducing the risk of dirt in the dust box being blown onto the base station 100 by the suction port of the self-moving cleaning device 500 due to high airflow pressure.

[0271] like Figure 13a As shown, in some optional embodiments, the base station further includes: a sewage inlet pipe 192 for sewage flowing into the sewage storage space 122. One end of the sewage inlet pipe 192 is fixed to the sewage storage space 122 and communicates with a sewage inlet on the sewage storage space 122. The sewage inlet pipe 192 can move with the movement of the integrated housing 120; for example, the sewage inlet pipe 192 can extend or retract with the movement of the integrated housing 120. The other end of the sewage inlet pipe 192 can lead to a sewage outlet on the bottom wall of the docking cavity 111. Sewage generated from cleaning the cleaning components flows out of the docking cavity 111 through the sewage outlet and is transported to the sewage storage space 122 via the sewage inlet pipe 192. Figure 12aAs shown, the pipe for introducing sewage from the docking cavity 111 into the sewage storage space can also be divided into two pipes: an inlet pipe 192 and a connecting pipe 191. In some optional embodiments, the base station includes a connecting pipe 191 and an inlet pipe 192. The connecting pipe 191 is connected to the integrated housing 120 and communicates with the sewage storage space 122. The connecting pipe 191 can move with the movement of the integrated housing 120. When the integrated housing 120 is in the first position, the inlet pipe 192 and the connecting pipe 191 can move relative to each other. For example, the inlet pipe 192 and the connecting pipe 191 are sleeved together and communicate with each other. When the integrated housing 120 is in the second position, the inlet pipe 192 and the connecting pipe 191 are separated.

[0272] For example, the inlet pipe 192 can be a flexible pipe, and the connecting pipe 191 can be a rigid pipe.

[0273] Non-limiting, the connection between the connecting pipe 191 and the sewage inlet pipe 192 includes: such as Figure 12a As shown, the connecting pipe 191 is partially located inside the sewage inlet pipe 192, or, in other alternative embodiments, the connection of the connecting pipe 191 relative to the sewage inlet pipe 192 includes: the sewage inlet pipe 192 is partially located inside the connecting pipe 191.

[0274] like Figure 12a As shown, optionally, the base station 100 also includes a third seal 193, which is used to seal the connection between the connecting pipe 191 and the second sewage inlet pipe 192, thereby achieving a radial seal at the connection between the connecting pipe 191 and the second sewage inlet pipe 192.

[0275] For example, the third seal 193 can be fixed to the connecting pipe 191, and the third seal 193 can move with the movement of the connecting pipe 191. When the sewage inlet pipe 192 is inserted into the connecting pipe 191, the sewage inlet pipe 192 will press the third seal 193 to achieve a seal.

[0276] Optionally, the third seal 193 can also be fixed to the inlet pipe 192, and the third seal 193 does not move. When the inlet pipe 192 is inserted into the connecting pipe 191, the connecting pipe 192 will press the third seal 193 to achieve a seal.

[0277] like Figure 12a and Figure 12b As shown, without limitation, the third seal 193 is generally annular, and its inner wall is fitted over the connecting pipe 191 with an interference fit. The outer wall of the third seal 193 is located inside the second inlet pipe 192 and is also fitted over the second inlet pipe 192 with an interference fit.

[0278] For example, the third seal 193 is an elastic rubber component.

[0279] In some optional embodiments, the base station 100 further includes a second positioning detector and a third positioning detector, wherein the second positioning detector is used to detect whether the connecting pipe 191 and the sewage inlet pipe 192 are connected in place; and the third positioning detector is used to detect whether the connecting pipe 191 and the sewage inlet pipe 192 are separated in place.

[0280] The connection in place includes: the third seal 193 being pressed and sealed, which is also the sleeved state of the inlet pipe 192 and the connecting pipe 192 when the integrated housing 120 is in the first position. The separation in place includes: the maximum distance that the inlet pipe 192 and the connecting pipe 192 can be separated, which is also the separated state of the inlet pipe 192 and the connecting pipe 192 when the integrated housing 120 is in the second position.

[0281] For example, if the second positioning detector detects position information, it indicates that the connecting pipe 191 and the inlet pipe 192 are connected in place, which also means that the integrated housing 120 is in the first position. If the second positioning detector does not detect position information, it indicates that the connecting pipe 191 and the inlet pipe 192 are not connected in place, which also means that the integrated housing 120 has not reached the first position. If the third positioning detector detects position information, it indicates that the connecting pipe 191 and the inlet pipe 192 are separated in place, which also means that the integrated housing 120 is in the second position. If neither the second nor the third positioning detector detects position information, the connecting pipe 191 and the inlet pipe 192 may be in a connected state, but the connection is not in place; the connecting pipe 191 and the inlet pipe 192 may also be in a separated state, but the separation is not in place.

[0282] Without limitation, both the second and third position detectors can be photoelectric position detectors.

[0283] like Figure 12c As shown, in some optional embodiments, the base station 100 further includes: a vacuum pump 300 for extracting gas from the sewage storage space 122. The vacuum pump 300 is installed below the integrated housing 120, so that the vacuum pump 300 can move with the movement of the integrated housing 120. The arrangement of the vacuum pump 300 can adapt to the switching of the integrated housing 120 between a first position and a second position.

[0284] After the air pump 300 removes the gas from the sewage storage space 122, the sewage storage space 122 is under negative pressure. Under the action of the pressure difference, the sewage in the docking cavity 111 can be sucked into the connecting pipe 191 and the second sewage inlet pipe 192 through the sewage outlet, and then enter the sewage storage space 122 through the second sewage inlet pipe 192, thereby cleaning the sewage in the docking cavity 111.

[0285] like Figures 12c to 12fAs shown, in some optional embodiments, the base station 100 further includes a sewage pump 200 for discharging sewage from the sewage storage space 122. The sewage pump 200 is installed below the integrated housing 120, so that the sewage pump 200 can move with the movement of the integrated housing 120. The arrangement of the sewage pump 200 can adapt to the switching of the integrated housing 120 between a first position and a second position.

[0286] The wastewater storage space 122 has a wastewater outlet and a wastewater inlet. The wastewater outlet is located lower than the wastewater inlet to prevent wastewater backflow and to facilitate the complete drainage of wastewater within the wastewater storage space 122. For example, the wastewater inlet is located on the side wall of the wastewater storage space, and the wastewater outlet is located on the bottom wall of the wastewater storage space.

[0287] like Figure 12e and Figure 12f As shown, in some optional embodiments, the sewage pump 200 is a centrifugal pump, and the sewage pump 200 includes: a pump body, an inlet 210 for introducing liquid into the pump body, and an outlet (…). Figure 12e and Figure 12f (Not shown), the inlet 210 of the sewage pump 200 is connected to the sewage outlet on the bottom wall of the sewage storage space 122. The sewage pump 200 provides driving force for discharging sewage from the sewage storage space 122. Sewage in the sewage storage space 122 enters the pump body through the inlet 210 and is then discharged through the outlet 230 on the pump body. The outlet 230 can be connected to the drain pipe 310 to transport sewage to the floor drain.

[0288] like Figure 12c Figure 12d As shown, in some optional embodiments, the base station 100 further includes a connecting pipe 240 connecting the inlet 210 and the sewage outlet on the bottom wall of the sewage storage space 122. Sewage in the sewage storage space 122 enters the inlet 210 of the sewage pump 200 via the connecting pipe 240, then enters the pump body through the inlet 210, and is subsequently discharged through the outlet 230 on the pump body. The outlet 230 can be connected to the sewage pipe 310 to transport sewage from the sewage pipe 310 to the floor drain.

[0289] and Figure 12d Compared to the illustrated embodiments, Figure 12f The embodiment shown does not have a connecting pipe 240. The inlet 210 is directly connected to the sewage outlet on the bottom wall of the sewage storage space 122. This can shorten the distance between the sewage pump 200 and the bottom wall of the sewage storage space 122, reduce the air trapping problem of the sewage pump 200, and help to drain the sewage in the sewage storage space 122 more cleanly.

[0290] The sewage pump 200 has an impeller inside its pump body, which is infinitely close to the sewage outlet on the bottom wall of the sewage storage space 122.

[0291] Optionally, the distance between the impeller and the bottom wall of the sewage storage space 122 is close to 0, for example, the distance between the impeller and the bottom wall of the sewage storage space 122 is 0 to 10 mm.

[0292] like Figure 12f As shown, in some optional embodiments, the length of the inlet 210 is close to 0 mm. The shorter the length of the inlet 210, the more beneficial it is to drain the sewage in the sewage storage space 122, the easier it is for the pump body to vent air, the less likely it is to generate trapped air, and the more beneficial it is to improve the sewage discharge effect. For example, the length of the inlet is 0-10 mm.

[0293] Optionally, the sewage pump 200 further includes: a first check valve, which is connected to the inlet 210 and the sewage storage space 122 respectively. The first check valve is configured to allow fluid in the sewage storage space 122 to pass unidirectionally toward the inlet; wherein the fluid includes liquid and / or gas.

[0294] Optionally, if a connecting pipe 240 is provided between the liquid inlet 210 and the sewage storage space 122, a first one-way valve is provided on the connecting pipe 240, which can connect the connecting pipe 240 and the sewage storage space 122 respectively.

[0295] The first check valve can prevent liquid and / or gas from flowing back into the sewage storage space, thus ensuring the sewage discharge effect.

[0296] For example, the first check valve may be a duckbill valve.

[0297] like Figure 12e The sewage pump 200 also includes a fourth seal, which is connected to the pump body and surrounds the inlet 210. The fourth seal is sealed to both the pump body and the bottom wall of the sewage storage space 122 to achieve a seal at the connection between the pump body and the bottom wall of the sewage storage space 122, thereby limiting sewage leakage.

[0298] like Figure 13a and Figure 13bIn some optional embodiments, the base station 100 further includes a transmission pipe 330 for conveying fluid to or outputting fluid from the functional space 124 within the integrated housing 120 to the functional space 124. A first end of the transmission pipe 330 is connected to the integrated housing 120 or to a first functional component fixed to the integrated housing 120; a second end of the transmission pipe 330 is connected to the base station body 110 or to a second functional component located on the base station body 110. In a first position, the integrated housing 120 has a redundant portion between the first and second ends of the transmission pipe 330. In a second position, the length of the redundant portion between the first and second ends of the transmission pipe 330 is reduced. The redundant portion provides deformable allowance for the movement of the transmission pipe 330, preventing it from detaching and losing its transmission function due to movement of the integrated housing 120.

[0299] The fluids through which the transmission pipe 330 passes include, but are not limited to, liquids and gases, wherein the gas may contain liquids and / or solids, and the liquid may also contain gases and / or solids.

[0300] like Figure 13b As shown, the housing 113 of the base station body 110 includes an inner housing 110c and an outer housing 110d. The integrated enclosure 120 is located inside the inner housing 110c, and the outer housing 110d is located outside the inner housing 110c. The redundant portion of the transmission pipe 330 passes through the inner housing 110c and is at least partially fixed between the inner housing 110c and the outer housing 110d. This wiring method ensures that a portion of the transmission pipe 330 can move flexibly with the integrated enclosure 120, while also ensuring that a portion of the transmission pipe 330 is bound to the base station body 110, reducing contact between the redundant portion and other components inside the base station body 110. Fixing a portion of the transmission pipe 330 between the inner housing 110c and the outer housing 110d also reduces the space occupied by the transmission pipe 330 inside the inner housing 110c of the base station body 110, improving the space utilization of the base station 100 and also helping to reduce the height of the base station 100.

[0301] For example, such as Figure 13b As shown, the inner shell 110c has a wire-locking groove 110b on the side facing the outer shell 110d, and the redundant portion of the transmission tube 330 is at least partially located within the wire-locking groove 110b. When the integrated housing 120 moves, if the redundant portion needs to move, the redundant portion can move along the wire-locking groove 110b, which provides good fixation and guidance for the transmission tube 330.

[0302] like Figure 13a As shown, in some alternative embodiments, redundant portions of the transmission tube 330 are located inside the inner housing 110c, and multiple transmission tubes 330 can also be secured using snap fasteners.

[0303] Unrestricted, the first functional component connected to the transmission pipe 330 and fixed to the integrated housing 120 can be a sewage pump 200, such as... Figure 13a and Figure 13b As shown, the transmission pipe 330 includes a sewage pipe 310. One end of the sewage pipe 310 is connected to the sewage pump 200, and the other end can be fixed on the bracket of the base station body 110 and connected to the floor drain so that the sewage discharged by the sewage pump 200 can be discharged into the floor drain.

[0304] In addition, the transmission pipe 330 may also include the aforementioned sewage inlet pipe 192.

[0305] like Figure 4b As shown, in some alternative embodiments, such as Figure 13a As shown, the transmission pipe 330 may also include a cleaning agent delivery pipe 320. One end of the cleaning agent delivery pipe 320 is connected to the integrated housing 120 and communicates with the cleaning agent storage space 123. The other end of the cleaning agent delivery pipe 320 may be connected to a valve or liquid pipeline (the valve and liquid pipeline are two optional forms of the second functional component) in the base station body 100 leading to the docking cavity 111, so that the cleaning agent in the cleaning agent storage space 123 can be mixed with the cleaning liquid, which can improve the cleaning effect of the cleaning component 510.

[0306] Non-restrictive, the cleaning agent and cleaning fluid can be mixed within the valve, for example, by introducing the cleaning agent and cleaning fluid into two different inlets of a valve (e.g., a four-way valve 604 or a five-way valve 620 described below), and then allowing the mixed cleaning agent and cleaning fluid to flow out from the same outlet of the valve. Alternatively, the cleaning agent and cleaning fluid can be mixed within a fluid line, for example, by introducing the cleaning agent into a fluid line that transmits the cleaning fluid, allowing the cleaning agent and cleaning fluid to mix within the fluid line.

[0307] When the conveying pipe 330 is at least one of the above-mentioned drain pipe 310, inlet pipe 192, and cleaning agent conveying pipe 320, the fluid conveyed by the conveying pipe 330 is a liquid. Alternatively, the conveying pipe 330 can also be the dust collection pipe 180 described below, in which case the fluid conveyed by the conveying pipe 330 is a gas mixed with solid dirt.

[0308] like Figure 14a As shown, in some optional embodiments, the base station 100 further includes a clean water tank 600, and the base station body 110 further includes an installation cavity 102, wherein the clean water tank 600 is located inside the installation cavity 102.

[0309] The clean water tank 600, acting as a liquid supply source, can be connected to a liquid pipeline within the base station body 110 via a liquid connector 601, thereby providing cleaning fluid to at least one liquid pipeline within the base station body 110. The at least one liquid pipeline can be designated as: first liquid pipeline, second liquid pipeline, ..., m-th liquid supply pipeline. For example, the first liquid pipeline can be used to deliver cleaning fluid for cleaning the cleaning component 510 into the docking cavity 111, and the second liquid pipeline can be used to replenish the liquid in the self-propelled cleaning device 500. Multiple liquid pipelines can achieve different liquid supply functions to meet different liquid supply needs.

[0310] For example, the clean water tank 600 may be located above the docking cavity 111.

[0311] Non-limitingly, the relative position of the water tank 600 and the base station body 110 can be: the water tank 600 is located on the left, right, or rear side of the base station body 110, wherein the water tank 600 being located on the rear side of the base station body 110 means that the water tank 600 is located between the integrated housing 120 and the rear wall of the base station body 110. Preferably, as... Figure 14d and Figure 24 As shown, the clean water tank 600 is located above the docking cavity 111, and the clean water tank 600 is located on the rear side of the integrated housing 120 and close to the rear wall of the base station body 110.

[0312] In some instances, the rear wall of the base station body 110 is the rear housing 110e of the base station body 100.

[0313] Figure 14a In the illustrated embodiment, the mounting cavity 102 is located within the base station body 110, and the base station 100 can be placed close to an external water source, for example, near a tap water pipe. In this case, a shorter first external pipe can be used to connect the external water source and the clean water tank 600, reducing the risks of entanglement, compression, and leakage that may occur due to the connection of the first external pipe. Generally, when the clean water tank 600 is located within the mounting cavity 102, standard parts can be used for both the first pipe and the connector connecting the first pipe and the clean water tank 600, and the length of the standard parts is within a safer range for use.

[0314] When the clean water tank 600 is located within the mounting cavity 102, the application scenarios of the base station 100 include, but are not limited to: the base station 100 being located below a appliance connected to an external water source, so that the clean water tank 600 and the appliance share a water system. For example, the base station 100 can be located below or on the side wall of a washing machine or toilet, and the base station 100 shares a water system with these appliances; or, the base station 100 can be located below, on the side wall, or inside a cabinet such as a kitchen cabinet or bathroom vanity. For example, the base station 100 can share a water system with a dishwasher in a kitchen cabinet, or the base station 100 can share a water system with a sink in a bathroom vanity.

[0315] In addition, the base station 100 can also be placed near equipment containing water sources and waterways, such as water purifiers, water dispensers, tea bar machines, etc.

[0316] like Figure 14b As shown, in some alternative embodiments, the clean water tank 600 may not be located within the mounting cavity 102, and the clean water tank 600 may be separately disposed from the base station body 110. An additional pipeline can be used to connect the clean water tank 600 and the liquid connection connector 601 to enable the clean water tank 600 to supply liquid to the base station 100.

[0317] like Figure 14b In the illustrated embodiment, the clean water tank 600 is externally mounted, allowing it to be placed separately in a location closer to an external water source, while the base station 100 can be placed away from the external water source. For example, the base station 100 can be located in a space away from an external water source, such as a living room or bedroom.

[0318] If the location where the user needs to place the base station 100 is far from an external water source, the clean water tank 600 can be placed externally, allowing it to be placed alone near the external water source. Placing the clean water tank 600 near an external water source shortens the distance between the tank and the source, thus reducing the water pressure on the first external pipeline connecting the external water source and the tank, and reducing the risk of leaks due to pipeline rupture.

[0319] In an unrestricted manner, the clean water tank 600 is detachably installed within the mounting cavity 102. When the clean water tank 600 needs to be externally mounted, it can be removed from the mounting cavity 102 and placed near an external water source. When the clean water tank 600 is not required to be externally mounted, it can remain within the mounting cavity 102. This configuration of the clean water tank 600 can meet different needs and enrich the application scenarios of the base station 100.

[0320] like Figure 14c and Figure 14d As shown, in some optional embodiments, the base station 100 further includes at least one of the following mounted on the clean water tank 600: a four-way valve 604, a five-way valve 620, and a cleaning agent delivery pump 770. By mounting at least one of the four-way valve 604, the five-way valve 620, and the cleaning agent delivery pump 770 on the clean water tank 600, the integration of the clean water tank 600 can be improved, the internal space of the base station body can be fully utilized, and the height of the base station can be reduced.

[0321] Among them, such as Figure 14c As shown, the four ports of the four-way valve 604 include: a cleaning fluid inlet, a cleaning agent inlet, and two cleaning fluid outlets. The two cleaning fluid outlets are connected to the docking chamber 111 via two delivery pipes to deliver cleaning fluid to the docking chamber 111. Figure 14cCompared to the four-way valve 604 shown, Figure 14d In addition to a cleaning fluid inlet, a cleaning agent inlet 620a, and two cleaning fluid outlets 620b, the five-way valve 620 has an extra port for accommodating a temperature sensing element 650. The temperature sensing element 650 is used to detect the temperature of the cleaning fluid flowing into the docking cavity 111, so as to ensure that the temperature of the cleaning fluid flowing into the docking cavity 111 is within a certain temperature range. This allows the cleaning fluid to clean the oil stains on the cleaning component 510 while reducing the damage of excessively high temperatures to the base station 100 and the self-moving cleaning device 500.

[0322] For example, the temperature sensing element 650 is an NTC (Negative Temperature Coefficient) temperature sensor.

[0323] Figure 14d In the illustrated embodiment, a five-way valve 620 and a cleaning agent delivery pump 770 are installed on the clean water tank 600. Compared to using a four-way valve 604, the five-way valve 620 can further support the temperature detection element 650 without the need for an additional bracket to install the temperature detection element 650. Therefore, using the five-way valve 620 can further improve space utilization and further facilitate the reduction of base station height.

[0324] like Figure 14c As shown, the cleaning fluid flowing to the cleaning fluid inlet comes from the clean water tank 600.

[0325] like Figure 14c and Figure 14d As shown, the cleaning agent delivery pump 770 is used to deliver the cleaning agent in the cleaning agent storage space 123 to the cleaning agent inlet 620a of the four-way valve 604 or the five-way valve 620. After the cleaning agent is delivered to the cleaning agent inlet 620a by the cleaning agent delivery pump 770, it mixes with the cleaning liquid entering from the cleaning liquid inlet, and then enters the delivery pipe from the cleaning liquid outlet 620b. The delivery pipe delivers the cleaning agent to the docking chamber 111, where the cleaning liquid is mixed with the cleaning agent.

[0326] Without limitation, the cleaning agent delivery pump 770 can be a peristaltic pump.

[0327] like Figure 14d As shown, exemplarily, the cleaning agent delivery pump 770 is mounted on top of the clean water tank 600.

[0328] like Figure 14d and Figure 14e As shown, in some alternative embodiments, the clean water tank 600 has a liquid storage chamber and an overflow hole 600b, the liquid storage chamber being used to contain cleaning liquid, and the overflow hole 600b communicating with the liquid storage chamber to allow any overflow liquid to pass through.

[0329] Optionally, such as Figure 14d As shown, the overflow pipe 600c can be used to connect the overflow hole 600b and the docking cavity 111 to direct the overflow liquid to the docking cavity 111. The overflow liquid can also be used to clean the cleaning component 510, so as to make more rational use of water resources. In addition, after the overflow liquid enters the docking cavity 111, it can also be sucked into the sewage storage space 122 and discharged from the sewage storage space 122.

[0330] like Figure 14c As shown, the base station 100 also includes a second one-way valve 600d, which is used to allow cleaning fluid flowing out of the overflow hole 600b to pass through without reversing the flow of liquid to the overflow hole 600b.

[0331] Optionally, such as Figure 14e As shown, the base station 100 also includes: an integrated electromagnetic pressure reducing valve 606 and a cleaning fluid delivery pump 670 installed on the clean water tank 600. The cleaning fluid delivery pump 670 is used to: draw cleaning fluid from the clean water tank 600 and provide power for the cleaning fluid to flow to the docking cavity 111. The integrated electromagnetic pressure reducing valve 606 is used to control the flow of cleaning fluid to the storage cavity and to reduce the pressure of the cleaning fluid flowing to the storage cavity. In this example, the integrated electromagnetic pressure reducing valve 606 and the cleaning fluid delivery pump 670 are integrated on the clean water tank 600, eliminating the need for additional brackets to install the integrated electromagnetic pressure reducing valve 606 and the cleaning fluid delivery pump 670, thus improving the utilization of the internal space of the base station 100. Moreover, by combining the electromagnetic valve that controls the flow of cleaning fluid to the storage cavity and the pressure reducing valve that reduces the pressure of the cleaning fluid into one integrated electromagnetic pressure reducing valve 606, the space occupied within the base station body 110 is reduced, which can help to reduce the height of the base station 100. For example, as Figure 14e As shown, the electromagnetic pressure reducing valve 606 and the cleaning fluid delivery pump 670 can both be installed on the top of the clean water tank 600. The cleaning fluid flowing out through the electromagnetic pressure reducing valve 606 enters the storage chamber of the clean water tank 600 through the inlet 610 on the top of the clean water tank 600.

[0332] like Figure 14c As shown, the cleaning fluid flowing from the external water source is depressurized by the electromagnetic pressure reducing integrated valve 606 and then enters the storage chamber, which can reduce the impact of excessive or unstable external water source pressure on the base station's water supply.

[0333] Unrestricted, such as Figure 14e As shown, the clean water tank 600 also includes a float valve 680 and a sterilization module. The float valve 680 is used to control the liquid level of the cleaning fluid in the storage chamber to ensure the reliability of water supply and drainage. The sterilization module is used to sterilize the cleaning fluid in the storage chamber to reduce bacterial growth and ensure the hygiene of the cleaning fluid.

[0334] For example, the sterilization module is a silver ion sterilization module.

[0335] For example, the cleaning fluid delivery pump 670 is a peristaltic pump.

[0336] Combination Figure 14c and Figure 15 As shown, in some optional embodiments, the base station 100 further includes: an integrated module bracket 105, which is connected to the base station body 110, and the integrated module bracket 105 carries at least: a heating module 660, which is used to heat the cleaning fluid leading to the docking cavity 111.

[0337] Optionally, such as Figure 14c As shown, the cleaning fluid delivery pump 670 draws cleaning fluid from the clean water tank 600 and delivers it to the heating module 660. The heating module 660 heats the cleaning fluid and then delivers it to the docking cavity 111. Cleaning the cleaning component 510 of the self-propelled cleaning device 500 with heated cleaning fluid can remove stubborn stains such as oil, which helps to improve the cleaning effect on the cleaning component 510.

[0338] Optionally, after the cleaning fluid delivery pump 670 extracts the cleaning fluid from the clean water tank 600, it can directly deliver the cleaning fluid to the docking cavity 111 without passing through the heating module 660.

[0339] For example, the heating module 660 is an instant heating module, which has higher heating efficiency.

[0340] like Figure 14c As shown, in some optional embodiments, the integrated module bracket 105 also supports: an anti-siphon valve 605, a three-way pipe 602, and a three-way valve 603; wherein, the anti-siphon valve 605 is used to restrict the cleaning fluid flowing out of the clean water tank 600 from siphoning back into the clean water tank 600; the three ports of the three-way pipe 602 respectively include: a first port connected to the outlet of the clean water tank 600, a second port connected to the anti-siphon valve 605, and a third port for outputting the cleaning fluid; the three ports of the three-way valve 603 respectively include: an inlet connected to the third port, a first outlet leading to the cleaning fluid delivery pump 670, and a second outlet leading to the storage tank in the self-propelled cleaning device 500. By integrating multiple components using the integrated module bracket 105, the utilization rate of the internal space of the base station body 110 can be further improved, which is conducive to further reducing the height of the base station 100.

[0341] For example, such as Figure 14cAs shown, the cleaning fluid flowing from the storage chamber of the clean water tank 600 enters the first port of the three-way pipe 602, and then flows through the third port of the three-way pipe 602 to the inlet of the three-way valve 603, where it is divided into two fluids by the three-way valve 603. One fluid flows from the first outlet to the cleaning fluid delivery pump 670, and then from the cleaning fluid delivery pump 670 into the cleaning fluid inlet of the four-way valve 604 or the five-way valve 620, finally entering the docking chamber 111 to clean the cleaning component 510. The other fluid can be connected to the self-moving cleaning device 500 through the replenishment pipe 603a to replenish the self-moving cleaning device 500.

[0342] like Figure 14d , 16a and Figure 16b As shown, in some optional embodiments, the base station 100 further includes: an inlet pipe 750, an inlet connector 630, and an outlet connector 640. The inlet connector 630 is connected to both the inlet pipe 750 and an external water source to deliver cleaning fluid from the external water source to the inlet pipe 750. The inlet pipe 750 is connected to a clean water tank 600, and the cleaning fluid entering the inlet pipe 750 will enter the clean water tank 600 to replenish it. The inlet end of the outlet connector 640 is connected to a drain pipe 310, and the outlet connector 640 is used to allow wastewater flowing out of the drain pipe 310 to pass through. The rear housing 110e of the base station body 110 has a groove 104 for accommodating the inlet connector 630 and the outlet connector 640, so that the inlet connector 630 and the outlet connector 640 do not protrude from the rear housing 110e of the base station body 110.

[0343] By setting a groove 104 to accommodate the liquid outlet connector 630 and the liquid inlet connector 640, the liquid outlet connector 630 and the liquid inlet connector 640 can be prevented from protruding from the rear housing 110e. As a result, the rear housing 110e can be installed against the wall, reducing the installation space occupied by the base station 100.

[0344] The cleaning liquid flowing from the external water source can flow into the clean water tank 600 through the inlet connector 630, while the liquid flowing out of the sewage storage space 122 can flow into the outlet connector 640 through the drain pipe 310, and then through the outlet connector 640 to the floor drain to realize the discharge of sewage.

[0345] After determining the placement location of the base station 100, a first external pipeline adapted to the first distance between the liquid inlet connector 630 and the external water source can be selected to connect the liquid inlet connector 630 and the external water source respectively. A second external pipeline adapted to the second distance between the liquid outlet connector 640 and the floor drain can be selected to direct the sewage flowing out of the liquid outlet connector 640 to the floor drain.

[0346] In some alternative embodiments, the inlet connector 630 is rotatably connected to the inlet pipe 750, and / or the outlet connector 640 is rotatably connected to the drain pipe 310.

[0347] Figure 16a and Figure 16b As shown, the rotatable inlet connector 630 and outlet connector 640 can be independently adjusted in orientation as needed, thus adapting to different installation environments. Furthermore, rotation can be used to ensure that both the inlet connector 630 and outlet connector 640 face the side wall of the base station 100, allowing the first external pipeline connected to the inlet connector 630 and the second external pipeline connected to the outlet connector 640 to be distributed left and right.

[0348] Figure 16a and Figure 16b In the illustrated embodiment, both the inlet connector 630 and the outlet connector 640 are rotatable. Both the inlet connector 630 and the outlet connector 640 can be rotated to have a first state and a second state. The first state is that the axial section of the inlet connector 630 is approximately perpendicular to the plane of the rear housing 110e, or the axial section of the outlet connector 640 is approximately perpendicular to the plane of the rear housing 110e. The second state is that the axial section of the inlet connector 630 is approximately parallel to the plane of the rear housing 110e, or the axial section of the outlet connector 640 is approximately parallel to the plane of the rear housing 110e. Figure 16a and Figure 16b The inlet connector 630 and outlet connector 640 shown are both in the second state. The inlet connector 630 and outlet connector 640 being located within the groove 104 includes two possible examples: First example: Both the inlet connector 630 in the first state and the outlet connector 640 in the second state are located within the groove 104. In this case, regardless of the state of the inlet connector 630 and outlet connector 640, the base station 100 can be installed flush against the wall. Second example: Only the inlet connector 630 and outlet connector 640 in the second state are located within the groove 104, while the inlet connector 630 and outlet connector 640 in the first state are located outside the groove 104. Therefore, in the first state, the inlet connector 630 and outlet connector 640 will protrude from the rear housing 110e, preventing the base station 100 from being placed flush against the wall. Only when both the inlet connector 630 and outlet connector 640 are in the second state can the base station be placed flush against the wall. Understandably, compared to the first example, the second example can achieve both wall-mounted placement of the base station 100 and a smaller distance between the rear shell of the base station 100 and the front and rear sides of the base station 100 where the outer panel 120e is located, which is also more conducive to reducing the size of the base station 100.

[0349] In some optional embodiments, the rear housing 110e further includes a first limiting groove 104a and a second limiting groove 104b, wherein both the first limiting groove 104a and the second limiting groove 104b are located within the groove 104, and the first limiting groove 104a is used to accommodate the first external pipeline connected to the liquid inlet connector 630, and the second limiting groove 104b is used to accommodate the second external pipeline connected to the liquid outlet connector 640. The first limiting groove 104a can limit and guide the first external pipeline, and the second limiting groove 104b can limit and guide the second external pipeline, reducing the phenomenon of the first and second external pipelines protruding from the housing (110d) and improving the reliability of the connection between the first and second external pipelines.

[0350] like Figure 17 As shown, in some optional embodiments, the base station 100 further includes: a relay board 106, at least two first wires and at least one second wire, wherein the relay board 106 is connected to the base station body 110; one end of the first wire is connected to a first electrical component fixed on the integrated housing 120, and the other end of the first wire is connected to the relay board 106; the second wire is connected to the relay board and the main control module respectively, and the main control module is used at least to: transmit control information for driving the integrated housing 120 to move through the first wire and the second wire.

[0351] During the movement of the first electrical component along with the integrated housing 120, the wires connecting the first electrical component to the main control module are subjected to pulling. Frequent movement can lead to loose connections and wire damage due to this pulling. The transfer board 106 can separate the wires connecting the first electrical component to the main control module into a first wire and a second wire. The first wire can move with the integrated housing 120, while the second wire is not pulled. Furthermore, the first wire is closer to the integrated housing 120, reducing the pulling on the wiring during the movement of the integrated housing 120 and resulting in higher reliability.

[0352] The first conductor can be a ribbon cable.

[0353] Multiple first wires are respectively designated as first wire A, first wire B, first wire C... first wire N. Without limitation, first wire A is the wire electrically connected to the vacuum pump 300, first wire B is the wire electrically connected to the sewage pump 200, and so on. Among them, the devices used for signal transmission on the vacuum pump 30 and the sewage pump 200 are both classified as first electrical components.

[0354] Optionally, the first wire can also be electrically connected to a second electrical component, which is not fixed to the integrated housing 120. That is, the transfer plate 106 can be used to transfer electrical components other than the first electrical component. For example, the first wire may also include a portion of the wire electrically connected to the heating module 660. Figure 18 As shown, in some optional embodiments, the integrated housing 120 further includes a cleaning agent detector 400 for detecting the cleaning agent level within the cleaning agent storage space 123, the cleaning agent detector 400 being at least partially located within the cleaning agent storage space 123. When the cleaning agent detector 400 detects that the cleaning agent level is lower than a preset cleaning agent level, it can remind the user to add cleaning agent.

[0355] Without limitation, the wire electrically connected to the cleaning agent detector 400 may be part of the first wire described above.

[0356] For example, the cleaning agent detector 400 is a Hall level sensor.

[0357] like Figure 18 As shown, in some optional embodiments, the cleaning agent detector 400 includes a Hall sensor 410 and a magnetic float 420. The magnetic float 420 is located within the cleaning agent storage space 123. The Hall sensor 410 is used to sense the Hall detection parameters obtained by the magnetic field generated by the magnetic float 420. The Hall detection parameters can be used to determine the location of the magnetic float 420. Generally, the location of the magnetic float 420 is the liquid level position of the cleaning agent within the cleaning agent storage space 123.

[0358] For example, the Hall sensor 410 may be located outside the cleaning agent storage space 123, for example: Figure 18 As shown, the Hall sensor 410 is located at the bottom of the integrated housing 120. This reduces the impact of cleaning agents on the Hall sensor 410 and improves its service life.

[0359] like Figure 18 As shown, without limitation, the integrated housing 120 also includes a float guide groove 123a located within the cleaning agent storage space 123. The float guide groove 123a is perpendicular or approximately perpendicular to the horizontal plane, and the magnetic float 420 is located within the float guide groove 123a. Due to the buoyancy of the cleaning agent, the magnetic float 420 can float within the float guide groove 123a, thereby limiting the floating trajectory of the magnetic float 420 and bringing it closer to the Hall sensor element 410, ensuring the detection accuracy of the Hall sensor element 410.

[0360] like Figure 19As shown, in some optional embodiments, the integrated housing 120 further includes a sewage level detector 122a for detecting the maximum permissible sewage level in the sewage storage space 122. The sewage level detector 122a is at least partially located within the sewage storage space 122. When the sewage level detector 122a detects an electrical signal, it indicates that the sewage level in the sewage storage space 122 has reached the maximum level. At this time, the pipes related to sewage transportation may be blocked, preventing the sewage in the sewage storage space 122 from being discharged. The user needs to be reminded to inspect or repair the base station 100.

[0361] like Figure 19 As shown, by way of example, the wastewater level detector 122a is located above the wastewater storage space 122.

[0362] For example, wastewater entering the wastewater storage space 122 can be discharged promptly. In this case, the wastewater level detector 122a can be used to indicate whether the wastewater storage space 122 is blocked. For instance, if the pipes related to wastewater transport are not blocked, the wastewater level in the wastewater storage space 122 will not reach the wastewater level detector 122, and the wastewater level detector 122 will not detect an electrical signal. Conversely, if the pipes related to wastewater transport are blocked, the wastewater level in the wastewater storage space 122 will reach the wastewater level detector 122, and the wastewater level detector 122 will detect an electrical signal. This configuration reduces the number of wastewater level checks, which helps reduce power consumption.

[0363] Alternatively, the sewage entering the sewage storage space 122 may not be discharged immediately, but rather discharged after reaching a certain level. In this case, the sewage level detector 122a is used to indicate whether the sewage level in the sewage storage space 122 has reached a preset level. If the sewage level detector 122a detects that the sewage level has reached the preset level, the control system of the base station 100 can control the discharge of sewage (e.g., control the air pump 300 and the sewage pump 310 to start working). Conversely, if the sewage level detector 122a detects that the sewage level has not reached the preset level, the control system of the base station 100 will not control the discharge of sewage.

[0364] like Figure 19As shown, exemplarily, the wastewater level detector 122a includes: a level detection circuit and at least two detection probes 122b electrically connected to the level detection circuit. The at least two detection probes 122b are mounted on the integrated housing 120 and spaced apart. When the wastewater level is below the maximum permissible level of wastewater in the wastewater storage space 122, the spaced-apart detection probes 122b cannot be electrically connected, the level detection circuit cannot form a path, and the wastewater level cannot be detected. When the wastewater level is equal to or higher than the maximum permissible level of wastewater in the wastewater storage space 122, the wastewater comes into contact with the at least two detection probes 122b, the at least two detection probes 122b can be electrically connected, the detection probes and the level detection circuit form a conductive path, and the level detection circuit can detect the detection signal. This structure of the wastewater level detector 122 has high reliability.

[0365] like Figure 20 As shown, in some optional embodiments, the inner shell 110c of the base station body 110 further includes: a first mounting slot 107 and a second mounting slot 108, wherein the second mounting slot 108 and the first mounting slot 107 are separately distributed, wherein one of the first mounting slot 107 and the second mounting slot 108 is used to accommodate the high-voltage module 107a of the base station 100; the other of the first mounting slot 107 and the second mounting slot 108 is used to accommodate the low-voltage module 108a of the base station; and the outer shell 110d of the base station body 110 covers the first mounting slot 107 and the second mounting slot 108.

[0366] The high-voltage module 107a includes a power supply line, and the low-voltage module 108a may include a signal transmission line for communication. Without limitation, the main control module described above may be the motherboard in the low-voltage module 108a.

[0367] By utilizing the separately distributed first mounting slot 107 and second mounting slot 108, the high-voltage module 107a and the low-voltage module 108a can be separated, ensuring the safety of the base station 100. Furthermore, the first mounting slot 107 and second mounting slot 108 can fully utilize the space between the inner shell 110c and the outer shell 110d, reducing the space occupied inside the base station body 110 and thus helping to reduce the base station's size.

[0368] For example, the first mounting slot 107 is located on the top of the base station 100, and the second mounting slot 108 is located on the side of the base station 100.

[0369] like Figure 16a As shown, in some alternative embodiments, the rear housing 110e also has a fourth mounting slot 113d for receiving a power cord electrically connected to an external power source. Without limitation, the power cord may be electrically connected to the high-voltage module 107a.

[0370] The fourth mounting slot 113d can hide the power cable, so that the power cable will not protrude from the rear housing 110e. This not only makes it easier to place the base station 100 against the wall, but also protects the power cable.

[0371] like Figure 20 As shown, in some optional embodiments, the base station 100 further includes at least one reinforcing plate 110h, which is mounted on the inner shell 110c and located between the inner shell 110c and the outer shell 110d. The reinforcing plate 110h can increase the strength of the inner shell 110c, reduce the collapse deformation of the receiving cavity 112 caused by insufficient strength of the inner shell 110c, and thus affect the movement of the integrated housing 120.

[0372] like Figure 20 As shown, by way of example, the top wall of the base station body 110 can be considered to be formed by the top wall of the inner shell 110c and the top wall of the outer shell 110d. The receiving cavity 112 is defined by the top wall of the inner shell 110c and the side wall extending downward from the top wall of the inner shell 110c.

[0373] like Figure 20 As shown, in some optional embodiments, the outer shell 110d includes: an upper shell 110h, a left shell 110f, a right shell 110g, a rear shell 110e, and a front shell; at least one of the upper shell 110h, left shell 110f, right shell 110g, rear shell 110e, and front shell is detachably mounted on the inner shell 110c; wherein, as Figure 9a As shown, the front housing includes an exterior panel 120e mounted on the integrated housing 120, and / or a cabinet door 160.

[0374] At least part of the outer shell 110d is removable relative to the inner shell 110c, which is beneficial for users to change the appearance of the base station 100. For example, the outer shell 110d can be made of the same material or color as the cabinet into which the base station 100 is embedded, so that the base station 100 can better match the home decoration style required by the user and improve the adaptability of the base station 100.

[0375] In this embodiment of the disclosure, the detachable methods include, but are not limited to: magnetic connection, snap-fit ​​connection, bolt connection, etc.

[0376] like Figure 20As shown, in some optional embodiments, the base station body 110 further includes a base 700, which is detachably connected to the housing 113 of the base station body 110 and located inside the docking cavity 111. The base 700 has a cleaning tank 111c for accommodating at least the cleaning component 510 of the self-propelled cleaning device 500. The cleaning tank 111c is part of the docking cavity 111. The docking cavity 111 also includes a docking chamber located on the housing. The cleaning tank 111 and the docking chamber together form the docking cavity 111, which is used to accommodate at least a portion of the machine body of the self-propelled cleaning device 500, with the cleaning component 510 mounted below the machine body.

[0377] After the mobile cleaning equipment 500 enters the docking cavity 111, at least the cleaning component 512 in the cleaning assembly 510 is located in the cleaning tank 111c. After the wastewater generated from cleaning the cleaning component 512 is discharged from the cleaning tank 111c, dirt will still remain in the cleaning tank 111c, or dirt may remain on the base 700 for other reasons. Therefore, the base 700 needs to be cleaned regularly. The base 700 is detachably installed under the housing, which makes it easier to remove the base 700 from the housing and makes it easier to clean the dirt on the base 700.

[0378] like Figure 13b and Figure 20 As shown, in some optional embodiments, the base station body 110 further includes a locking assembly 710, which is connected to the base 700 and the housing respectively. The locking assembly 710 is configured to lock the connection between the base 700 and the housing, and to unlock the connection between the base 700 and the housing.

[0379] Locking the base 700 using the locking assembly 710 ensures the reliability of the connection between the base 700 and the housing, reducing the risk of separation between the base 700 and the housing due to vibrations caused by the self-propelled cleaning device 500 entering or exiting the docking cavity 111, maintenance of the self-propelled cleaning device 500, or other base stations 100. Unlocking the base 700 using the locking assembly 710 facilitates the disassembly of the base 700.

[0380] like Figure 21a and Figure 21c As shown, the base 700 has a clearance hole 705; the locking assembly 710 includes an elastic member 711 and a locking member 712, with the two ends of the elastic member 711 connected to the housing 113 and the locking member 712 respectively; when the elastic member 711 is subjected to force, it deforms, and the distance between the elastic member 711 and the housing 113 is less than the distance between the wall of the clearance hole 705 and the housing 113, thus unlocking the base 700 from the housing 113; after the external force is removed, the elastic restoring force of the elastic member 711 causes the locking member 712 to pass through the clearance hole 705, thus locking the base 700 from the housing 113.

[0381] When the base 700 is attached to the underside of the housing 113, the locking assembly 710 is in a locked state, locking the base 700 and the housing 113. When it is necessary to remove the base 700 from the housing 113, force can be applied to the locking assembly 710 to unlock the base 700 from the housing 113 and remove the base 700. After removing the base 700, the applied force can be released.

[0382] For example, the elastic element 711 can be a compression spring or a sheet spring. The locking element 712 locks the base 700 onto the housing 113 by abutting against the wall of the clearance hole 705. The locking element 712 can be retracted by pressing the elastic element 711, separating the locking element 712 from the wall of the clearance hole 705, thus unlocking the base 700 as the locking element 712 can no longer limit its movement.

[0383] like Figure 21b and Figure 21d As shown, the outer sidewall of the cleaning tank 111c includes a first insertion part, and the housing 113 at the corresponding position of the first insertion part includes a second insertion part, with the first insertion part and the second insertion part mating; the first insertion part is an insertion post 702, and the second insertion part is an insertion hole 704, or the second insertion part is an insertion post, and the first insertion part is an insertion hole, with the insertion post 702 inserted into the insertion hole 704, and the radial cross-sectional shape of the insertion post 702 is cross-shaped to increase the strength of the insertion post 702 and ensure the reliability of the connection between the insertion post 702 and the insertion hole 704.

[0384] Figure 21b and Figure 21d As exemplarily shown, the first insertion part is a insertion post 702, and the second insertion part is a insertion hole 704.

[0385] like Figure 22 As shown, in some alternative embodiments, the base station 100 further includes: a base plate 110i connected to the base station body 110, and a base 700 located at least partially between the base plate 110i and the base station body 110.

[0386] When the base station 100 is placed on the support surface, the base station 100 can contact the support surface through the bottom surface of the base plate 110i. Since the material and surface roughness of the base plate 110i are controllable, by setting the base plate 110i, the base 700 can slide along the top surface of the base plate 110i during disassembly and installation, reducing direct contact between the base 700 and the support surface, thereby reducing wear on the base 700 and increasing its service life. Furthermore, using the base plate 110i in contact with the support surface also ensures the overall flatness of the base station 100 and increases its overall strength.

[0387] like Figure 21a and Figure 21bAs shown, in some optional embodiments, the base station 100 further includes: a sewage discharge pipe 701, which communicates with the cleaning tank 111c and is located above the bottom wall of the cleaning tank 111c; the sewage discharge pipe 701 is connected to a sewage inlet pipe 192 to introduce sewage in the cleaning tank 111c into the sewage storage space 122 via the sewage inlet pipe 192. At least a portion of the sewage discharge pipe 701 is higher than the bottom wall of the cleaning tank 111c, which can reduce the backflow of sewage from the cleaning tank 111c back into the cleaning tank 111c and improve the sewage discharge effect.

[0388] Optionally, the base 700 also includes a fifth seal, which is respectively sealed to the drain pipe 701 and the inlet pipe 192 to achieve a seal at the connection between the drain pipe 701 and the inlet pipe 192 and reduce sewage leakage at the connection between the drain pipe 701 and the inlet pipe 192.

[0389] The fifth seal can be a rubber sealing ring, but is not limited to this.

[0390] like Figure 21a and Figure 21b As shown, in some optional embodiments, the sidewall of the cleaning tank 111c has a through hole corresponding to the photo-sterilization module; the base station also includes: a photo-sterilization module and a light-transmitting sheet 703, the photo-sterilization module is installed on the housing 113 of the base station body 110; the light-transmitting sheet 703 is sealed to the hole wall of the through hole, and the light-transmitting sheet 703 is used to transmit the light emitted by the photo-sterilization module.

[0391] The photo-sterilization module can sterilize and disinfect the cleaning tank 111c, reducing odors generated after cleaning the cleaning components 510. The light-transmitting sheet 703 allows light emitted from the photo-sterilization module to pass through, ensuring the module's functionality while also providing waterproofing to prevent liquid from entering the cleaning tank 111c through the through-hole, thus minimizing the impact of liquid on the photo-sterilization module.

[0392] Without limitation, the photo-sterilization module can be a UV (ultraviolet) sterilization module.

[0393] For example, the light-transmitting sheet 703 can be a glass sheet or a transparent plastic sheet.

[0394] like Figure 2 and Figure 4a As shown, the base station body 110 also includes a cleaning tray 780 that is in contact with the cleaning component 510, and the cleaning tray 780 is detachably installed in the cleaning tank 111c.

[0395] The cleaning tray 780 directly contacts the cleaning component 512 that needs to be cleaned by the self-moving cleaning device 500, thereby cleaning the component 512 and improving the cleaning effect of the self-moving cleaning device 500. The cleaning tray 780 is prone to residue after repeated use. The cleaning tray 780 is detachable, allowing for easy removal from the cleaning tank 111c, facilitating cleaning of the cleaning tray 780.

[0396] For example, the cleaning disc 780 includes cleaning ribs with multiple protrusions, which can improve the cleaning effect on the cleaning component 512.

[0397] In some alternative embodiments, the base station 100 further includes: a third positioning detector, which is mounted on the base 700 and is used to detect whether the cleaning tray 780 is installed in the cleaning tank 111c and whether the cleaning component 510 of the self-moving cleaning device 500 is installed in the cleaning tank 111c.

[0398] Using a third positioning detector can detect whether the cleaning tray 780 is installed in place and whether the cleaning component 510 of the self-moving cleaning device 500 is installed in place. This eliminates the need to set up two separate positioning detectors. Not only is it a third positioning detector, but it is also low-cost and helps to improve the utilization rate of space within the base station 100, thus reducing the size of the base station 100.

[0399] For example, the third position detector may be located inside the cleaning tank 111c and below the cleaning tray 780.

[0400] like Figure 21e As shown, optionally, the cleaning tray 780 includes: a cleaning bracket 781, a transmission assembly 782, and a rotating shaft 783. The cleaning bracket 781 has the aforementioned cleaning ribs. Part of the transmission assembly 782 passes through the shaft hole 781a on the cleaning bracket 781, and the other part is located below the cleaning bracket 781. The rotating shaft 783 is connected to the transmission assembly 782, which is used to connect to the cleaning assembly 510 of the self-moving cleaning device 500. A third positioning detector is located below the rotating shaft 783.

[0401] Since the rotating shaft 783 is part of the cleaning tray 780, the third positioning detector can detect the positioning of the cleaning tray 780 by detecting the positioning of the rotating shaft 783. For example, when the cleaning tray 780 is installed in the cleaning tank 111c or when the cleaning tray 780 is not in the cleaning tank 111c, the third positioning detector can detect two different detection signals X. Therefore, the third positioning detector can determine whether the cleaning tray 780 is installed in the cleaning tank 111c.

[0402] When the self-moving cleaning device 500 is installed in the docking cavity 111, the cleaning component 510 connects with part of the transmission component 782 in the shaft hole 781a. After the self-moving cleaning device 500 is powered on, the cleaning component 510 rotates first, then drives the transmission component 782 to rotate, and the rotating transmission component 782 in turn drives the rotating shaft 783 to rotate. If the self-moving cleaning device 500 does not enter the docking cavity 111, that is, if the self-moving cleaning device 500 is not installed in place on the base 700, the rotating shaft 783 will not rotate. Since the third positioning detector is located below the rotating shaft 783, the third positioning detector can output different detection signals Y when the rotating shaft 783 is rotating and not rotating. The detection signal Y is different from the detection signal X. Therefore, the third positioning detector can also detect whether the cleaning component 510 is installed in place in the cleaning tank 111c, realizing the reuse of the third positioning detector.

[0403] Figure 21e The filter element 784 located above the drain outlet is also shown.

[0404] For example, the third position detector is a Hall detector. Due to the different heights of the inner wall of the cleaning tank 111c (i.e., the location where the third position detector is installed), the cleaning tray 780, and the cleaning component 510, the third position detector can detect three different Hall voltages when the base 700 is installed below the housing 113, when the base 700 is not installed below the housing 113, and when the cleaning component 510 is located above the cleaning tray 780. Thus, a third position detector can be used for two different detection purposes.

[0405] like Figure 16a and Figure 23a As shown, in some optional embodiments, the base station 100 further includes: a second handle structure 103, the second handle structure 103 being used to: drive the base station 100 to change its placement position under the action of an external force; such as Figure 23a As shown, the second handle structure 103 is located on the left housing 110h and the right housing 110g of the base station body 110, or, as... Figure 16a As shown, the second handle is located on the rear housing 110e of the base station body 110.

[0406] The base station can be easily moved using the second handle structure 103.

[0407] Figure 23a In the embodiment shown, a second handle structure 103 is provided on each of the two opposite sides of the base station body 110 (e.g., the left housing 110h and the rear housing 110e). When in use, it is necessary to use both hands to carry the equipment with the help of one of the second handle structures 103.

[0408] Figure 16aIn the illustrated embodiment, one hand can hold the second handle structure 103 on the rear housing 110e, while the other hand uses the top wall of the docking cavity 111 to move the base station 100. Therefore, Figure 16a The base station 100 can be moved using a second handle structure 103, resulting in a simpler structure. Furthermore, Figure 16a The second handle structure 103 is located in the rear housing 110e. When the base station 100 is placed, the rear housing 110e is often set against a wall, making it easy to hide. Figure 16a In the embodiment shown, base station 100 has better overall integrity.

[0409] like Figure 23a As shown, the base station body 110 has a third mounting groove 109 on its outer shell 110d; the second handle structure 103 includes a handle 103a and a drive member connected to the handle 103a, the drive member being configured to provide a driving force for the handle 103a to switch between a protruding state and a hidden state; in the protruding state, the handle 103a protrudes at least partially from the outer shell 110d, and in the hidden state, the outer surface of the handle 103a is flush with the outer surface of the outer shell 110d; wherein, the outer shell 110d includes a left shell 110h and a right shell 110g, or the outer shell 110d includes a rear shell 110e.

[0410] When the second handle structure 103 is needed (e.g., when the base station 100 needs to be moved), the handle 103a can be set in a protruding state so that external force can be applied to the handle 103a. When the second handle structure 103 is not needed, the handle 103a can be set in a hidden state, so that the outer surface of the housing 113 remains flat, which helps to ensure the overall appearance of the base station 100 and improve the user experience.

[0411] For example, the handle can be rotated by a drive component. Different rotation angles can make the handle 103a have a protruding state and a hidden state.

[0412] The driving component can be a motor. Or, as... Figure 23b As shown, the driving component is a drive torsion spring 103b.

[0413] exist Figure 23bIn the illustrated embodiment, the second handle structure 103 includes a handle 103a, a drive torsion spring 103b, and a mounting shaft 740. Both ends of the mounting shaft 740 are connected to the sidewalls of the third mounting groove 109. The drive torsion spring 103b is located on the mounting shaft 740, and its two ends are respectively connected to the housing 113 and the handle 103a. When the drive torsion spring 103b is subjected to an external force transmitted from the handle, it deforms, allowing the handle 103a to flip and protrude. After the external force on the drive torsion spring 103b disappears, the drive torsion spring 103b returns to its original shape, and the force of this deformation causes the handle 103a to return to its concealed state.

[0414] Optionally, the second handle 103 can be Figure 16a The groove shown.

[0415] like Figure 24 As shown, in some optional embodiments, the base station 100 further includes a roller 713, which is installed at the bottom of the base station body 110. When the base station 100 is embedded, the roller 713 can be used to more easily pull the base station 100 out of the embedded space, or push the base station 100 into the embedded space. Therefore, the roller 713 can assist in the placement and removal of the base station 100.

[0416] For example, the roller 713 is located at the rear of the base station body 100. The location of the roller 713 at the rear of the base station body 100 includes, but is not limited to: being adjacent to the rear wall of the base station body 110, or the roller 713 being connected to the rear wall of the base station body 110.

[0417] Optionally, there are two rollers 713, located on either side of the rear of the base station body 110. Alternatively, there is one roller 713, located in the middle of the rear of the base station body 110. Or, there are three or more rollers 713, which can be evenly spaced at the rear of the base station body 110.

[0418] For example, the roller 713 may be adjacent to the rear housing 110e.

[0419] like Figure 13b , Figure 20 and Figure 22 As shown, in some alternative embodiments, the base station 100 further includes a microphone module 720, which is mounted on the outer panel 120e.

[0420] The microphone module 720 can recognize voice to facilitate interaction between the base station 100 and the user's target electronic device, making it easier for the user to operate and control the base station.

[0421] Mounting the microphone module 720 on the exterior trim panel 120e reduces obstruction of the microphone module 720 and ensures the sensitivity and accuracy of the microphone module 720 in acquiring audio signals.

[0422] like Figure 13b , Figure 20 and Figure 22 As shown, in some optional embodiments, the base station 100 further includes an interaction module 730, which is mounted on the outer panel 120e. The interaction module 730 includes at least a button for controlling the movement of the integrated housing 120. The interaction module 730 can receive user commands, thereby enabling control of the base station and improving the user experience.

[0423] For example, the interaction module 730 may further include: buttons for controlling the opening or closing of the functional cover 120f, buttons for controlling the opening or closing of the lifting component, buttons for controlling the rotation of the rotating component 40, etc. Among these, the buttons for controlling the opening or closing of the functional cover 120f include: buttons for controlling the opening or closing of the cleaning agent tank cover, buttons for controlling the opening or closing of the wastewater tank cover, buttons for controlling the opening or closing of the dust collection tank cover, etc.

[0424] The buttons can be physical buttons or virtual buttons. In addition, the interaction module 730 may also include a display screen.

[0425] This disclosure also provides a cleaning system, which includes the base station 100 and the self-cleaning mobile device 500 described in any of the above embodiments.

[0426] like Figure 25a As shown, this disclosure also provides a control method applied to the base station 100 described in the above embodiments. The method includes the following steps:

[0427] Step S110: Determine the target location to be reached by the integrated housing 120;

[0428] Step S120: Determine the current position of the integrated housing 120; both the target position and the current position include a first position or a second position;

[0429] Step S130: In response to the fact that the target position is different from the position of the integrated housing 120, control the target motor to rotate until the integrated housing 120 moves to the target position; wherein, the target motor is: the motor in the base station 100 that drives the integrated housing 120 to move.

[0430] In step S110, the base station 100 can automatically determine the target location. For example, if a fault is detected in the integrated housing 120, the target location is automatically determined as the second location to better remind the user to detect and handle the fault in a timely manner.

[0431] Alternatively, base station 100 can also passively determine the target location. For example, base station 100 determines the target location based on detected control commands. For instance, if a control command is received from the target electronic device instructing the integrated housing 120 to be moved to a second position, the control command is executed.

[0432] The target electronic devices include, but are not limited to: mobile phones, tablets, televisions, wearable devices, etc.

[0433] In step S120, optionally, the position of the integrated housing 120 can be any position between the first position and the second position. If the integrated housing 120 is located between the first position and the second position, the target position can be determined according to the interactive command or the state of the functional space 124, and then, based on the target position, it can be determined whether to control the integrated housing 120 to move to the first position or to the second position.

[0434] The location of the integrated enclosure 120 may be different from the target location, or the location of the integrated enclosure 120 may be the same as the target location.

[0435] Optionally, step S120 may also be performed before step S110.

[0436] For example, step S120 includes: determining the position of the integrated housing 120 based on the detection information of the first positioning detector 155; or, determining the position of the integrated housing 120 based on the historical information of the movement of the integrated housing 120.

[0437] For example, if the detection information of the first positioning detector 155 indicates that the integrated housing 120 is in the first position, then the position of the integrated housing 120 is also the first position; conversely, if the detection information of the first positioning detector 155 indicates that the integrated housing 120 is not in the first position, then the position of the integrated housing 120 is considered to be the second position.

[0438] The historical information on the movement of the integrated enclosure 120 can at least record the current position information of the integrated enclosure 120, and the location of the integrated enclosure 120 can be determined based on the historical information. The historical information can be stored in the memory of the base station 100, or it can be stored in the memory of the target electronic device. In the latter case, the base station 100 can obtain the historical information sent by the target electronic device through information interaction with the target electronic device.

[0439] In step S130, in some embodiments, if the position of the integrated housing 120 is the same as the target position, the target motor can be kept stationary to keep the position of the integrated housing 120 unchanged.

[0440] For example, keeping the target motor stationary can be achieved by not energizing the target motor.

[0441] In this embodiment, the direction of motor movement is determined based on the target position and current position of the integrated housing 120, thereby realizing automatic control of the movement of the integrated housing 120 and making it easier for the base station 100 to replace consumables in a lower space.

[0442] In some alternative embodiments, the control method may further include:

[0443] In response to the integrated housing 120 being in the second position, according to the first control information, the rotating component is controlled to drive the integrated housing 120 to swing relative to the base station body 110; or, according to the second control information, the lifting component is controlled to drive the functional module into or out of the functional space 124, so as to further facilitate the retrieval and placement of consumables.

[0444] Without limitation, the first control information and the second control information may be interactive instructions obtained by analyzing the voice information collected by the pickup module 720, or interactive instructions detected by the interaction module 730.

[0445] The detection information of the first position detector 155 is different when the integrated housing 120 is in the first position and when the integrated housing 120 is not in the first position. Therefore, the detection information can be used to determine whether the integrated housing 120 is in the first position.

[0446] like Figure 25b As shown, in some optional embodiments, step S130 includes any of the following steps:

[0447] S131. In response to the position of the integrated housing 120 being the first position and the target position being the second position, control the target motor to rotate until the integrated housing 120 moves to the second position;

[0448] S132. In response to the integrated housing 120 being in the second position and the target position being the first position, control the target motor to rotate until the integrated housing 120 moves to the first position;

[0449] S133. In response to the integrated housing 120 being in any position between the first position and the second position, and the target position being the first position or the second position, control the target motor to rotate until the integrated housing 120 moves to the first position or the second position.

[0450] For example, if the position of the integrated housing 120 can be determined using at least one first position detector 155 as a first position, a second position, or any position between the first and second positions, then steps S131 to S133 may all include: determining whether the integrated housing 120 has moved to the second position or the first position based on the detection information from the first position detector 155.

[0451] For example, when the first position detector 155 includes the first Hall sensor and the second Hall sensor mentioned above, it can determine whether the integrated housing 120 has reached the first position based on the detection information of the first Hall sensor, and determine whether the integrated housing 120 has reached the second position based on the detection information of the second Hall sensor.

[0452] For example, when the first positioning detector 155 includes the aforementioned second Hall sensor and non-Hall sensor, it can determine whether the integrated housing 120 has reached the second position based on the detection information of the second Hall sensor, and determine whether the integrated housing 120 has reached the first position based on the detection information of the non-Hall sensor. The non-Hall sensor includes, but is not limited to, a photoelectric position sensor.

[0453] For example, if base station 100 includes only one first position detector 155, and this position detector 155 is only used to determine whether integrated housing 120 has reached a first position, then software methods can be used to determine whether integrated housing 120 has reached a second position. For example: Figure 25c As shown, step S131 above may include:

[0454] S1311. Obtain the departure time of the integrated housing 120 from the first position;

[0455] S1312. Based on the departure time, determine whether the integrated housing 120 has moved to the second position.

[0456] Optionally, the timing can start from the departure time. If the timing reaches a certain time, it indicates that the integrated housing 120 has moved to the second position.

[0457] Therefore, the position of the integrated housing 120 can be determined by using either the first parameter value or the departure time.

[0458] For example, the first position detector 155 is the first Hall sensor mentioned above. It can determine whether the integrated housing 120 has reached the first position based on the detection information of the first Hall sensor, and determine whether the integrated housing 120 has reached the second position based on the departure time.

[0459] For example, the first position detector 155 is the aforementioned non-Hall sensor, which can determine whether the integrated housing 120 has reached the first position based on the detection information of the non-Hall sensor, and determine whether the integrated housing 120 has reached the second position based on the departure time.

[0460] In some alternative embodiments, step S1312 includes:

[0461] The first preset duration is started from the departure time of the integrated box 120 from the first position. Based on the relationship between the first preset duration and the second threshold, it is determined whether the integrated box 120 is in the second position.

[0462] As the timing time increases, the time it takes for the target motor to drive the integrated housing 120 to move towards the second position also increases, indicating that the integrated housing 120 is getting closer to the second position. When the timing time reaches the second threshold, it indicates that the integrated housing 120 has reached the second position.

[0463] The second threshold can be 6s, 7s, or 8s.

[0464] In some optional embodiments, determining whether the integrated housing 120 is in the second position based on the relationship between the time it takes for the integrated housing 120 to leave the first position and a second threshold includes:

[0465] The first preset time for the integrated housing 120 to leave the first position is equal to the second threshold, thus determining that the integrated housing 120 is in the second position.

[0466] Optionally, if the time it takes for the integrated housing 120 to leave the first position is less than a second threshold, it is determined that the integrated housing 120 has not reached the second position, and the integrated housing 120 is in a position between the first position and the second position.

[0467] In some optional embodiments, the control method further includes: generating a first control command in response to the number of times a first difference is greater than or equal to a first threshold being greater than or equal to a first preset number of times, wherein the first control command instructs the target motor to rotate in the opposite direction to the current rotation for a second preset duration, and the first difference is the difference between a first parameter value of the target motor and a preset parameter value.

[0468] For example, the first parameter value can be a current value.

[0469] For example, if the first parameter value is denoted as Y (also known as transient operating current), the preset parameter value is denoted as X (also known as initial operating current), the first threshold is 100mA, and the first preset number of times is 5, then if the number of times YX≧100mA equals 5, it indicates that the target motor is stalled, which will trigger overcurrent protection. The target motor will stop rotating and reverse for 1 second to protect the target motor.

[0470] For example, the preset parameter value is the average value of multiple second parameter values ​​detected per unit time when the integrated housing 120 enters and exits the receiving cavity 112. Both the second parameter value and the first parameter value are current values.

[0471] For example, when the integrated housing 120 is in the first position, the current data of the target motor is taken every 20ms, and the average value of 5 data is taken as the initial current data (i.e., the preset parameter value).

[0472] Entering and exiting the receiving cavity 112 means that during the process of the integrated housing 120 moving from the first position to the second position, or from the second position to the first position, the target motor driving the integrated housing 120 does not experience any unexpected situations such as stalling or stopping.

[0473] Alternatively, the preset parameter value can be determined based on the second parameter value detected when the integrated housing 120 initially moves. Initial movement refers to the second parameter value detected when the integrated housing 120 just leaves the first position, or the second parameter value detected when the integrated housing just leaves the second position.

[0474] Without limitation, the first threshold can be 90mA, 100mA, 105mA, 110mA, or 120mA, etc.

[0475] In this embodiment of the disclosure, the second preset duration can be 20ms, 25ms, or 30ms, etc.

[0476] Without limitation, the first preset number of times is 4, 5, 6 or 7 times.

[0477] For example: if the first parameter value is denoted as Y (also known as transient operating current), the preset parameter value is denoted as X, the first threshold is 100mA, and the first preset number of times is 5, then if the number of times YX≧100mA is equal to 5, it indicates that the integrated housing 120 has reached the second position.

[0478] The first parameter value can be obtained for the first time at the departure time, or it can be obtained for the first time at the first second preset time after the departure time. The first parameter value can be obtained multiple times, and the first difference between each first parameter value and the preset parameter value can be calculated. If the number of times the first difference is greater than or equal to the first threshold is equal to the first preset number, then it is determined that the integrated box 120 has moved to the second position.

[0479] If a large first difference is still detected when the integrated housing 120 is in the second position, it indicates that the target motor may be stalled. At this time, controlling the target motor to rotate in the opposite direction of the current rotation for a second preset time can effectively protect the target motor.

[0480] For example, taking 5 preset times as an example, if the target motor is detected to be rotating in the target direction, the first difference is determined based on the detected first parameter value. If the first difference is detected to be greater than or equal to the first threshold 5 times, it indicates that the target motor of the integrated housing 120 is stalled. At this time, it is necessary to control the target motor to rotate in the opposite direction to the target direction for a second preset time (e.g., change from forward rotation to reverse rotation for 1 second).

[0481] The second preset duration can be 1 second, 1.5 seconds, or 2 seconds, but is not limited to these.

[0482] In some optional embodiments, the control method further includes: in response to the first positioning detector 155 satisfying the non-triggered condition more than or equal to a second preset number of times within a unit time, generating a notification message indicating that the first positioning detector 155 has failed; wherein the non-triggered condition includes: the integrated housing 120 moving from the second position to the first position, and no detection information of the first positioning detector 155 being detected within a third preset time period, or the detection information of the first positioning detector 155 within the third preset time period indicating that the integrated housing 120 has not reached the first position.

[0483] For example, it can be determined whether the integrated housing 120 moves from the second position to the first position based on the rotation direction of the target motor or based on the executed control command. For instance, if the rotation direction of the target motor is opposite to the target direction, it is determined that the integrated housing 120 moves towards the first position. As another example, if the base station 100 executes a control command to move towards the first position, it indicates that the rotating target motor is driving the integrated housing 120 to move towards the first position.

[0484] Without limitation, the control commands are interactive commands from the user. For example, interactive commands can be obtained by analyzing voice information collected by the pickup module 720 on the base station 100, or interactive commands detected by the interaction module 730, or interactive commands received by the base station 100 from the target electronic device.

[0485] In some alternative embodiments, after step S132, the control method further includes: in response to the integrated housing 120 reaching the first position, adjusting the operating mode of the target motor to a braking mode to increase the difficulty of moving the integrated housing 120.

[0486] Generally, if the target position is the first position, it may indicate that the base station 100 needs to maintain the self-moving cleaning device 500. In this case, adjusting the target motor to the braking mode can ensure the reliability of the first position and reduce the vibration caused by the maintenance operation of the base station 100, which may cause the integrated housing 120 to move away from the first position.

[0487] Without limitation, braking mode can refer to configuring GPIO (General Purpose Input / Output) ports in braking mode (IN1&2H&H). In some alternative embodiments, the control method further includes: in response to the dust collection fan 170 of base station 100 being in a non-operating state, determining whether the integrated housing 120 is in a first position based on the detection information of the first position detector 155.

[0488] The vibration generated by the dust collection fan 170 during operation may cause errors in the detection of the first positioning detector 155, reducing its accuracy. When the integrated fan is in operation, the integrated housing 120 is in the first position. The movement of the integrated housing 120 is only performed after the integrated fan has completed its dust collection work. Therefore, even when the dust collection fan 170 is not in operation, determining whether the integrated housing 120 is in the first position based on the detection information from the first positioning detector 155 ensures the normal operation of the base station 100.

[0489] Optionally, when the dust collection fan 170 is in operation, the determination of whether the integrated housing 120 is in the first position is not based on the detection information of the first position detector 155. For example, when the dust collection fan 170 is in operation, the operation of the first position detector 155 can be stopped, which helps save energy.

[0490] In some alternative embodiments, step S110 includes: determining the target location based on the operating status of base station 100.

[0491] Base station 100 can detect its own operating status and automatically determine the target location based on the operating status.

[0492] The operational status includes: the usage status of consumables within base station 100, and / or the maintenance status of base station 100 for self-moving cleaning equipment 500.

[0493] In some alternative embodiments, determining the target location based on the operating status of the base station 100 includes: determining the target location based on the usage status of consumables within the base station 100; and / or, determining the target location based on the maintenance status of the self-propelled cleaning equipment 500 by the base station 100.

[0494] If the condition of the consumables indicates that they need to be replaced, the target location is determined as the second location, so that the functional space 124 is exposed to the external environment, making it convenient for the user to replace the consumables.

[0495] If the base station 100 is performing maintenance on the self-moving cleaning device 500, the target location is determined as the first location; otherwise, if the base station 100 is not performing maintenance on the self-moving cleaning device 500, the current location of the integrated housing 120 can be maintained, or the target location can be determined according to the base station 100's own needs or according to the detected interactive instructions.

[0496] In some alternative embodiments, determining the target location based on the usage status of consumables within the base station 100 includes:

[0497] In response to the fact that the usage status of consumables meets preset conditions, the second position is determined as the target position; wherein the preset conditions include at least one of the following: the dust bag in the dust collection space 121 reaches a first preset amount, the cleaning liquid level in the cleaning liquid storage space 123 is lower than a preset level, no dust bag is detected in the dust collection space 121, and the dirt on the filter screen in the sewage storage space 122 reaches a second preset amount.

[0498] Optionally, in response to the fact that the usage of consumables does not meet the preset conditions, the current position of the integrated housing 120 is maintained.

[0499] In some optional embodiments, the control method further includes: generating a reminder message in response to the usage status of consumables meeting preset conditions; wherein the reminder message is used to remind the user to replace or replenish consumables.

[0500] The reminder message can promptly notify users that consumables need to be replaced or replenished to ensure the normal operation of the base station 100. Replacement includes, but is not limited to, replacing the dust collection bag, and replenishment includes, but is not limited to, replenishing the cleaning fluid.

[0501] For example, after generating the reminder information, the control method may further include at least one of the following: displaying the reminder information in the interaction module 730, playing the reminder audio corresponding to the reminder information using the voice playback module on the base station 100, sending the reminder information to the target electronic device, and using the target electronic device to remind the user.

[0502] In some optional embodiments, the control method further includes: in response to the usage status of consumables meeting preset conditions and the fourth preset duration of the integrated housing 120 being in the second position being greater than a third threshold, controlling the target motor to rotate until the integrated housing 120 moves to the first position; in response to the number of times the integrated housing 120 switches between the first position and the second position reaching a second preset number, controlling the integrated housing 120 to remain in the first position.

[0503] If a consumable needs replacement, and within a fourth preset time period after the integrated housing 120 pops out to the second position, regardless of whether the user replaces the consumable, the integrated housing 120 will retract to the first position. If the integrated housing 120 retracts to the first position and finds that the consumable has not been replaced, it will pop out to the second position again. This switching between the first and second positions will continue until the number of switching reaches a second preset number. At this point, the integrated housing 120 will no longer pop out, remaining in the first position. This scenario is suitable for special situations where no one is handling the consumables. For example, the user is away from home and cannot replace the consumables.

[0504] Without limitation, the second preset number of times can be 3, 4, or 5 times, etc. The third threshold can be 20 minutes, 30 minutes, or 60 minutes, etc.

[0505] In some optional embodiments, the target location is determined based on the maintenance status of the self-moving cleaning device 500 by the base station 100, including: if the number of dust collections of the self-moving cleaning device 500 by the base station 100 is greater than or equal to a fourth threshold, the second location is determined as the target location.

[0506] The fourth threshold can be 5, 6, 7, 8, 10, or 15 times, etc.

[0507] After the number of dust collections reaches the fourth threshold, it indicates that the amount of dust in the dust bag is likely to reach its limit and the dust bag needs to be replaced. At this time, the target position is determined as the second position so that the integrated housing 120 can be removed from the receiving cavity (112) for easier dust bag replacement.

[0508] In some alternative embodiments, step S110 includes:

[0509] Determine the first control command;

[0510] Determine the target location based on the first control command.

[0511] For example, the first control instruction may be an interactive instruction. For instance, the first control instruction may include at least one of the following: an interactive instruction obtained by analyzing voice information collected by the pickup module 720 on the base station 100; an interactive instruction detected by the interactive module 730; or an interactive instruction received by the base station 100 from the target electronic device. Alternatively, the first control instruction may also be: the base station 100 receiving an instruction from the self-moving cleaning device 500.

[0512] In some alternative embodiments, determining the first control command includes:

[0513] Acquire the first voice information collected by the pickup module 720 in the base station 100, and / or the second voice information collected by the mobile cleaning device 500;

[0514] The first control command is determined based on the first voice information or the second voice information.

[0515] Optionally, the self-moving cleaning device 500 is equipped with a voice recognition module, which is used to collect second voice information.

[0516] When the voice recognition module of the self-propelled cleaning device 500 receives an instruction, it can execute the task corresponding to that instruction. Alternatively, the base station 100 can establish a wireless communication connection with the self-propelled cleaning device 500.

[0517] The base station 100 is equipped with a processing chip, which can recognize the voice information detected by the pickup module 720 in both offline and online states, and send the recognition result obtained from the voice information recognition to the self-moving cleaning device 500 through wireless communication, or through the microcontroller unit (MCU) in the base station 100 to the self-moving cleaning device 500.

[0518] The wireless communication methods between base station 100 and self-moving cleaning device 500 include, but are not limited to: infrared, Wi-Fi, Bluetooth, etc.

[0519] In some optional embodiments, the second control command is determined based on the first voice information or the second voice information, including:

[0520] In response to the self-moving cleaning device 500 being located in the docking cavity 111, a second control command is determined based on the first voice information.

[0521] If the self-propelled cleaning device 500 is located inside the docking cavity 111, the voice recognition module on the self-propelled cleaning device 500 is easily blocked, while the pickup module 720 of the base station 100 will not be blocked. Therefore, the base station 100 can obtain clearer and more accurate voice information. Thus, using the first voice information of the base station 100 to determine the second control command is beneficial to improving the accuracy of the interaction.

[0522] In some optional embodiments, the second control command is determined based on the first voice information or the second voice information, including:

[0523] In response to the self-moving cleaning device 500 being located outside the docking cavity 111, the confidence levels of the first voice information and the second voice information are determined;

[0524] The second control command is determined based on the confidence level.

[0525] If the self-propelled cleaning device 500 is located outside the docking cavity 111, both the self-propelled cleaning device 500 and the base station 100 can obtain clear and reliable voice information. Therefore, either the first voice information or the second voice information can be used to determine the second control command. If both the self-propelled cleaning device 500 and the base station 100 receive control commands, the second control command can be determined based on the confidence level of the first and second voice information, using the voice information with higher confidence, to ensure the accuracy of the interaction.

[0526] Optionally, determining the confidence levels of the first and second speech information includes:

[0527] The confidence level is determined based on the first user priority corresponding to the first voice information and the second user priority corresponding to the second voice information.

[0528] In response to the first user having a higher priority than the second user, the confidence level of the first voice information is determined to be higher than that of the second voice information; or, in response to the second user having a higher priority than the first user, the confidence level of the second voice information is determined to be higher than that of the first voice information.

[0529] Optionally, determining the confidence levels of the first and second speech information includes:

[0530] The confidence level is determined based on the speech quality of the first speech information and the speech quality of the second speech information.

[0531] For example, speech quality can be the signal-to-noise ratio (SNR). If the SNR of the first speech information is higher than that of the second speech information, it indicates that the confidence level of the first speech information is greater than that of the second speech information. Conversely, if the SNR of the second speech information is higher than that of the first speech information, it indicates that the confidence level of the second speech information is greater than that of the first speech information.

[0532] In some alternative embodiments, determining the second control command includes:

[0533] Detect touch information in the interaction module 730;

[0534] Based on the touch information, determine the second control command.

[0535] Touch information includes, but is not limited to: touch information generated by touching physical buttons in the manner of pressing or rotating, or touch information generated by touching virtual buttons on the touch screen in the manner of single click, double click, long press or swipe.

[0536] The interaction module 730 may include the aforementioned physical buttons or touch screen. The interaction module 730 receives user operations and obtains touch information.

[0537] For example, if the touch screen of the interaction module 730 can display different instruction labels, the instruction label corresponding to the user's operation can be determined based on the coordinate position of the user's operation, and then the instruction corresponding to the instruction label can be used as the second control instruction.

[0538] According to some optional embodiments, the control method further includes: in response to the sewage pump 200 and / or the dust collection fan 170 being in operation and the button controlling the movement of the integrated housing 120 being triggered, stopping the operation of the cleaning agent delivery pump 770, the sewage pump 200, and the dust collection fan 170. If the button controlling the movement of the integrated housing 120 is accidentally pressed while the sewage pump 200 is performing sewage discharge and / or the dust collection fan 170 is performing dust collection, the integrated housing 120 may be moved out of the receiving cavity 112. In this case, stopping the operation of the cleaning agent delivery pump 770, the sewage pump 200, and the dust collection fan 170 reduces the risk of base station 100 malfunctions due to the functional space 124 not being in place.

[0539] like Figure 26 As shown, this disclosure also provides a control device 1000, applied to the base station 100 described in the above embodiments. The device 1000 includes:

[0540] The first determining module 1100 is configured to determine the target location to be reached by the integrated housing 120;

[0541] The second determining module 1200 is configured to determine the current position of the integrated housing 120; both the target position and the current position include a first position or a second position.

[0542] Control module 1300 is configured to control a target motor to rotate in response to a difference between the target position and the position of the integrated housing 120, until the integrated housing 120 moves to the target position; wherein, the target motor is: the motor in base station 100 that drives the integrated housing 120 to move.

[0543] In some alternative embodiments, the control module is configured to be at least one of the following:

[0544] In response to the current position of the integrated housing 120 being the first position and the target position being the second position, the target motor is controlled to rotate until the integrated housing 120 moves to the second position;

[0545] In response to the position of the integrated housing 120 being the second position and the target position being the first position, the target motor is controlled to rotate until the integrated housing 120 moves to the first position;

[0546] In response to the integrated housing 120 being in any position between the first position and the second position, and the target position being the first position or the second position, the target motor is controlled to rotate until the integrated housing 120 moves to the first position or the second position.

[0547] In some alternative embodiments, the second determining module is configured to:

[0548] Based on the detection information from the first positioning detector 155, it is determined whether the integrated housing 120 is in the first position.

[0549] In some alternative embodiments, the control module is configured to:

[0550] In response to the integrated housing 120 leaving the first position, the first parameter value of the target motor is acquired; wherein, the first parameter value is the electrical signal parameter value when the target motor is working;

[0551] Obtain the departure time of the integrated housing 120 from the first position;

[0552] Based on the first parameter value or the departure time, determine whether the integrated housing 120 has moved to the second position.

[0553] In some alternative embodiments, the control module is configured to:

[0554] The first preset duration is started from the departure time of the integrated box 120 from the first position. Based on the relationship between the first preset duration and the second threshold, it is determined whether the integrated box 120 is in the second position.

[0555] In some alternative embodiments, the control module is configured to:

[0556] The first preset time for the integrated housing 120 to leave the first position is equal to the second threshold, thus determining that the integrated housing 120 is in the second position.

[0557] Optionally, if the time it takes for the integrated housing 120 to leave the first position is less than a second threshold, it is determined that the integrated housing 120 has not reached the second position, and the integrated housing 120 is in a position between the first position and the second position.

[0558] In some alternative embodiments, the apparatus further includes:

[0559] The first generation module is configured to generate a first control command in response to the occurrence of a first difference being greater than or equal to a first threshold being greater than or equal to a first preset number of occurrences. The first control command instructs the target motor to rotate in the opposite direction to the current rotation for a first preset time. The second difference is the difference between the first parameter value and the preset parameter value of the target motor.

[0560] In some optional embodiments, the preset parameter value is the average value of multiple second parameter values ​​detected per unit time when the integrated housing 120 enters and exits the receiving cavity 112.

[0561] In some alternative embodiments, the apparatus further includes:

[0562] The second generation module is configured to: generate a notification message in response to the first positioning detector 155 satisfying the non-triggered condition more than or equal to a second preset number of times within a unit time, wherein the notification message indicates that the first positioning detector 155 has failed; wherein the non-triggered condition includes: the integrated housing 120 moving from the second position to the first position, and no detection information of the first positioning detector 155 is detected within a second preset time, or the detection information of the first positioning detector 155 within a second preset time indicates that the integrated housing 120 has not reached the first position.

[0563] In some alternative embodiments, the control module is configured to:

[0564] In response to the dust collection fan 170 of the base station 100 being in a non-working state, the integrated housing 120 is determined to be in the first position based on the detection information of the first position detector 155.

[0565] In some alternative embodiments, the first determining module is configured to:

[0566] The target location is determined based on the operating status of the base station 100.

[0567] In some alternative embodiments, the first determining module is configured to:

[0568] The target location is determined based on the usage status of consumables within the base station 100; and / or,

[0569] The target location is determined based on the maintenance status of the self-moving cleaning device 500 by the base station 100.

[0570] In some alternative embodiments, the first determining module is configured to:

[0571] In response to the usage status of the consumables meeting preset conditions, the second location is determined as the target location; wherein the preset conditions include at least one of the following:

[0572] The dust bag in the dust collection space 121 reaches the first preset amount;

[0573] The cleaning fluid level in the cleaning fluid storage space 123 is lower than the preset level;

[0574] The dust bag was not detected in the dust collection space 121;

[0575] The filter screen in the sewage storage space 122 is dirty to the second preset level.

[0576] In some alternative embodiments, the apparatus further includes:

[0577] The third generation module is configured to generate a reminder message in response to the usage status of the consumable meeting preset conditions; wherein the reminder message is used to remind the user to replace the consumable.

[0578] In some optional embodiments, the device further includes a processing module configured to: control the target motor to rotate until the integrated housing 120 moves to the first position in response to the usage status of the consumables meeting preset conditions and the third preset duration of the integrated housing 120 being in the second position being greater than a third threshold; and control the integrated housing 120 to remain in the first position in response to the number of times the integrated housing 120 switches between the first position and the second position reaching a second preset number of times.

[0579] In some alternative embodiments, the first determining module is configured to:

[0580] If the number of dust collections by the self-moving cleaning device 500 at the base station 100 is greater than or equal to the fourth threshold, the second location is determined to be the target location.

[0581] In some alternative embodiments, the first determining module is configured to:

[0582] Determine the second control command;

[0583] The target location is determined according to the second control command.

[0584] In some alternative embodiments, the first determining module is configured to:

[0585] The system acquires the first voice information collected by the pickup module 720 in the base station 100, and / or the second voice information collected by the self-mobile cleaning device 500.

[0586] The second control command is determined based on the first voice information or the second voice information.

[0587] In some alternative embodiments, the first determining module is configured to:

[0588] In response to the self-moving cleaning device 500 being located within the docking cavity 111, the second control command is determined based on the first voice information; or,

[0589] In response to the self-moving cleaning device 500 being located outside the docking cavity 111, the confidence levels of the first voice information and the second voice information are determined;

[0590] The second control command is determined based on the confidence level.

[0591] In some alternative embodiments, the first determining module is configured to:

[0592] Detecting touch information in the interaction module 730;

[0593] The second control command is determined based on the touch information.

[0594] This disclosure also provides a base station 100, which includes a processor and a memory for storing computer services that can run on the processor, wherein the processor, when running the computer services, implements the methods described in the above embodiments.

[0595] This disclosure also provides a storage medium containing computer-executable instructions, which are executed by a processor to implement the methods described in the above embodiments.

[0596] Without conflict, different embodiments or different technical features of this disclosure can be arbitrarily combined to form new embodiments.

[0597] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the exemplary embodiments according to this application. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0598] Unless otherwise specifically stated, the relative arrangement, numerical expressions, and values ​​of the components and steps set forth in these embodiments do not limit the scope of this disclosure. It should also be understood that, for ease of description, the dimensions of the various parts shown in the drawings are not drawn to actual scale. Techniques, methods, and devices known to those skilled in the art may not be discussed in detail, but where appropriate, such techniques, methods, and devices should be considered part of the specification. In all examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not as limitations. Therefore, other examples of exemplary embodiments may have different values. It should be noted that similar reference numerals and letters in the following drawings denote similar items; therefore, once an item is defined in one drawing, it need not be further discussed in subsequent drawings.

[0599] In the description of this disclosure, it should be understood that the orientation or positional relationship indicated by directional terms such as "front, back, up, down, left, right", "horizontal, vertical, horizontal" and "top, bottom" is generally based on the orientation or positional relationship shown in the accompanying drawings and is only for the convenience of describing this disclosure and simplifying the description. Unless otherwise stated, these directional terms do not indicate or imply that the device or element referred to must have a specific orientation or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation on the scope of protection of this disclosure; the directional terms "inner" and "outer" refer to the inner and outer contours relative to the outline of each component itself.

[0600] For ease of description, spatial relative terms such as "above," "on top of," "on the upper surface of," "above," etc., are used herein to describe the spatial positional relationship of a device or feature as shown in the figures to other devices or features. It should be understood that spatial relative terms are intended to encompass different orientations in use or operation beyond the orientation of the device as described in the figures. For example, if the device in the figures were inverted, a device described as "above" or "on top of" other devices or structures would subsequently be positioned as "below" or "under" other devices or structures. Thus, the exemplary term "above" can include both "above" and "below." The device may also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatial relative descriptions used herein will be interpreted accordingly.

[0601] Furthermore, it should be noted that the use of terms such as "first" and "second" to define components is merely for the purpose of distinguishing the corresponding components. Unless otherwise stated, the above terms have no special meaning and therefore should not be construed as limiting the scope of protection of this disclosure.

[0602] The above description is merely a preferred embodiment of this disclosure and is not intended to limit this disclosure. Various modifications and variations can be made to this disclosure by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this disclosure should be included within the scope of protection of this disclosure.

Claims

1. A base station, characterized by The base station (100) includes: The base station body (110) has a receiving cavity (112) and a docking cavity (111) for a self-propelled cleaning device (500) to dock; at least a portion of the space of the receiving cavity (112) is located above the docking cavity (111); The base station (100) also includes a door (160) for covering the docking cavity (111), the door (160) being pivotally connected to the base station body (110) for opening or closing the docking cavity (111), and the height of the base station (100) being less than 350mm.

2. The base station of claim 1, wherein, The ratio of the height of the docking cavity (111) to the height of the base station (100) is 1 / 1.5 to 1 / 3.

5.

3. The base station according to claim 1 or 2, characterized by, The accommodating cavity (112) has a functional space (124), which includes at least two of the following functional spaces: a dust collection space (121), a wastewater storage space (122), and a cleaning agent storage space (123); the functional spaces (124) are distributed in any of the following ways: All of the functional spaces (124) are arranged horizontally in parallel above the docking cavity (111); or all of the functional spaces (124) are arranged horizontally in parallel on the sides of the docking cavity (111); or all of the functional spaces (124) are located within the docking cavity (111). One part of the functional space (124) is arranged horizontally above the docking cavity (111), and another part of the functional space (124) is arranged horizontally on the side of the docking cavity (111).

4. The base station of claim 3, characterized in that, The cavity wall of the functional space (124) forms an integrated housing (120). The integrated housing (120) also has an operation window (120d) that communicates with the functional space (124). The shell (113) of the base station body (110) includes a movable cover (113c). The movable cover (113c) has a closed state and an open state relative to the integrated housing (120). When the movable cover (113c) is in the closed state, the movable cover (113c) covers the operation window (120d). When the movable cover (113c) is in the open state, the movable cover (113c) cannot cover the operation window (120d), and the operation window (120d) is exposed to the external environment.

5. The base station of claim 3, wherein, The cavity wall of the functional space (124) forms an integrated box (120), the integrated box (120) includes a functional module, the functional module is detachably installed in the functional space (124), the functional module includes at least one of: a dust collection box (120a) located in the dust collection space (121), a sewage box (120b) located in the sewage storage space (122), and a cleaning agent box (120c) located in the cleaning agent storage space (123).

6. The base station of claim 1, wherein, The base station (100) further includes: a liquid inlet pipe (750) configured to provide cleaning fluid for at least cleaning the cleaning components (510) of the self-moving cleaning device (500); and a liquid inlet connector (630) connected to the liquid inlet pipe (750), the liquid inlet connector (630) configured to communicate with an external water source to deliver cleaning fluid from the external water source to the liquid inlet pipe (750), the liquid inlet connector (630) being rotatably connected to the liquid inlet pipe (750).

7. The base station of claim 3, wherein, The base station (100) further includes a liquid outlet connector (640), which is connected to a drain pipe (310), and the drain pipe (310) is configured to allow liquid to flow out of the functional space (124). Wastewater passes through, and the outlet connector (640) is configured to allow wastewater flowing out of the drain pipe (310) to pass through, and the outlet connector (640) is rotatably connected to the drain pipe (310).

8. The base station of claim 1, wherein, The base station body (110) further includes: a locking assembly (710), a base (700), and a housing (113). The locking assembly (710) is connected to the base (700) and the housing (113) respectively. The locking assembly (710) is configured to: lock the connection between the base (700) and the housing (113), and unlock the connection between the base (700) and the housing (113).

9. A base station, characterized by The base station (100) includes: The base station body (110) has a receiving cavity (112) and a docking cavity (111) for the self-propelled cleaning equipment (500) to dock; at least a portion of the space of the receiving cavity (112) is located above the docking cavity (111), and the receiving cavity (112) has a functional space (124), the cavity wall of the functional space (124) forming an integrated box (120). The base station (100) also includes a door (160) for covering the docking cavity (111), the door (160) being slidably connected to the outer panel (120e) of the integrated housing (120) for opening or closing the docking cavity (111), and the height of the base station (100) being less than 350mm.

10. The base station of claim 9, characterized in that, The sliding direction of the door (160) relative to the outer panel (120e) is perpendicular to the horizontal plane.

11. The base station according to claim 9, characterized in that, The ratio of the height of the docking cavity (111) to the height of the base station (100) is 1 / 1.5 to 1 / 3.

5.

12. The base station according to any one of claims 9-11, characterised in that, The functional space (124) includes at least two of the following functional spaces: a dust collection space (121), a wastewater storage space (122), and a cleaning agent storage space (123); the functional spaces (124) are distributed in any of the following ways: All of the functional spaces (124) are arranged horizontally in parallel above the docking cavity (111); or all of the functional spaces (124) are arranged horizontally in parallel on the side of the docking cavity (111); or of all the functional spaces (124), a portion of the functional spaces (124) are arranged horizontally in parallel above the docking cavity (111), and another portion of the functional spaces (124) are arranged horizontally in parallel on the side of the docking cavity (111).

13. The base station according to claim 9, characterized in that, The base station (100) further includes: a liquid inlet pipe (750) configured to provide cleaning fluid for at least cleaning the cleaning components (510) of the self-moving cleaning device (500); and a liquid inlet connector (630) connected to the liquid inlet pipe (750), the liquid inlet connector (630) configured to communicate with an external water source to deliver cleaning fluid from the external water source to the liquid inlet pipe (750), the liquid inlet connector (630) being rotatably connected to the liquid inlet pipe (750).

14. The base station according to claim 9, characterized in that, The base station (100) further includes: a liquid outlet connector (640), which is connected to a sewage pipe (310), the sewage pipe (310) being configured to allow sewage flowing out of the functional space (124) to pass through, the liquid outlet connector (640) being configured to allow sewage flowing out of the sewage pipe (310) to pass through, and the liquid outlet connector (640) being rotatably connected to the sewage pipe (310).

15. A base station, characterized in that, The base station (100) includes: The base station body (110) has a receiving cavity (112) and a docking cavity (111) for the self-propelled cleaning equipment (500) to dock; at least a portion of the space of the receiving cavity (112) is located above the docking cavity (111), and the receiving cavity (112) has a functional space (124), the cavity wall of the functional space (124) forming an integrated box (120). The base station (100) also includes a door (160) for covering the docking cavity (111). The door (160) is slidably connected to the outer panel (120e) of the integrated housing (120) for opening or closing the docking cavity (111). An interactive module (730) is installed on the outer panel (120e). The interactive module (730) is used to receive user commands and thus control the base station. The height of the base station (100) is less than 350mm.

16. A cleaning system, characterized in that, The cleaning system includes: a self-moving cleaning device (500) and a base station (100) as described in any one of claims 1 to 15.

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