Cleaning robot and cleaning system

Abstract

The application discloses a cleaning robot and a cleaning system. The cleaning robot comprises a body, the body is provided with a sewage cavity, a docking channel and a sewage outlet, the docking channel is provided with an entrance and exit on the outer surface of the body, the entrance and exit are used for the entrance and exit of a docking water nozzle on a base station to the docking channel, the sewage outlet is connected with the sewage cavity and the docking channel, and the sewage outlet is used for docking with a sewage suction port of the docking water nozzle and being communicated with the sewage suction port. The body is further provided with a water hiding groove, the water hiding groove is provided with a water inlet below the docking channel, and the water inlet is communicated with the docking channel. The residual sewage can be prevented from dropping on the ground to cause ground pollution.

Description

Technical Field

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

[0002] As people's living standards improve, cleaning robots are being used more and more widely in daily life and work. Cleaning robots can reduce cleaning manpower and improve cleaning efficiency. Some cleaning robots have a sewage collection tank, as well as a sewage inlet and a sewage outlet connected to the sewage collection tank. The sewage inlet can suck up sewage from the ground into the sewage collection tank, thus enabling the cleaning robot to have a sewage suction function.

[0003] To further reduce cleaning manpower, related technologies typically include a wastewater collection tank and a docking interface in the base station used in conjunction with the cleaning robot. When the cleaning robot moves to the base station, the docking interface can connect with the wastewater outlet, and the wastewater in the wastewater collection tank can be drawn into the wastewater collection tank through the wastewater outlet.

[0004] However, after the cleaning robot performs its sewage discharge operation, any residual sewage at the discharge port or sewage left on the cleaning robot by the base station interface may drip onto the ground when the cleaning robot performs its next cleaning task, causing pollution to the ground. Utility Model Content

[0005] This application provides a cleaning robot and cleaning system that can prevent residual sewage from dripping onto the ground and causing ground pollution.

[0006] In a first aspect, this application provides a cleaning robot, comprising: The fuselage has a sewage chamber, a docking channel, and a sewage outlet. The docking channel has an inlet and outlet located on the outer surface of the fuselage. The inlet and outlet are used for the docking water nozzle on the base station to enter and exit the docking channel. The sewage outlet connects the sewage chamber and the docking channel and is used to dock with and connect to the suction port of the docking water nozzle. The fuselage also has a water storage tank, which has a water inlet located below the docking channel and is connected to the docking channel.

[0007] Secondly, this application also provides a cleaning system, including a base station and a cleaning robot; the base station includes: Base, the base having a wastewater recovery chamber; A suction pipe, installed on the base, includes a connecting nozzle with a suction port. The nozzle can enter and exit the connecting channel through the inlet / outlet. The suction port is used to connect and communicate with the discharge port to connect the sewage chamber and the sewage recovery chamber; and... A sludge suction device is installed on the base and is connected to the sewage recovery chamber. The sludge suction device is used to draw sewage from the sewage chamber into the sewage recovery chamber through a suction pipe.

[0008] The beneficial effects of this application are as follows: After the sewage discharge is completed, the connecting water nozzle is separated from the sewage outlet. The sewage dripping from the sewage outlet and the sewage flowing out from the sewage suction port can drip into the connecting channel and flow along the inner circumferential wall of the connecting channel. Since the water storage tank and the water inlet are relatively low, the sewage can flow along the inner circumferential wall of the connecting channel to the water inlet under the action of gravity, and then flow into the water storage tank through the water inlet. This can prevent the sewage dripping from the sewage outlet and the sewage flowing out from the sewage suction port from dripping onto the ground and causing ground pollution. Attached Figure Description

[0009] To more clearly illustrate the technical solutions in the embodiments or related technologies of this application, the drawings used in the description of the embodiments or related technologies will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0010] Figure 1 This is a partial structural diagram of a cleaning robot in one embodiment of this application; Figure 2 for Figure 1 Enlarged view of point A in the middle; Figure 3 This is a schematic diagram of the structure of a sewage tank in one embodiment of this application; Figure 4 This is a partial structural diagram of the cleaning system in one embodiment of this application; Figure 5 for Figure 4 Enlarged view of point B in the middle; Figure 6 This is a partial structural diagram of the cleaning system in another embodiment of this application; Figure 7 This is a schematic diagram of the control flow of a cleaning system in one embodiment of this application.

[0011] Figure label: 10. Body; 11. Sewage chamber; 12. Docking channel; 121. Inlet / outlet; 13. Sewage outlet; 14. Water tank; 141. Water inlet; 15. Sewage pipe; 16. Body; 17. Sewage tank; 18. Head; 19. Tail; 21. Suction pipe; 211. Docking nozzle; 211a. Suction port; 211b. Sealing structure; 211c. Sewage outlet; 211d. Docking part; 213. Connecting pipe; 214. Sewage receiving chamber; 30. Sealed chamber. Detailed Implementation

[0012] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0013] In related technologies, some cleaning robots have a sewage collection tank and a sewage inlet and a sewage outlet connected to the sewage collection tank. The sewage inlet can suck sewage from the ground into the sewage collection tank, thus enabling the cleaning robot to have a sewage suction function. In addition, a sewage recovery tank and a docking interface are usually set in the base station used with the cleaning robot. When the cleaning robot moves to the base station, the docking interface can connect with the sewage outlet and suck the sewage from the sewage collection tank into the sewage recovery tank through the sewage outlet.

[0014] However, when the cleaning robot performs its sewage discharge operation, after the interface separates from the discharge port, the residual sewage at the discharge port may drip onto the ground when the cleaning robot performs its next cleaning task. In addition, the diameter of the sewage suction pipe connected to the interface on the base station is usually large, and the sewage suction device cannot provide sufficient suction for the suction pipe. As a result, after the sewage suction is completed, some sewage will adhere to the inside of the suction pipe. When the sewage suction device stops working, the sewage attached to the suction pipe will flow out from the interface onto the cleaning robot under the action of gravity. The sewage left on the cleaning robot by the base station interface may drip onto the ground when the cleaning robot performs its next cleaning task, thus causing pollution to the ground.

[0015] In view of the above-mentioned technical problems, this application provides a cleaning robot and a cleaning system to solve the problem that sewage remaining on the cleaning robot may drip onto the ground when the cleaning robot performs the next cleaning task, thereby causing pollution to the ground.

[0016] Firstly, this application provides a cleaning robot, which may be a sweeping and mopping robot or a floor cleaning robot, etc. This application does not specifically limit the type of cleaning robot.

[0017] like Figures 1 to 3 As shown, the cleaning robot includes a body 10, which has a wastewater chamber 11, a docking channel 12, and a drain outlet 13. The wastewater chamber 11 is used to store dirt. The docking channel 12 can extend horizontally along the forward direction X1 or the backward direction X2 of the cleaning robot, or it can extend at an angle. The docking channel 12 has an inlet 121 located on the outer surface of the body 10. The inlet 121 is used to supply water to the docking nozzle 211 on the base station (e.g., ...). Figure 5The inlet / outlet connection channel 12 and the outlet 13 connect the sewage chamber 11 and the connection channel 12. The outlet 13 is used to connect with the suction port 211a of the water nozzle 211 (e.g., Figure 5 The robot body 10 is connected and aligned. It is understood that the body 10 has a head (also called the front part) and a tail (also called the rear part). The direction of travel of the cleaning robot is the direction in which the head and tail are arranged. The direction from the tail to the head is the forward direction X1 of the cleaning robot, and the direction from the head to the tail is the backward direction X2 of the cleaning robot. When the docking nozzle 211 is docked with the drain port 13, the docking nozzle 211 is inserted into the docking channel 12 through the inlet / outlet 121 and docks with the drain port 13. At this time, the suction port 211a is connected to the drain port 13.

[0018] The fuselage 10 also has a water tank 14, which has a water inlet 141 located below the docking channel 12. The water inlet 141 is connected to the docking channel 12 so that the water tank 14 is connected to the docking channel 12. The water inlet 141 can be located on the inner peripheral wall of the docking channel 12.

[0019] Understandably, after the sewage discharge is completed, the connecting water nozzle 211 is separated from the sewage outlet 13. The sewage dripping from the sewage outlet 13 and the sewage flowing out from the suction port 211a can drip into the connecting channel 12 and flow along the inner circumferential wall of the connecting channel 12. Since the position of the inlet 141 is relatively low, the sewage can flow along the inner circumferential wall of the connecting channel 12 to the inlet 141 under the action of gravity, and then flow into the water storage tank 14 through the inlet 141. This can prevent the sewage dripping from the sewage outlet 13 and the sewage flowing out from the suction port 211a from dripping onto the ground and causing ground pollution.

[0020] It should also be noted that when the sewage in the water tank 14 needs to be treated, the user can manually operate it to discharge the sewage in the water tank 14 through the inlet 141, or allow the sewage in the water tank 14 to air dry naturally, or use the drying devices such as warm air drying or high temperature drying on the base station to evaporate and dry the sewage in the water tank 14.

[0021] In some embodiments, the water storage tank 14 may be located below the docking channel 12, so that the entire water storage tank 14 is lower than the docking channel 12, thereby allowing the sewage flowing into the water storage tank 14 to flow to the bottom of the water storage tank 14, so that the water storage tank 14 can hold more sewage.

[0022] In some embodiments, the inlet 141 is closer to the outlet 121 than the drain outlet 13. It is understood that the distance between the inlet 141 and the outlet 121 along the extension direction of the docking channel 12 is less than the distance between the drain outlet 13 and the inlet 141 along the extension direction of the docking channel 12. Figure 2 As shown, Figure 2 The dashed arrows in the diagram indicate the flow direction of sewage from the drain outlet 13 within the docking channel 12. The dripping point of the sewage from the drain outlet 13 in the docking channel 12 is usually located near the drain outlet 13. When the suction port 211a is separated from the drain outlet 13, the sewage from the suction port 211a usually also drips into the docking channel 12. Compared to the drain outlet 13, the inlet 141 is closer to the outlet 121, so that the sewage dripping into the docking channel 12 needs to pass through the inlet 141 first as it flows along the inner circumferential wall of the docking channel 12 towards the outlet 121. When the sewage flows to the inlet 141, it can flow into the water storage tank 14 through the inlet 141, thereby preventing the sewage in the docking channel 12 from flowing out of the docking channel 12 through the outlet 121.

[0023] Furthermore, the inlet 141 can be arranged adjacent to the outlet 121, making the inlet 141 closer to the outlet 121. This can further reduce the length of the area between the inlet 141 and the outlet 121, preventing sewage from dripping into the area between the inlet 141 and the outlet 121 and then flowing out of the docking channel 12 through the outlet 121. In other embodiments, the specific distance between the inlet 141 and the outlet 121 along the extension direction of the docking channel 12 can be selected according to actual needs.

[0024] In some embodiments, the inlet 141 extends circumferentially along the docking channel 12. The inlet 141 may extend a small half circle, a large half circle, or a full circle along the circumferential direction of the docking channel 12, which can increase the length of the inlet 141 in the circumferential direction of the docking channel 12 and further increase the probability of the inlet 141 intercepting sewage. This can play a better role in intercepting sewage when the sewage in the docking channel 12 flows to the inlet / outlet 121.

[0025] Furthermore, on a plane perpendicular to the extension direction of the docking channel 12, the orthographic projection of the inlet 141 covers the lowest point of the orthographic projection of the inner peripheral wall of the docking channel 12, allowing the inlet 141 to pass through the lowest point of the docking channel 12. It is understood that sewage in the inlet channel will converge at the lowest point of the docking channel 12 under the influence of gravity. Since the inlet 141 can pass through the lowest point of the docking channel 12, it can intercept sewage flowing along the lowest point of the docking channel 12, thus achieving better sewage interception. In other words, the lower inner peripheral wall of the docking channel 12 can be designed to converge towards the location of the inlet 141, meaning the inlet 141 is located at the lowest point of the docking channel 12, and the inner peripheral wall of the docking channel 12 smoothly transitions to the location of the inlet 141. Therefore, regardless of the distance between the inlet 141 and the outlet 121, sewage dripping into the docking channel 12 will flow into the inlet 141.

[0026] In some embodiments, the water storage tank 14 is independent of the sewage chamber 11, so that the water storage tank 14 is not connected to the sewage chamber 11, preventing the sewage in the sewage chamber 11 from overflowing through the water storage tank 14 when it is full.

[0027] In other embodiments, the water storage tank 14 can also be connected to the sewage chamber 11, and a one-way valve or other one-way conduction structure is provided in the communication channel between the water storage tank 14 and the sewage chamber 11. The one-way valve enables one-way communication between the water storage tank 14 and the sewage chamber 11. The one-way valve is configured to only allow sewage in the water storage tank 14 to communicate one-way with the sewage chamber 11, and to prevent sewage in the sewage chamber 11 from flowing into the water storage tank 14. In this way, the sewage in the water storage tank 14 will still flow back into the sewage chamber 11 and then be pumped away by the base station.

[0028] In some embodiments, the body 10 may include a drain pipe 15 extending into the docking channel 12, the drain pipe 15 having a drain port 13, and the drain pipe 15 being used to dock with the docking water nozzle 211. Of course, in other embodiments, the drain pipe 15 may be omitted.

[0029] Specifically, the machine body 10 includes a body 16 and a wastewater tank 17. The wastewater tank 17 is detachably connected to the body 16. The wastewater chamber 11 and the drain outlet 13 are located in the wastewater tank 17. The wastewater tank 17 can be detachably connected to the body 16 by snap-fit, pull-out connection, magnetic connection or other means. When it is necessary to clean the wastewater chamber 11 and the drain outlet 13, the wastewater tank 17 can be separated from the body 16 and the wastewater chamber 11 and the drain outlet 13 can be rinsed, making the cleaning of the wastewater chamber 11 and the drain outlet 13 more convenient.

[0030] In some embodiments, both the docking channel 12 and the water storage tank 14 are located in the wastewater tank 17, allowing the docking channel 12 and the water storage tank 14 to be integrated into the wastewater tank 17. This makes cleaning the docking channel 12 and the water storage tank 14 more convenient, and also simplifies the structure of the cleaning robot. It is understood that in this embodiment, the inlet / outlet 121 of the docking channel 12 and the inlet 141 of the water storage tank 14 are also located on the wastewater tank 17.

[0031] The sewage tank 17 can be installed at the rear of the body 16, and the inlet 121 is located on the rear side of the sewage tank 17. When the cleaning robot moves to the base station in the backward direction X2, the docking nozzle 211 on the base station can be inserted into the docking channel 12 through the inlet 121. Since the sewage tank 17 is installed at the rear of the body 16, the distance between the sewage outlet 13 and the inlet 121 can be closer, making it easier to dock the docking nozzle 211 with the sewage outlet 13.

[0032] In other embodiments, a portion of the docking channel 12 is located on the wastewater tank 17, and another portion is located on the body 16. The inlet / outlet 121 is located on the body 16, and the water storage tank 14 is located on either the wastewater tank 17 or the body 16. It is understood that in this embodiment, the docking channel 12 may include two sections: a first section located on the wastewater tank 17 and a second section located on the body 16, with both sections arranged along the extending direction of the docking channel 12. This design extends the length of the docking channel 12 and reduces the probability of wastewater flowing out of the docking channel 12. It is also understood that in this embodiment, the water storage tank 14 may be located on the wastewater tank 17 to communicate with the first section, or it may be located on the body 16 to communicate with the second section.

[0033] Secondly, based on the aforementioned cleaning robot, this application also provides a cleaning system, such as... Figure 4 and Figure 5 As shown, the cleaning system includes a base station and a cleaning robot as described in any of the above embodiments.

[0034] The base station includes a base, a suction pipe 21, and a sewage pump. The base has a sewage recovery chamber. The suction pipe 21 is installed on the base and includes a connecting water nozzle 211. The connecting water nozzle 211 has a suction port 211a. The connecting water nozzle 211 can enter and exit the connecting channel 12 through the inlet and outlet 121. The suction port 211a is used to connect and communicate with the sewage outlet 13 to connect the sewage chamber 11 and the sewage recovery chamber. The sewage pump is installed on the base and communicates with the sewage recovery chamber. The sewage pump is used to suck the sewage in the sewage chamber 11 into the sewage recovery chamber through the suction pipe 21.

[0035] It should be noted that when the cleaning robot needs to discharge sewage, the cleaning robot can move to the base. When the cleaning robot moves to the set position, the docking nozzle 211 is inserted into the docking channel 12 through the inlet 121, and the sewage outlet 13 is docked and connected with the sewage suction port 211a of the docking nozzle 211. Then the sewage suction device is started, and the sewage suction device provides suction to the sewage suction port 211a, and sucks the sewage in the sewage chamber 11 into the sewage recovery chamber through the sewage outlet 13 and the sewage suction port 211a.

[0036] It should also be noted that, in addition to providing wastewater recycling services for cleaning robots, base stations can also provide services such as charging, drum cleaning, and cleaning fluid replenishment for cleaning robots.

[0037] In some embodiments, the outer periphery of the connecting water nozzle 211 has a sealing structure 211b, which abuts against the inner peripheral wall of the connecting channel 12. The sealing structure 211b can achieve a sealed connection between the outer periphery of the connecting water nozzle 211 and the inner peripheral wall of the connecting channel 12, so that the connecting water nozzle 211 and the inner peripheral wall of the connecting channel 12 can enclose a sealed cavity 30. The drain port 13 and the suction port 211a are both located in the sealed cavity 30. This ensures that when the connecting water nozzle 211 is pulled out of the connecting channel 12, the sewage dripping from the drain port 13 and the suction port 211a into the connecting channel 12 can always be blocked in the sealed cavity 30. Combined with the setting of the inlet 141 of the water storage tank 14, the sewage in the connecting channel 12 has enough time to flow into the water storage tank 14 through the inlet 141, which can prevent the sewage in the connecting channel 12 from flowing out quickly through the inlet 121.

[0038] Furthermore, the sealing structure 211b includes a docking portion 211d that abuts against the inner peripheral wall of the docking channel 12. When the suction port 211a docks with the discharge port 13, the sealing cavity 30 is formed by the docking portion 211d and the inner peripheral wall of the docking channel 12 compared to the docking portion 211d. The water inlet 141 is closer to the inlet and outlet 121. It is understandable that the distance between the inlet 141 and the outlet 121 along the extension direction of the docking channel 12 is less than the distance between the docking part 211d and the outlet 121 along the extension direction of the docking channel 12. This makes the inlet 141 closer to the outlet 121, so that the sewage flowing out of the sealed cavity 30 can be intercepted by the inlet 141. The outlet 121 and the sealing structure 211b can have a dual interception effect. In addition, during the process of the docking nozzle 211 being pulled out of the docking channel 12, the sealing structure 211b can scrape the sewage in the docking channel 12 to the outlet 121, thereby reducing the sewage remaining in the docking channel 12.

[0039] In some embodiments, the sealing structure 211b can be an elastic structure, and the sealing structure 211b can be formed of a soft rubber material such as silicone. The sealing structure 211b can extend around the inner circumference of the mating channel 12 to achieve a better sealing effect.

[0040] In some embodiments, the sludge suction device can be a water pump, connected in series between the sewage recovery chamber and the suction port 211a. The pump's inlet is connected to the suction port 211a, and its outlet is connected to the sewage recovery chamber, thereby providing suction force to the suction port 211a to draw in sewage. In other embodiments, the sludge suction device can also be an air pump, with its intake port connected to the sewage recovery chamber and its exhaust port connected to the atmosphere. By drawing air from the sewage recovery chamber, a negative pressure is created within the chamber, thereby providing suction force to the suction port 211a to draw in sewage. In other embodiments, the sludge suction device can also be a blower.

[0041] like Figure 6 As shown, in some embodiments, the docking nozzle 211 also has a sewage outlet 211c that communicates with the sewage suction port 211a. The sewage suction pipe 21 also includes a connecting pipe 213, which is connected to the base and the docking nozzle 211. The connecting pipe 213 communicates with the sewage outlet 211c and the sewage recovery chamber to connect the sewage suction port 211a and the sewage recovery chamber.

[0042] At least a portion of the lumen of the connecting pipe 213 is lower than the sewage outlet 211c. It can be understood that the lumen of the connecting pipe 213 refers to the enclosed pipe cavity formed within the connecting pipe 213. The portion of the lumen of the connecting pipe 213 lower than the sewage outlet 211c can form a sewage receiving cavity 214. The sewage receiving cavity 214 is located between the sewage suction port 211a and the sewage recovery cavity. The sewage receiving cavity 214 can act as a liquid flow channel between the sewage suction port 211a and the sewage recovery cavity. When the sewage pump is started, the sewage sucked from the sewage suction port 211a can sequentially pass through the sewage suction port 211a, the sewage outlet 211c, the sewage receiving cavity 214, and the sewage recovery cavity. See also... Figure 6 As shown, Figure 6 The dashed arrows in the diagram indicate the flow direction of residual wastewater in the connecting nozzle 211 and connecting pipe 213. After the wastewater discharge is completed, the suction device closes. Since the wastewater receiving chamber 214 is lower than the suction port 211a, the residual wastewater in the connecting pipe 213 can flow into the wastewater receiving chamber 214, thus preventing the residual wastewater in the connecting pipe 213 from dripping through the suction port 211a into the base or the docking channel 12 that connects to the connecting nozzle 211. In addition, the wastewater remaining in the wastewater receiving chamber 214 can be sucked into the wastewater recovery chamber by the suction provided by the suction device, eliminating the need for the user to manually clean the wastewater in the wastewater receiving chamber 214.

[0043] In some embodiments, the sewage receiving chamber 214 is lower than the sewage inlet 211a to prevent residual sewage in the connecting water nozzle 211 from dripping through the sewage inlet 211a into the base or the docking channel 12 that connects to the connecting water nozzle 211 after sewage discharge.

[0044] In some embodiments, the connecting pipe 213 is integrally formed, which simplifies the structure of the base station.

[0045] In other embodiments, the connecting pipe 213 includes a plurality of pipes connected in sequence, at least some of which have lumens lower than the sewage outlet 211c. The sewage receiving cavity 214 can be formed by individual pipes or by splicing multiple pipes together, making the position of the sewage receiving cavity 214 more stable and the height better controlled.

[0046] In other embodiments, the base can be partially enclosed to form the contaminant cavity 214. By forming the contaminant cavity 214 directly in the base, it is possible to form the contaminant cavity 214 without setting up additional pipelines.

[0047] In some embodiments, the connecting water nozzle 211 is a retractable water nozzle. For example, the connecting water nozzle 211 can be passively extended and retracted, so that when the suction port 211a is connected to the discharge port 13, the connecting water nozzle 211 can retract to prevent the connecting water nozzle 211 from being damaged due to a hard collision with the discharge port 13, and to ensure that the connecting water nozzle 211 and the discharge port 13 are tightly connected.

[0048] In some embodiments, the connecting nozzle 211 can be sleeved on the outer periphery of the connecting pipe 213 or inserted into the inner periphery of the connecting pipe 213, and the connecting nozzle 211 is slidably connected to the connecting pipe 213. The connecting nozzle 211 can slide relative to the connecting pipe 213 along the extension direction of the connecting nozzle 211, so that the connecting nozzle 211 can extend and retract.

[0049] In other embodiments, the docking nozzle 211 can also be slidably connected to the base, with the outlet 211c of the docking nozzle 211 connected to the connecting pipe 213, and the suction port 211a extending out of the base for docking with the discharge port 13.

[0050] It should be noted that the connecting nozzle 211 can achieve passive extension and retraction through elastic elements such as springs. For example, when the connecting nozzle 211 is sleeved on the outer circumference of the connecting pipe 213 or inserted into the inner circumference of the connecting pipe 213, the elastic element can be connected to the connecting nozzle 211 and the connecting pipe 213. When the suction port 211a is connected to the discharge port 13, the connecting nozzle 211 is squeezed by the discharge port 13, causing the connecting nozzle 211 to move away from the discharge port 13. At this time, the connecting nozzle 211 contracts, causing the elastic element to be compressed. At the same time, the elastic element applies a force to the connecting nozzle 211 to make it tightly connected with the discharge port 13. When the connecting nozzle 211 is separated from the discharge port 13, the connecting nozzle 211 returns to its original position under the action of the elastic element.

[0051] When the connecting water nozzle 211 is slidably connected to the base, the elastic element can be connected to the connecting water nozzle 211 and the base. When the suction port 211a is connected to the discharge port 13, the connecting water nozzle 211 contracts and the elastic element is compressed. When the connecting water nozzle 211 is separated from the discharge port 13, the connecting water nozzle 211 is reset under the action of the elastic element.

[0052] In other embodiments, the elastic element may be omitted, and at least part of the structure of the connecting water nozzle 211 may be made of an elastic material such as silicone to make the connecting water nozzle 211 itself elastic.

[0053] In other embodiments, the docking nozzle 211 can be actively extended and retracted via a power component. For example, the power component can be a retractable drive component with a telescopic rod, such as a cylinder, hydraulic cylinder, or electric cylinder. The telescopic rod of the retractable drive component is connected to the docking nozzle 211, and the extension and retraction of the telescopic rod drives the extension and retraction of the docking nozzle 211. Alternatively, the power component can be a rotating drive component such as a motor or electric motor. The output shaft of the rotating drive component is connected to the docking nozzle 211 via a transmission structure to drive the extension and retraction of the docking nozzle 211. Specifically, a gear can be fitted onto the output shaft, and a rack meshing with the gear can be connected to the outer circumference of the docking nozzle 211. When the output shaft rotates, it drives the gear to rotate, causing the rack and the docking nozzle 211 to move, thereby causing the docking nozzle 211 to extend and retract. In other embodiments, the transmission structure can also be a lead screw and nut, a crank and slider, etc., and is not limited to any particular structure.

[0054] Thirdly, based on the aforementioned cleaning system, this application also provides a control method for the cleaning system, wherein the control method is applied to the cleaning system as described in any of the above embodiments, such as... Figure 7 As shown, the control methods include: S10. When the cleaning robot receives the return command, it is controlled to move to the base so that the docking nozzle 211 connects with the drain port 13. It should be noted that when the sewage in the sewage chamber 11 needs to be discharged, the cleaning robot receives the return command, and the first control element in the cleaning robot (such as the control board) controls the motor in the cleaning robot to drive the drive wheel to rotate, thereby controlling the cleaning robot to move to the base.

[0055] Users can actively control the cleaning robot to perform sewage discharge actions. For example, users can control the cleaning robot to perform sewage discharge actions through control devices such as mobile phones or computers; users can also control the cleaning robot to perform sewage discharge actions by pressing the control button on the cleaning robot; the cleaning robot can also perform sewage discharge actions automatically when the first control element detects that the sewage chamber 11 is full or the cleaning task is completed.

[0056] S20. Upon receiving a suction command, the suction device is activated to draw the sewage in the sewage chamber 11 into the sewage recovery chamber via the suction pipe 21. It should be noted that the suction device is activated only when the sewage in the sewage chamber 11 needs to be drawn into the sewage recovery chamber via the suction port 211a.

[0057] In some embodiments, the base station may not have a separate control element; all its actions are controlled by the cleaning robot. For example, the base station can be controlled to perform a vacuuming action by the first control element in the cleaning robot. In other embodiments, the base station may also have a separate second control element, and all its actions are controlled by the second control element. Users can actively control the base station to perform a vacuuming action, such as by using a mobile phone or computer. Users can also control the base station to perform a vacuuming action by pressing a control button on the cleaning robot or the base station. Alternatively, the vacuum cleaner can be activated automatically after the cleaning robot moves to a set position on the base.

[0058] S30. After the first time T1 of the control pump is working, the control pump stops working. The first time T1 is used to characterize the time required to empty the sewage in the sewage chamber 11.

[0059] It should be noted that the specific value of T1 can be selected according to actual needs. T1 can be a fixed value, or it can be a floating value that varies according to the suction power of the sludge pump and the amount of sewage in the sewage chamber 11. Generally speaking, after the sludge pump has been working continuously for T1 time, most of the sewage in the sewage chamber 11 can be pumped out. The time from the start of the sludge pump's operation until the amount of sewage in the sewage chamber 11 falls below a first set value is the T1 time. The specific value of the first set value can be selected according to actual needs. In some embodiments, a sewage detector (such as a water level detector) can be used in the sewage chamber 11 to detect the amount of sewage in the sewage chamber 11.

[0060] It should also be noted that users can actively control the sewage suction device in the base station to stop working, thereby stopping the sewage suction action. For example, users can control the sewage suction device to stop working through control devices such as mobile phones or computers, or by pressing the control button on the cleaning robot or the base station. Of course, the sewage suction device can also be controlled to stop working when the sewage detector in the cleaning robot detects that the sewage in the sewage chamber 11 has been discharged.

[0061] In some embodiments, after the step of controlling the sludge suction device to operate for a first time T1 and before the step of controlling the sludge suction device to stop operating, the control method further includes: S40. Control the sludge suction device to continue operating for a second time T2. After the sludge suction device draws the sewage from the sewage chamber 11 into the sewage recovery chamber through the suction pipe 21, it will continue operating for a second time T2. During this time period T2, the sludge suction device can draw the remaining sewage in the suction pipe 21 into the sewage recovery chamber, thereby reducing the amount of sewage remaining in the suction pipe 21 and thus reducing the probability of the remaining sewage dripping onto the ground. T2 can be the same as or different from T1, and the value of T2 can be selected according to actual needs.

[0062] In some embodiments, after step S30, the control method further includes: S50. When the cleaning robot receives a cleaning command, control the cleaning robot to leave the base and control the sludge pump to start and continue working for a third time T3. The sludge pump starts no later than the time the connecting water nozzle 211 leaves the inlet / outlet 121. The third time T3 is greater than or equal to the time between the start of the sludge pump and the time the connecting water nozzle 211 leaves the inlet / outlet 121. This allows residual sewage in the suction pipe 21 and the drain outlet 13 to be sucked into the sewage recovery chamber, reducing the probability of residual sewage dripping onto the ground. The value of T3 can be selected according to actual needs.

[0063] It should be noted that in this embodiment, the sludge suction device can be started before the sludge discharge port 13 and the sludge suction port 211a are separated, the sludge suction device can be started at the moment the sludge discharge port 13 and the sludge suction port 211a are separated, or the sludge suction device can be started after the sludge discharge port 13 and the sludge suction port 211a are separated.

[0064] It should also be noted that when the cleaning robot needs to perform cleaning tasks on areas such as the ground, the first control element in the cleaning robot can control the motor to drive the drive wheel to rotate, thereby controlling the cleaning robot to move out to the base and move towards the area to be cleaned.

[0065] Users can actively control the cleaning robot to perform cleaning actions, such as through a mobile phone or computer, or by pressing the control button on the cleaning robot. Alternatively, the first control element can control the cleaning robot to perform cleaning actions when it detects that the set cleaning time has arrived.

[0066] In some embodiments, the connecting water nozzle 211 is an actively retractable water nozzle. After the step of controlling the sludge suction device to operate for the first time T1 and before the step of controlling the sludge suction device to stop operating, the control method further includes: S60, control the retraction of the connecting water nozzle 211 so that the connecting water nozzle 211 leaves the inlet / outlet 121, and control the sludge suction device to start and continue to work for a fourth time T4, wherein the fourth time T4 is greater than or equal to the time between the start of the retraction of the connecting water nozzle 211 and ...

[0067] Understandably, when the sewage suction is completed or at the instant of completion, the control nozzle 211 retracts, separating the suction port 211a from the discharge port 13 and causing the nozzle 211 to leave the inlet / outlet 121. During the retraction of the nozzle 211, the sewage suction device continues to operate, still able to pump residual sewage in the suction pipe 21 to the sewage recovery chamber, reducing the amount of residual sewage in the suction pipe 21 and thus decreasing the probability of residual sewage dripping onto the ground. The value of T4 can be selected according to actual needs. The sewage suction device can stop operating either when the suction port 211a leaves the inlet / outlet 121 or after it has left.

[0068] The above are merely preferred embodiments of this application and are not intended to limit this application. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A cleaning robot, characterized in that, include: The fuselage has a sewage chamber, a docking channel, and a sewage outlet. The docking channel has an inlet and outlet located on the outer surface of the fuselage. The inlet and outlet are used for the docking water nozzle on the base station to enter and exit the docking channel. The sewage outlet connects the sewage chamber and the docking channel and is used to dock with and connect to the suction port of the docking water nozzle. The fuselage also has a water storage tank, which has a water inlet located below the docking channel and is connected to the docking channel.

2. The cleaning robot according to claim 1, characterized in that, The inlet is closer to the outlet than the drain outlet.

3. The cleaning robot according to claim 1, characterized in that, The water storage tank is independent of the sewage chamber.

4. The cleaning robot according to claim 1, characterized in that, The fuselage includes: Organism; A wastewater tank is detachably connected to the main body, and the wastewater chamber and the sewage outlet are located in the wastewater tank; The docking channel and the water storage tank are both located in the sewage tank, which is installed at the rear of the machine body, and the inlet and outlet are located on the rear side of the sewage tank.

5. The cleaning robot according to claim 1, characterized in that, The fuselage includes: Organism; A wastewater tank is detachably connected to the main body, and the wastewater chamber and the sewage outlet are located in the wastewater tank; Part of the docking channel is located on the sewage tank, and another part of the docking channel is located on the machine body. The inlet and outlet are located on the machine body, and the water storage tank is located on the sewage tank or the machine body.

6. A cleaning system, characterized in that, Includes a base station and a cleaning robot as described in any one of claims 1 to 5; the base station includes: Base, the base having a wastewater recovery chamber; A suction pipe, installed on the base, includes a connecting nozzle with a suction port. The nozzle can enter and exit the connecting channel through the inlet / outlet. The suction port is used to connect and communicate with the discharge port to connect the sewage chamber and the sewage recovery chamber; and... A sludge suction device is installed on the base and is connected to the sewage recovery chamber. The sludge suction device is used to draw sewage from the sewage chamber into the sewage recovery chamber through a suction pipe.

7. The cleaning system according to claim 6, characterized in that, The connecting water nozzle also has a sewage outlet connected to the sewage suction port, and the sewage suction pipe further includes: A connecting pipe is connected to the base and the docking water nozzle. The connecting pipe is connected to the sewage outlet and the sewage recovery chamber to connect the sewage suction port and the sewage recovery chamber. Wherein, at least a portion of the lumen of the connecting pipe is lower than the sewage outlet.

8. The cleaning system according to claim 7, characterized in that, The connecting pipe is integrally formed; or... The connecting pipe includes a plurality of pipes connected in sequence, and at least a portion of the pipe lumens are lower than the sewage outlet.

9. The cleaning system according to claim 6, characterized in that, The connecting water nozzle is a retractable water nozzle.

10. The cleaning system according to claim 9, characterized in that, The connecting water nozzle also has a sewage outlet connected to the sewage suction port, and the sewage suction pipe further includes: A connecting pipe is connected to the base and the docking water nozzle. The connecting pipe is connected to the sewage outlet and the sewage recovery chamber to connect the sewage suction port and the sewage recovery chamber. The connecting nozzle is sleeved on the outer circumference of the connecting pipe or inserted into the inner circumference of the connecting pipe, and the connecting nozzle is slidably connected to the connecting pipe. The connecting nozzle can slide relative to the connecting pipe along the extension direction of the connecting nozzle, so that the connecting nozzle can extend and retract; or, The connecting water nozzle is slidably connected to the base so that the connecting water nozzle can extend and retract. The sewage outlet is connected to the connecting pipe, and the sewage suction port extends out of the base for docking with the sewage discharge port.

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