Robotic self-cleaning device and work station

Abstract

The utility model discloses a robot self-cleaning device and workstation, wherein, the robot self-cleaning device includes: the cleaning seat is used for accommodating the robot cleaning module, the water inlet is used for introducing the cleaning liquid to the cleaning seat, the ultrasonic cleaning component is set up on the cleaning seat, and the ultrasonic cleaning component is used for cleaning the robot cleaning module when receiving the work signal. The utility model solves the problem of poor cleaning efficiency of the cleaning module of the robot.

Description

Technical Field

[0001] This utility model relates to the field of cleaning equipment, and in particular to a robot self-cleaning device and workstation. Background Technology

[0002] Current cleaning equipment, including ride-on floor scrubbers and commercial cleaning robots, uses cleaning modules to remove stains from floors. Because these modules are frequently in contact with dirt, they easily accumulate dirt. Currently, cleaning these modules involves manual removal and washing, which is inefficient and inconvenient. Summary of the Invention

[0003] In view of the shortcomings of the prior art, the purpose of this utility model is to provide a robot self-cleaning device, workstation and working system to solve the problem of poor cleaning efficiency of robot cleaning modules.

[0004] The technical solution of this utility model is as follows:

[0005] A robot self-cleaning device, comprising:

[0006] A cleaning stand for accommodating a robotic cleaning module;

[0007] A water inlet is provided corresponding to the opening of the cleaning seat, and the water inlet is used to introduce cleaning fluid into the cleaning seat;

[0008] An ultrasonic cleaning component is disposed on the cleaning base. The ultrasonic cleaning component is used to emit ultrasonic waves to clean the robot cleaning module when it receives a working signal.

[0009] Optionally, the cleaning seat includes:

[0010] Base;

[0011] An ultrasonic cleaning tank is mounted on the base;

[0012] The liquid level detection mechanism can be flipped and mounted on the base, and is fixedly connected to the ultrasonic cleaning tank when it is fastened to the ultrasonic cleaning tank; or, the liquid level detection mechanism is fixedly mounted on the ultrasonic cleaning tank.

[0013] The liquid level detection mechanism is used to detect the liquid level in the ultrasonic cleaning tank and output a corresponding liquid level detection signal.

[0014] Optionally, the ultrasonic cleaning tank includes:

[0015] The cleaning tank body;

[0016] A protective cover covers the ultrasonic cleaning component and is fixedly mounted on the cleaning tank body.

[0017] Optionally, the bottom of the cleaning tank body is provided with multiple protrusions at intervals;

[0018] The ultrasonic cleaning component includes multiple ultrasonic ceramic plates, which are disposed on the side of the cleaning tank body away from the protrusions, and the multiple ultrasonic ceramic plates are arranged in a one-to-one correspondence with the multiple protrusions.

[0019] Optionally, the robot's self-cleaning device also includes:

[0020] A liquid level detection circuit is electrically connected to the liquid level detection mechanism. The liquid level detection circuit is used to output a stop water filling signal when it detects that the liquid level in the cleaning seat is higher than the safe level based on the liquid level detection signal.

[0021] Optionally, the liquid level detection circuit includes a follower, a first resistor, a second resistor, a third resistor, and a polarity switching chip;

[0022] The first input terminal of the follower is used to connect to the P-pole of the electrode plate. The second input terminal of the follower, the first terminal of the third resistor, and the first terminal of the second resistor are interconnected. The second terminal of the third resistor is grounded. The second terminal of the second resistor, the output terminal of the follower, and the first terminal of the first resistor are interconnected. The second terminal of the first resistor is used to connect to the processor. The power supply terminal of the polarity switching chip is used to connect to the power supply. The output terminal of the polarity switching chip is used to connect to the electrode plate.

[0023] Optionally, the robot's self-cleaning device also includes:

[0024] An ultrasonic control circuit is electrically connected to the ultrasonic cleaning component, and the ultrasonic control circuit is used to output a working signal to the ultrasonic cleaning component.

[0025] Optionally, the ultrasonic control circuit includes an overcurrent detection chip, a first switching transistor, a second switching transistor, a third switching transistor, and an external interface;

[0026] The power supply terminal of the overcurrent detection chip is used to connect to a power source. The output terminal of the overcurrent detection chip is connected to the input terminal of the second switching transistor. The output terminal of the second switching transistor is connected to the external interface, which is used to connect external devices. The controlled terminal of the second switching transistor is connected to the input terminal of the first switching transistor. The controlled terminal of the first switching transistor is used to connect to a processor. The output terminal of the first switching transistor is connected to the output terminal of the third switching transistor. The control terminal of the overcurrent detection chip is connected to the controlled terminal of the third switching transistor. The input terminal of the third switching transistor is grounded.

[0027] Optionally, it also includes:

[0028] A lifting platform is provided on the cleaning seat, and the lifting platform is used for the robot to lift.

[0029] This utility model also proposes a robot self-cleaning workstation, including a fixed workstation and a robot self-cleaning device as described above, wherein the fixed workstation is connected to the robot self-cleaning device.

[0030] Optionally, the fixed workstation has a water pipe connected to the water inlet in the robot self-cleaning device, and the fixed workstation is used to inject cleaning fluid into the cleaning seat in the robot self-cleaning device through the water pipe and the water inlet.

[0031] Optionally, the robotic self-cleaning workstation also includes:

[0032] A control board is installed in the fixed workstation. The control board is equipped with an ultrasonic control circuit, which is electrically connected to the ultrasonic cleaning component in the robot's self-cleaning device. The ultrasonic control circuit is used to output working signals to the ultrasonic cleaning component.

[0033] Optionally, the robotic self-cleaning workstation also includes:

[0034] A liquid level detection circuit is installed on the control board and is connected to the robot self-cleaning device. The liquid level detection circuit is used to receive the liquid level detection signal output by the robot self-cleaning device and output a stop water adding signal when it detects that the liquid level in the cleaning seat of the robot self-cleaning device is higher than the safe height according to the liquid level detection signal.

[0035] This utility model also proposes a robot self-cleaning working system, including a cleaning robot and a robot self-cleaning workstation as described above.

[0036] In this utility model, the robot self-cleaning device introduces cleaning fluid into the cleaning seat and sets up an ultrasonic cleaning component on the cleaning seat, enabling the robot cleaning module to be cleaned by both cleaning fluid cleaning and ultrasonic cleaning. Cleaning fluid cleaning can amplify the cavitation effect of ultrasonic cleaning, making the ultrasonic cleaning effect better, while the cavitation effect of ultrasonic cleaning can also accelerate the dissolution and removal of oil stains. The combination of the two cleaning methods can improve the cleaning efficiency of the robot self-cleaning device on the residual stains on the robot cleaning module. Attached Figure Description

[0037] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without creative effort.

[0038] Figure 1 This is a schematic diagram of an embodiment of the robot self-cleaning device of this utility model.

[0039] Figure 2 This is a schematic diagram of the structure of a cleaning seat in an embodiment of the robot self-cleaning device of this utility model.

[0040] Figure 3 This is a schematic diagram of another embodiment of the cleaning seat in the robot self-cleaning device of this utility model.

[0041] Figure 4 This is a schematic diagram of an embodiment of the ultrasonic cleaning tank in the robot self-cleaning device of this utility model.

[0042] Figure 5 This is a schematic diagram of an embodiment of the lifting platform in the robot self-cleaning device of this utility model.

[0043] Figure 6 This is a schematic diagram of the circuit structure of a liquid level detection circuit in the self-cleaning robot device of this utility model.

[0044] Figure 7 This is a schematic diagram of the circuit structure of an embodiment of the ultrasonic control circuit in the robot self-cleaning device of this utility model.

[0045] Figure 8 This is a structural schematic diagram of an embodiment of the self-cleaning robot workstation of this utility model.

[0046] Figure 9 This is a schematic diagram of an embodiment of the robot self-cleaning device in the robot self-cleaning workstation of this utility model.

[0047] Figure 10 This is a schematic diagram of another embodiment of the robot self-cleaning device in the robot self-cleaning workstation of this utility model.

[0048] Explanation of reference numerals in the attached drawings: 10, cleaning seat; 11, base; 12, ultrasonic cleaning tank; 121, cleaning tank body; 122, protective cover; 20, water pipe; 30, ultrasonic cleaning component; 31, ultrasonic ceramic plate; 40, fixed workstation; 51, connector; 52, fastener; 53, lifting platform; 60, liquid level detection mechanism; U20, overcurrent detection chip; U22, follower; U32, polarity switching chip; Q45, first switching transistor; Q46, second switching transistor; Q47, third switching transistor; J5, external interface; R1, first resistor; R2, second resistor; R3, third resistor; V, power supply. Detailed Implementation

[0049] To make the objectives, technical solutions, and effects of this utility model clearer and more explicit, the present utility model will be further described in detail below with reference to the accompanying drawings and examples. It should be understood that the specific embodiments described herein are merely illustrative of the present utility model and are not intended to limit the present utility model.

[0050] In the implementation methods and claims, unless otherwise specified in the text, the terms "a," "an," "the," and "the" may also include plural forms. If the embodiments of this utility model involve descriptions of "first," "second," etc., such descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of indicated technical features. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of those features.

[0051] It should be further understood that the term "comprising" as used in this specification means the presence of the stated features, integers, steps, operations, elements, and / or components, but does not exclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and / or groups thereof. It should be understood that when an element is referred to as "connected" or "coupled" to another element, it can be directly connected or coupled to the other element, or there may be intermediate elements present. Furthermore, "connected" or "coupled" as used herein can include wireless connections or wireless coupling. The term "and / or" as used herein includes all or any unit and all combinations of one or more associated listed items.

[0052] It will be understood by those skilled in the art that, unless otherwise defined, all terms used herein (including technical and scientific terms) have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. It should also be understood that terms such as those defined in general dictionaries should be understood to have the same meaning as in the context of the prior art, and should not be interpreted in an idealized or overly formal sense unless specifically defined as herein.

[0053] Furthermore, the technical solutions of the various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be considered that such combination of technical solutions does not exist and is not within the scope of protection claimed by this utility model.

[0054] To address the aforementioned problems, this utility model proposes a robot self-cleaning device.

[0055] Reference Figure 1 In one embodiment, the robot self-cleaning device includes:

[0056] Cleaning base 10, the cleaning base 10 being used to accommodate the robot cleaning module;

[0057] A water inlet is provided on the cleaning seat 10, and the water inlet is used to introduce cleaning fluid into the cleaning seat 10;

[0058] An ultrasonic cleaning component 30 is disposed on the cleaning base 10. The ultrasonic cleaning component 30 is used to emit ultrasonic waves to clean the robot cleaning module when a working signal is received.

[0059] In this embodiment, the cleaning seat 10 can accommodate the robot cleaning module for cleaning the robot cleaning module. The robot cleaning module can be a squeegee, roller brush, disc brush, roller, dust mop, or vacuum rake, etc. The shape and size of the cleaning seat 10 can be set according to the specific structure of the robot cleaning module. The position of the water inlet (not shown in the figure) can be set according to the actual structure of the cleaning seat to ensure that the cleaning fluid is introduced into the cleaning seat. During the cleaning process, cleaning fluid needs to be injected into the cleaning seat 10 through the water inlet. Soaking with the cleaning fluid can dissolve liquid stains such as oil on the robot cleaning module. The cleaning fluid includes, but is not limited to, water, hot water, water with detergent, and other liquids with cleaning properties. Furthermore, the robot self-cleaning device in this embodiment also includes an ultrasonic cleaning component 30, which uses ultrasound to clean solid dirt adsorbed on the robot cleaning module. Ultrasonic cleaning is a cleaning technology that uses high-frequency sound waves to generate microbubbles in liquids. These bubbles form and collapse rapidly in the liquid, generating powerful shock waves, thereby effectively removing dirt, grease, dust, and other contaminants from the surface of objects. The ultrasonic cleaning component 30 can be made of ceramic sheets, piezoelectric polymers, or metal materials. These materials can convert electrical energy into mechanical vibrations, thereby generating ultrasonic waves. After starting the cleaning work on the robot cleaning module, the ultrasonic cleaning component 30 can receive the working signal output by the controller and emit ultrasonic waves to clean the robot cleaning module. The controller can be set in an external workstation or in the robot's self-cleaning device. The controller and the ultrasonic cleaning component 30 are electrically connected via wires. After the robot completes docking with the robot's self-cleaning device, the controller receives the corresponding docking signal, at which point the controller can output a working signal to the ultrasonic cleaning component 30. Alternatively, the user can output a control signal to the controller via wireless communication, causing the controller to output a working signal. By introducing a cleaning fluid, it can be combined with ultrasonic waves to clean the robot cleaning module. The cleaning fluid can amplify the cavitation effect of ultrasonic cleaning, and the cavitation effect of ultrasonic cleaning can also accelerate the dissolution and removal of oil stains by the cleaning fluid, resulting in higher cleaning efficiency.

[0060] In this utility model, the robot self-cleaning device introduces cleaning fluid into the cleaning seat 10 and sets up an ultrasonic cleaning component 30 on the cleaning seat 10, which can achieve two cleaning methods: cleaning fluid cleaning and ultrasonic cleaning, to clean the robot cleaning module. The cleaning fluid cleaning can amplify the cavitation effect of ultrasonic cleaning, making the ultrasonic cleaning effect better. The cavitation effect of ultrasonic cleaning can also accelerate the dissolution and removal of oil stains by the cleaning fluid. The combination of the two cleaning methods can improve the cleaning efficiency of the robot self-cleaning device on the residual stains on the robot cleaning module.

[0061] In one embodiment, the water inlet can introduce cleaning fluid by connecting a water pipe, specifically, it can introduce cleaning fluid from an external workstation or cleaning fluid from a robot.

[0062] In another embodiment, a heating device can be installed inside the cleaning seat 10. When room temperature cleaning liquid is introduced into the cleaning seat 10 through the water inlet, the heating device can heat the cleaning liquid. The heated cleaning liquid can accelerate the dissolution and removal of oil stains, thereby improving cleaning efficiency. The heating device can be a resistance heater or a PTC heater, etc.

[0063] Reference Figure 2 and Figure 3 In one embodiment, the cleaning seat 10 includes:

[0064] Base 11;

[0065] An ultrasonic cleaning tank 12 is disposed on the base 11;

[0066] The liquid level detection mechanism 60 is rotatably mounted on the base 11 and is fixedly connected to the ultrasonic cleaning tank 12 when it is fastened to the ultrasonic cleaning tank 12; or, the liquid level detection mechanism 60 is fixedly mounted on the ultrasonic cleaning tank 12.

[0067] The liquid level detection mechanism 60 is used to detect the liquid level in the ultrasonic cleaning tank 12 and output a corresponding liquid level detection signal.

[0068] In this embodiment, the cleaning seat 10 consists of a base 11 and an ultrasonic cleaning tank 12, with the ultrasonic cleaning tank 12 mounted on the base 11. The liquid level detection mechanism 60 can be composed of multiple liquid level sensors, which detect the liquid level in the cleaning seat 10 and output a corresponding liquid level detection signal to the subsequent control processing circuit. The liquid level detection mechanism 60 is rotatably mounted on the base 11, with one end connected to the base 11 and the other end extending to the ultrasonic cleaning tank 12. When cleaning the robot cleaning module, the liquid level detection mechanism 60 is flipped and fastened to the ultrasonic cleaning tank 12, and the base 11 and the ultrasonic cleaning tank 12 are fixedly connected. Thus, the liquid level detection mechanism 60 can detect the liquid level in the ultrasonic cleaning tank 12 and output a corresponding liquid level detection signal. When there is a large accumulation of debris in the ultrasonic cleaning tank 12, the liquid level detection mechanism 60 can be flipped to detach from the ultrasonic cleaning tank 12, allowing the ultrasonic cleaning tank 12 to be removed from the base 11 for cleaning.

[0069] In this embodiment, the ultrasonic cleaning tank 12 can also be detachably mounted on the base 11. During the cleaning operation of the robot cleaning module, the liquid level detection mechanism 60 is fixedly mounted on the ultrasonic cleaning tank 12. The liquid level detection mechanism 60 can detect the liquid level in the ultrasonic cleaning tank 12 and output a corresponding liquid level detection signal. When there is a large accumulation of debris in the ultrasonic cleaning tank 12, the ultrasonic cleaning tank 12, along with the liquid level detection mechanism 60, can be detached from the base 11 for cleaning.

[0070] In this embodiment, the connection between the ultrasonic cleaning tank 12 and the base 11 makes it easier to disassemble the ultrasonic cleaning tank 12, thus allowing for the cleaning of debris in the ultrasonic cleaning tank 12. Specifically, whether the liquid level detection mechanism 60 can be flipped onto the base 11 or fixedly mounted onto the ultrasonic cleaning tank 12 can be configured according to the actual situation and user requirements.

[0071] Reference Figures 1 to 4 In one embodiment, the ultrasonic cleaning tank 12 includes:

[0072] Cleaning tank body 121;

[0073] A protective cover 122 covers the ultrasonic cleaning assembly 30 and is fixedly mounted on the cleaning tank body 121.

[0074] In this embodiment, the cleaning tank body 121 is used to accommodate the robot cleaning module and to contain cleaning fluid for cleaning the robot cleaning module. The shape of the cleaning tank body 121 can be set to correspond to the robot cleaning module. The protective cover 122 can protect the external structure of the cleaning tank body 121, preventing it from being deformed due to impact, which would prevent it from accommodating the robot cleaning module. It also facilitates the use and cleaning of the ultrasonic cleaning tank 12 and extends its service life. In this embodiment, the protective cover 122 can be fixed to the cleaning tank body 121 by screws or other means, and the protective cover 122 completely covers the ultrasonic cleaning component 30, protecting it from impacts and other effects.

[0075] In another embodiment, a water outlet (not shown in the figure) is provided on the cleaning tank body 121. It is understood that wastewater generated after the robot cleaning module finishes cleaning can be sucked away by the robot cleaning module's own suction function. However, in this embodiment, the water outlet on the cleaning tank body 121 allows wastewater to be discharged after cleaning, thus preventing the robot from failing to automatically suck up the wastewater or from not sucking it all up. The number and size of the water outlets can be determined according to actual conditions and user needs.

[0076] Reference Figure 4 In one embodiment, the bottom of the cleaning tank body 121 is provided with a plurality of protrusions at intervals;

[0077] The ultrasonic cleaning component 30 includes a plurality of ultrasonic ceramic plates 31, which are disposed on the side of the cleaning tank body 121 away from the boss, and the plurality of ultrasonic ceramic plates 31 are disposed in a one-to-one correspondence with the plurality of bosses.

[0078] In this embodiment, the bottom of the cleaning tank body 121 can be stamped to form a boss of a certain height. The number and height of the bosses can be set according to actual conditions and user needs. This method can increase the strength of the cleaning tank body 121. In this embodiment, the ultrasonic cleaning component 30 can be made of ultrasonic ceramic sheet 31. Ultrasonic ceramic sheet has good stability and durability and can be used for a long time under normal use. The ultrasonic cleaning component 30 can also be made of piezoelectric polymer or metal materials. The ultrasonic ceramic sheet 31 is fixed to the back of the boss of the cleaning tank body 121, i.e., the side away from the boss, by means of glue fixation, mechanical fixation, adhesive fixation or magnetic fixation. The ultrasonic ceramic sheet 31 is pasted on the back of the boss, and is set one-to-one with multiple bosses. This can reduce the impact of the deformation of the cleaning tank body 121 on the ultrasonic ceramic sheet 31, avoid the ultrasonic ceramic sheet 31 from falling off and breaking, and at the same time provide positioning for the fixation of the ultrasonic ceramic sheet 31, ensuring the processing consistency of the ultrasonic cleaning tank 121.

[0079] In one embodiment, a waterproof layer is provided on the surface of the ultrasonic ceramic sheet 31.

[0080] In this embodiment, a waterproof coating is used on the surface of the ultrasonic ceramic plate 31 to prevent water from penetrating into the ultrasonic ceramic plate 31 during the cleaning process and affecting the ultrasonic waves emitted by the ultrasonic ceramic plate 31. The waterproof layer can be a polymer coating, silicone coating, nano coating, waterproof membrane, or ceramic coating, etc. At the same time, the protective cover 122 and the cleaning tank body 121 can also be sealed with glue for waterproofing, so that the ultrasonic cleaning tank 12 can be effectively waterproofed during the cleaning process.

[0081] In one embodiment, the cleaning tank body 121 is a stainless steel cleaning tank body 121.

[0082] In this embodiment, the stainless steel cleaning tank body 121 possesses excellent corrosion resistance, resisting the erosion of various chemicals and making it suitable for cleaning various items, especially in humid or chemical environments. Furthermore, the stainless steel cleaning tank body 121 can withstand high temperatures, making it suitable for steam cleaning and maintaining cleaning effectiveness. Additionally, the smooth surface of the stainless steel cleaning tank body 121 prevents dirt adhesion, simplifying cleaning and maintenance and effectively reducing bacterial growth. In practical applications, the stainless steel cleaning tank body 121 exhibits high strength and good impact resistance, enabling it to withstand significant pressure and weight.

[0083] It should be noted that in scenarios where the robot cleaning module is at a low height off the ground, the robot cleaning module may interfere with the cleaning seat 10, thereby affecting the cleaning process of the robot cleaning module.

[0084] To prevent interference between the robot cleaning module and the cleaning seat 10, refer to Figure 5 In one embodiment, the robot self-cleaning device further includes:

[0085] A lifting platform 53 is disposed on the cleaning seat 10, and the lifting platform 53 is used for the robot to lift.

[0086] In this embodiment, a lifting platform 53 is provided on the cleaning seat 10 to elevate the robot and allow it to dock with the robot self-cleaning device. This avoids interference between the robot cleaning module and the cleaning seat 10, and also reduces the floor space occupied by the cleaning seat 10. The tilt angle of the lifting platform 53 can be set according to actual conditions and user needs; an excessively large tilt angle will cause the robot to be unstable, or an excessively small tilt angle will make it impossible to avoid interference between the robot cleaning module and the cleaning seat 10.

[0087] In one embodiment, the robot self-cleaning device further includes:

[0088] A liquid level detection circuit is electrically connected to the liquid level detection mechanism 60. The liquid level detection circuit is used to output a stop water filling signal when it detects that the liquid level in the cleaning seat 10 is higher than the safe height based on the liquid level detection signal.

[0089] In this embodiment, the liquid level detection circuit can be mounted on a printed circuit board. The liquid level detection circuit can isolate and output the liquid level detection signal to the controller on the control board. The controller converts the liquid level detection signal into a digital signal to determine the liquid level in the cleaning seat 10. When the liquid level in the cleaning seat 10 is higher than the safe height, it indicates that water is about to overflow the cleaning seat 10. At this time, a stop water supply signal can be output to stop adding water to the cleaning seat 10. For example, when adding water through a water pipe, the controller can control the valve on the water pipe to close, thereby stopping the water supply; or when adding water through a robot, the controller can output an electrical signal to the robot to stop adding water. The safe liquid level in the cleaning seat 10 can be set according to the actual situation and user needs. Specifically, this embodiment can adopt a capacitive liquid level detection scheme or an electrode-type liquid level detection scheme. The capacitive scheme uses a capacitance detection chip to sense the capacitance value in real time. The liquid level detection circuit on the control board periodically obtains the capacitance value through the I2C interface. When the capacitance value is greater than the set value, a stop water supply signal is output to stop adding water to the cleaning seat 10. The electrode-based liquid level detection scheme involves placing conductive electrodes at the corresponding liquid level height. Based on the principle that conductive electrodes conduct electricity upon contact with water, a corresponding liquid level detection circuit is designed on the control board to detect the voltage between the electrodes, thus achieving the liquid level detection function. The liquid level detection circuit can be composed of electronic components such as inductors, capacitors, resistors, and a processor. The specific circuit structure for the electrode-based liquid level detection scheme can be found in [reference needed]. Figure 6 Configure the settings.

[0090] Reference Figure 6 The liquid level detection circuit includes a follower U22, a first resistor R1, a second resistor R2, a third resistor R3, and a polarity switching chip U32;

[0091] The first input terminal of the follower U22 is used to connect to the P-pole EP of the electrode plate. The second input terminal of the follower U22, the first terminal of the third resistor R3 and the first terminal of the second resistor R2 are interconnected. The second terminal of the third resistor R3 is grounded. The second terminal of the second resistor R2, the output terminal of the follower U22 and the first terminal of the first resistor R1 are interconnected. The second terminal of the first resistor R1 is used to connect to the processor MCU. The power supply terminal of the polarity switching chip U32 is used to connect to the power supply V. The output terminal of the polarity switching chip U32 is used to connect to the electrode plate E.

[0092] In this embodiment, an electrode group contains two electrodes with different polarities: electrode P (EP) and electrode N (EN). Electrode N (EN) is grounded through a resistor. Follower U22 provides impedance matching and isolation, preventing external voltage from the electrode from being directly output to the processor MUC and causing damage. The first resistor R1 and the second resistor R2 limit current and stabilize the circuit, while the third resistor R3 balances the input bias current. The polarity switching chip U32 enables polarity switching for liquid level detection. Because electrodes exposed to water in one polarity for extended periods are prone to corrosion, periodically switching the polarity reduces the degree of electrochemical corrosion. Power supply V powers the polarity switching chip U32. Figure 6 The voltage values ​​of multiple power supplies V can be set according to the voltage requirements of the electronic components in the circuit. Figure 6 Two liquid level detection circuits can be set up, corresponding to two electrode groups. One electrode group is used to detect the safe height of the liquid in the cleaning seat 10, and the other electrode group is used to detect the minimum height of the liquid in the cleaning seat 10. It can be understood that if there is too little liquid in the cleaning seat 10, the cleaning of the robot cleaning module cannot be completed. Therefore, in this embodiment, an electrode group can also be set up to detect the minimum height of the liquid in the cleaning seat 10.

[0093] In one embodiment, the robot self-cleaning device further includes:

[0094] An ultrasonic control circuit is electrically connected to the ultrasonic cleaning component 30, and the ultrasonic control circuit is used to output working signals to the ultrasonic cleaning component 30.

[0095] Furthermore, referring to Figure 7 The ultrasonic control circuit includes an overcurrent detection chip U20, a first switch Q45, a second switch Q46, a third switch Q47, and an external interface J5.

[0096] The power supply terminal of the overcurrent detection chip U20 is used to connect to a power source. The output terminal of the overcurrent detection chip U20 is connected to the input terminal of the second switch Q46. The output terminal of the second switch Q46 is connected to the external interface J5, which is used to connect external devices. The controlled terminal of the second switch Q46 is connected to the input terminal of the first switch Q45, which is used to connect to the processor MCU. The output terminal of the first switch Q45 is connected to the output terminal of the third switch Q47. The control terminal of the overcurrent detection chip U20 is connected to the controlled terminal of the third switch Q47, and the input terminal of the third switch Q47 is grounded.

[0097] In this embodiment, the ultrasonic control circuit can be mounted on a printed circuit board. The ultrasonic control circuit can be composed of electronic components such as a control chip, switching transistors, capacitors, resistors, and diodes. The specific circuit structure of the ultrasonic control circuit can be found in [reference needed]. Figure 7 Configure the settings. Figure 7 In this circuit, the switching transistor can be a MOSFET or a bipolar transistor. For a MOSFET, the controlled terminal is the gate, the input terminal is the source, and the output terminal is the drain. For a bipolar transistor, the controlled terminal is the base, the input terminal is the collector, and the output terminal is the emitter. The overcurrent detection chip U20 can perform current acquisition and hardware overcurrent protection. The processor MCU is located on the control board. External interface J5 is the connection port between the ultrasonic control circuit and external drivers and devices. The second switching transistor Q46 can control the power supply to external drivers and devices. Specifically, the processor MCU outputs a corresponding electrical signal to control the on / off state of the first switching transistor Q45, thereby controlling the on / off state of the second switching transistor Q46. When the power supply is on, the ultrasonic control circuit can output a working signal to the ultrasonic cleaning component 30, driving the ultrasonic cleaning component 30 to work; when the power supply is off, the ultrasonic control circuit will not output a working signal to the ultrasonic cleaning component 30. The third switch Q47 enables automatic power shutdown in hardware overcurrent situations. For example, when the current is too high, the overcurrent detection chip U20 outputs a corresponding electrical signal to the controlled terminal of the third switch Q47, controlling its on / off state to control the on / off state of the second switch Q46, thereby shutting off the circuit power supply and preventing circuit burnout. The overcurrent standard can be set according to actual conditions and user requirements. The power supply V supplies power to the overcurrent detection chip U20. Figure 7 The voltage values ​​of multiple power supplies V can be set according to the voltage requirements of the electronic components in the circuit. The ultrasonic control circuit can be electrically connected to the ultrasonic cleaning component 30 via wires. After the robot completes docking, the ultrasonic control circuit outputs an electrical signal, i.e., a working signal, to the ultrasonic cleaning component 30, driving the ultrasonic cleaning component 30 to work and emit ultrasonic waves to clean the robot cleaning module.

[0098] This utility model also proposes a robot self-cleaning workstation.

[0099] Reference Figure 8 In one embodiment, the robot self-cleaning workstation includes a fixed workstation 40 and a robot self-cleaning device as described above, wherein the fixed workstation 40 is connected to the robot self-cleaning device.

[0100] It is understood that, since the robot self-cleaning device described above is used in the robot self-cleaning workstation of this utility model, the embodiments of the robot self-cleaning workstation of this utility model include all the technical solutions of all the embodiments of the robot self-cleaning device described above, and the technical effects achieved are exactly the same, so they will not be repeated here.

[0101] Reference Figure 8 In one embodiment, the fixed workstation 40 has a water pipe 20 connected to the water inlet in the robot self-cleaning device, and the fixed workstation 40 is used to inject cleaning fluid into the cleaning seat in the robot self-cleaning device through the water pipe 20 and the water inlet.

[0102] In this embodiment, after completing the cleaning task, the robot returns to the robot self-cleaning workstation. The robot automatically docks with the workstation by recognizing structural features or identification codes on the fixed workstation 40, or by using other sensors such as infrared sensors, magnetic sensors, and Hall sensors. This allows the robot cleaning module to be housed within the cleaning seat 10 in the robot self-cleaning workstation. The fixed workstation 40 can be connected to municipal tap water and sewers via a water pipe, or it can be equipped with a water tank to store cleaning fluid and be connected to the power grid for power supply. The fixed workstation 40 can be connected to the water inlet of the robot self-cleaning device via a water pipe 20, thereby injecting the cleaning fluid into the cleaning seat of the robot self-cleaning device through the water pipe 20 and the water inlet. This provides water and power to both the cleaning seat 10 and the robot. The fixed workstation 40 can be fixed in one location, facilitating the robot's automatic pathfinding and return after completing the cleaning work, and the fixed location ensures the stability of the robot docking process.

[0103] In one embodiment, a heating device and a water tank can be installed in the fixed workstation 40. The water tank is used to store cleaning fluid. After the heating device heats the cleaning fluid in the water tank, the cleaning fluid is injected into the cleaning seat 10 through the water pipe 20, which can achieve cleaning with the cleaning fluid.

[0104] Reference Figure 9 In one embodiment, the cleaning seat 10 in the robot self-cleaning device is detachably connected to the fixed workstation 40 via a connector 51.

[0105] In this embodiment, the cleaning base 10 can be detachably connected to the fixed workstation 40 via a pin connection, clamp connection, or quick connector. Therefore, the connector 51 can be selected according to the actual situation and user needs. The detachable connection between the cleaning base 10 and the fixed workstation 40 allows for more flexible assembly of the cleaning base 10 and the fixed workstation 40, adapting to different working environments and task requirements. Furthermore, when cleaning or maintaining the equipment, the detachable connection allows the cleaning base 10 to be easily removed for thorough cleaning and disinfection. Additionally, when not in use, the cleaning base 10 can be disassembled and stored elsewhere, saving workstation space. Moreover, with technological advancements, users can more easily replace or upgrade the cleaning base 10 individually without needing to modify the entire workstation.

[0106] Reference Figure 10 In one embodiment, the cleaning seat 10 in the robot self-cleaning device is fixedly connected to the fixed workstation 40 via a fastener 52.

[0107] In this embodiment, the cleaning seat 10 can be fixedly connected to the fixed workstation 40 by means of screw fixing, riveting fixing, or welding fixing. Therefore, the specific fastener 52 can be selected according to the actual situation and user needs. The fixed connection between the cleaning seat 10 and the fixed workstation 40 ensures that the cleaning seat 10 remains stable during use and will not move due to vibration or external force, thereby improving work efficiency and safety. Furthermore, a stable connection ensures that the cleaning seat 10 maintains the correct position during cleaning, thereby improving the cleaning effect and ensuring thorough cleaning. In addition, the fixed connection can effectively reduce noise and vibration during equipment operation, improving the comfort of the working environment.

[0108] Whether the cleaning station 10 and the fixed workstation 40 are detachable or fixed can be determined according to the actual situation and user needs. If flexibility is required, a detachable connection can be selected, and if stability is required, a fixed connection can be selected.

[0109] In one embodiment, the robot self-cleaning workstation further includes:

[0110] A control board is installed inside the fixed workstation 40. The control board is equipped with an ultrasonic control circuit, which is electrically connected to the ultrasonic cleaning component in the robot's self-cleaning device. The ultrasonic control circuit is used to output working signals to the ultrasonic cleaning component.

[0111] In this embodiment, the control board (not shown in the figure) in the fixed workstation 40 can be a printed circuit board for integrating electronic components. An ultrasonic control circuit can be installed on the control board and electrically connected to the ultrasonic cleaning component 30. After the robot docks with the fixed workstation 40, the ultrasonic control circuit in the fixed workstation 40 can output a working signal to the ultrasonic cleaning component 30 to control its operation, thus achieving ultrasonic cleaning. In this embodiment, the fixed workstation 40, together with the cleaning seat 10 and the ultrasonic cleaning component 30, can achieve cleaning of the robot's cleaning module using cleaning fluid and ultrasonic cleaning. Furthermore, the ultrasonic control circuit in this embodiment can be configured similarly to the ultrasonic control circuit in the above embodiments, as its working principle is the same and will not be repeated here. Placing the ultrasonic control circuit on the control board within the fixed workstation 40 saves space in the cleaning seat of the robot's self-cleaning device.

[0112] In one embodiment, the robot self-cleaning workstation further includes:

[0113] A liquid level detection circuit is installed on the control board and is connected to the robot self-cleaning device. The liquid level detection circuit is used to receive the liquid level detection signal output by the robot self-cleaning device, and when it detects that the liquid level in the cleaning seat of the robot self-cleaning device is higher than the safe height according to the liquid level detection signal, it outputs a stop water adding signal.

[0114] In this embodiment, a liquid level detection circuit can also be installed on the control board inside the fixed workstation 40. This circuit can receive the liquid level detection signal output by the liquid level detection mechanism in the robot's self-cleaning device. The liquid level detection circuit in this embodiment can be configured similarly to the liquid level detection circuit in the previous embodiment, as its working principle is the same and will not be described again here. Installing the liquid level detection circuit on the control board inside the fixed workstation 40 saves space in the cleaning seat of the robot's self-cleaning device.

[0115] This utility model also proposes a robot self-cleaning working system.

[0116] In one embodiment, the robot self-cleaning system includes a cleaning robot and a robot self-cleaning workstation as described above. In this embodiment, after completing the cleaning task, the cleaning robot returns to the robot self-cleaning workstation. The robot docks with the robot self-cleaning workstation by recognizing the structural features and identification code on the workstation, thereby allowing the robot cleaning module to be housed in the cleaning seat for convenient subsequent cleaning. It is understood that since the robot self-cleaning system of this utility model uses the aforementioned robot self-cleaning workstation, the embodiments of the robot self-cleaning system of this utility model include all the technical solutions of all embodiments of the aforementioned robot self-cleaning workstation, and the achieved technical effects are exactly the same, which will not be repeated here.

[0117] It should be understood that the application of this utility model is not limited to the examples above. Those skilled in the art can make improvements or modifications based on the above description, and all such improvements and modifications should fall within the protection scope of the appended claims.

Claims

1. A robot self-cleaning device, characterized in that, include: A cleaning stand for accommodating a robotic cleaning module; A water inlet is provided corresponding to the opening of the cleaning seat, and the water inlet is used to introduce cleaning fluid into the cleaning seat; An ultrasonic cleaning component is disposed on the cleaning seat. The ultrasonic cleaning component is used to emit ultrasonic waves to clean the robot cleaning module when it receives a working signal. The cleaning seat includes: Base; An ultrasonic cleaning tank is mounted on the base; A liquid level detection mechanism is used to detect the liquid level in the ultrasonic cleaning tank and output a corresponding liquid level detection signal. The robot self-cleaning device also includes: A liquid level detection circuit is electrically connected to the liquid level detection mechanism. The liquid level detection circuit is used to output a stop water filling signal when it detects that the liquid level in the cleaning seat is higher than the safe level based on the liquid level detection signal.

2. The robot self-cleaning device as described in claim 1, characterized in that, The liquid level detection mechanism can be flipped onto the base and fixedly connected to the ultrasonic cleaning tank when it is fastened onto the ultrasonic cleaning tank; or, the liquid level detection mechanism is fixedly mounted on the ultrasonic cleaning tank.

3. The robot self-cleaning device as described in claim 2, characterized in that, The ultrasonic cleaning tank includes: The cleaning tank body; A protective cover covers the ultrasonic cleaning assembly and is fixedly mounted on the cleaning tank body; The bottom of the cleaning tank body is provided with multiple protrusions at intervals; The ultrasonic cleaning component includes multiple ultrasonic ceramic plates, which are disposed on the side of the cleaning tank body away from the protrusions, and the multiple ultrasonic ceramic plates are arranged in a one-to-one correspondence with the multiple protrusions.

4. The robot self-cleaning device as described in claim 1, characterized in that, The liquid level detection circuit includes a follower, a first resistor, a second resistor, a third resistor, and a polarity switching chip; The first input terminal of the follower is used to connect to the P-pole of the electrode plate. The second input terminal of the follower, the first terminal of the third resistor, and the first terminal of the second resistor are interconnected. The second terminal of the third resistor is grounded. The second terminal of the second resistor, the output terminal of the follower, and the first terminal of the first resistor are interconnected. The second terminal of the first resistor is used to connect to the processor. The power supply terminal of the polarity switching chip is used to connect to the power supply. The output terminal of the polarity switching chip is used to connect to the electrode plate.

5. The robot self-cleaning device as described in claim 1, characterized in that, Also includes: An ultrasonic control circuit is electrically connected to the ultrasonic cleaning component, and the ultrasonic control circuit is used to output a working signal to the ultrasonic cleaning component. The ultrasonic control circuit includes an overcurrent detection chip, a first switching transistor, a second switching transistor, a third switching transistor, and an external interface; The power supply terminal of the overcurrent detection chip is used to connect to a power source. The output terminal of the overcurrent detection chip is connected to the input terminal of the second switching transistor. The output terminal of the second switching transistor is connected to the external interface, which is used to connect external devices. The controlled terminal of the second switching transistor is connected to the input terminal of the first switching transistor. The controlled terminal of the first switching transistor is used to connect to a processor. The output terminal of the first switching transistor is connected to the output terminal of the third switching transistor. The control terminal of the overcurrent detection chip is connected to the controlled terminal of the third switching transistor. The input terminal of the third switching transistor is grounded.

6. The robot self-cleaning device as described in claim 1, characterized in that, Also includes: A lifting platform is provided on the cleaning seat, and the lifting platform is used for the robot to lift.

7. A robot self-cleaning workstation, characterized in that, It includes a fixed workstation and a robot self-cleaning device as described in any one of claims 1-3 and 6, wherein the fixed workstation is connected to the robot self-cleaning device.

8. The robot self-cleaning workstation as described in claim 7, characterized in that, The fixed workstation has a water pipe connected to the water inlet in the robot self-cleaning device, and the fixed workstation is used to inject cleaning fluid into the cleaning seat in the robot self-cleaning device through the water pipe and the water inlet.

9. The robot self-cleaning workstation as described in claim 7, characterized in that, Also includes: A control board is installed in the fixed workstation. The control board is equipped with an ultrasonic control circuit, which is electrically connected to the ultrasonic cleaning component in the robot's self-cleaning device. The ultrasonic control circuit is used to output working signals to the ultrasonic cleaning component.

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