Cleaning station and cleaning system

Abstract

A cleaning station for a cleaning robot, wherein the cleaning robot has a cleaning actuator, the cleaning station has a cleaning seat, and wherein the cleaning seat comprises a water inlet channel, a cleaning tank and a waste water pool; wherein the water inlet channel is designed to transport cleaning fluid; the cleaning tank is equipped with a scraper rib and a wastewater groove; a water outlet end of the water inlet channel, the scraper rib and the wastewater groove are arranged in a height direction in sequence from high to low; the cleaning fluid contacts the cleaning actuator above the scraper rib to wet the cleaning actuator, and the scraper rib rests against the cleaning actuator to scrape dirt on the cleaning actuator, and the scraped dirt is directed through the wastewater groove into the wastewater pool.

Description

[0001] The present disclosure claims priority to Chinese Patent Application No. 202411067381.5, entitled “CLEANING STATION AND CLEANING SYSTEM,” filed on August 5, 2024 with the China National Intellectual Property Administration, which is incorporated herein by reference in its entirety. AREA

[0002] The present disclosure relates to the technical field of cleaning apparatus and, more particularly, to a cleaning station and a cleaning system. BACKGROUND

[0003] A cleaning robot is equipped with a rotatable cleaning actuator that rests against the surface to be cleaned. After completing a cleaning task and returning to a cleaning station, the cleaning robot must clean the cleaning actuator to prevent bacterial growth and odor on the cleaning actuator, ensuring that the cleaning robot can perform a good cleaning job on the surface to be cleaned the next time the cleaning task is performed.

[0004] In conventional technology, when the cleaning robot completes a cleaning task and returns to the cleaning station, self-cleaning of the cleaning actuator is often performed by wiping a roller brush with a wiper on the cleaning robot itself to wipe wastewater from the cleaning actuator. The cleaning station only provides a space for accommodating the cleaning actuator and discharging the wastewater. To avoid hindering the rolling of the cleaning actuator, the wiping force of the roller brush wiper of the cleaning robot itself on the cleaning actuator is relatively small, which cannot achieve a good cleaning effect on the cleaning actuator. Some stations are equipped with wipers. When the cleaning robot completes a cleaning task and returns to the cleaning station, the wiper can clean the cleaning actuators.However, only one cleaning tank is provided. During each cleaning of the roller, the scraped wastewater cannot be isolated in a timely manner, resulting in the water in the cleaning tank becoming dirtier and the cleaning effect of the roller soaked in the cleaning tank deteriorating. SUMMARY

[0005] In view of the above problems, embodiments of the present disclosure are provided. One object of the embodiments of the present disclosure is to provide a cleaning station that can thoroughly clean a cleaning actuator after a cleaning robot completes cleaning and returns to the station.

[0006] To achieve this object, according to an embodiment of the present disclosure, the following solution is provided.

[0007] A cleaning station for a cleaning robot, wherein the cleaning robot has a cleaning actuator, the cleaning station has a cleaning seat, and wherein the cleaning seat includes a water inlet channel, a cleaning tank and a waste water pool; wherein the water inlet channel is designed to transport cleaning fluid; the cleaning tank is equipped with a scraper rib and a wastewater groove; a water outlet end of the water inlet channel, the scraper rib and the wastewater groove are arranged in a height direction in sequence from high to low; the cleaning fluid contacts the cleaning actuator above the scraper rib to wet the cleaning actuator, and the scraper rib rests against the cleaning actuator to scrape dirt on the cleaning actuator, and the scraped dirt is directed through the wastewater groove into the wastewater pool.

[0008] In one embodiment, when the cleaning actuator rotates for cleaning, the water outlet end is located upstream of the wiper rib; and The dirt scraped off by the scraper rib enters the wastewater groove, and the wastewater groove directs the dirt into the wastewater pool in a timely manner.

[0009] In one embodiment, the water outlet end of the water inlet channel has a branch port for the water outlet, and the wastewater groove is arranged between the branch port and the scraper rib.

[0010] In one embodiment, an arc wall is provided at the bottom of the branch ports, and a circle where the arc wall is arranged is concentric with a cross-sectional circle of the cleaning actuator.

[0011] In one embodiment, the scraper rib is formed as a side wall of the wastewater groove.

[0012] In one embodiment, a water path branching plate is provided at a position of the branching port, and the water path branching plate is formed as another side wall of the drainage groove.

[0013] In one embodiment, the water path branching plate is provided with a plurality of branching ports at intervals along a longitudinal direction, and cleaning liquid in the water inlet channel flows from the plurality of branching ports to the cleaning actuator.

[0014] In one embodiment, opening widths of two adjacent branch ports are set such that a width of a branch port close to the water inlet channel is not greater than a width of a branch port remote from the water inlet channel.

[0015] In one embodiment, a guide rib is provided at one end of the water inlet channel connected to the cleaning tank; and one end of the guide rib remote from the water inlet channel is connected to the water path branching plate to divide one end of the water inlet channel at the scraper rib into at least two clean water flow paths; and Ends of different clean water flow paths located away from the water inlet channel point in different directions, thereby directing the cleaning liquid to different branch ports.

[0016] In one embodiment, avoidance structures are provided on both sides of the scraper rib along a longitudinal direction.

[0017] In one embodiment, a length of the wiper rib extending into the cleaning actuator is in a range of 3 mm to 5 mm.

[0018] In one embodiment, the cleaning station has a docking cabin with an opening on one side, and the cleaning station is further equipped with a ramp for guiding the cleaning robot to move into the docking cabin; and the cleaning robot has an auxiliary wheel on the ground, and a support structure is provided on the ramp, wherein the auxiliary wheel, when the cleaning robot is accommodated in the docking cabin, is arranged on top of the support structure to hold the cleaning robot in a target position for docking to the cleaning station.

[0019] In one embodiment, an upper surface of the support structure is higher than a support surface of the ramp.

[0020] In one embodiment, an upper surface of the support structure faces a support surface of the ramp and has an inclined guide surface.

[0021] In one embodiment, a confluence channel is provided at the bottom of the cleaning tank and is connected to the wastewater pool, and the confluence channel serves to direct wastewater into the wastewater pool; and The confluence channel is arranged on a central axis of the wastewater pool.

[0022] In one embodiment, a position of the cleaning tank is aligned with a position of the cleaning actuator; and The confluence channel is located on one side of the cleaning tank.

[0023] In one embodiment, the confluence channel is arranged at the bottom of the water path branching plate.

[0024] In one embodiment, a water accumulation channel is provided between the water inlet channel and the water path branch plate; and the confluence channel is located below the water accumulation channel.

[0025] In one embodiment, an inlet of the confluence channel on the cleaning tank is arranged at a lowest position of the bottom of the cleaning tank.

[0026] In one embodiment, after cleaning of the cleaning actuator is completed, the cleaning actuator is rotated along the scraper rib toward the water outlet end of the water inlet channel to agitate the cleaning actuator.

[0027] Another object of the embodiments of the present disclosure is to provide a cleaning station with which a good cleaning effect of a roll can be achieved.

[0028] To achieve this object, an embodiment of the present disclosure provides the following solution:

[0029] A cleaning system that includes: a cleaning robot capable of autonomous movement, the cleaning robot having a cleaning actuator that is rotatable and bears against a surface to be cleaned; and the cleaning station as described above.

[0030] In the technical solution according to embodiments of the present disclosure, the cleaning seat is provided on the base of the docking cabin, and the cleaning station has a wastewater pool for accommodating wastewater. The cleaning seat includes a water inlet channel, a cleaning tank, and a water path distribution plate. The water inlet channel serves to transport cleaning fluid, and the cleaning fluid can be sprayed onto the cleaning actuator. The scraper rib and the wastewater groove are arranged in the cleaning tank, and the cleaning actuator abuts against the scraper rib. The water path branch plate, the scraper rib, and the wastewater groove are arranged in sequence from high to low in the height direction, and the wastewater groove is fluid-conducting with the wastewater pool.The scraper groove can scrape the cleaning actuator, and the scraped wastewater can enter the wastewater pool from the wastewater groove. The cleaning actuator does not come into contact with the wastewater, and the cleaning actuator is not saturated with the wastewater. The liquid sprayed onto the cleaning actuator is pure cleaning fluid, ensuring a good cleaning effect on the cleaning actuator. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] To more clearly illustrate the technical solutions according to embodiments of the present disclosure or conventional art, the drawings to be used in embodiments of the present disclosure or conventional art will be briefly described below. The drawings in the following descriptions are obviously some embodiments of the present disclosure, and other drawings can be obtained by those skilled in the art based on the provided drawings without any creative work. Fig. 1 is a schematic front view of a station according to an embodiment of the present disclosure; Fig. 1a is a schematic diagram of a structure of a charging device according to an embodiment of the present disclosure; Fig. 1b is a schematic diagram of a structure of a charging component according to an embodiment of the present disclosure; Fig. 1c is a schematic cross-sectional diagram of a structure of a charging component according to an embodiment of the present disclosure; Fig. 1d is a schematic diagram of a structure of a cleaning robot abutting a right convex point according to an embodiment of the present disclosure; Fig. 1e is a schematic diagram of a structure of a cleaning robot abutting a left convex point according to an embodiment of the present disclosure; Fig. 1f is a schematic diagram of a structure of a cleaning robot abutting a left convex point according to an embodiment of the present disclosure; Fig. 2a is a schematic diagram of a station equipped with a cleaning seat and a ramp on the bottom wall of a docking cabin, according to an embodiment of the present disclosure; Fig. 2b is a schematic diagram of a station in which a protrusion is provided on a ramp, according to an embodiment of the present disclosure; Fig. 2c is a schematic structural diagram of a self-cleaning rotation of a cleaning actuator according to an embodiment of the present disclosure; Fig. 3 is a schematic diagram of a station equipped with a cleaning seat on the bottom wall of a docking cabin, according to an embodiment of the present disclosure; Fig. 4 is a schematic diagram of a cleaning seat according to an embodiment of the present disclosure; Fig. 5 is a schematic plan view of a cleaning seat on a station according to an embodiment of the present disclosure; Fig. 5a is a schematic diagram of a partial structure of a station according to an embodiment of the present disclosure; Fig. 5b is a schematic diagram of a structure of a cleaning seat according to an embodiment of the present disclosure; Fig. 6 is a schematic cross-sectional view of a cleaning actuator on a cleaning apparatus; Fig. 7 is a schematic diagram of a structure of a station according to an embodiment of the present disclosure; Fig. 8 is a partial cross-sectional view of a station according to an embodiment of the present disclosure; Fig. 9 is a schematic diagram of a structure of a waterway system according to an embodiment of the present disclosure; Fig. 10 is a schematic diagram of a structure of a dust box according to an embodiment of the present disclosure; Fig. 11 is a cross-sectional view of a sealing component according to an embodiment of the present disclosure; Fig. 12 is a schematic diagram of a structure of a dust box and a filter component according to an embodiment of the present disclosure; Fig. 13 is a partial cross-sectional diagram of a station according to an embodiment of the present disclosure; Fig. 14 is a schematic diagram of a structure of a cleaning seat according to an embodiment of the present disclosure; Fig. 15 is a schematic diagram of a structure of a waste water tank according to an embodiment of the present disclosure; Fig. 16 is a cross-sectional view of a wastewater discharge structure according to an embodiment of the present disclosure; Fig. 17 is a schematic diagram of a structure of a wastewater discharge structure according to an embodiment of the present disclosure; Fig. 18 is a schematic diagram of a structure of a cleaning robot according to an embodiment of the present disclosure; and Fig. 19 is a simplified structural diagram of the dual waterway purification according to an embodiment of the present disclosure; DETAILED DESCRIPTION

[0032] The present disclosure will be further described in detail below with reference to the attached drawings and embodiments. It should be understood that the embodiments described herein are merely illustrative of the present disclosure and not limitative of the present disclosure. It should also be noted that for convenience of description, only parts of the structure related to the present disclosure are shown in the drawings, not all of them.

[0033] In the description of the present disclosure, terms such as "linked," "connected," and "fixed" are to be understood in a general sense unless otherwise clearly defined and limited. For example, a connection may be a fixed connection, a detachable connection, or an integral connection; a connection may be a mechanical connection or an electrical connection; and a connection may be a direct connection, an indirect connection through an intermediate medium, or an internal connection between two elements or interaction between two elements. Those skilled in the art may understand specific meanings of the terms in the present disclosure on a case-by-case basis.In the present disclosure, a first feature "above" or "below" a second feature may include that the first feature and the second feature are in direct contact, or that the first feature and the second feature are not in direct contact but are in contact via another feature therebetween, unless otherwise expressly stated or limited. A first feature "above," "over," or "on" a second feature may further include that the first feature is directly above or diagonally above the second feature, or simply indicate that the first feature is at a higher level than the second feature. A first feature "below," "under," or "beneath" a second feature may further include that the first feature is directly below or diagonally below the second feature, or simply indicate that the first feature is at a lower level than the second feature.In describing the embodiments of the present disclosure, the terms "upper," "lower," "right," "left," and other orientations or positional relationships are based on the drawings. Such terms are used only for convenience in describing and simplifying operations and do not indicate or imply that the device or element discussed must have a specific orientation or be configured and operated in a specific orientation. Thus, the terms should not be construed as limitations on the present disclosure. Furthermore, the terms "first" and "second" are used merely for differentiation in the description and have no specific meaning.

[0034] In one embodiment of the present disclosure, a cleaning robot includes a vacuuming component and a cleaning component. The vacuuming component is arranged in front of the cleaning component in a traveling direction of the cleaning robot. Thus, when the cleaning robot travels to a surface to be cleaned, the cleaning robot first dusts the surface to be cleaned and then cleans the surface to be cleaned after dusting. Fig. 6. In the embodiment, the cleaning component includes a cleaning actuator 832 and a wiper component 833. The cleaning actuator 832 is a roller (or referred to as a cleaning roller, a roller component. Hereinafter, a cleaning roller, a roller component, and a roller all refer to the cleaning actuator 832). The wiper component 833 is arranged in front of the roller along a traveling direction of the cleaning robot. The vacuuming component (not shown in the figure) of the cleaning robot is arranged in front of the wiper component 833 along the traveling direction of the cleaning robot. Thus, during travel, the cleaning robot first dusts, and after dusting, the roller then cleans the surface to be cleaned. In this way, a cleaning efficiency of the cleaning robot is significantly improved.

[0035] Specifically, the roller may be a cylindrical roller, and one surface of the cylindrical roller may have a cleaning fleece material. The roller may be a crawler roller including two crawler wheels arranged at intervals, and a track cloth rests on the two crawler wheels in a circular runway shape, sleeve-like. The track cloth has a cleaning fleece material on one outer surface. One surface of the track cloth is in contact with the ground. As the crawler wheels rotate, the track cloth rotates simultaneously relative to the ground, thereby wiping and washing the ground.

[0036] In some embodiments of the present disclosure, with reference to Fig. 6 and Fig. 19, a wastewater collection box 834 is provided under a scraper component 833. The scraper component 833 abuts the roller and scrapes wastewater on the roller into the wastewater collection box 834. The wastewater collection box 834 is connected to the wastewater tank 72 via a wastewater pipe. Wastewater in the wastewater collection box 834 is allowed to enter the wastewater tank 72 through the wastewater pipe to prevent the wastewater on the roller from adhering to the surface to be cleaned when the roller 832 rolls. This is also a process of cleaning the roller.

[0037] Furthermore, one side of the scraper component 833 that abuts the roller may be perpendicular to a surface of the roller to ensure a good scraping effect; and the other side of the scraper component is curved in an arc shape toward the wastewater collection box 834, which not only prevents the scraped wastewater from splashing out of the scraper component 833, but also directs the scraped wastewater to flow along the arc-shaped scraper component 833 into the wastewater collection box 834.

[0038] However, after the cleaning robot has been operating for a long time, the scraper component 833 may not be able to scrape off all the contaminants on the roller during the operation of the cleaning robot, resulting in a continuous accumulation of contaminants on the roller. To solve this problem, a scraper structure is further provided at station 1. After completing a work period, the cleaning robot can return to station 1 and use the scraper structure of station 1 to further clean the roller. In a conventional technique, a cleaning chamber is usually provided in the station. The cleaning chamber is configured to contain cleaning fluid. The roller of the cleaning robot immerses in the cleaning chamber and rotates, and then the roller is cleaned by the scraper component.The wastewater scraped off by the scraper component continues to soak into the roller, reducing the cleaning effect of the roller.

[0039] In order to improve the efficiency of cleaning the roll by the wiper structure in station 1, the wiper component 833 is in one embodiment, based on Fig. 3 to Fig. 6, after the cleaning robot enters station 1, on the front side of the roller along the direction of travel of the cleaning robot, and the scraper structure of station 1 is on the back side of the roller along the direction of travel of the cleaning robot. In one implementation, the role of the cleaning robot entering station 1 is related to Fig. 3 to Fig. 5b, arranged in a cleaning tank 114. The wiping structure includes a water path branching plate 112, a wiping rib 116, and a wastewater groove 117. Station 1 is equipped with a water inlet component. External clean water or cleaning liquid enters the water path branching plate 112 through a water inlet channel. The clean water or cleaning liquid passes through the water path branching plate 112 and then soaks the roller. After the cleaning robot enters station 1, the wiping rib 116 presses against the roller and wipes the soaked roller. The wastewater groove 117 is configured to collect the wastewater wiped by the wiping rib 116 and is connected to a drainage component of station 1 to discharge the wastewater scraped by the wiping rib 116 into a wastewater tank 72.In a vertical height direction, the water path branch plate 112, the scraper rib 116, and the wastewater groove 117 are arranged from high to low. The roller abuts against an upper end of the scraper rib 116, and the wastewater groove 117 is arranged on a side of the scraper rib 116 facing away from the roller to prevent the wastewater scraped by the scraper rib 116 from further contaminating the roller. Thus, a cleaning effect by station 1 on the roller is improved.

[0040] The cleaning fluid contacts the cleaning actuator 832 above the wiping rib 116 to wet the cleaning actuator 832, and the wiping rib 116 abuts the cleaning actuator 832 to wipe off dirt on the cleaning actuator 832, and the wiped-off dirt is directed into the wastewater pool 119 through the wastewater groove 117. Since the wastewater in the wastewater groove 117 can be discharged into the wastewater pool 119 in real time, the cleaning actuator 832 does not come into contact with the wastewater in the wastewater groove 117 during the self-cleaning process and is not re-contaminated by the wastewater in the wastewater groove 117, thus ensuring that only new cleaning fluid 832 is on the cleaning actuator, thus ensuring a good cleaning effect of the cleaning actuator 832.In the process, the cleaning liquid flows sequentially through the water inlet channel, the cleaning actuator 832, the scraper rib 116, the waste water groove 117, and the waste water pool 119, thereby forming a cleaning water path for cleaning the cleaning actuator 832.

[0041] Specifically, when the cleaning actuator 832 is a cleaning roller and rotates for cleaning, the water outlet end of the water inlet channel is located upstream of the scraper rib 116, and the dirt scraped by the scraper rib 116 enters the waste groove 117. The waste groove 117 timely directs the dirt into the waste pool 119, ensuring that the roller is not recontaminated by the dirt during the self-cleaning process. The only liquid that soaks the roller is the cleaning liquid, thus ensuring a good cleaning effect on the roller.

[0042] Since the roller of the cleaning robot rotates, the roller is also cleaned by the scraper structure on station 1 and is scraped by the scraper component 833 on the cleaning robot. The cleaning efficiency and cleaning effect on the roller are thus significantly improved.

[0043] It should be understood that, in other embodiments, the wiper component 833 of the cleaning robot is arranged at the rear of the roller along the traveling direction of the cleaning robot. To facilitate cleaning and arrangement of Station 1, the water path branching plate 112 is arranged on a lower side of the roller component. A branching port 1120 on the water path branching plate 112 directs water evenly and moistens the roller on the same side as the wiper component 833. The wiper structure of Station 1 is arranged on the front of the roller along the traveling direction of the cleaning robot. Other arrangements are possible and are not subject to any specific restrictions here.

[0044] During a process of performing self-cleaning on the roller by the cleaning robot, the scraper component 833 scrapes the wastewater on the roller into the wastewater collection box 834. The roller becomes cleaner due to the self-cleaning of the roller, and wastewater scraped from the roller by the scraper component 833 becomes clearer. Such water enters the wastewater collection box 834 and rinses the wastewater collection box 834 to clean the wastewater collection box 834.

[0045] In embodiments according to the present disclosure, a station is further provided. As in Fig. 1, the station 1 is equipped with a docking cabin 10, and a hatch is provided on the front of the docking cabin 10. As shown in Fig. As shown in Figure 2, a lower edge of the hatch is equipped with a ramp 101 for the cleaning robot to enter the docking cabin 10. After completing cleaning, the cleaning robot can move autonomously to the station, or can be controlled by a user to move to the docking cabin 10 and enter the docking cabin 10 from the ramp 101. A charging device 140 is provided in the docking cabin 10 and is in contact with a charging terminal of the cleaning robot. The charging device is capable of charging the cleaning robot.

[0046] After the cleaning robot completes the cleaning task on a surface to be cleaned and returns to the station, the cleaning actuator 832 on the cleaning robot normally performs self-cleaning in the station to prevent bacteria from multiplying on the cleaning actuator 832 and generating odor, and to ensure a good cleaning effect during the next use.

[0047] In the present disclosure, the cleaning actuator 832 may be a roller, a cloth plate, or the like, which is not specifically limited in the present disclosure. However, the following embodiments are not applicable to both the roller and the cloth plate. Readers or operators need to distinguish according to the following content. Some of the following embodiments are applicable only to the roller, some embodiments are applicable only to the cloth plate, and some embodiments are applicable to both the roller and the cloth plate.

[0048] In some stations, during self-cleaning at the station, the cleaning actuator 832 is only wiped by the wiper component 833 on the cleaning robot to remove the wastewater on the cleaning actuator 832. The wiper component 833 of the cleaning robot is generally short, and a distance at which the wiper component 833 penetrates the roller is less than or equal to 2 mm. A wiping force of the wiper component 833 on the cleaning robot is small, thereby preventing the wiper from exerting excessive resistance on the cleaning actuator 832, which leads to failure of the normal rotation of the cleaning actuator 832 when a cleaning task is performed. Therefore, using the small wiping force not only reduces the resistance to the rotation of the cleaning actuator 832, but also ensures the service life of the motor of the cleaning actuator 832.Therefore, during self-cleaning of the cleaning actuator 832, a good cleaning effect cannot be achieved by relying only on the wiper on the cleaning robot. The wiper on the cleaning robot can only wipe a flat area on an upper surface of the cleaning actuator 832, and dirt at the bottom of the bristles of the cleaning actuator 832 cannot be cleaned well. At some other stations, a wiper group is provided. However, in order to ensure that the roller can be in contact with the cleaning liquid in the longitudinal direction, the wiper group on the station is configured to be formed by a plurality of wipers, and the plurality of wipers are staggered at the front and rear and arranged along an axial direction of the cleaning actuator 832.During self-cleaning of the cleaning actuator 832, the station supplies a certain amount of water to the staggered wipers, and the roller rotates and contacts the wipers and water simultaneously, thereby achieving foam washing and stripping washing.

[0049] Although the scrapers can clean the cleaning actuator, the scraped wastewater cannot be isolated in a timely manner every time the cleaning actuator is cleaned, which causes the water in the cleaning tank to become dirtier, and the cleaning effect of the roller soaked in the cleaning tank to become worse.

[0050] To avoid these problems, in some embodiments of the present disclosure, an integrated line of station wiping ribs 116 is provided in the docking cabin 10. A width of the station wiping rib 116 should be larger than the wiper on the cleaning robot to allow the wiping rib 116 to extend into the root of the bristles of the cleaning actuator 832, thereby performing deep cleaning on the cleaning actuator 832. A length of the wiping rib 116 is also equal to or greater than a length of the cleaning actuator 832 on the robot. This ensures that the cleaning actuator 832 can fully contact a cleaning surface of the cleaning actuator 832 during the self-cleaning process, thus ensuring a good cleaning effect.

[0051] In some embodiments of the present disclosure, as in Fig. 2a, Fig. 3 and Fig. 4, a cleaning seat 11 is provided on the bottom wall of the docking cabin 10. The cleaning seat 11 is detachably disposed on the bottom wall of the cabin, and a user can disassemble the cleaning seat 11 for cleaning. Cleanliness of the cleaning seat is thus ensured, a self-cleaning effect of the cleaning actuator 832 of the cleaning robot is improved, and odor caused by dirt is avoided. The cleaning seat 11 has a cleaning tank 114, and the scraper rib 116 is disposed inside the cleaning tank 114. In a direction in which the cleaning robot enters and exits the docking cabin 10, the side near the hatch is defined as a front side, and the inside of the docking cabin 10, that is, the side facing away from the hatch, is defined as a rear side. As shown in Fig. 2a, Fig. 3, Fig. 4 and Fig. As shown in Figure 6, two water inlet channels are arranged at the rear of the cleaning seat 11 to transport cleaning liquid, namely a first water inlet channel 110 and a second water inlet channel 111. The rear of the first water inlet channel 110 and the second water inlet channel 111 serve as the water inlet end, and the front thereof serves as the water outlet. The water outlet end is connected to the cleaning tank 114, and a water accumulation channel 115 is provided between the water outlet end and the cleaning tank 114 to collect all the cleaning liquid in the first water inlet channel 110 and the second water inlet channel 111 into the water accumulation channel 115. The cleaning liquid enters the cleaning tank 114 through a confluence channel 118. The cleaning liquid flows forward into the cleaning tank 114.In other embodiments of the present disclosure, the first water inlet channel 110 and the second water inlet channel 111 may be arranged on the front side of the cleaning seat so that the cleaning liquid flows backward into the cleaning tank 114. In other embodiments, the cleaning liquid may obviously flow from left to right into the cleaning tank 114, or may flow from right to left into the cleaning tank 114, which is not specifically limited in the embodiments of the present disclosure. To achieve uniform water supply or to increase water supply, the number of cleaning tanks may be more than two in other embodiments.

[0052] In some embodiments of the present disclosure, as in Fig. 5a, a cleaning liquid outlet channel 16 is provided at the water inlet end of the first water inlet channel 110 and the second water inlet channel 111 on an upper wall of the docking cabin 10. The outlet channel 16 is connected to a cleaning water tank 2 or a water supply pipeline on the station. To prevent the cleaning water from splashing onto the charging device 140 during the self-cleaning process of the cleaning actuator 2 and causing problems such as short circuiting the charging circuit of the cleaning robot, in some embodiments of the present disclosure, a resistance bar 17 with a length greater than that of the charging device 140 is provided on the rear wall of the docking cabin 10 below the charging device 140. When the cleaning robot is in the docking cabin 10 for charging, the cleaning robot rests against the resistance bar 17.The resistance bar 17 is elastic and can be elastically deformed. The resistance bar rests against the cleaning robot and is subjected to a squeezing force exerted by the cleaning robot, thereby achieving a sealing effect. This prevents cleaning water from splashing onto the charging device 140 during the self-cleaning process of the cleaning actuator 2, ensuring smooth charging of the cleaning robot.

[0053] In a feasible solution, a distance between water inlet ends of the first water inlet channel 110 and the second water inlet channel 111 is a first distance, and a distance between water outlet ends of the first water inlet channel 110 and the second water inlet channel 111 is a second distance. As in Fig. 2a and Fig. 6, the first distance is greater than the second distance. As shown in Fig. 2, for example, the first water inlet channel 110 is an inclined groove, and the second water inlet channel 111 is an inclined groove. As shown in Fig. For example, as shown in Figure 5, in one embodiment, the first water inlet channel 110 is a curved groove, and the second water inlet channel 111 is a straight inclined groove. Of course, a reverse situation is also possible, which is not particularly limited in the embodiment.

[0054] The water inlet ends of the two water inlet channels are connected to the cleaning water tank 2 by pipelines. A water path branching plate is provided in the cleaning tank 114. A plurality of branching holes 1120 are arranged at intervals along the width direction of the cleaning tank 114. The plurality of branching holes 1120 may be evenly arranged at equal intervals or may be unevenly arranged at different intervals, which is not limited in the embodiment.

[0055] When the cleaning robot is docked in the docking cabin 10, the cleaning actuator 832 of the cleaning robot is housed in the cleaning tank 114. The cleaning tank 114 is provided with a wiping rib 116, and the wiping rib 116 abuts the cleaning actuator 832. When the cleaning liquid in the cleaning water tank 2 flows along the first water inlet channel 110 or the second water inlet channel 111 to the water path branch plate 112, the cleaning liquid is blocked by the water path branch plate 112 and passes through each branch port 1120, so that the cleaning liquid is evenly divided into multiple flows toward the cleaning actuator 832. Thus, the cleaning actuator 832 is evenly sprayed with the cleaning liquid from left to right, ensuring uniform cleaning.The branch port 1120 is a scaled shape composed of two cones, which means that a wider part faces the first water inlet channel 110 or the second water inlet channel 111, thereby allowing incoming water to flow into the water accumulation channel 115; a middle part is narrower to increase a flow rate; and an outlet position is wider, thereby ensuring that the cleaning liquid flows more evenly to the roller.

[0056] As the cleaning actuator 832 rotates, the cleaning fluid is evenly sprayed onto the cleaning actuator 832. When the cleaning actuator 832 passes through the wiping rib 116, the wiping rib wipes off water on the cleaning actuator 832, achieving the effect of wiping and washing the cleaning actuator 832. However, the cleaning actuator 832 is thus cleaned more thoroughly.

[0057] The wiping force and depth of the wiping rib 116 are greater than those of the wiping component 833 on the cleaning actuator 832 of the cleaning robot. In one implementation, along the height direction, both the wiping rib 116 and the wiping component 833 can extend into the bristles of the cleaning actuator 832. The height of the wiping rib 116 on the station is greater than the height of the wiping component 833, so that the wiping rib 116 can reach a deeper position of the cleaning actuator 832, such as 3 mm to 5 mm. In some embodiments, the wiping rib 116 can extend 4.5 mm into the cleaning actuator 832, and the wiping component 833 of the robot extends 2 mm into the cleaning actuator 832.The 2 mm scraper component 833 is capable of scraping wastewater from the surface of the cleaning actuator 832, but it cannot scrape and clean the deep part of the bristles of the cleaning actuator 832 and has a small resistance that hinders the rotation of the cleaning actuator 832. The 4.5 mm scraper rib is capable of reaching deep into the bristles of the cleaning actuator 832 and can deeply clean the cleaning actuator 832 to achieve a better cleaning effect. However, compared to the scraper component 833, the scraper rib has a large resistance that hinders the rotation of the cleaning actuator 832. Therefore, the self-cleaning rotation of the cleaning actuator 832 is greater than the rotational performance when cleaning a surface to be cleaned.The hardness of the wiper rib 116 on the station can also be greater than the hardness of the wiper component 833, so that the wiper rib 116 has a greater wiping force. For example, the wiper rib 116 can be made of metal, and the wiper component 833 can be made of plastic, as long as the hardness of the wiper rib 116 is greater than the hardness of the wiper component 833. This is not subject to any specific restrictions in the embodiment.

[0058] Furthermore, the cleaning tank typically does not discharge the wastewater in a timely manner. During self-cleaning of the cleaning actuator 832, as the cleaning actuator continues to rotate, the scraper rib scrapes the wastewater on the cleaning actuator into the cleaning tank, resulting in an increasing amount of wastewater in the cleaning tank. In this case, the cleaning actuator 832 becomes saturated with wastewater as it passes through the cleaning tank while rotating, resulting in a poorer cleaning effect.

[0059] With reference to the Fig. In the example shown in Figure 2a, the wiping rib 116 on the station in the technical solution provided in the embodiment of the present disclosure is a continuous integrated strip. In the self-cleaning of the cleaning actuator 832, the wiping rib 116 on the station and the wiping component 833 on the cleaning robot act together on the cleaning actuator 832. As shown in Fig. 2c, for example, after the cleaning actuator 832 enters the self-cleaning mode, the cleaning robot controls the cleaning actuator 832 to rotate in a first direction. Rotation in the first direction, for example, causes the roller to be oriented toward the interior of the station. The scraper rib 116 and the scraper component 833 on the cleaning robot cooperate with the cleaning actuator 832 to remove dirt on the cleaning actuator 832, and the scraped dirt is held on one side by the scraper rib 116. As shown in Fig. As shown in Figure 2c, a wastewater groove 117 is provided between the scraper rib 116 and the water path branch plate 112 in the cleaning tank 114. In the embodiment, the scraped wastewater is held in the wastewater groove 117 on the side near the inside of the station, and then the wastewater is directed into the wastewater pool 119 through the confluence channel 118 at the lowest position. Therefore, there is almost no wastewater or only a small amount of overflow wastewater in the direction on the scraper rib 116 toward the outside of the station. The wastewater groove 117 is high at both ends, and the height is lowest at the entrance of the confluence channel 118, so that the wastewater scraped by the scraper is collected at the entrance of the confluence channel 118.A bottom surface of the confluence channel 118 is a slope that slopes downward from the wastewater groove 117 to the wastewater pool 119 (i.e., from the front to the back), so that the wastewater in the wastewater groove 117 can be quickly directed into the wastewater pool 119. The wastewater pool 119 is located between the two water inlet channels, and the bottom of the wastewater pool is lower than the lowest point of the outlet of the confluence channel 118. The wastewater pool is further equipped with a floating Hall element 130 configured to measure height information of the wastewater in the wastewater pool 119 and send the height information to a controller of the station to control the discharge of the wastewater.

[0060] After rotating in the first direction for a certain period of time, the cleaning robot controls the cleaning actuator 832 to rotate in a second direction, thereby removing a small amount of overflowing wastewater. Then, the cleaning actuator rotates again in the first direction. Such reciprocating motion can not only ensure the cleaning effect of the cleaning actuator, but also suck overflowing wastewater in a part of the cleaning tank on the side of the scraper rib 116 away from the water path branch plate 112, thus ensuring the cleanliness of the cleaning tank 114. The time period for rotating in the first direction is longer than the time period for rotating in the second direction.After cleaning for a specified period of time or after detecting that the cleanliness of the cleaning actuator 832 has reached a predetermined requirement, the wiping rib 116 and the wiping component 833 on the cleaning robot act together on the cleaning actuator 832 to agitate the cleaning actuator 832. The first direction is opposite to the second direction.

[0061] The wastewater in the wastewater groove 117 of the embodiment of the present disclosure is in a state of continuous flow into the wastewater pool 119, so that no accumulation of wastewater occurs in the wastewater groove 117. During self-cleaning of the cleaning actuator 832, the wastewater scraped by the scraping rib 116 falls into the wastewater groove 117 and is immediately discharged into the wastewater pool 119. During the self-cleaning process, the cleaning actuator 832 is specifically evenly sprayed with cleaning liquid as it rotates toward the water path branch plate 112 and rotates toward the scraping rib 116, where the wastewater on the cleaning actuator 832 is scraped into the wastewater groove 117 while being scraped by the scraping rib 116. The wastewater falls into the wastewater groove 117 and is then immediately discharged from the confluence channel 118 into the wastewater pool 119.When passing through the wiper component 833, the cleaning actuator is wiped by the wiper component 833. The cleaning robot is equipped with a liquid supply device, which may be a clean water tank containing cleaning liquid. The cleaning liquid can flow to the cleaning actuator 832 and be evenly sprayed onto it. This means that the liquid supply device can supply the cleaning actuator 832 with cleaning liquid for self-cleaning. With such a reciprocating movement, a good cleaning effect is achieved.

[0062] It should be understood that since both the liquid supply device and the water inlet channel of the roller supply cleaning liquid during the self-cleaning process, the wastewater scraped by the scraper component 833 is wastewater after the roller has been cleaned by the cleaning liquid supplied through both the liquid supply device and the water inlet channel. As the roller becomes cleaner, the amount of dirt in the wastewater gradually decreases, and the wastewater collection box 834 can be flushed. The liquid for flushing the wastewater collection box 834 is therefore provided by the water supply device and the water inlet channel.

[0063] As in Fig. As shown in Figure 5b, a cover plate is provided on the peripheral side of the cleaning actuator to stabilize a position of the cleaning actuator 2 on the cleaning robot. If the length of the scraper rib 116 is not shorter than the cleaning actuator 832, in some embodiments of the present disclosure, to prevent interference between the scraper rib 116 and the cover plate, an inclined preventive structure 1161 is provided on both sides of the scraper rib 116.

[0064] As in Fig. 2a, Fig. 3 and Fig. 4, the bottom of the cleaning tank 114 is inclined from the front to the back, so that the scraper rib 116 is arranged at a lower position or a lowest position. The scraper rib 116 divides the cleaning tank 114 into two parts. As in the examples of Fig. 2a and Fig. As shown in Figure 5, the wastewater groove 117 is located between the scraper rib 116 and the water path branch plate 112, and the part of the cleaning tank 114 where the scraper rib is located away from the water path branch plate 112 is a post-cleaning tank. Along a width direction of the cleaning tank 114, the bottom heights of the two ends of the wastewater groove 117 are higher than a bottom height of the center part of the wastewater groove 117. At the lowest position, the confluence channel 118 is provided below the water accumulation channel 115. The inlet channel 118 is spanned from below the water accumulation channel 115 and communicates with the wastewater pool 119 at the rear of the cleaning seat 11. The wastewater pool 119 may be arranged between the first water inlet channel 110 and the second water inlet channel 111. The first direction is a direction in which the scraper rib 116 moves away from the water path branch plate 112.Thus, when the cleaning actuator 832 rotates along the first direction, when the cleaning actuator 832 passes through the scraping rib 116, the wastewater on the cleaning actuator 832 is swept into the wastewater groove 117, and the wastewater in the wastewater groove 117 is timely discharged through the water accumulation channel 115 into the wastewater pool 119. Thus, the cleaning actuator 832 is not saturated with wastewater while passing the scraping rib 116 when it passes through the cleaning groove 114 during the self-cleaning process. The previously swept wastewater does not affect the subsequent cleaning of the cleaning actuator 832, thus ensuring a good cleaning effect on the cleaning actuator 832.

[0065] With reference to Fig. 2a and Fig. 5, the cleaning tank 114 is offset and not located in a central area of ​​the cleaning seat 11. This is because the cleaning actuator 832 on the cleaning robot is also offset and not located in a central part of the bottom of the device body. As can be seen from Fig. 2a and Fig. 6, the confluence channel 118 is not located on a symmetry axis of the cleaning tank 114, but is to one side (in Fig. 5 of the right side). Such a design is provided to locate the confluence channel 118 approximately in the center of a water inlet side of the wastewater pool 119 at the rear of the cleaning seat 11, and to avoid the branch port 1120.

[0066] In other embodiments of the present disclosure, the position of the confluence channel 118 may be at any position except the symmetry axis of the purification tank 114, as long as it ensures that the wastewater in the wastewater tank 72 is smoothly discharged into the wastewater pool 119. This is not subject to any specific restrictions in the embodiment.

[0067] The wastewater pool 119 may be connected to one end of a wastewater pipe (not shown in the figure), and the other end of the wastewater pipe is connected to a dust box 3. The wastewater in the cleaning tank 114 can thus be guided to the confluence channel 118, enter the wastewater pipe from the confluence channel 118, and be discharged into the dust box 3, thereby preventing the accumulation of wastewater in the cleaning tank 114.

[0068] A wastewater pump 65 may be provided on the wastewater pipeline in some embodiments. The wastewater pump accelerates the entry of the wastewater in the cleaning tank 114 into the wastewater pipeline and pumps the wastewater in the wastewater pipeline into the dust box 3.

[0069] It should be understood that, among the branch ports 1120, a branch port closer to the end of the first water inlet channel 110 or the second water inlet channel 111 has a larger water output. Therefore, it is necessary to ensure that the water output for the branch ports 1120 is consistent. In some embodiments of the present disclosure, a groove width of a branch port 1120 close to the water inlet channel is smaller than a groove width of a branch port 1120 far from the water inlet channel. The uniformity of the water output of the branch ports 1120 is thus ensured by limiting the water output of the branch port 1120 close to the water inlet channel and increasing the water output of the branch port 1120 far from the water inlet channel.

[0070] As in Fig. 5, a detailed description will be given using an example in which the water path branching plate 112 has six branch ports 1120. Water coming out of the first water inlet channel 110 flows to branch ports 1 to 4. To ensure that each of the branch ports 1 to 4 receives an equal amount of water, a guide rib 113 is provided in the center of the water outlet of the first water inlet channel 110. The guide rib 113 can evenly divide water in the first water inlet channel 110 into two parts, guiding one part to flow to branch ports 1 to 2 and the other part to flow to branch ports 3 to 4.Branch port 1 and branch port 4 are far from the water outlet of the first water inlet channel 110, and branch port 2 and branch port 3 are close to the water outlet of the first water inlet channel 110. Therefore, branch ports 1 and 4 have a groove width a, and branch ports 2 and 3 have a groove width b, where a>b, ensuring that the branch ports 1120 have a consistent flow rate. Water coming from the second water inlet channel 111 flows to branch ports 5 and 6, and the outlet of the second water inlet channel 111 is set in the center of the branch ports 5 and 6, ensuring that the cleaning fluid coming from the outlet of the second water inlet channel 111 flows evenly through the branch ports 5 and 6.

[0071] As in Fig. As shown in Figure 2a, the scraper rib 116 forms one side wall of the wastewater groove 117, and the front side wall of the water path branching plate 112 forms another side wall of the wastewater groove 117. A descending arc wall is provided between a lowest part of the water path branching plate 112, where the water path branching port 1120 is located, and the front side wall of the water path branching plate 112. The arc wall is concentric with the cleaning actuator. During actual operation, when the cleaning roller rotates for cleaning, the water path branching port 1120 is located upstream of the scraper rib 116, and the scraped wastewater is located in the wastewater groove 117 and then directed into the wastewater pool 119. As the cleaning progresses, a water level in the wastewater pool rises.Since the wastewater pool, the confluence channel and the wastewater groove are connected, the water volume of the wastewater pool is controlled by a magnetic float, and the liquid level at the end when the discharge of wastewater starts is lower than a lowest point of the arch wall, so that the cleanliness of the running water is ensured.

[0072] In the embodiment, the cleaning seat 11 is detachably arranged in the docking cabin 10 of the station. Fig. Figure 4 shows a schematic diagram of a situation where the cleaning seat 11 has been removed from the docking cabin. As in Fig. As shown in Figure 3, a connecting structure, such as a slot, may be provided at the front end of the floor wall of the docking cabin. A buckle may be provided at an opposite end of the ramp 101. The ramp 101 may be connected to the station's docking cabin by connecting the buckle and the slot.

[0073] Typically, a walking mechanism on a robot cleaner for walking includes two drive wheels located on opposite sides of the bottom of the robot cleaner, and an auxiliary wheel located between the two drive wheels, forming a triangle with the two drive wheels. The auxiliary wheel can rotate with the rotation of the drive wheels and rotate with the control of the drive wheels. The auxiliary wheel can be a universal wheel. This ensures the stability of the robot cleaner while walking and ensures the flexibility of the robot cleaner while walking.

[0074] The docking cabin 10 typically accommodates only a portion of the cleaning robot to ensure the station's compact size. Therefore, most of the cleaning robot is arranged on the ramp 101 outside the docking cabin 10. At this time, the cleaning actuator 832 is in the form of an inclined plane parallel to the ramp, and the center of gravity of the cleaning robot is located on the ramp 101, making it impossible for the cleaning actuator 832 to make good contact with the scraper ribs 116. The scraper rib 116 can only extend 2 mm to 3 mm into the cleaning actuator 832, thus preventing a good cleaning effect.

[0075] To solve the above problem, as in Fig. 2b, a support structure is provided on the ramp. The support structure may be a protrusion 120. The protrusion 120 can raise the chassis of the cleaning robot so that the body of the cleaning robot can be held in a target posture. In the target posture, the cleaning robot is docked to the station, that is, the cleaning actuator 832 makes good contact with the wiping rib 116, and the wiping rib 116 is able to extend more than 3 mm, for example, 3 mm to 5 mm, into the cleaning actuator 832. A charging end of the cleaning robot is electrically connected to a charging plate on a rear wall of the docking cabin of the station. A dust outlet of a dust box of the cleaning robot is connected to a dust collection port of the station. A clean water injection port of the cleaning robot is connected to a clean water docking port of the station.A wastewater outlet of the cleaning robot corresponds to the station's wastewater pool. The protrusion 120 specifically fits the auxiliary wheel. The auxiliary wheel is arranged on the rear center of the cleaning robot's chassis. When the cleaning robot is placed in the docking cabin 10, the auxiliary wheel is arranged on the protrusion 120 to change the docking angle of the cleaning robot, so that the posture of the cleaning robot when docked in the docking cabin becomes the target posture.

[0076] After the cleaning robot completes the cleaning task and returns to the docking cabin 10, although there are wipers on the bottom wall of the docking cabin 10 capable of wiping and cleaning the cleaning actuator 832, cleaning of the cleaning actuator 832 during the self-cleaning process of the cleaning actuator 832 is usually achieved only by the wiper rib 116, and the cleaning fluid supplied to the cleaning actuator 832 for self-cleaning is individually supplied by the cleaning station. The cleaning actuator 832 is cleaned only by a single water flow from the cleaning station itself, thus failing to achieve a good cleaning effect.In the embodiment of the present disclosure, during the self-cleaning process of the cleaning actuator 832, not only can the cleaning station provide cleaning fluid to the cleaning actuator 832, but the cleaning robot also provides cleaning fluid to the cleaning actuator 832. The wiper component 833 wipes the cleaning actuator 832 during the self-cleaning of the cleaning robot. Therefore, in the embodiment of the present disclosure, dual water channels are implemented to provide cleaning fluid when cleaning the cleaning actuator 832. Compared with the single water channel method, a better cleaning effect can be achieved for the cleaning actuator 832.

[0077] To ensure a good cleaning effect on the surface to be cleaned when the cleaning actuator 832 performs a cleaning task, the cleaning robot specifically typically has a water spray outlet above the cleaning actuator 832 to evenly spray the cleaning fluid onto the cleaning actuator 832 to wet the cleaning actuator 832. The cleaning actuator 832 encounters the wiper component 833 during the rotation process. The wiper component 833 wipes the wastewater on the cleaning actuator 832, and then the cleaning actuator 832 is sprayed with the cleaning fluid. In this way, it is ensured that when the cleaning actuator 832 performs a cleaning task, the surface to be cleaned is cleaned with pure cleaning fluid instead of recirculating wastewater.In some embodiments of the present disclosure, in the self-cleaning of the cleaning actuator 832, the cleaning liquid sprayed through the water spray outlet onto the cleaning actuator 832 may then be from a different water supply path than the water supply path in which the station provides cleaning liquid to the cleaning actuator 832 for self-cleaning.

[0078] However, the capacity of the clean water tank that stores cleaning fluid on the cleaning robot is limited, and some of the cleaning fluid is consumed during cleaning tasks. When the cleaning robot returns to the station and the clean water tank needs to supply cleaning fluid to the cleaning actuator for self-cleaning, it can easily happen that the cleaning fluid in the clean water tank is insufficient. Therefore, the cleaning actuator can no longer be supplied with cleaning fluid for self-cleaning.

[0079] To solve the above problem, in some embodiments of the present disclosure, when the cleaning robot is arranged in the docking cabin 10, there is a water supply pipeline on the station, and one end of the water supply pipeline is connected to the clean water tank on the cleaning robot to fill the clean water tank 2 with cleaning liquid.

[0080] This ensures that the cleaning water tank 2 on the cleaning robot can continuously supply cleaning fluid to the cleaning actuator 832 during self-cleaning of the cleaning actuator 832. This ensures the clean water supply to the dual water supply paths. The clean water tank of the cleaning robot is fully charged each time before a cleaning task is performed, reducing the number of times cleaning fluid is added to the clean water tank and ensuring cleaning efficiency.

[0081] In some embodiments of the present disclosure, the cleaning robot is as shown in Fig. 18, is equipped with a waterway system 7a. The waterway system is configured to supply cleaning fluid to the cleaning actuator 832 and to collect the wastewater scraped by the cleaning actuator 832 through the scraper component 833 in the wastewater tank 72. In one possible structure of the waterway system 7a, the waterway system includes a clean water tank 71a and a wastewater tank 72. The wastewater tank 72 is connected to the clean water tank 71a via a pipeline, and the clean water tank 71a is connected to the cleaning actuator 832 via a pipeline. Cleaning fluid in the clean water tank 71a can be supplied to the cleaning actuator 832 through the pipeline, and the wastewater is collected in the wastewater tank 72 after the floor is wiped by the cleaning actuator 832 through the pipeline connected to the wastewater tank 72.

[0082] As in Fig. 18, in some embodiments of the present disclosure, the waterway system 7a further includes a clean water pump 73a, an air pump 74a, and a water injection port component 75a. The clean water pump 73a is disposed on a path where cleaning liquid in the clean water tank 71a flows to the cleaning actuator 832 and is configured to provide power for the clean water in the clean water tank 71a to flow to the cleaning actuator 832. An air outlet is provided on the waste tank 72, and an air pipe is connected between the air pump 74a and the air outlet. The air pump 74a extracts gas in the waste tank 72, so that a negative pressure is formed in the waste tank 72.Under the action of the negative pressure, an adsorption force for adsorbing wastewater is formed in the wastewater pipe, so that the wastewater scraped by the cleaning actuator 832 enters the wastewater pipe as far as possible and then enters the wastewater tank 72. The wastewater is thus prevented from flowing into a cleaned area due to failure to adsorb the wastewater in a timely manner during a traveling process of the cleaning robot, thereby ensuring a good cleaning effect. To facilitate an operation of introducing cleaning liquid into the clean water tank 71a, the water injection port component 75a is arranged on the periphery of the rear end of the cleaning robot, and a connecting pipe is provided between the water injection port component 75a and the clean water tank 71a.A user can directly connect external tap water to the water injection component to inject cleaning liquid into the clean water tank 71a. When the cleaning robot is arranged on the station, a cleaning liquid docking device is provided on the station, and the water outlet pipe of the clean water tank 2 on the station is connected to the water injection port component 75a via the cleaning liquid docking device. This realizes an automatic water replenishment function of the station for the cleaning robot. An avoidance groove for the water injection port component 75a may be provided below the front side of the waste tank 72, the water injection port component 75a being arranged at the avoidance groove, and a clean water replenishment port on a side of the water injection port component 75a facing away from the pipeline is arranged on the front side of the waste tank 72.The front of the waste tank 72 can serve as the rear end surface of the cleaning robot, and the front of the waste tank 72 serves as an easy-to-operate point for adding cleaning fluid. The water injection port component 75a can be arranged at any position on the rear of the cleaning robot in one embodiment, as long as it does not interfere with other components, and is not specifically limited in the embodiment.

[0083] It will be Fig. 19. In some embodiments of the present disclosure, after the cleaning robot completes the cleaning task and returns to the docking cabin 10, the wastewater tank 72 on the cleaning robot is docked to the station, and the wastewater in the wastewater tank 72 is directly discharged into the wastewater pool 119. After the wastewater is discharged, the self-cleaning of the cleaning actuator 832 is started. During the rotation of the cleaning actuator 832, the scraper component 833 first scrapes the wastewater on the surface of the cleaning actuator 832. The scraped wastewater enters the water tank 72 and flows from the wastewater tank 72 into the wastewater pool 119. The cleaning actuator 832 continues to rotate and passes through the water spray outlet on the cleaning robot, where the water spray outlet evenly sprays cleaning fluid onto the cleaning actuator.When the cleaning actuator passes the water path branch plate 112, a large amount of cleaning fluid is sprayed onto the cleaning actuator at the station. At this time, the cleaning actuator 832 is completely wetted by the cleaning fluid. The cleaning actuator finally passes the scraper rib 116, where the scraper rib 116 scrapes the cleaning actuator 832 and scrapes the wastewater on the cleaning actuator 832 into the wastewater groove 117 between the scraper rib 116 and the water path branch plate 112. The wastewater in the wastewater groove 117 is timely discharged into the wastewater pool 119 through the confluence channel 118. Under the action of the dual water channels and the dual scrapers, the cleaning actuator 832 is cleaned more thoroughly and with a higher cleaning effect.

[0084] As in Fig. 14 and Fig. As shown in Fig. 15, a wastewater outlet 321 is provided at the bottom of the wastewater tank 72, and a one-way valve 323 is provided at the wastewater outlet 321. To meet the requirement of wastewater discharge, a trigger rod 322 is provided on a lower wall of the docking cabin 10. When the cleaning robot is disposed in the docking cabin 10, the trigger rod 322 abuts against the one-way valve 323, so that the one-way valve 323 is in an open state, and the wastewater in the wastewater tank 72 is directly discharged into the wastewater pool 119 without passing through the cleaning tank. The wastewater in the wastewater tank 72 is thus prevented from entering the cleaning tank and contaminating the clean water of the roller self-cleaning station.

[0085] As described above, after the cleaning robot of the present disclosure returns to the station, there are two flow paths for the cleaning liquid. A first path is the cleaning system of the cleaning robot itself. When the station is docked, the clean water introduced by the station's clean water tank or an automatic water supply and drainage system enters the cleaning robot's clean water tank through the station's automatic water injection device. The cleaning liquid in the clean water tank is then evenly supplied to the roller by the water supply device. In a second water path, the clean water introduced by the station's clean water tank or the automatic water supply and drainage system does not pass through the cleaning robot, but directly passes through the water inlet channel and flows evenly to the rollers through the water path branch plate 112.The nozzle of the water supply device of the cleaning robot is arranged high, and the outlet of the water path branching plate 112 is arranged low. This corresponds to the roller being first wetted by the water supplied by the cleaning robot during rotation, and then moistened by the water supply from the outlet of the water path branching plate 112. The water supply flow rate of the cleaning robot is between 0.3 ml / s and 1 ml / s, for example, 0.5 ml / s, and a flow rate from the station to the roller is greater than 6 ml / s, so that the water supply flow rate is increased. Then, the roller rotates to the scraping rib 116 of the station, and the wastewater is scraped by the scraping rib 116. The wastewater passes through the cleaning channel 114 and the confluence channel 118, and then enters the wastewater pool 119.Then, the roller rotates further toward the wiping component of the cleaning robot. The wastewater enters the wastewater collection box and is pumped through the wastewater pipe into a wastewater tail tank 72. Since the one-way valve at the bottom of the wastewater tank 72 is lifted by the trigger rod 322, the wastewater is discharged and flows directly into the wastewater pool. It can be seen that one cycle is completed after two wipings. That is, in a single cycle, clean water is received twice and wiping is performed twice, so the cleaning efficiency is significantly improved. The wiping rib 116 can extend into the cleaning actuator by 3 mm to 5 mm, for example, 4.5 mm. The extension depth of the wiping component is about 2 mm. Since the wiping rib has a larger wiping force, most of the dirt is wiped off by the wiping rib. The wiping strength of the wiping component is small.The wastewater scraped by the scraper component is less than the wastewater scraped by the scraper rib, so less wastewater enters the wastewater collection box. As the number of rotations of the roller increases, the wastewater entering the wastewater collection box is less dirty after several cycles, thereby achieving cleaning of the wastewater collection box and the wastewater tank 72.

[0086] As in the Fig. Specifically, as shown in FIGS. 14 to 16, a wastewater discharge mechanism 42 is provided on the bottom wall of the docking cabin 10. The wastewater discharge mechanism 42 includes a rotation drive component 421 and a gear support component 422. The gear support component 422 includes a receiving frame 4220. A receiving cavity is provided in the receiving frame 4220. The rotation drive component 421 is rotatably disposed along a Z-axis direction in the receiving cavity. The receiving cavity protects the rotation drive component 421 from being damaged by external influences and ensures aesthetics. An upper end of the receiving frame 4220 has an extension opening toward the opening of the docking cabin 10. A trigger rod 322 is rotatably provided at the extension opening through a rotation axis 424. One end of the trigger rod 322 is a trigger end 320.The trigger end 320 extends from the receiving frame 4220 and abuts the one-way valve 323. The other end of the trigger rod 322 is a drive end 324. The drive end 324 is disposed within the receiving cavity and abuts the rotary drive component 421. The rotary drive component 421 exerts a force on the drive end 324 along an X-direction, causing the trigger rod 322 to rotate about the rotation point, driving the trigger end 320 to ascend along a Y-axis, and exerting a driving force on the one-way valve 323 to ascend along the Y-direction.

[0087] As in Fig. 14 to Fig. As shown in Fig. 16, during this period of wastewater discharge, the rotary drive component 421 always maintains the drive end 324 in a state where the one-way valve 323 is raised by the trigger end 320, because it takes a certain time to discharge the wastewater in the wastewater tank 72. During the drainage process of the wastewater tank 72, due to limitations of the one-way valve 323 and the rotary drive component 421, a drive member 4211 does not rotate around a rotating shaft 424 on the support frame 4220. After the wastewater discharge in the wastewater tank 72 is completed, the rotary drive component 421 rotates and no longer applies force to the drive end 324.If the cleaning robot does not remain in the docking cabin 10, then the drive element 4211 rotates about the rotating shaft 424 because no external force limiting acts thereon, possibly causing the trigger end 320 to rotate to a position beyond abutment against the one-way valve 323, thereby preventing the cleaning robot from entering a base box 40.

[0088] Therefore, in many embodiments, the wastewater discharge mechanism 42 further includes an upper rod reset member 4221. One end of the upper rod reset member 4221 is disposed at the bottom of a cavity wall of the receiving cavity disposed on the drive member 4211, and the other end is disposed on one side of the drive end 324 remote from the rotary drive component 421. When the wastewater tank 72 needs to be drained, the rotary drive component 421 provides a driving force for the drive member to rotate about the rotating shaft 424, and the upper rod reset member 4221 is compressed. When the wastewater in the wastewater tank 72 is discharged, the rotary drive component 421 no longer provides power to the drive end 324.At this time, the drive end 324 drives the drive member 4211 to rotate in a reverse direction around the rotating shaft 424 under the action of the upper rod reset member 4221 until the upper rod reset member 4221 is reset or abuts against the rotation drive component. The position of the trigger end 320 at this time is lower than a position of the one-way valve 323 and is restricted and held at the position below the one-way valve 323 under the action of the upper rod reset member 4221 or the action of the upper rod reset member 4221 and the rotation drive component 421, thereby avoiding the problem of the cleaning robot being prevented from entering the base box 40. The upper rod reset member 4221 may be a rubber member with relatively high elasticity, or may be a spring or the like.

[0089] In some versions, as in the Fig. As shown in Figures 14 to 16, one possible structure of the rotary drive component 421 includes a drive element and a force-applying element 4212 disposed at an output end of the drive element. The force-applying element 4212 may always abut the drive end 324 to intermittently apply a driving force to the drive end 324. The force-applying element 4212 may be, for example, a cam. When a highest position of the cam abuts the drive end 324, the cam may provide a driving force to the drive end 324 to compress the upper rod reset element 4221. As the cam rotates, the position where the cam abuts the drive end 324 rotates from the highest position to the lowest position. During this process, the driving force provided to the drive end 324 by the cam decreases.Under the action of the resetting force on the upper rod resetting member 4221, the drive member 4211 rotates around the rotating shaft 424 to the bottom of the one-way valve 323 and disengages from the one-way valve 323. The force applying member 4212 may intermittently abut the drive end 324 during the rotation of the discharge end to provide a driving force to the drive end 324. The force applying member 4212 is, for example, a protrusion provided at the discharge end of the drive member. When the discharge end of the drive member rotates, the protrusion intermittently abuts the drive end 324. When the wastewater in the wastewater tank 72 needs to be discharged, the protrusion abuts the drive end 324 during the rotation of the discharge end of the drive member.From the time the protrusion contacts the drive end 324, the protrusion gradually exerts a driving force on the drive end 324, and the upper rod reset member 4221 begins to compress until the protrusion vertically abuts the drive end 324, reaching a peak value of the driving force, thus compressing the upper rod reset member 4221 to the maximum. At this time, the abutting end lifts the one-way valve 323, and a flow rate of the wastewater reaches a maximum. Note that lifting of the one-way valve 323 is not performed after the driving force reaches the peak value, but starts when the protrusion contacts the drive end 324 and exerts the driving force on the drive end 324. At this time, the wastewater outlet 321 is opened.As the cam rotates, the greater the applied force, the higher the height to which the one-way valve 323 is raised, the greater the opening degree of the sewage outlet 321, and the greater the flow rate of the sewage out of the sewage tank 72. As the sewage in the sewage tank 72 is discharged, the discharge end of the drive member continues to rotate, and the protrusion gradually disengages from the drive end 324. During this process, the upper rod reset member 4221 is gradually reset, the one-way valve 323 is gradually lowered, and the sewage outlet is gradually sealed. The drive member may be a rotary motor.

[0090] The wastewater in the wastewater tank 72 of the cleaning robot can be discharged into the wastewater pool under the action of the trigger rod 322 and flows out of a drainage port 400 in the wastewater pool. To increase the speed of the wastewater outflow, in some embodiments the wastewater suction pipe is connected to a water pump. When the water pump is started, the wastewater in the wastewater pool is rapidly pumped out of the wastewater pool and into a wastewater suction pipe.

[0091] It should be noted that, as in the Fig. 15 and Fig. 16, the water pump is not started after all the wastewater in the wastewater tank 72 flows out into the wastewater pool, but is started when the wastewater in the wastewater tank 72 begins to be discharged into the wastewater pool, and pumps the wastewater out of the wastewater pool in real time. Therefore, in some embodiments, to enable the water pump to operate immediately when the wastewater tank 72 performs wastewater discharge, the wastewater discharge mechanism 42 further includes a microswitch 423. The microswitch 423 is coupled to the water pump and linked to the one-way valve 323. When a first sensor 340 is lifted, the microswitch 423 is triggered, and the microswitch 423 drives the water pump to start pumping water.To drain all the wastewater in the wastewater tank 72, when the wastewater outlet 321 is opened to the maximum, the output end of the drive end stops rotating, thereby maintaining the size of the wastewater outlet 321 at the maximum for 5 seconds. After 5 seconds, the output end of the drive element continues rotating, and the wastewater outlet 321 is gradually blocked. When the first sensor 340 returns to an initial position, the microswitch 423 controls the water pump, so that the water pumping is stopped, and the wastewater discharge is completed.

[0092] It should be noted, however, that, as in Fig. As shown in Figure 17, there is a certain time interval from the triggering of the microswitch 423 to the starting of the water pump because the microswitch 423 has a delay. To prevent the water pump from being unable to extract wastewater in a timely manner due to an action tolerance of the microswitch 423, or the water pump from still operating after all the wastewater in the wastewater pool has flowed into the sewage pipe, in some embodiments, when the wastewater outlet 321 is initially opened, the microswitch 423 is triggered, and after 200 milliseconds, the drive element stops rotating. The 200 milliseconds not only account for an action error of the microswitch 423 so that the water pump can start, but also allow the wastewater outlet 321 to be gradually opened to a maximum state. The water pump can pump the wastewater in the wastewater pool into the sewage pipe for 5 seconds at this time.After 5 seconds, the output end of the drive element continues to rotate, and the sewage outlet 321 gradually closes. At this time, the microswitch 423 is turned off for 450 milliseconds, and then the drive motor stops rotating, blocking the sewage outlet 321. Turning off the microswitch 423 for 450 milliseconds is sufficient to transmit information to the sewage pump to stop the sewage pump, and the sewage pump stops pumping water. It should be noted that the 450 milliseconds is a reaction time of the sewage pump. During this period, the sewage pump does not stop working and continues to pump water. The sewage outlet 321 is only blocked after the sewage pump stops working. Although the sewage pump no longer works during this period, the sewage in the sewage pool can still flow into the drainage port 400.

[0093] In some embodiments of the present disclosure, only one microswitch 423 may be provided. The microswitch 423 transmits a signal to the sewage pump to start when the sewage outlet 321 is opened, and transmits a signal to the sewage pump to stop working when the sewage outlet 321 is gradually closed. In one embodiment, there may be two microswitches 423, one of which transmits a signal to the sewage pump to start when the sewage outlet 321 is about to open, and the other of which transmits a signal to the sewage pump to stop working when the sewage outlet 321 is gradually closed. This is not subject to any specific restrictions here as long as the requirement of sewage discharge is met.

[0094] In some embodiments of the present disclosure, a water catcher 425 is provided on the trigger rod 322 between the trigger end 320 and the rotating shaft 424. The trigger end 320 acts on the one-way valve 323. After the one-way valve 323 is pushed open, the wastewater in the wastewater tank 72 flows out of the opened one-way valve 323 into the wastewater pool 119. In this process, the water catcher 425 blocks the outflow of wastewater from the wastewater tank 72, thereby preventing wastewater from splashing from the protruding port into the rotary drive component 421 and interfering with the rotary drive component 421. The normal operation of the rotary drive component 421 is thus ensured.

[0095] It should be noted that in this embodiment of the present disclosure, the cleaning liquid for cleaning the cleaning actuator 832 is continuously re-supplied, that is, for live water cleaning, and the waste water is timely discharged through the confluence channel 118 after cleaning the cleaning actuator 832, thereby ensuring that the liquid contacting the cleaning actuator 832 during the self-cleaning process is the cleaning liquid, thereby ensuring a good cleaning effect of the cleaning actuator 832.

[0096] In addition, a float and a Hall element can be provided in the wastewater pool 119. The elements identified by reference number 130 in Fig. The structure shown in Figure 2a consists of a float and a Hall element. The float floats on a liquid level in the wastewater tank 72. When the liquid level in the wastewater pool 119 reaches a water level threshold, that is, when the float floats on a threshold water level height, the Hall element is triggered, and the station stops supplying water to the first water inlet channel 110 and the second water inlet channel 111 to prevent wastewater from overflowing in the wastewater pool 119. Meanwhile, the station transmits an alarm signal to remind a user that the wastewater pool 119 is full.

[0097] There are generally two types of structures for the on-station charging device 140. One is a large swing-arm type from left to right, in which the on-station charging device 140 moves with a metal swing arm during the cleaning robot's recharging process. A second structure is a spring-action type from front to back, in which the charging device 140 moves forward and backward with the cleaning robot during the recharging process. Regardless of the structure, the on-station charging device 140 cannot maintain sufficient contact with the charging plate on the cleaning robot during the cleaning robot's recharging process, which easily leads to friction and sparking, causing the charging plate to spark and turn black, or even causing charging errors, which affect the service life of the charging process and impair the user experience.

[0098] To solve the above problems, in some embodiments of the present disclosure, with reference to the Fig. 1 to 1a, the charging device 140 is provided on the station 1, and a charging component 141 is provided on both the left and right sides of the charging device 140. The charging component 141 includes a fixed seat 1411 coupled to the station and a charging contact component rotatably coupled to the fixed seat 1411. During the recharging process of the cleaning robot, after the charging plate on the cleaning robot abuts the charging contact component, the charging contact component rotates around the fixed seat 1411 following the position correction of the cleaning robot. The charging contact component is thus always in contact with the charging plate on the cleaning robot without relative displacement, thereby preventing sparking and blackening.Until the position of the cleaning robot has been corrected to the correct position, the charging contact component achieves good contact with the charging plate on the cleaning robot, ensuring smooth charging.

[0099] Since the position adjustment during the docking and charging process between the cleaning robot and the station is inevitably accompanied by a forward or backward movement of the cleaning robot, the charging plate on the cleaning robot gives the charging contact component a push to move towards the fixed seat 1411. To avoid damage to the charging component 141 caused by an excessively strong push, in some embodiments of the present disclosure, as shown in the Fig. 1 to 1c, a reset member 142 is provided between the charging component 141 and the station. One end of the reset member 142 abuts the station, and the other end abuts the charging component 141. The charging component 141 is movable relative to the station. When the cleaning robot gives the shock to the charging component 141, the charging component 141 moves toward the station and compresses the reset member 142. As the shock gradually subsides, a reset force of the reset member 142 pushes the charging component 141 to gradually reset, thereby ensuring that the charging component 141 is always in contact with the charging plate on the cleaning robot during the reset process.Thus, during the resetting process, regardless of whether the cleaning robot swings left or right or moves forward or backward, no displacement occurs between the two after the charging plate on the robot comes into contact with the charging component 141, ensuring that no sparking or blackening occurs, thus ensuring a long service life of the charging component 141. The resetting element 142 may, in one embodiment, be a spring or a rubber element with high elasticity.

[0100] In some embodiments of the present disclosure, the charging contact component includes, with reference to Fig. 1 to Fig. 1b includes a rotating seat 14123 and a charging plate 14120 disposed on top of the rotating seat 14123. The rotating seat 14123 may be configured to rotate on the fixed seat 1411 through a rotating member 1413, and the rotating member 1413 may be an axle or a spherical cap structure. The rotating member in the embodiment is not specifically limited as long as the rotating member can rotate relative to the fixed seat 1411. The charging plate 14120 is coupled to a rechargeable battery on the station through the fixed seat 1411. In some embodiments, a plurality of convex points are arranged at intervals on the left and right sides of the charging plate 14120. A convex point on the left side is called a left convex point 14121, and a convex point on the right side is called a right convex point 14122. As in Fig. As shown in Figures 1d to 1e, when the charging plate on the cleaning robot rests against the charging plate 14120 on the charging contact component, the charging plate on the cleaning robot first rests against the left convex point 14121 or the right convex point 14122. The description is given here using the left convex point 14121 as an example. When the cleaning robot enters the station for charging, the left convex point 14121 of the charging contact component preferentially contacts the charging plate of the cleaning robot. As the cleaning robot continues to move forward, the charging contact component swings under force and finally reaches a position as shown in Fig. 1f, where all convex points are in full contact with the charging plate on the cleaning robot. With this process, even if some convex points are damaged due to blackening caused by sparking, the other convex points can still be used for charging, so that the charging component 141 on the station and the charging plate on the cleaning robot have a stable electrical connection, thus significantly improving the service life of the charging device 140 and providing an improved user experience.

[0101] Station 1 may also be equipped with a dehumidification circulating fan. The upper area of ​​the docking cabin 10 of station 1 may be equipped with an air inlet for the dehumidification circulating fan. Fig. For example, in the example shown in Figure 1, an air inlet 150 of the dehumidification circulation fan is arranged at an upper portion of the rear wall of the docking cabin 10 and at one side of the loading device 140. An air intake duct is provided between the dehumidification circulation fan and the air inlet 150. The moist air enters the intake duct through the air inlet 150. The moist air is injected as it passes through the dehumidification circulation fan, the moist gas is heated to evaporate water from the air, and the dehumidified air is converted into hot air. An air supply duct is provided between the dehumidification circulation fan and the bottom wall of the cleaning tank 114. As shown in Fig. As shown in Figure 4, an opening of the guide ring wall 1010101 to the cleaning tank 114 is provided around the first water inlet passage 110 and the second water inlet passage 111, and one opening thereof is an air outlet. A side of the air supply passage facing away from the dehumidification circulating fan is connected to the upper portion of the guide ring wall 1010101, and dry hot air enters the guide ring wall 1010101 from the air supply passage. The guide ring wall 1010101 guides the dry hot air to flow toward the air outlet. Since the air outlet is toward the cleaning passage 114, the dry hot air is sprayed onto the cleaning actuator 832, so that a drying rate of the cleaning actuator 832 and the cleaning tank 114 is accelerated to prevent bacterial growth due to moisture.

[0102] As mentioned above, after cleaning for a specified time or after detecting that the cleanliness of the cleaning actuator 832 has reached a predetermined requirement, the cleaning robot controls the cleaning actuator 832 to rotate in the second direction, and the scraper rib 116 and the scraper component 833 on the cleaning robot cooperate with the cleaning actuator 832 to agitate the cleaning actuator 832. During the agitation stage, the dehumidification circulating fan is started to quickly dry the cleaning actuator 832.

[0103] In conventional cleaning robots, most cleaning robots perform self-cleaning after returning to the self-cleaning station using their own water tanks. For example, after the cleaning robot enters the docking cabin of the station, the cleaning robot starts a self-cleaning working mode. In the self-cleaning working mode, the cleaning robot starts the clean water pump to pump out clean water in the clean water tank to the cleaning actuator 832 and controls the cleaning actuator 832 to rotate to clean the cleaning actuator 832. Those skilled in the art know that the clean water tank of the cleaning robot has a limited amount of clean water, and the amount of water required to clean the cleaning actuator 832 is relatively large. Only the liquid in the clean water tank is not enough to achieve a good cleaning effect.In addition, the water channels on the cleaning robot are designed to meet the requirements of the robot's cleaning actuator 832 for cleaning the floor. It is necessary to spray evenly, but without a large spray volume, and to ensure a long service life. If the cleaning actuator 832 is too wet, the floor cleaned by the robot would be too wet. This solution of using only the clean water channel on the cleaning robot during self-cleaning is called a single-water-channel cleaning solution. The self-cleaning effect of the single-water-channel cleaning solution is not good.

[0104] The cleaning robots currently available on the market use a single water channel solution when cleaning the cleaning actuators 832. Although they offer cost advantages, such robots cannot meet the self-cleaning needs. Self-cleaning the cleaning actuator 832 requires a large amount of water, and the effect is not good if only the water path on the cleaning robot is used to provide self-cleaning fluid.

[0105] The solution provided in the embodiment of the present disclosure is a dual water channel self-cleaning solution, that is, a station as provided in the above embodiments. The station supplies cleaning water to the cleaning robot through the first water inlet channel 110 and the second water inlet channel 111 for cleaning the cleaning actuator 832. The station may be equipped with a cleaning water tank 2, or the station may have a water supply and drainage structure through which a tap water pipeline is connected. When the cleaning robot starts the self-cleaning mode, the water supply channel in the water supply and drainage channels on the station is triggered, or the water pump in the cleaning water tank 2 is triggered to supply cleaning water to the cleaning actuator 832. The cleaning tank on the cleaning robot supplies cleaning water to the cleaning actuator 832 at the same time.With such a dual water supply solution, the water supply for self-cleaning is significantly improved, and the self-cleaning effect of the cleaning actuator 832 is significantly improved.

[0106] Taking the station with a cleaning water tank 2 as an example, as the number of times the cleaning robot on the station performs self-cleaning increases, the cleaning liquid in the cleaning water tank 2 on the station is gradually consumed. When the cleaning liquid is exhausted, the station transmits a signal to the user that the cleaning water tank 2 is empty. To prevent the user from frequently adding cleaning liquid to the clean water tank 2, a volume of the cleaning water tank 2 is usually increased by increasing a capacity of the clean water tank 2 to reduce the frequency of adding water. However, such a solution inevitably increases the size of the station, which conflicts with the trend toward miniaturization of a station and does not lead to water conservation.

[0107] In some embodiments of the present disclosure, based on this, with reference to Fig. 7, a filter component 4 is provided between the dust box 3 and the cleaning water tank 2 of the station. The filter component 4 filters the wastewater in the dust box 3 and supplies the filtered water for self-cleaning of the station and for cleaning the cleaning actuator 832 on the cleaning robot, so that the wastewater can be reused, which saves water resources and reduces the number of times the user adds cleaning liquid to the cleaning water tank 2, thereby reducing the user's labor.

[0108] In some embodiments, as in Fig. 10, a circulating water tank 5 is further provided in the station. One end of the filter component 4 is arranged in the dust box 3, and the other end of the filter component is arranged in the circulating water tank 5. In order to filter as much wastewater in the dust box 3 as possible, the end of the filter component 4 arranged in the dust box 3 is arranged at the bottom of the dust box 3. However, since the wastewater in the dust box 3 contains a lot of dirt, after being stored in the dust box 3 for a period of time, the dirt is precipitated and stratified. In order to prevent the solid flocculated dirt from accumulating at the bottom of the dust box 3 and clogging the filter component 4, a support protrusion 32 is provided on the bottom wall of the dust box 3, and the end of the filter component 4 arranged in the dust box 3 is arranged on an upper end surface of the support protrusion 32.The filter component 4 is thus separated from the dirt deposited at the bottom of the dust box 3, so that the number of cleaning operations of the filter component 4 is reduced, or the number of replacement operations of a consumable part in the filter component 4 is reduced.

[0109] As in Fig. As shown in Fig. 9, a water pump 65 is provided on the path for the cleaning liquid to flow into the cleaning water tank 2 and on the path for the filtered water to flow into the circulating water tank 5. The water pump 65 pumps the cleaning liquid or the filtered water into the first water inlet channel and the second water inlet channel or the waste pool to clean the cleaning actuator 832 or the waste pool. The cleaning water tank 2 is connected to a first cleaning water pipe 62 and a second cleaning water pipe 63. The first cleaning water pipe 62 is connected to the water pump 65 and serves to discharge the cleaning liquid in the cleaning water tank 71 from the cleaning water tank 71. A water outlet end of the water pump 65 is connected to a third cleaning water pipe 64. A cleaning water solenoid valve is provided on the third cleaning water pipe 64.The third cleaning water pipe 64 is connected to a flushing pipe 063. One end of the flushing pipe 063 is connected to the first water inlet channel, the second water inlet channel, and the wastewater tank, so as to transport the cleaning liquid to the first water inlet channel and the second water inlet channel or to the wastewater pool. The circulating water tank 5 is connected to a circulating water pipe 61. A circulating water pump 65 is arranged on the circulating water pipe 61, and a filter solenoid valve 67 is further provided on the circulating water pipe 61 to control the supply of the filtered water. The circulating water pipe 61 is also connected to a flushing water pipe to direct the filtered water in the circulating water tank 5 into the first water inlet channel, the second water inlet channel, or the wastewater pool.

[0110] As in Fig. As shown in Figure 9, when the filtered water in the circulating water tank 5 is insufficient, the filter solenoid valve 67 is turned off, and the pure water solenoid valve is turned on, so that the circulating water tank 5 does not supply water and the cleaning water tank 2 supplies cleaning liquid. If the filtered water in the circulating water tank 5 is sufficient, the filter solenoid valve 67 is turned on, and the pure water solenoid valve is turned off, so that the filtered water is first introduced into the first water inlet channel, the second water inlet channel, or the wastewater pool for pre-cleaning. After the pre-cleaning is completed, the pure water solenoid valve is turned on, and the filter solenoid valve 67 is turned off to clean again with the cleaning liquid, and finally, the cleaning task is completed.The amount of cleaning liquid used in the cleaning water tank 2 is thereby saved, and the number of times the user adds cleaning liquid is reduced. In some embodiments, a detector for detecting a content of the filtered water in the circulating water tank 5 is provided in the circulating water tank 5 so as to control the filter solenoid valve 67 and the clean water solenoid valve on or off. The detector may be a liquid level detector or a weight detector installed on the station. The content of the filtered water in the circulating water tank 5 can be determined by detecting a weight of the circulating water tank 5, which is not particularly limited in the embodiment as long as the content of the filtered water in the circulating water tank 5 can be detected.

[0111] It should be noted that the water pump 65 on the first cleaning water pipe 62 cooperates with the clean water solenoid valve to be turned on or off, and the water pump 65 on the circulating water pipe 61 cooperates with the filter solenoid valve 67 to be turned on or off.

[0112] As in Fig. As shown in Figure 9, a drainage port 400 is provided in the wastewater pool, and a wastewater suction pipe 68 is provided at the drainage port 400. The wastewater suction pipe 68 is connected to the dust box 3. An air inlet pipe 69 is connected between the dust box 3 and an air pump 061. The air pump 061 extracts the air in the dust box 3, so that a negative pressure is formed in the dust box 3. Under the negative pressure, a suction effect is generated in the wastewater suction pipe 68 to suck wastewater from the wastewater pool into the wastewater suction pipe 68, so that the wastewater in the wastewater pool is quickly discharged into the wastewater tank 72.

[0113] In some embodiments, as in Fig. As shown in Figure 9, a water quality detector 062 is provided at one end of the sewage suction pipe 68 at the drainage outlet 400. The sewage flowing from the sewage pool can be detected by the water quality detector 062 to determine the transparency of the sewage. Low sewage transparency indicates that the current cleaning actuator 832 or the sewage pool needs to be cleaned again. In this case, the clean water solenoid valve and the water pump 65 on the first cleaning water pipe 62 are turned on, and the filter solenoid valve 67 and the water pump 65 on the circulating water pipe 61 are turned off to inject cleaning fluid into the first water inlet channel and the second water inlet channel or into the sewage pool for cleaning again.A high transparency of the wastewater indicates that the cleaning actuator 832 or the wastewater pool is cleaned and does not need to be cleaned again, and therefore the cleaning is complete.

[0114] As in Fig. As shown in Fig. 9, a water outlet solenoid valve 66 is provided on one end of the second cleaning water pipe 63 remote from the cleaning water tank 2, and a machine water replenishment pipe 60 is provided at the water outlet end of the water outlet solenoid valve 66. The other end of the machine water replenishment pipe 60 is connected to the cleaning robot. When the cleaning robot is placed on the station and the clean water tank suffers from a water shortage, the water outlet solenoid valve 66 is turned on, and the cleaning liquid in the cleaning water tank 2 flows through the second cleaning water pipe 63 and the machine water replenishment pipe 60, and then flows into the cleaning water tank 71 of the cleaning robot, thereby meeting the liquid replenishment needs of the cleaning robot.

[0115] To reduce the length of the filter component 4, as in Fig. 8 and Fig. 10, the circulating water tank 5 is located next to the dust box 3, or the dirt tank 3 is divided into two parts, one of which serves as the dust box 3 and the other as the circulating water tank 5, thereby avoiding an increase in the volume of the station. In some embodiments, in order to ensure that all the filtered water in the circulating water tank 5 can flow out of the drainage port, the drainage port is arranged at the lowest position of the bottom wall of the circulating water tank 5. When the dirt is dumped in the dust box 3, in some embodiments of the present disclosure, as shown in Fig. As shown in Figure 12, to prevent the filtered water in the circulating water tank 5 from flowing out of the drainage port connected to the circulating water pipe 61, a sealing plug component 51 is provided at the drainage port. The sealing plug component 51 opens the drainage port when the dust box 3 is placed on the station and closes the drainage port when the dust box 3 is removed from the station.

[0116] As in Fig. As shown in Fig. 11, one possible structure of the sealing plug component 51 specifically includes a first push rod 511, a compression spring 416, and a sealing plug 513. A protrusion facing the inside of the tank is provided on the bottom wall of the circulating water tank 5, a drainage port is opened at the top of the protrusion, a second push rod is passed through the drainage port, the compression spring 416 is disposed between a head end of the second push rod and a side of the protrusion facing away from the circulating water tank 5, and a sealing plug 513 is collar-likely fitted on an end of the second push rod passing through the drainage port. When the dust box 3 is removed from the station, under the elastic action of the compression spring 416, the head end of the second push rod is lowered until the sealing plug 513 contacts the protrusion surface.At this time, the compression spring 416 has not returned to its natural state and has an elastic return force. Under the action of the elastic return force, the sealing plug 513 seals the drainage port, ensuring a good sealing effect.

[0117] As in Fig. As shown in Fig. 11, a confining groove that can be inserted into the protrusion is provided on the station at a position of the protrusion, and the end of the circulating water pipe 61 is connected to the bottom end of the confining groove. When the dirt tank is reinstalled on the station, the groove wall of the confining groove is inserted into the protrusion, so as to confine the position of the circulating water tank 5 on the station and ensure accuracy of installation of the dirt tank. A first push rod 511 protruding from the bottom of the confining groove is provided in the confining groove. When the dirt tank is reinstalled on the station, once the circulating water tank 5 is lowered, the first push rod 511 abuts the head end of the second push rod and presses the second push rod to move in a direction opposite to the protrusion.In this case, the compression spring 416 is compressed, the sealing plug 513 leaves the protrusion surface, and the drainage port is opened. The filtered water in the circulating water tank 5 flows out of the drainage port, passes through a gap between a first gear rod and the groove wall of the confining groove, and flows from the water outlet around the first push rod 511 at the bottom of the confining groove into the circulating water pipe 61. In one embodiment, the protrusion height is in a range of 5 mm to 50 mm. The higher the protrusion height, the less likely it is that the filter element 410 will come into contact with the dirt deposited in the dirt container, thereby avoiding the risk of blockage of the filter element 410 and thereby extending the service life of the filter element 410.The height of the raised portion must not be too high to prevent the filter element 410 from incompletely contacting the wastewater in the wastewater container. This ensures a sufficient and effective filtering effect.

[0118] In some embodiments, as shown in the Fig. 10 and Fig. As shown in Figure 12, one possible structure of the filter component 4 includes at least one group of filters 41. The filters 41 include a filter element 410 and a filter element cover 411. The filter element cover 411 is arranged on the outer periphery of the filter element 410, and a surface of the filter element cover 411 is a filter mesh structure with a diameter of 1 mm, which blocks large particles of solid dirt and allows wastewater carrying small particles of solid dirt with a diameter of less than 1 mm to pass through, thereby achieving first-level filtration. The filter element 410 may be a filter floss or a cotton swab (including, but not limited to, acrylic floss, sponge, and EPDM) containing activated carbon or bamboo charcoal particles (components), and is also capable of preventing small particles of solid dirt from passing through and allowing water to pass through.Since one end of the filter 41 is located in the wastewater container and the other end is located in the circulating water tank 5, the filter element 410 is sufficiently long. Due to the capillary phenomenon of water, water flows along the filter element 410. The filter element 410 filters out small particles from the wastewater as it flows. Under the influence of gravity, the filtered water flows from the end of the filter element 410, which is located in the circulating water tank 5, into the circulating water tank 5.

[0119] It should be understood that as the number of filtration cycles increases, more and more small solid particles are adsorbed in the filter element 410, which may cause a risk of clogging of the filter element 410, resulting in the filter component 4 being unable to properly filter the wastewater in the dust box 3. Therefore, the filter element 410 must be replaced regularly to ensure a good filtration effect.

[0120] In some embodiments of the present disclosure, in order to ensure that a volume of the dirt tank and a volume of the station do not increase, the filter component 4 is arranged in the dirt tank, and the filtered water flows directly into the cleaning water tank 2. In order not to contaminate the original cleaning liquid in the clean water tank 2, the wastewater in the dirt tank is filtered by atomization filtration to ensure a better filtration effect.

[0121] In some embodiments, the filter 41 therefore includes, as shown in the Fig. 12 and Fig.13, further includes a filter element pressure cover 412, a microporous atomizing layer 413, an atomizing layer pressure cover, and a sealing cover 415. The filter element pressure cover 412 is fitted in a cuff-like manner on the end of the filter element 410 facing away from the bottom wall of the dust box 3 and abuts against the filter element cover 411. A through hole is opened at an upper end of the filter element pressure cover 412, and the microporous atomizing layer 413 is arranged on an upper end surface of the filter element 410 and is electrically connected to a power supply. A plurality of micro-holes with a diameter of 3 µm to 20 µm are formed at intervals within an area of ​​2 to 5 mm. 2arranged around the center of the atomizer layer. The water droplets passing through the atomizer are separated into numerous microdroplets of 3 µm to 20 µm by the micro-holes. The atomizer layer pressure cover is arranged between the sealing cover 415 and the atomizer layer pressure cover. A locking hole is opened on the sealing cover 415. The filter element pressure cover 412 is inserted into the locking hole and rests in a cuff-like manner on the outer periphery of one end of the filter element 410. One end of the filter element pressure cover 412 abuts against the filter element cover 411, and the other end is a head end of the filter element pressure cover 412. The head end is locked into the locking hole, thereby fixing the micro-atomizer layer to the upper end surface of the filter element 410. The atomizer layer pressure cover 414 fixes and seals the microporous atomizer layer 413.

[0122] In some embodiments, a plurality of snap holes are arranged at intervals on the sealing cover 415, and each snap hole corresponds to a filter 41. The filter component 4 thus includes a plurality of filters 41, thereby accelerating the filtration of wastewater.

[0123] To ensure that the end of the filter element 410 is always in contact with the microporous atomizing layer 413, in some embodiments of the present disclosures, a spring 512 is provided at the bottom of the filter element 410, and the spring 512 is in a compressed state. The elastic force of the spring 512 causes an upper end of the filter element 410 to be pressed tightly against the microporous atomizing layer 413.

[0124] A waste water tank cover 72, an upper station cover, and a cleaning water tank cover 21 enclose to form an atomization chamber. An upper surface of the atomization chamber is an inclined surface, and a condensing plate 14 is provided on the inclined surface. The condensing plate may be a stainless steel plate or an energized semiconductor heat sink. The condensing plate is not specifically limited in the present disclosure as long as the condensation effect can be achieved. The filter component 4 is arranged below a high end of the upper surface of the atomization chamber, and the condensing plate is arranged above the filter component 4. At the other end of the upper surface of the atomization chamber, a reflux area is provided to guide condensed water to flow to the cleaning water tank 2.The upper portion of the cleaning water tank 2 is located below the reflux area, and a reflux port 211 is provided at a corresponding position at the lowermost end of the reflux area. Water droplets emerging from the filter element 410 are divided into many tiny atomized droplets by the microporous atomizing layer 413. The atomized water droplets rise upward and hit the condensing plate, forming condensed water. The condensed water flows along the condensing plate under the action of gravity into the reflux area, flows along the reflux area to the lowermost end, and then drops into the reflux port 211, thereby achieving wastewater filtration with a good filtration effect.

[0125] Finally, it should be noted that the above embodiments are intended only to illustrate the technical solutions of the present disclosures and not to limit the present disclosure. Although the present disclosure has been described in detail with reference to the preceding embodiments, those skilled in the art should understand that modifications may be made to the technical solutions recorded in the preceding embodiments, or equivalent replacements may be made to some of the technical features. Such modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions in the embodiments of the present disclosure. QUOTES CONTAINED IN THE DESCRIPTION

[0000] This list of documents submitted by the applicant was generated automatically and is included solely for the convenience of the reader. This list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions. Cited patent literature

[0000] CN 202411067381.5

[0001]

Claims

[1] A cleaning station for a cleaning robot, wherein the cleaning robot has a cleaning actuator, the cleaning station has a cleaning seat, and wherein the cleaning seat includes a water inlet channel, a cleaning tank and a waste water pool; wherein the water inlet channel is designed to transport cleaning fluid; the cleaning tank is equipped with a scraper rib and a wastewater groove; a water outlet end of the water inlet channel, the scraper rib and the wastewater groove are arranged in a height direction in sequence from high to low; the cleaning fluid contacts the cleaning actuator above the scraper rib to wet the cleaning actuator, and the scraper rib rests against the cleaning actuator to scrape dirt on the cleaning actuator, and the scraped dirt is directed through the wastewater groove into the wastewater pool. [2] The cleaning station according to claim 1, wherein, when the cleaning actuator rotates for cleaning, the water outlet end is located upstream of the scraper rib; and the dirt scraped by the scraper rib enters the wastewater groove, and the wastewater groove directs the dirt into the wastewater pool in a timely manner. [3] The cleaning station according to claim 1, wherein the water outlet end of the water inlet channel has a branch connection for the water outlet, and the wastewater groove is arranged between the branch connection and the scraper rib. [4] A cleaning station according to claim 3, wherein an arc wall is provided at the bottom of the branch ports, and a circle where the arc wall is arranged is concentric with a cross-sectional circle of the cleaning actuator. [5] Cleaning station according to claim 3, wherein the scraper rib is formed as a side wall of the wastewater groove. [6] A cleaning station according to claim 5, wherein a water path branching plate is provided at a position of the branching port, and the water path branching plate is formed as another side wall of the wastewater groove. [7] A cleaning station according to claim 6, wherein the water path branching plate is provided with a plurality of branching ports at intervals along a longitudinal direction, and cleaning liquid in the water inlet channel flows from the plurality of branching ports to the cleaning actuator. [8] A cleaning station according to claim 7, wherein opening widths of two adjacent branch ports are set such that a width of a branch port close to the water inlet channel is not greater than a width of a branch port remote from the water inlet channel. [9] A cleaning station according to any one of claims 5 to 8, wherein a guide rib is provided at one end of the water inlet channel connected to the cleaning tank; and one end of the guide rib remote from the water inlet channel is connected to the water path branching plate to divide one end of the water inlet channel at the scraper rib into at least two clean water flow paths; and Ends of different clean water flow paths located away from the water inlet channel point in different directions, thereby directing the cleaning liquid to different branch ports. [10] Cleaning station according to one of claims 1 to 8, wherein avoidance structures are provided on both sides of the scraper rib along a longitudinal direction. [11] Cleaning station according to one of claims 1 to 8, wherein a length of the scraper rib extending into the cleaning actuator is in a range of 3 mm to 5 mm. [12] A cleaning station according to any one of claims 6 to 8, wherein a confluence channel connected to the waste water pool is provided at the bottom of the cleaning tank, and the confluence channel serves to direct waste water into the waste water pool; and the confluence channel is arranged on a central axis of the waste water pool. [13] The cleaning station of claim 12, wherein a position of the cleaning tank is aligned with a position of the cleaning actuator; and the confluence channel is disposed on one side of the cleaning tank. [14] The cleaning station of claim 12, wherein the confluence channel is located at the bottom of the water path branching plate. [15] The cleaning station according to claim 12, wherein a water accumulation channel is provided between the water inlet channel and the water path branching plate; and the confluence channel is arranged below the water accumulation channel. [16] A cleaning station according to claim 12, wherein an inlet of the confluence channel is arranged on the cleaning tank at a lowermost position of the bottom of the cleaning tank. [17] Cleaning system comprising: a cleaning robot capable of autonomous movement, the cleaning robot having a cleaning actuator that is rotatable and bears against a surface to be cleaned; and the cleaning station according to one of claims 1 to 16. [18] A cleaning station for a cleaning robot, wherein the cleaning robot has a cleaning actuator, the cleaning station has a cleaning seat, and wherein the cleaning seat includes a water inlet channel and a cleaning tank; wherein the water inlet channel is configured to transport cleaning liquid; the cleaning tank is equipped with a scraper rib and a wastewater groove: a water outlet end of the water inlet channel, the scraper rib and the wastewater groove are arranged in a height direction in sequence from high to low; the cleaning fluid contacts the cleaning actuator above the scraper rib to wet the cleaning actuator, and the scraper rib rests against the cleaning actuator to scrape off dirt on the cleaning actuator, and the scraped-off dirt enters the waste water tank. [19] A cleaning station for a cleaning robot, wherein the cleaning robot has a cleaning actuator, the cleaning station has a cleaning seat, and wherein the cleaning seat includes a water inlet channel, a cleaning tank and a waste water pool; wherein the water inlet channel is designed to transport cleaning fluid; the cleaning tank is equipped with a scraper rib and a wastewater groove; the scraper rib abuts the cleaning actuator to scrape wastewater onto the cleaning actuator, and the scraped wastewater is directed through the wastewater groove into the wastewater pool; and the cleaning liquid flows sequentially through the water inlet channel, the cleaning actuator, the scraper rib, the wastewater groove and the wastewater pool, thereby forming a cleaning water path for cleaning the cleaning actuator.

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