Cleaning station

Abstract

Cleaning station for a cleaning robot, whereby The cleaning robot comprises a roller, a scraper component and a wastewater collection box, the scraper component being designed to scrape and clean the cleaning roller; the cleaning station includes a cleaning tank and a water inlet channel; The roller rests against the cleaning tank if the cleaning robot is docked at the cleaning station, and the cleaning roller is contacted with cleaning fluid through the water inlet channel during the self-cleaning of the cleaning robot by means of the cleaning station via the cleaning tank along a rotation direction of the cleaning roller in order to clean the cleaning roller, whereby the cleaning fluid on the cleaning roller is wiped into the wastewater collection box by means of the wiper component in order to clean the wastewater collection box.

Description

[0001] The present disclosure claims priority from Chinese patent application No. 202411067381.5, entitled “CLEANING STATION AND CLEANING SYSTEM”, filed on August 5, 2024 with the China National Intellectual Property Administration, and is incorporated herein in full by reference. AREA

[0002] The present disclosure relates to the technical field of cleaning equipment and in particular to a cleaning station and a roller self-cleaning method. BACKGROUND

[0003] A cleaning robot is equipped with a rotating roller component 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 roller component to prevent bacterial growth and odors. This ensures that the cleaning robot can perform a thorough cleaning of the surface the next time the cleaning task is performed.

[0004] With conventional robots, most perform self-cleaning after returning to their station using their own water tanks. Since the robot's clean water tank has a limited capacity, cleaning a roller brush requires a relatively large amount of water. The liquid in the clean water tank alone is insufficient to achieve a good cleaning effect. Furthermore, a water channel on the robot is designed to meet the roller brush's cleaning requirements. While the water is sprayed evenly, the volume is not large enough to ensure a long service life, and therefore, a good cleaning effect on the roller component cannot be achieved. 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 the provision of a cleaning station with which a reel can be thoroughly cleaned after a cleaning robot has completed the cleaning and returned to the station.

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

[0007] A cleaning station for a cleaning robot, whereby the cleaning robot includes a roller, a scraper component and a wastewater collection box, the scraper component being used to scrape and clean the roller; The cleaning station includes a cleaning tank and a water inlet channel; The roller rests against the cleaning tank if the cleaning robot is docked at the cleaning station, and the roller is contacted with cleaning fluid through the water inlet channel during the self-cleaning of the cleaning robot by means of the cleaning station via the cleaning tank along a rotation direction of the roller to wet the roller, the cleaning fluid on the roller is wiped off by the wiper component into the wastewater collection box to clean the wastewater collection box.

[0008] Another object of the embodiments of the present disclosure is the provision of a self-cleaning method with which a roller of a cleaning robot can be thoroughly cleaned.

[0009] To achieve this objective, the following solution is provided according to one embodiment of the present disclosure.

[0010] A method for the self-cleaning of a roller of a cleaning robot, wherein the cleaning robot is equipped with a roller, a scraper component and a wastewater tank; wherein the station has a cleaning seat, the cleaning seat including a water distribution component, a scraper rib and a wastewater pool; the cleaning robot performs self-cleaning of the roller after docking to the station; and the method for the self-cleaning of the roller includes:

[0011] Rotation of the roller in a first direction, provision of cleaning fluid to the roller by the cleaning robot and / or the cleaning station;

[0012] Flowing the cleaning fluid through the roller, the scraper component, the wastewater tank, and the wastewater pool, thereby forming an initial cleaning water path to clean the roller; and

[0013] Flowing the cleaning fluid through the water distribution component, the scraper rib and the wastewater pool, creating a second cleaning water path to clean the roller.

[0014] In the technical solution according to embodiments of the present disclosure, the cleaning station is equipped with the water inlet channel with which the cleaning station can supply cleaning fluid to the roller, so that during the self-cleaning process of the roller both the cleaning robot and the cleaning station supply cleaning fluid to the roller, thereby ensuring the amount of water for cleaning the roller and thus ensuring a cleaning effect of the roller. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] To more clearly illustrate the technical solutions according to embodiments of the present disclosure or conventional techniques, the drawings to be used in embodiments of the present disclosure or in the conventional techniques are 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 drawings provided without any creative effort. Fig. Figure 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. Figure 1d is a schematic diagram of a structure of a cleaning robot which rests on a right convex point, according to an embodiment of the present disclosure; Fig. Figure 1e is a schematic diagram of a structure of a cleaning robot which rests on a left convex point, according to an embodiment of the present disclosure; Fig. Figure 1f is a schematic diagram of a structure of a cleaning robot that rests on 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 floor 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 ledge is provided on a ramp, according to an embodiment of the present disclosure; Fig. Figure 2c is a schematic structure 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 floor 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 top view of a cleaning seat on a station according to an embodiment of the present disclosure; Fig. 5a is a schematic diagram of a substructure 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. Figure 6 is a schematic cross-sectional view of a cleaning actuator on a cleaning apparatus; Fig. 7 is a schematic diagram of a station structure 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 the 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. Figure 15 is a schematic diagram of a structure of a wastewater 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. Figure 17 is a schematic diagram of a wastewater discharge structure according to an embodiment of the present disclosure; Fig. 18 is a schematic diagram of the structure of a cleaning robot according to an embodiment of the present disclosure; and Fig. Figure 19 is a simplified structural diagram of the double waterway cleaning system according to an embodiment of the present disclosure; DETAILED DESCRIPTION

[0016] The present disclosure is further described in detail below with reference to the drawings and embodiments. It should be understood that the embodiments described here serve only to illustrate the present disclosure and not to limit it. It should also be noted that, for the sake of convenience, only parts of the structure relating to the present disclosure are shown in the drawings, and not the entire structure.

[0017] In the description of this 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 or an indirect connection through an intermediate medium, or an internal connection between two elements, or an interaction between two elements. Those skilled in the art may understand specific meanings of the terms in this disclosure on a case-by-case basis.In the present disclosure, a first feature “above” or “below” a second feature may include the first feature and the second feature being in direct contact, or the first feature and the second feature not being in direct contact but being in contact via another intervening feature, unless otherwise expressly stated or limited. A first feature “above,” “over,” or “on” a second feature may further include the first feature being 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 “below” a second feature may further include the first feature being 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 the description of the embodiments of this disclosure, the terms "upper," "lower," "right," "left," and other orientations or positional relationships are based on the drawings. Such terms serve only for the convenience of describing and simplifying processes and do not indicate or imply that the device or element under discussion must have a specific orientation or be configured and operated in a specific orientation. The terms are therefore not to be interpreted as limitations of this disclosure. Furthermore, the terms "first" and "second" are used only for differentiation in the description and have no special meaning.

[0018] 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 one direction of travel of the cleaning robot. Thus, when the cleaning robot moves to a surface to be cleaned, the cleaning robot first dusts the surface to be cleaned and then cleans the surface after dusting. Fig. Reference is made to Figure 6. In this embodiment, the cleaning component includes a cleaning actuator 832 and a wiper component 833. The cleaning actuator 832 is a roller (or is 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 one direction of travel 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 direction of travel of the cleaning robot. Thus, while moving, the cleaning robot first vacuums up dust, and then, after vacuuming, the roller cleans the surface to be cleaned. In this way, the cleaning efficiency of the cleaning robot is significantly improved.

[0019] The roller can be specifically a cylindrical roller, with one surface of the cylindrical roller covered in cleaning fluff material. Alternatively, the roller can be a tracked roller, enclosing two caterpillar wheels spaced at intervals, with a caterpillar cloth lying cuff-like over the two caterpillar wheels in a circular runway shape. The caterpillar cloth has cleaning fluff material on one outer surface. One surface of the caterpillar cloth is in contact with the surface. As the caterpillar wheels rotate, the caterpillar cloth rotates simultaneously relative to the surface, thus wiping and washing the surface.

[0020] In some embodiments of the present disclosure, reference is made to Fig. 6 and Fig. 19. A wastewater collection box 834 is provided beneath a scraper component 833. The scraper component 833 rests against the roller and scrapes wastewater from 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 from adhering to the surface to be cleaned when the roller 832 rolls. This also serves as a cleaning process for the roller.

[0021] One side of the scraper component 833, which rests against the roller, can also 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 towards 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 so that it flows along the arc-shaped scraper component 833 into the wastewater collection box 834.

[0022] However, after the cleaning robot has been operating for an extended period, the wiper component 833 may not be able to remove all the contaminants from the roller during operation, leading to a continuous accumulation of contaminants. To address this issue, a wiper structure is provided at Station 1. After completing a work cycle, the cleaning robot can return to Station 1 and use the wiper structure there to further clean the roller. In a conventional technology, a cleaning chamber is typically provided at the station. The cleaning chamber is designed to contain cleaning fluid. The cleaning robot's roller enters the cleaning chamber and rotates, and then the wiper component cleans the roller.The wastewater scraped off by the wiper component continues to permeate the roller, thus reducing the cleaning effect of the roller.

[0023] To improve the efficiency of cleaning the roller by the wiper structure in station 1, the wiper component 833 is in an embodiment, with reference to Fig. 3 to Fig. 6. After the cleaning robot enters station 1, the roller is located on the front of the station along the direction of travel of the cleaning robot, and the scraper structure of station 1 is located on the back of the roller along the direction of travel of the cleaning robot. In one implementation, the roller of the cleaning robot entering station 1 is located relative to Fig. 3 to Fig. 5b, arranged in a cleaning tank 114. The scraper structure includes a water path branching plate 112, a scraper rib 116, and a wastewater groove 117. Station 1 is equipped with a water inlet component. External clean water or cleaning fluid enters the water path branching plate 112 through a water inlet channel. The clean water or cleaning fluid passes through the water path branching plate 112 and then saturates the roller. After the cleaning robot enters Station 1, the scraper rib 116 presses against the roller and scrapes the saturated roller. The wastewater groove 117 is designed to collect the wastewater scraped by the scraper rib 116 and is connected to a drainage component of Station 1 to discharge the wastewater scraped by the scraper rib 116 into a wastewater tank 72.In a vertical direction, the water path branching plate 112, the scraper rib 116, and the wastewater groove 117 are arranged from top to bottom, with the wastewater groove 117 located on the side of the scraper rib 116 facing away from the roller. This prevents the wastewater scraped off by the scraper rib 116 from further contaminating the roller. In this way, the cleaning effect of station 1 on the roller is improved.

[0024] Since the cleaning robot's roller rotates, it is also cleaned by the wiping structure on station 1 and wiped clean by the wiping component 833 on the cleaning robot. This significantly improves cleaning efficiency and the cleaning effect on the roller.

[0025] It is understood that, in other embodiments, the wiper component 833 of the cleaning robot is arranged on the rear side of the roller along the direction of travel of the cleaning robot. To facilitate cleaning and the arrangement of station 1, the water path branching plate 112 is arranged on a lower side of the roller component. A branching connection 1120 on the water path branching plate 112 directs water uniformly and moistens the roller on the same side as the wiper component 833. The wiper structure of station 1 is arranged on the front side of the roller along the direction of travel of the cleaning robot. Other arrangements are possible and are not subject to any specific limitations here.

[0026] During the self-cleaning process of the roller using the cleaning robot, the wiper component 833 scrapes the wastewater from the roller into the wastewater collection box 834. The roller becomes cleaner through the self-cleaning process, and the wastewater scraped from the roller by the wiper component 833 becomes clearer. This water enters the wastewater collection box 834 and rinses it to clean the wastewater collection box 834.

[0027] In embodiments of the present disclosure, a station is further provided. As in Fig. As shown in Figure 1, 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, the lower edge of the hatch is equipped with a ramp 101 for the cleaning robot, allowing it to enter the docking chamber 10. After cleaning is complete, the cleaning robot can move autonomously to the station or can be controlled by a user to move to the docking chamber 10 and enter it from the ramp 101. A charging device 140 is provided in the docking chamber 10 and is in contact with a charging clamp of the cleaning robot. The charging device is capable of charging the cleaning robot.

[0028] After the cleaning robot has completed 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 and producing odors on the cleaning actuator 832, and to ensure a good cleaning effect the next time it is used.

[0029] In the present disclosure, the cleaning actuator 832 can be a roller, a cloth plate, or the like, without any specific limitations in the present disclosure. However, the following embodiments are not applicable to both the roller and the cloth plate. Readers or operators must 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.

[0030] In some stations, during self-cleaning, the cleaning actuator 832 is only wiped by the wiper component 833 on the cleaning robot to remove wastewater. The wiper component 833 of the cleaning robot is generally short, and the distance at which it engages the roller is less than or equal to 2 mm. The wiping force of the wiper component 833 on the cleaning robot is low, preventing it from exerting excessive resistance on the cleaning actuator 832, which would cause it to stop rotating during cleaning. Therefore, using this low wiping force not only reduces the resistance to the rotation of the cleaning actuator 832 but also extends the service life of its motor.Therefore, the self-cleaning function of the cleaning actuator 832 cannot achieve a good cleaning effect if one relies solely on the wiper on the cleaning robot. The wiper on the cleaning robot can only wipe a shallow area on the upper surface of the cleaning actuator 832, and dirt at the base of the cleaning actuator's bristles cannot be effectively cleaned. At some other stations, a wiper assembly is provided. However, to ensure that the roller can be in contact with the cleaning fluid in the longitudinal direction, the wiper assembly at these stations is designed to consist of multiple wipers, which are staggered at the front and rear and arranged along an axial direction of the cleaning actuator 832.During the self-cleaning of the cleaning actuator 832, the station supplies a certain amount of water to the staggered wipers, and the roller rotates and simultaneously contacts the wipers and water, thereby achieving foam washing and wiper washing.

[0031] Although the wipers can clean the cleaning actuator, the wiped 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 becomes worse.

[0032] To avoid these problems, in some embodiments of the present disclosure, an integrated line of wiper ribs 116 of the station is provided in the docking cabin 10. The width of the wiper rib 116 of the station should be greater than that of the wiper on the cleaning robot to allow the wiper rib 116 to extend into the root of the bristles of the cleaning actuator 832, thereby performing deep cleaning of the cleaning actuator 832. Furthermore, the length of the wiper rib 116 is equal to or greater than the length of the cleaning actuator 832 on the robot. This ensures that the cleaning actuator 832 can make full contact with a cleaning surface during the self-cleaning process, thus guaranteeing a good cleaning effect.

[0033] In some embodiments of the present disclosure, as in Fig. 2a, Fig. 3 and Fig. As shown in Figure 4, a cleaning seat 11 is provided on the floor wall of the docking cabin 10. The cleaning seat 11 is detachably mounted on the floor wall of the cabin, and a user can remove it for cleaning. This ensures the cleanliness of the cleaning seat, improves the self-cleaning effect of the cleaning actuator 832 of the cleaning robot, and prevents odors caused by dirt. The cleaning seat 11 has a cleaning tank 114, and the wiper rib 116 is located inside the cleaning tank 114. In the direction in which the cleaning robot enters and exits the docking cabin 10, the side near the hatch is defined as the front, and the inside of the docking cabin 10, i.e., the side facing away from the hatch, is defined as the back. As shown in Figure 4, the cleaning seat 11 is located on the floor wall of the docking cabin 10. Fig. 2a, Fig. 3, Fig. 4 and Fig. As shown in Figure 6, two water tanks are arranged at the rear of the cleaning seat 11: 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 ends, and their front ends serve as the water outlets. 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 fluid from the first water inlet channel 110 and the second water inlet channel 111 in the water accumulation channel 115. The cleaning fluid enters the cleaning tank 114 through a confluence channel 118. The cleaning fluid 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 can be arranged on the front of the cleaning seat, so that the cleaning fluid flows backward into the cleaning tank 114. In other embodiments, the cleaning fluid can obviously flow from left to right into the cleaning tank 114, or from right to left into the cleaning tank 114, which is not subject to any specific restrictions in the embodiments of the present disclosure. To achieve a uniform water supply or to increase the water supply, the number of cleaning tanks in other embodiments can be more than two.

[0034] In some embodiments of the present disclosure, as in Fig. As shown in Figure 5a, a cleaning fluid 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 a short circuit in the charging circuit of the cleaning robot, some embodiments of the present disclosure provide a resistance strip 17 with a length greater than that of the charging device 140 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 strip 17.The resistance strip 17 is elastic and can be elastically deformed when it rests against the cleaning robot and is subjected to a crushing force exerted by the cleaning robot, thus creating a sealing effect. This prevents the cleaning water from splashing onto the charging device 140 during the self-cleaning process of the cleaning actuator 2, ensuring that the cleaning robot can be charged without problems.

[0035] In a feasible solution, the distance between the water inlet ends of the first water inlet channel 110 and the second water inlet channel 111 is a first distance, and the distance between the 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. As shown in Figure 6, the first distance is greater than the second distance. As in Fig. As shown in Figure 2, the first water inlet channel 110, for example, is an inclined groove, and the second water inlet channel 111 is an inclined groove. As shown in Fig. As shown in Figure 5, the first water inlet channel 110 can alternatively be, for example, a curved groove, and the second water inlet channel 111 can be a straight, inclined groove. Of course, the reverse situation is also possible and is not subject to any specific restrictions in this embodiment.

[0036] The water inlets 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. Several branching openings 1120 are arranged at intervals along the width of the cleaning tank 114 on the water path branching plate 112. The several branching openings 1120 can be arranged uniformly at equal intervals, or they can be arranged unevenly at different intervals; this is not subject to any restrictions in the embodiment.

[0037] When the cleaning robot is docked in docking station 10, the cleaning actuator 832 of the cleaning robot is housed in the cleaning tank 114. The cleaning tank 114 is equipped with a wiper rib 116, which rests against the cleaning actuator 832. As the cleaning fluid flows in the cleaning water tank 2 along the first water inlet channel 110 or the second water inlet channel 111 to the water path branching plate 112, the cleaning fluid is blocked by the water path branching plate 112 and passes through each branching port 1120, thus dividing the cleaning fluid evenly into several flows towards the cleaning actuator 832. This ensures that the cleaning actuator 832 is sprayed evenly with the cleaning fluid from left to right, thereby guaranteeing uniformity of cleaning.The branching port 1120 is a scaled shape composed of two cones, meaning that a wider part points to the first water inlet channel 110 or the second water inlet channel 111, allowing incoming water to flow into the water accumulation channel 115; a middle part is narrower to increase the flow rate; and an outlet position is wider, ensuring that the cleaning fluid flows more evenly to the roller.

[0038] As the cleaning actuator 832 rotates, the cleaning fluid is sprayed evenly onto it. When the cleaning actuator 832 passes through the wiper rib 116, the wiper rib removes water from the actuator, effectively wiping and washing it. This results in a more thorough cleaning of the cleaning actuator 832.

[0039] The wiping force and depth of the wiper rib 116 are greater than those of the wiper component 833 on the cleaning actuator 832 of the cleaning robot. In one implementation, both the wiper rib 116 and the wiper component 833 can extend into the bristles of the cleaning actuator 832 along the vertical direction. The height of the wiper rib 116 on the station is greater than the height of the wiper component 833, allowing the wiper rib 116 to reach a deeper position in the cleaning actuator 832, such as 3 mm to 5 mm. In some embodiments, the wiper rib 116 can extend 4.5 mm into the cleaning actuator 832, and the wiper component 833 on the robot extends 2 mm into the cleaning actuator 832.The 2 mm wiper component 833 is capable of wiping wastewater from the surface of the cleaning actuator 832, but it cannot clean a deep portion of the bristles of the cleaning actuator 832 and has low resistance, which hinders the rotation of the cleaning actuator 832. The 4.5 mm deep wiper rib is capable of reaching deep into the bristles of the cleaning actuator 832 and can clean the cleaning actuator 832 thoroughly for a better cleaning effect. However, compared to the 2 mm wiper component 833, the wiper rib has high resistance, which hinders the rotation of the cleaning actuator 832. Therefore, the rotational power during the self-cleaning phase of the cleaning actuator 832 is greater than the rotational power when cleaning a surface.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. The wiper rib 116 can, for example, 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 limitations in the embodiment.

[0040] Furthermore, the cleaning tank typically does not discharge the wastewater in a timely manner. During the self-cleaning process of the cleaning actuator 832, the wiper rib, as the cleaning actuator continues to rotate, scrapes the wastewater from the actuator into the cleaning tank, leading to an increasing amount of wastewater in the tank. In this case, the cleaning actuator 832 becomes saturated with the wastewater as it passes through the cleaning tank while rotating, resulting in a reduced cleaning effect.

[0041] With reference to the in Fig. In the example shown in Figure 2a, the wiper rib 116 on the station is a continuous integrated strip in the technical solution provided in the embodiment of the present disclosure. In the self-cleaning of the cleaning actuator 832, the wiper rib 116 on the station and the wiper component 833 on the cleaning robot act together on the cleaning actuator 832. As shown in Fig. As shown in Figure 2c, for example, after the cleaning actuator 832 enters self-cleaning mode, the cleaning robot controls the cleaning actuator 832 so that it rotates in a first direction. The rotation in the first direction causes, for example, the roller to be oriented towards the inside of the station. The scraper rib 116 and the scraper component 833 on the cleaning robot work together on the cleaning actuator 832 to remove dirt from the cleaning actuator 832, and the scraped dirt is held on one side by the scraper rib 116. As shown in Figure 2c, the cleaning robot, for example, controls the cleaning actuator 832 so that it rotates in a first direction. Fig. As shown in Figure 2c, a wastewater groove 117 is present between the scraper rib 116 and the water path branching plate 112 in the cleaning tank 114. In this embodiment, the scraped wastewater is retained in the wastewater groove 117 on the side near the inside of the station, and then directed through the confluence channel 118 at its lowest position into the wastewater pool 119. Therefore, almost no wastewater, or only a small amount of overflowed wastewater, is present in the direction along the scraper rib 116 towards the outside of the station. The wastewater groove 117 is raised at both ends, and its height is lowest at the inlet of the confluence channel 118, so that the wastewater scraped by the scraper is collected at the inlet of the confluence channel 118.The bottom surface of the confluence channel 118 slopes downwards from the wastewater groove 117 towards the wastewater pool 119 (i.e., from front to 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 its bottom is lower than the lowest point of the outlet of the confluence channel 118. The wastewater pool is further equipped with a floating Hall effect sensor 130, which is designed to measure the elevation of the wastewater in the wastewater pool 119 and transmit this elevation information to a control unit at the station to regulate the discharge of the wastewater.

[0042] After rotating in the first direction for a specific period, the cleaning robot controls the cleaning actuator 832, causing it to rotate in a second direction and remove a small amount of overflowing wastewater. The cleaning actuator then rotates again in the first direction. This back-and-forth movement not only ensures the cleaning effect of the cleaning actuator but also removes overflowing wastewater from a portion of the cleaning tank on the side of the scraper rib 116 from the water path branching plate 112, thus ensuring the cleanliness of the cleaning tank 114. The time period for rotation in the first direction is longer than the time period for rotation in the second direction.After cleaning for a defined period of time, or after detecting that the cleanliness of the cleaning actuator 832 has reached a predefined requirement, the wiping rib 116 and the wiper component 833 on the cleaning robot work together on the cleaning actuator 832 to shake it up. The first direction is opposite to the second direction.

[0043] 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 the self-cleaning of the cleaning actuator 832, the wastewater scraped off by the scraper 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 and uniformly sprayed with cleaning fluid as it rotates towards the water path branching plate 112 and rotates towards the scraper rib 116, where the wastewater on the cleaning actuator 832 is scraped into the wastewater groove 117 as it is scraped by the scraper 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 the cleaning robot passes the wiper component 833, it wipes the cleaning actuator. The cleaning robot is equipped with a liquid supply device, which can be a clean water tank containing cleaning fluid. The cleaning fluid can flow to the cleaning actuator 832 and be sprayed evenly onto it. This means that the liquid supply device can provide the cleaning actuator 832 with the cleaning fluid for self-cleaning. A good cleaning effect is achieved with this back-and-forth movement.

[0044] It can be understood that, since both the fluid supply device and the water inlet channel of the roller provide cleaning fluid during the self-cleaning process, the wastewater scraped off by the wiper component 833 is wastewater after the roller has been cleaned by the cleaning fluid supplied through both the fluid 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 rinsed. The fluid for rinsing the wastewater collection box 834 is therefore provided by the water supply device and the water inlet channel.

[0045] As in Fig. As shown in Figure 5b, a cover plate is provided on the peripheral side of the cleaning actuator to stabilize the position of the cleaning actuator 2 on the cleaning robot. If the length of the wiper rib 116 is not shorter than the cleaning actuator 832, in some embodiments of the present disclosure, an inclined avoidance structure 1161 is provided on both sides of the wiper rib 116 to prevent interference between the wiper rib 116 and the cover plate.

[0046] As in Fig. 2a, Fig. 3 and Fig. As shown in Figure 4, the bottom of the cleaning tank 114 is inclined from front to back, so that the scraper rib 116 is positioned at a lower or 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 lies between the scraper rib 116 and the water path branching plate 112, and the portion of the cleaning tank 114 where the scraper rib is located away from the water path branching plate 112 is a post-cleaning tank. Along a width direction of the cleaning tank 114, the bottom heights of both ends of the wastewater groove 117 are higher than the bottom height of the middle portion 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 extends 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 can be located 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 branching plate 112.As the cleaning actuator 832 rotates in the first direction, the scraper rib 116 is scraped as the cleaning actuator 832 passes over it. This scraping action removes wastewater from the cleaning actuator 832 into the wastewater groove 117, and the wastewater in the wastewater groove 117 is discharged in a timely manner through the water accumulation channel 115 into the wastewater pool 119. The cleaning actuator 832 is therefore not saturated with wastewater while passing over the scraper rib 116 when it passes through the cleaning groove 114 during the self-cleaning process. The previously scraped wastewater does not impair the subsequent cleaning of the cleaning actuator 832, thus ensuring a good cleaning effect on the cleaning actuator 832.

[0047] With reference to Fig. 2a and Fig. In section 5, the cleaning tank 114 is offset and not located in a central area of ​​the cleaning seat 11. The reason is that the cleaning actuator 832 on the cleaning robot is also offset and not located in a central part of the base of the device body. As shown in section 5, the cleaning tank 114 is offset and not located in a central area of ​​the base of the device body. Fig. 2a and Fig. As can be seen in Figure 6, the confluence channel 118 is not located on an axis of symmetry of the cleaning tank 114, but is offset to one side (in Fig. 5 of the right side). Such a design is provided to locate the confluence channel 118 approximately in the middle of a water inlet side of the wastewater pool 119 at the rear of the cleaning seat 11, and to avoid the branch connection 1120.

[0048] In other embodiments of the present disclosure, the position of the confluence channel 118 can be at any position other than the axis of symmetry of the cleaning tank 114, as long as it is ensured that the wastewater in the wastewater tank 72 is discharged into the wastewater pool 119 without difficulty. This is not subject to any specific restrictions in this embodiment.

[0049] The wastewater pool 119 can 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 directed 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.

[0050] In some embodiments, a wastewater pump 65 can be provided on the wastewater pipeline. The wastewater pump accelerates the entry of the wastewater from the cleaning tank 114 into the wastewater pipeline and pumps the wastewater in the wastewater pipeline into the dust box 3.

[0051] It is understood that of the branch ports 1120, a branch port located closer to the end of the first water inlet channel 110 or the second water inlet channel 111 will have a larger water output. It is therefore necessary to ensure that the water output for the branch ports 1120 is consistent. In some embodiments of the present disclosure, the groove width of a branch port 1120 located close to the water inlet channel is smaller than the groove width of a branch port 1120 located farther 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 located close to the water inlet channel and increasing the water output of the branch port 1120 located farther from the water inlet channel.

[0052] As in Fig. As shown in Figure 5, a detailed description is given using an example where the water path branching plate 112 has six branching ports 1120. Water coming from the first water inlet channel 110 flows to branching ports 1 to 4. To ensure that each of the branching ports 1 to 4 receives an equal amount of water, a guide rib 113 is provided at the center of the water outlet of the first water inlet channel 110. The guide rib 113 can divide the water in the first water inlet channel 110 equally into two parts, directing one part to branching ports 1 to 2 and the other part to branching ports 3 to 4.Branch ports 1 and 4 are located far from the water outlet of the first water inlet channel 110, and branch ports 2 and 3 are located close to the water outlet of the first water inlet channel 110. Branch ports 1 and 4 therefore have a groove width a, and branch ports 2 and 3 have a groove width b, where a > b, thus ensuring that 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 located in the middle of branch ports 5 and 6, thus ensuring that the cleaning fluid coming from the outlet of the second water inlet channel 111 flows uniformly through branch ports 5 and 6.

[0053] 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 the 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 operation, as 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 directed into the wastewater groove 117 and then into the wastewater pool 119. As the cleaning progresses, the water level in the wastewater pool rises.Since the wastewater pool, the confluence channel and the wastewater groove are interconnected, the water volume of the wastewater pool is controlled by a magnetic float, and the liquid level present at the end, when wastewater discharge begins, is lower than the lowest point of the arch wall, thus ensuring the cleanliness of the flowing water.

[0054] In this 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, can be provided at the front end of the docking cabin's floor wall. A buckle can be provided at the opposite end of ramp 101. Ramp 101 can be connected to the station's docking cabin by means of a connection between the buckle and the slot.

[0055] A typical walking mechanism on a cleaning robot includes two drive wheels positioned on opposite sides of the robot's base, and an auxiliary wheel located between them, forming a triangle. This auxiliary wheel rotates in sync with the drive wheels and can be steered by their steering mechanism. The auxiliary wheel can be a universal wheel. This ensures the cleaning robot's stability while moving and its flexibility while walking.

[0056] The docking chamber 10 typically only accommodates a portion of the cleaning robot to ensure a compact station size. The majority of the cleaning robot is therefore positioned on the ramp 101 outside the docking chamber 10. At this stage, the cleaning actuator 832 is positioned parallel to the ramp in the form of an inclined plane, and the cleaning robot's center of gravity is located on the ramp 101. This prevents the cleaning actuator 832 from making proper contact with the wiper ribs 116. The wiper rib 116 can only extend 2 mm to 3 mm into the cleaning actuator 832, resulting in inadequate cleaning performance.

[0057] To solve the above problem, as described in Fig. As shown in Figure 2b, a support structure is provided on the ramp. The support structure can be a projection 120. The projection 120 can lift the chassis of the cleaning robot so that the body of the cleaning robot can be held in a target position. In the target position, the cleaning robot is docked to the station, meaning that the cleaning actuator 832 makes good contact with the wiper rib 116, and the wiper 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 chamber 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 pure water injection port of the cleaning robot is connected to a pure water docking port of the station.The cleaning robot's wastewater outlet corresponds to the station's wastewater pool. The protrusion 120 is specifically designed for the auxiliary wheel. The auxiliary wheel is located at the rear center of the cleaning robot's chassis. When the cleaning robot is placed in docking bay 10, the auxiliary wheel is positioned on the protrusion 120 to adjust the docking angle of the cleaning robot, ensuring that a specific position is maintained when the robot is docked in the docking bay.

[0058] After the cleaning robot has completed its cleaning task and returned to docking station 10, although wipers are present on the floor wall of docking station 10 capable of wiping and cleaning the cleaning actuator 832, the cleaning of the cleaning actuator 832 during its self-cleaning process is normally achieved only by the wiper rib 116, and the cleaning fluid provided to the cleaning actuator 832 for self-cleaning is supplied individually by the cleaning station. The cleaning actuator 832 is only cleaned by a single flow of water from the cleaning station itself, which does not 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 supply cleaning fluid to the cleaning actuator 832, but the cleaning robot can also supply cleaning fluid to the cleaning actuator 832. The wiper component 833 wipes the cleaning actuator 832 during the self-cleaning process of the cleaning robot. Therefore, in the embodiment of the present disclosure, dual water channels are implemented to supply cleaning fluid during the cleaning of the cleaning actuator 832. Compared to the single water channel method, a better cleaning effect can be achieved for the cleaning actuator 832.

[0059] To ensure effective cleaning of the surface when the cleaning actuator 832 performs a cleaning task, the cleaning robot typically has a water spray outlet above the cleaning actuator 832 to evenly spray the cleaning fluid onto it. During its rotation, the cleaning actuator 832 encounters the wiper component 833. The wiper component 833 removes the wastewater from the cleaning actuator 832, and then the cleaning actuator 832 is sprayed with the cleaning fluid. This ensures that when the cleaning actuator 832 performs a cleaning task, the surface is cleaned with pure cleaning fluid instead of recirculated wastewater.In some embodiments of the present disclosure, in the self-cleaning of the cleaning actuator 832, the cleaning fluid that is sprayed onto the cleaning actuator 832 through the water spray outlet may be from a different water supply path than the water supply path in which the station provides cleaning fluid to the cleaning actuator 832 for self-cleaning.

[0060] The capacity of the clean water tank, which holds cleaning fluid on the cleaning robot, is limited, and some of the cleaning fluid is consumed during cleaning. When the cleaning robot returns to its station and the clean water tank needs to supply the cleaning actuator with cleaning fluid for self-cleaning, it can easily happen that the cleaning fluid in the tank runs out. Therefore, the cleaning actuator can no longer be supplied with cleaning fluid for self-cleaning.

[0061] To solve the above problem, in some embodiments of the present disclosure, when the cleaning robot is arranged in the docking station 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 fluid.

[0062] It is ensured that the cleaning water tank 2 on the cleaning robot can continuously supply cleaning fluid to the cleaning actuator 832 during its self-cleaning cycle. This guarantees the supply of clean water to the dual water supply paths. The cleaning robot's clean water tank is fully charged each time before a cleaning task is performed, thus reducing the number of times cleaning fluid needs to be added to the clean water tank and ensuring cleaning efficiency.

[0063] In some embodiments of the present disclosure, the cleaning robot is, as in Fig. Figure 18 shows a device equipped with a waterway system 7a. The waterway system is designed to supply cleaning fluid to the cleaning actuator 832 and to collect the wastewater scraped off by the cleaning actuator 832 via the scraper component 833 in the wastewater tank. In one possible configuration 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 via the pipeline, and the wastewater is collected in the wastewater tank 72 after the floor has been wiped by the cleaning actuator 832 via the pipeline connected to the wastewater tank 72.

[0064] As in Fig. As shown in Figure 18, in some embodiments of the present disclosure, the water path system 7a further includes a clean water pump 73a, an air pump 74a, and a water injection connection component 75a. The clean water pump 73a is arranged on a path where cleaning fluid flows in the clean water tank 71a 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 wastewater tank 72, and an air pipe is connected between the air pump 74a and the air outlet. The air pump 74a extracts gas from the wastewater tank 72, creating a vacuum in the wastewater tank 72.Under the influence of negative pressure, an adsorption force is generated in the wastewater pipe to adsorb the wastewater, so that the wastewater scraped off by the cleaning actuator 832 enters the wastewater pipe as far as possible and then enters the wastewater tank 72. This prevents the wastewater from flowing into a cleaned area due to a failure of timely adsorption during a cleaning robot's operation, thus ensuring a good cleaning effect. To facilitate the introduction of cleaning fluid into the clean water tank 71a, the water injection connection component 75a is located on the circumference of the rear end of the cleaning robot, and a connecting pipe is provided between the water injection connection component 75a and the clean water tank 71a.A user can directly connect an external water supply to the water injection port component to inject cleaning fluid into the clean water tank 71a. When the cleaning robot is positioned on the station, a cleaning fluid 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 fluid docking device. This enables an automatic water refill function for the cleaning robot at the station.A groove to avoid interference with the water injection port component 75a can be provided below the front of the wastewater tank 72, with the water injection port component 75a located at the groove. A clean water refill port is located on the front of the wastewater tank 72, on the side of the water injection port component 75a facing away from the pipeline. The front of the wastewater tank 72 can serve as the rear end face of the cleaning robot and provides easy access for adding cleaning fluid. Alternatively, the water injection port component 75a can be located at any position on the rear of the cleaning robot, as long as it does not interfere with other components, which is not subject to any specific restrictions in this embodiment.

[0065] In relation to Fig. 19 In some embodiments of the present disclosure, after the cleaning robot has completed the cleaning task and returned to the docking station 10, the wastewater tank 72 on the cleaning robot is docked to the station, and the wastewater in the wastewater tank 72 is discharged directly into the wastewater pool 119. After the wastewater has been discharged, the self-cleaning of the cleaning actuator 832 is started. During the rotation of the cleaning actuator 832, the wiper component 833 first scrapes the wastewater from 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.As the cleaning actuator passes the water path branching plate 112, a large quantity of cleaning fluid is sprayed onto the cleaning actuator at the station. At this point, the cleaning actuator 832 is completely wetted by the cleaning fluid. The cleaning actuator then passes the scraper rib 116, which scrapes the cleaning actuator 832 and removes the wastewater from the cleaning actuator 832 into the wastewater groove 117 located between the scraper rib 116 and the water path branching plate 112. The wastewater in the wastewater groove 117 is discharged into the wastewater pool 119 via the confluence channel 118 in a timely manner. The action of the dual water channels and the dual scrapers ensures that the cleaning actuator 832 is cleaned more thoroughly and with a higher cleaning effect.

[0066] As in Fig. 14 and Fig. As shown in Figure 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 fulfill the wastewater discharge requirement, a release rod 322 is provided on a lower wall of the docking cabin 10. When the cleaning robot is positioned in the docking cabin 10, the release rod 322 rests 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 discharged directly 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 station for roller self-cleaning.

[0067] As described above, after the cleaning robot of this disclosure returns to the station, there are two flow paths for the cleaning fluid. A first path is the cleaning system of the cleaning robot itself. When the station is docked, the clean water supplied 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 fluid in the clean water tank is then supplied evenly to the rollers by the water supply device. In a second water path, the clean water supplied by the station's clean water tank or the automatic water supply and drainage system does not pass through the cleaning robot, but instead enters the water inlet channel directly and flows evenly through the water path branching plate 112 to the rollers.The nozzle of the cleaning robot's water supply device is positioned high, and the outlet of the water path branching plate 112 is positioned low. This means that the roller is first wetted by the water supplied by the cleaning robot during its rotation, and then moistened by the water supplied from the outlet of the water path branching plate 112. The cleaning robot's water supply flow rate is between 0.3 ml / s and 1 ml / s, for example, 0.5 ml / s, and if the flow rate from the station to the roller is greater than 6 ml / s, the water supply flow rate is increased. The roller then rotates to the station's scraper rib 116, and the wastewater is scraped off by the scraper rib 116. The wastewater passes through the cleaning channel 114 and the confluence channel 118 and enters the wastewater pool 119.The roller then rotates to the cleaning robot's scraper component. The wastewater enters the wastewater collection box and is pumped through the wastewater pipe into a wastewater rear tank 72. As 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 a cycle is completed after two scraping operations, meaning that in a single cycle, clean water is received twice and scraping is performed twice, thus significantly improving cleaning efficiency. The scraper rib 116 can extend 3 mm to 5 mm, for example, 4.5 mm, into the cleaning actuator. The extension depth of the scraper component is approximately 2 mm. Because the scraper rib has a greater scraping force, most of the dirt is scraped off by the rib. The scraping thickness of the scraper component is small.The amount of wastewater scraped off by the scraper component is less than the amount scraped off by the scraper rib, so less wastewater enters the wastewater collection box. As the number of roller rotations increases, the wastewater entering the wastewater collection box becomes less dirty after several cycles, thus cleaning the wastewater collection box and the wastewater tank.

[0068] As in the Fig. As shown in Figures 14 to 16, a wastewater discharge mechanism 42 is specifically provided on the floor wall of the docking cabin 10. The wastewater discharge mechanism 42 includes a rotary drive component 421 and a gear mounting component 422. The gear mounting component 422 includes a receiving frame 4220. A receiving cavity is provided in the receiving frame 4220. The rotary drive component 421 is rotatably arranged along a Z-axis direction within the receiving cavity. The receiving cavity protects the rotary drive component 421 from damage by external influences and ensures an aesthetically pleasing appearance. An upper end of the receiving frame 4220 has a projection opening towards the opening of the docking cabin 10. A release rod 322 is rotatably provided at the projection opening through a rotation axis 424. One end of the release rod 322 is a release end 320.The release end 320 extends from the receiving frame 4220 and rests against the one-way valve 323. The other end of the release rod 322 is a drive end 324. The drive end 324 is located in the receiving cavity and rests against the rotary drive component 421. The rotary drive component 421 exerts a force on the drive end 324 along an X-direction, causing the release rod 322 to rotate about the center of rotation, driving the release end 320 to rise along a Y-axis and exerting a driving force on the one-way valve 323 to rise along the Y-direction.

[0069] As in Fig. 14 to Fig. As shown in Figure 16, during this wastewater discharge period, the rotary drive component 421 keeps the drive end 324 in a state where the one-way valve 323 is raised by the release end 320, since it takes a certain amount of time to discharge the wastewater from 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 element 4211 does not rotate around a rotating shaft 424 on the mounting frame 4220. After the wastewater discharge from the wastewater tank 72 is complete, the rotary drive component 421 rotates and no longer exerts force on the drive end 324.If the cleaning robot does not remain in the docking chamber 10, the drive element 4211 will rotate around the rotating shaft 424 because there is no external force limiting it, which may cause the trigger end 320 to rotate into a position beyond contact with the one-way valve 323, thus preventing the cleaning robot from entering a base box 40.

[0070] In many embodiments, the wastewater discharge mechanism 42 therefore further includes an upper rod reset element 4221. One end of the upper rod reset element 4221 is located at the bottom of a cavity wall of the receiving cavity, which is located on the drive element 4211, and the other end is located on one side of the drive end 324 away from the rotary drive component 421. When the wastewater tank 72 needs to be drained, the rotary drive component 421 provides a driving force to the drive element so that it rotates around the rotating shaft 424, and the upper rod reset element 4221 is compressed. When the wastewater in the wastewater tank 72 has been 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 element 4211, causing it to rotate in the opposite direction around the rotating shaft 424 under the influence of the upper rod reset element 4221 until the upper rod reset element 4221 is reset or rests against the rotary drive component. The position of the trigger end 320 is lower than the position of the one-way valve 323 at this time and is restricted to and held in the position below the one-way valve 323 by the influence of the upper rod reset element 4221 or by the influence of the upper rod reset element 4221 and the rotary drive component 421, thus preventing the cleaning robot from being prevented from entering the base box 40. The upper rod reset element 4221 can be a rubber element with relatively high elasticity, or it can be a spring or the like.

[0071] In some versions, as in the Fig. Figures 14 to 16 show a possible structure of the rotary drive component 421 comprising a drive element and a force-exerting element 4212, which is arranged at an output end of the drive element. The force-exerting element 4212 can always be in contact with the drive end 324 to intermittently exert a drive force on the drive end 324. The force-exerting element 4212 can, for example, be a cam. When a highest position of the cam is in contact with the drive end 324, the cam can provide a drive force to the drive end 324 to compress the upper rod reset element 4221. As the cam rotates, the position where the cam is in contact with the drive end 324 rotates from the highest position to the lowest position. During this process, the drive force provided to the drive end 324 by the cam decreases.Under the influence of the reset force on the upper rod reset element 4221, the drive element 4211 rotates around the rotating shaft 424 towards the bottom of the one-way valve 323 and disengages from the one-way valve 323. The force-applying element 4212 can intermittently bear against the drive end 324 during the rotation of the discharge end to provide a driving force to the drive end 324. The force-applying element 4212 is, for example, a projection provided at the discharge end of the drive element. When the discharge end of the drive element rotates, the projection bears intermittently against the drive end 324. When wastewater needs to be discharged into the wastewater tank 72, the projection bears against the drive end 324 during the rotation of the discharge end of the drive element.From the moment the projection contacts the actuator end 324, the projection gradually exerts a driving force on the actuator end 324, and the upper rod reset element 4221 begins to compress until the projection rests vertically against the actuator end 324, at which point a peak value of the driving force is reached, compressing the upper rod reset element 4221 to its maximum. At this time, the resting end lifts the one-way valve 323, and the wastewater flow rate reaches its maximum. It should be noted that lifting of the one-way valve 323 does not occur after the driving force reaches its peak value, but rather begins when the projection contacts the actuator end 324 and exerts the driving force on it. At this time, the wastewater outlet 321 opens.As the cam rotates, the greater the height to which the one-way valve 323 is raised, the greater the opening degree of the wastewater outlet 321, and the greater the flow rate of the wastewater out of the wastewater tank 72. As the wastewater is discharged from the wastewater tank 72, the output end of the drive element continues to rotate, and the projection gradually disengages from the drive end 324. During this process, the upper rod reset element 4221 is gradually reset, the one-way valve 323 is gradually lowered, and the wastewater outlet is gradually sealed. The drive element can be a rotary motor.

[0072] The wastewater in the cleaning robot's wastewater tank 72 can be discharged into the wastewater pool by actuating the trigger rod 322 and flows out of a drainage port 400 in the wastewater pool. To increase the rate of wastewater discharge, the wastewater suction pipe is connected to a water pump in some embodiments. When the water pump is started, the wastewater in the wastewater pool is rapidly pumped out of the wastewater pool and into the wastewater suction pipe.

[0073] It should be noted that, as in the Fig. 15 and Fig. As shown in Figure 16, the water pump is not started after all the wastewater in the wastewater tank 72 has flowed 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. To enable the water pump to operate immediately when the wastewater tank 72 discharges wastewater, the wastewater discharge mechanism 42 therefore includes a microswitch 423 in some embodiments. The microswitch 423 is coupled to the water pump and linked to the one-way valve 323. When a first sensor 340 is raised, the microswitch 423 is triggered, and the microswitch 423 drives the water pump to start pumping water.To drain all the wastewater from the wastewater tank 72, when the wastewater outlet 321 is fully opened, the output end of the drive unit stops rotating, thus holding the wastewater outlet 321 at its maximum size for 5 seconds. After 5 seconds, the output end of the drive unit resumes rotation, and the wastewater outlet 321 gradually closes. When the first sensor 340 returns to its initial position, the microswitch 423 controls the water pump, stopping the pumping of water, and the wastewater discharge is complete.

[0074] However, it should be noted that, as in Fig. As shown in Figure 17, there is a specific time interval between the activation of microswitch 423 and the starting of the water pump, because 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 microswitch 423, or from the water pump still operating after all the wastewater in the wastewater pool has flowed into the drain pipe, in some embodiments, when the wastewater outlet 321 is initially opened, microswitch 423 is activated, and after 200 milliseconds, the drive element stops rotating. The 200 milliseconds serve not only to account for an action error of microswitch 423, allowing the water pump to start, but also to allow the wastewater outlet 321 to gradually open to its maximum position. During this time, the water pump can pump the wastewater in the wastewater pool into the drain pipe for 5 seconds.After 5 seconds, the output end of the drive element resumes rotation, and the wastewater outlet 321 gradually closes. At this time, the microswitch 423 is switched off for 450 milliseconds, and then the drive motor stops rotating, thus blocking the wastewater outlet 321. The 450-millisecond deactivation of the microswitch 423 is sufficient to transmit information to the wastewater pump to stop, and the wastewater pump ceases pumping water. It should be noted that the 450 milliseconds represent the wastewater pump's response time. During this period, the wastewater pump does not stop operating and continues to pump water. The wastewater outlet 321 is only blocked after the wastewater pump stops operating. Although the wastewater pump no longer operates during this period, wastewater in the wastewater pool can still flow into the drainage port 400.

[0075] In some embodiments of the present disclosure, only one microswitch 423 may be present. The microswitch 423 transmits a signal to the wastewater pump to start when the wastewater outlet 321 is opened and a signal to the wastewater pump to stop operating when the wastewater outlet 321 is gradually closed. Alternatively, there may be two microswitches 423, one of which transmits a signal to the wastewater pump to start when the wastewater outlet 321 is about to open, and the other of which transmits a signal to the wastewater pump to stop operating when the wastewater outlet 321 is gradually closing. This is not subject to any specific limitations as long as the wastewater discharge requirement is met.

[0076] In some embodiments of the present disclosure, a water trap 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 has been pushed open, the wastewater in the wastewater tank 72 flows out of the open one-way valve 323 into the wastewater pool 119. In this process, the water trap 425 blocks the outflow of wastewater from the wastewater tank 72, thus preventing wastewater from splashing out of the projecting port into the rotary drive component 421 and impairing it. The normal operation of the rotary drive component 421 is therefore ensured.

[0077] It should be noted that in this embodiment of the present disclosure, the cleaning fluid for cleaning the cleaning actuator 832 is continuously replenished, i.e., for live water cleaning, and the wastewater is discharged in a timely manner through the confluence channel 118 after cleaning the cleaning actuator 832, thereby ensuring that the fluid contacting the cleaning actuator 832 during the self-cleaning process is the cleaning fluid, thus ensuring a good cleaning effect of the cleaning actuator 832.

[0078] Furthermore, a floating body and a Hall element can be provided in wastewater pool 119. The reference number 130 in Fig. The structure shown in Figure 2a consists of a float and a Hall effect sensor. The float rests on a liquid level within the wastewater tank 72. When the liquid level in the wastewater pool 119 reaches a water level threshold, i.e., when the float rests on a threshold water level, the Hall effect sensor 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 the wastewater pool 119. Simultaneously, the station transmits an alarm signal to remind the user that the wastewater pool 119 is full.

[0079] There are generally two types of charging device 140 structures on the station. One is a large, swinging arm type that moves from left to right, where the charging device 140 on the station moves with a metal swing arm during the cleaning robot's recharging process. A second structure is a spring-loaded, front-to-back movement type, where the charging device 140 moves back and forth with the cleaning robot during the recharging process. Regardless of the structure, the charging device 140 may not maintain sufficient contact with the charging plate on the cleaning robot during the recharging process. This can easily lead to friction and sparking, causing the charging plate to spark and become blackened, or even resulting in charging errors that reduce the charging lifespan and negatively impact the user experience.

[0080] To solve the above problems, some embodiments of the present disclosure refer to the Fig. In steps 1 to 1a, the charging device 140 is provided on 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, which is coupled to the station, and a charging contact component, which is rotatably coupled to the fixed seat 1411. During the recharging process of the cleaning robot, the charging contact component rotates around the fixed seat 1411 after the charging plate on the cleaning robot rests against the charging contact component, following the positional 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 cleaning robot's position has been corrected, the charging contact component makes good contact with the charging plate on the cleaning robot, thus ensuring trouble-free charging.

[0081] Since the position adjustment during docking and charging 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 it toward the fixed seat 1411. To avoid damage to the charging component 141 caused by an excessively strong push, some embodiments of the present disclosure, as described in the Fig. As shown in Figures 1 to 1c, a reset element 142 is positioned between the charging component 141 and the station. One end of the reset element 142 rests against the station, and the other end rests against the charging component 141. The charging component 141 is movable relative to the station. When the cleaning robot gives the charging component 141 a push, the charging component 141 moves toward the station and compresses the reset element 142. As the push gradually subsides, a reset force from the reset element 142 pushes the charging component 141 to be gradually reset, thus ensuring that the charging component 141 remains in contact with the charging plate on the cleaning robot throughout the reset process.During the reset process, regardless of whether the cleaning robot swings left or right or moves forward or backward, no displacement occurs between the two components after the charging plate on the robot has come into contact with the charging component 141. This ensures that no sparking or blackening occurs, thus guaranteeing the service life of the charging component 141. The reset element 142 can alternatively be a spring or a highly elastic rubber element.

[0082] In some embodiments of the present disclosure, the charging contact component closes with reference to Fig. 1 to Fig. Figure 1b includes a rotating seat 14123 and a loading plate 14120, which is arranged on top of the rotating seat 14123. The rotating seat 14123 can be arranged to rotate on the fixed seat 1411 by means of a rotating element 1413, and the rotating element 1413 can be an axle or a spherical cap structure. In this embodiment, the rotating element is not subject to any specific restrictions, as long as the rotating element can rotate relative to the fixed seat 1411. The loading plate 14120 is coupled to a rechargeable battery on the station via the fixed seat 1411. In some embodiments, several convex points are arranged at intervals on the left and right sides of the loading 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 makes contact at either the left convex point 14121 or the right convex point 14122. The description here uses the left convex point 14121 as an example. When the cleaning robot enters the charging station, 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 oscillates under force and eventually reaches a position as shown in Figure 1e. Fig. Figure 1f shows that all convex points make full contact with the charging plate on the cleaning robot. During this process, even if some convex points are damaged due to blackening from sparking, the other convex points can still be used for charging, ensuring a stable electrical connection between the charging component 141 on the station and the charging plate on the cleaning robot. This significantly improves the service life of the charging device 140 and provides the user with an enhanced experience.

[0083] Station 1 can also be equipped with a recirculating fan for dehumidification. The upper section of docking cabin 10 of Station 1 can be equipped with an air inlet for the recirculating fan for dehumidification. In the Fig. In the example shown in Figure 1, an air inlet 150 of the dehumidifying recirculation fan is arranged on an upper portion of the rear wall of the docking cabin 10 and on one side of the loading device 140. An air intake duct is provided between the dehumidifying recirculation fan and the air inlet 150. The moist air enters the intake duct through the air inlet 150. As the moist air passes through the dehumidifying recirculation fan, it is injected, 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 dehumidifying recirculation fan and the bottom wall of the cleaning tank 114. As shown in Figure 1, the air intake duct is located between the dehumidifying recirculation fan and the bottom wall of the cleaning tank 114. Fig. As shown in Figure 4, an opening in the guide ring wall 1010101 is provided around the first water inlet channel 110 and the second water inlet channel 111, leading to the cleaning tank 114. One of these openings is an air outlet. One side of the air supply channel, pointing away from the dehumidification recirculation 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 channel. The guide ring wall 1010101 directs the dry hot air so that it flows toward the air outlet. Since the air outlet is directed toward the cleaning passage 114, the dry hot air is sprayed onto the cleaning actuator 832, thus accelerating the drying rate of the cleaning actuator 832 and the cleaning tank 114 to prevent bacterial growth caused by moisture.

[0084] As mentioned previously, after cleaning for a set time or after detecting that the cleanliness of the cleaning actuator 832 has reached a predefined requirement, the cleaning robot controls the cleaning actuator 832 so that it rotates in the second direction, and the wiper rib 116 and the wiper component 833 on the cleaning robot work together on the cleaning actuator 832 to shake it up. During the shaking stage, the dehumidifying fan is started to quickly dry the cleaning actuator 832.

[0085] With conventional cleaning robots, most perform self-cleaning after returning to their docking station, using their own water tanks. For example, after the cleaning robot enters the station's docking chamber, it initiates a self-cleaning mode. In this mode, the robot activates the clean water pump to draw clean water from the tank to the cleaning actuator 832 and controls the actuator's rotation to clean it. Professionals know that the cleaning robot's clean water tank has a limited capacity, and the amount of water required to clean the actuator 832 is relatively large. The amount of water in the tank alone is insufficient to achieve a thorough cleaning.Furthermore, the water channels on the cleaning robot are designed to meet the requirements of the robot's 832 cleaning actuator for cleaning the floor. It is necessary to ensure even spraying, but without a large volume, and a long operating time. If the 832 cleaning actuator becomes too wet, the floor cleaned by the robot will be too wet. This solution of using only the clean water channel on the cleaning robot during self-cleaning is referred to as a single-water-channel cleaning solution. The self-cleaning effect of the single-water-channel cleaning solution is not good.

[0086] Currently available cleaning robots use a single water channel solution for cleaning the 832 cleaning actuators. While there are cost advantages, such robots cannot meet the self-cleaning requirements. Self-cleaning the 832 cleaning actuator requires a large amount of water, and the effect is not good if only the single water channel on the cleaning robot is used to provide the self-cleaning fluid.

[0087] The solution provided in the embodiment of the present disclosure is a self-cleaning solution with a dual water channel, that is, a station as provided in the embodiments above. The station supplies cleaning water to the cleaning robot for cleaning the cleaning actuator 832 through the first water inlet channel 110 and the second water inlet channel 111. The station can be equipped with a cleaning water tank 2, or the station can have a water supply and drainage structure through which a mains 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 activated, or the water pump in the cleaning water tank 2 is activated to supply cleaning water to the cleaning actuator 832. The cleaning tank on the cleaning robot also supplies cleaning water to the cleaning actuator 832.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 considerably enhanced.

[0088] If the station is used with a cleaning water tank 2 as an example, the cleaning fluid in the tank will gradually be consumed as the number of times the cleaning robot performs self-cleaning on the station increases. When the cleaning fluid is depleted, the station sends a signal to the user that the cleaning water tank 2 is empty. To prevent the user from having to frequently add cleaning fluid to the clean water tank 2, the volume of the cleaning water tank 2 is typically increased by increasing its capacity, thus reducing the frequency of refills. However, such a solution inevitably increases the size of the station, which conflicts with the trend towards miniaturization of cleaning stations and does not result in water savings.

[0089] 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 has to add cleaning fluid to the cleaning water tank 2, thus reducing the user's workload.

[0090] In some embodiments, as in Fig. As shown in Figure 10, a recirculating water tank 5 is also provided in the station. One end of the filter component 4 is located in the dust box 3, and the other end of the filter component is located in the recirculating water tank 5. To filter as much wastewater as possible in the dust box 3, the end of the filter component 4 located in the dust box 3 is positioned at the bottom of the dust box 3. However, since the wastewater in the dust box 3 contains a significant amount of dirt, after being retained in the dust box 3 for a period of time, the dirt precipitates and stratifies. To prevent the solid, flocculated dirt from accumulating at the bottom of the dust box 3 and clogging the filter component 4, a support ridge 32 is provided on the bottom wall of the dust box 3, and the end of the filter component 4 located in the dust box 3 is positioned on an upper end surface of the support ridge 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.

[0091] As in Fig. As shown in Figure 9, a water pump 65 is provided on the path for the cleaning fluid, so that it flows into the cleaning water tank 2, and on the path for the filtered water, so that it flows into the recirculating water tank 5. The water pump 65 pumps the cleaning fluid or the filtered water into the first water inlet channel and the second water inlet channel or the wastewater pool to clean the cleaning actuator 832 or the wastewater 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 fluid into the cleaning water tank 71. A water outlet 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 to transport the cleaning fluid to the first and second water inlet channels or to the wastewater pool. The recirculating water tank 5 is connected to a recirculating water pipe 61. A recirculating water pump 65 is arranged on the recirculating water pipe 61, and a filter solenoid valve 67 is also provided on the recirculating water pipe 61 to control the supply of the filtered water. The recirculating water pipe 61 is also connected to a flushing water pipe to direct the filtered water in the recirculating water tank 5 into the first water inlet channel, the second water inlet channel, or the wastewater pool.

[0092] As in Fig. As shown in Figure 9, if the filtered water in the recirculating water tank 5 is insufficient, the filter solenoid valve 67 is switched off, and the clean water solenoid valve is switched on, so that the recirculating water tank 5 is de-energized and the cleaning water tank 2 is supplied with cleaning fluid. If the filtered water in the recirculating water tank 5 is sufficient, the filter solenoid valve 67 is switched on, and the clean water solenoid valve is switched 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-treatment. After the pre-treatment is complete, the clean water solenoid valve is switched on, and the filter solenoid valve 67 is switched off to allow cleaning with the cleaning fluid again, and finally, the cleaning process is complete.This reduces the amount of cleaning fluid used in the cleaning water tank 2 and the number of times the user has to add cleaning fluid. In some embodiments, a detector is provided in the recirculating water tank 5 to detect the contents of the filtered water and thus control the filter solenoid valve 67 and the clean water solenoid valve on or off. The detector can be a liquid level detector or a weight detector installed on the station. The contents of the filtered water in the recirculating water tank 5 can be determined by detecting the weight of the recirculating water tank 5, which in this embodiment is not subject to any special limitations as long as the contents of the filtered water in the recirculating water tank 5 can be detected.

[0093] It should be noted that the water pump 65 on the first cleaning water pipe 62 interacts with the clean water solenoid valve to be switched on or off, and the water pump 65 on the circulating water pipe 61 interacts with the filter solenoid valve 67 to be switched on or off.

[0094] As in Fig. As shown in Figure 9, a drainage connection 400 is provided in the wastewater pool, and a wastewater suction pipe 68 is provided at the drainage connection 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 from the dust box 3, creating a vacuum in the dust box 3. Under this vacuum, a suction effect is generated in the wastewater suction pipe 68 to draw wastewater from the wastewater pool into the wastewater suction pipe 68, so that the wastewater in the wastewater pool is rapidly discharged into the wastewater tank 72.

[0095] In some embodiments, as in Fig. As shown in Figure 9, a water quality detector 062 is provided at one end of the wastewater suction pipe 68 at the drainage outlet 400. The wastewater flowing from the wastewater pool can be detected by the water quality detector 062 to determine the transparency of the wastewater. Low transparency of the wastewater indicates that the current cleaning actuator 832 or the wastewater 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 switched on, and the filter solenoid valve 67 and the water pump 65 on the recirculating water pipe 61 are switched off to introduce cleaning fluid into the first water inlet channel and the second water inlet channel or into the wastewater pool for recleaning.High transparency of the wastewater indicates that the cleaning actuator 832 or the wastewater pool has been cleaned and does not need to be cleaned again, and therefore the cleaning process is complete.

[0096] As in Fig. As shown in Figure 9, a water outlet solenoid valve 66 is provided at one end of the second cleaning water pipe 63, which is located away from the cleaning water tank 2, and a machine water refill pipe 60 is provided at the water outlet end of the water outlet solenoid valve 66. The other end of the machine water refill pipe 60 is connected to the cleaning robot. When the cleaning robot is positioned on the station and the clean water tank is low on water, the water outlet solenoid valve 66 is opened, and the cleaning fluid in the cleaning water tank 2 flows through the second cleaning water pipe 63 and the machine water refill pipe 60, and then flows into the cleaning water tank 71 of the cleaning robot, thus fulfilling the cleaning robot's fluid refill requirement.

[0097] To reduce the length of filter component 4, as in Fig. 8 and Fig. As shown in Figure 10, the recirculating 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 recirculating water tank 5, thus avoiding an increase in the station's volume. In some embodiments, the drain connection is located at the lowest position on the bottom wall of the recirculating water tank 5 to ensure that all the filtered water in the recirculating water tank 5 can flow out. When the dirt is unloaded into 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 recirculating water tank 5 from flowing out of the drain connection connected to the recirculating water pipe 61, a sealing plug component 51 is provided at the drain connection. The sealing plug component 51 opens the drain connection when the dust box 3 is placed on the station and closes the drain connection when the dust box 3 is removed from the station.

[0098] As in Fig. As shown in Figure 11, a possible structure of the sealing plug component 51 specifically includes a first upper 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 drain port is opened at the top of the protrusion. A second upper rod is passed through the drain port. The compression spring 416 is positioned between a head end of the second upper rod and a side of the protrusion facing away from the circulating water tank 5. A sealing plug 513 is fitted like a cuff onto one end of the second upper rod that passes through the drain port. When the dust box 3 is removed from the station, the head end of the second upper rod is lowered under the elastic action of the compression spring 416 until the sealing plug 513 contacts the surface of the protrusion.At this time, the compression spring 416 has not returned to its natural state and has an elastic return force. Under the influence of this elastic return force, the sealing plug 513 seals the drainage connection, thus ensuring a good sealing effect.

[0099] As in Fig. As shown in Figure 11, a confining groove, which can be inserted into the elevation, is provided at the station at a position within the elevation, and the end of the recirculating water pipe 61 is connected to the bottom end of the confining groove. When the waste tank is reinstalled at the station, the groove wall of the confining groove is inserted into the elevation to confine the position of the recirculating water tank 5 at the station and to ensure accurate installation of the waste tank. A first upper rod 511, projecting from the bottom of the confining groove, is provided within the confining groove. When the waste tank is reinstalled at the station, as soon as the recirculating water tank 5 is lowered, the first upper rod 511 rests against the head end of the second upper rod and presses against the second upper rod to move in the opposite direction to the elevation.In this case, the compression spring 416 is compressed, the sealing plug 513 leaves the raised surface, and the drain connection opens. The filtered water in the recirculating water tank 5 flows out of the drain connection, 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 upper rod 511 at the bottom of the confining groove into the recirculating water pipe 61. Alternatively, the height of the raised section is in a range of 5 mm to 50 mm. The greater the height of the raised section, the less likely it is that the filter element 410 will come into contact with the dirt deposited in the dirt container, thus avoiding the risk of blockage of the filter element 410 and extending its service life.The height of the raised section must not be too high to prevent the filter element 410 from making incomplete contact with the wastewater in the dirt container. This ensures sufficient and effective filtration.

[0100] In some embodiments, as in the Fig. 10 and Fig. Figure 12 shows a possible structure of the filter component 4 comprising 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 one 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, thus achieving first-level filtration. The filter element 410 can be a filter wool or a cotton swab (including, but not limited to, acrylic wool, 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 while allowing water to pass through.Since one end of the filter 41 is located in the dirt container and the other end is located in the recirculation water tank 5, the filter element 410 is sufficiently long. Due to the capillary action of water, water flows along the filter element 410. As it flows, the filter element 410 filters small particles from the wastewater. Under the influence of gravity, the filtered water flows from the end of the filter element 410 located in the recirculation water tank 5 into the recirculation water tank 5.

[0101] 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 can lead to clogging of the filter element 410. This would prevent the filter component 4 from effectively filtering the wastewater in the dust box 3. Therefore, the filter element 410 must be replaced regularly to ensure proper filtration.

[0102] In some embodiments of the present disclosure, in order to ensure that the volume of the dirt container and the volume of the station do not increase, the filter component 4 is arranged in the dirt container, and the filtered water flows directly into the cleaning water tank 2. In order not to contaminate the original cleaning fluid in the clean water tank 2, the wastewater in the dirt container is filtered by atomizing filtration to ensure a better filtration effect.

[0103] In some embodiments, the filter 41 therefore closes, as in the Fig. 12 and Fig.Figure 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 rests in a cuff-like fashion on the end of the filter element 410 that points away from the bottom wall of the dust box 3 and abuts the filter element cover 411. A through-hole is open 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 electrically connected to a power supply. Several micro-holes with a diameter of 3 µm to 20 µm are spaced at intervals within an area of ​​2 to 5 mm. 2The micro-atomizer layer is arranged around the center of the atomizer. The water droplets passing through the atomizer are separated into numerous microdroplets ranging from 3 µm to 20 µm by the micro-holes. The atomizer layer pressure cover is positioned between the sealing cover 415 and the atomizer layer pressure cover. A snap-in hole is open on the sealing cover 415. The filter element pressure cover 412 is inserted into the snap-in hole and rests like a cuff on the outer periphery of one end of the filter element 410. One end of the filter element pressure cover 412 rests against the filter element cover 411, and the other end forms a head end of the filter element pressure cover 412. The head end is snapped into the snap-in 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.

[0104] In some embodiments, several snap-in holes are arranged at intervals on the sealing cover 415, and each snap-in hole corresponds to a filter 41. The filter component 4 thus encloses several filters 41, thereby accelerating the filtration of wastewater.

[0105] 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.

[0106] A wastewater tank cover 72, an upper station cover, and a cleaning water tank cover 21 enclose the atomization chamber. The upper surface of the atomization chamber is inclined, and a condensation plate 14 is provided on this inclined surface. The condensation plate can be a stainless steel sheet or an energized semiconductor cooling plate. The condensation plate is not subject to any specific restrictions in this disclosure, as long as the condensation effect can be achieved. The filter component 4 is located below a high end of the upper surface of the atomization chamber, and the condensation plate is located above the filter component 4. At the other end of the upper surface of the atomization chamber, a return flow area is provided to direct condensed water to the cleaning water tank 2.The upper part of the cleaning water tank 2 is located below the backflow area, and a backflow port 211 is provided at a corresponding position at the bottom end of the backflow area. Water droplets emerging from the filter element 410 are broken down into many tiny atomized droplets by the microporous atomizing layer 413. The atomized water droplets rise and strike the condensation plate, forming condensed water. The condensed water flows along the condensation plate under the influence of gravity into the backflow area, then along the backflow area to its bottom end, where it drips into the backflow port 211, thus achieving wastewater filtration with a good filtration effect.

[0107] Finally, it should be noted that the embodiments described above are intended only to illustrate the technical solutions of the present disclosure 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 described in the preceding embodiments, or that equivalent substitutions may be made to some of the technical features. Such modifications or substitutions do not alter the essence of the corresponding technical solutions from the spirit and scope of the technical solutions in the embodiments of the present disclosure. QUOTES INCLUDED IN THE DESCRIPTION

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

[0000] CN 202411067381.5

[0001]

Claims

[1] Cleaning station for a cleaning robot, wherein The cleaning robot comprises a roller, a scraper component and a wastewater collection box, the scraper component being designed to scrape and clean the cleaning roller; the cleaning station includes a cleaning tank and a water inlet channel; The roller rests against the cleaning tank if the cleaning robot is docked at the cleaning station, and the cleaning roller is contacted with cleaning fluid through the water inlet channel during the self-cleaning of the cleaning robot by means of the cleaning station via the cleaning tank along a rotation direction of the cleaning roller in order to clean the cleaning roller, whereby the cleaning fluid on the cleaning roller is wiped into the wastewater collection box by means of the wiper component in order to clean the wastewater collection box. [2] Cleaning station according to claim 1, wherein the cleaning robot further comprises a liquid supply device; and the liquid supply device and the water inlet channel jointly supply liquid to the roller during self-cleaning to clean the wastewater collection box. [3] Cleaning station according to claim 1, wherein the cleaning robot further comprises a liquid supply device; and the liquid supply device and the water inlet channel jointly supply liquid to the roll during the self-cleaning of the roll in order to clean the roll. [4] Cleaning station according to claim 2 or 3, wherein the cleaning station is equipped with a cleaning fluid docking device, and wherein the cleaning station is designed to refill cleaning fluid into the fluid supply device of the cleaning robot via the cleaning fluid docking device. [5] Cleaning station according to one of claims 1 to 3, wherein a scraper rib is provided in the cleaning tank, the roller rests against the scraper rib, and the scraper rib wipes the roller during the self-cleaning of the roller. [6] Cleaning station for a cleaning robot, wherein The cleaning robot includes a roller, a scraper component, a liquid supply device, and a wastewater collection box; the cleaning station includes a cleaning tank; The roller is in contact with the cleaning tank if the cleaning robot is docked at the cleaning station, and the fluid supply device of the roller provides cleaning fluid through the cleaning tank along a rotation direction of the roller during the self-cleaning of the cleaning robot by means of the cleaning station in order to clean the roller, the cleaning fluid on the roller is wiped into the wastewater collection box by means of the wiper component in order to clean the wastewater collection box. [7] Cleaning station according to claim 6, wherein a scraper rib is provided in the cleaning tank, the roller rests against the scraper rib, and the scraper rib wipes the roller during the self-cleaning of the roller. [8] Cleaning station according to claim 6, wherein the cleaning station further comprises a water inlet channel; and the liquid supply device and the water inlet channel together supply liquid to the roll during self-cleaning to clean the wastewater collection box. [9] Cleaning station according to claim 6, wherein the cleaning station further comprises a water inlet channel; and the liquid supply device and the water inlet channel jointly supply liquid to the roll during the self-cleaning of the roll in order to clean the roll. [10] Cleaning station according to claim 6, wherein the wastewater collection box is arranged under one side of the scraper component that points away from the roller. [11] Cleaning station according to claim 6 or 7, wherein the cleaning robot further comprises a wastewater tank, the wastewater collection box is connected to the wastewater tank, the wastewater tank is equipped with a wastewater outlet, and wastewater in the wastewater tank is discharged to the cleaning station through the wastewater outlet. [12] Cleaning station according to claim 11, wherein the cleaning station further comprises a wastewater pool, and the wastewater stripped from the roll is directed into the wastewater pool. [13] Cleaning station according to claim 12, wherein the wastewater collection box is connected to the wastewater tank, the wastewater tank is equipped with a wastewater outlet, and the wastewater in the wastewater tank is directed through the wastewater outlet into the wastewater pool. [14] Cleaning station for a cleaning robot, wherein the cleaning robot is equipped with a roller, a scraper component and a wastewater tank; and the station has a cleaning seat, and the cleaning seat comprises a water inlet channel, a scraper rib and a wastewater tank; the cleaning robot and / or the cleaning station, if the cleaning robot is docked to the cleaning station to clean the roller, provides cleaning fluid, wherein the cleaning fluid flows through the roller, the scraper component, the wastewater tank and the wastewater pool, forming a first cleaning water path, the cleaning fluid flows through the water inlet channel, the scraper rib and the wastewater pool, forming a second cleaning water path, and the first cleaning water path and the second cleaning water path work together to clean the roller. [15] Cleaning station according to claim 14, wherein the wiper component and the wiper rib are pressed against the roller, the wiper rib is inserted into the roller, thereby forming a first depth, and the wiper component is inserted into the roller, thereby forming a second depth, wherein the first depth is greater than the second depth. [16] Cleaning station according to claim 15, wherein the first depth is less than or equal to 5 mm, and the second depth is greater than or equal to 1.5 mm and less than or equal to 2.5 mm. [17] Cleaning station according to claim 14, wherein the cleaning station has a first water spray flow rate, the cleaning robot has a second water spray flow rate, and the first water spray flow rate is greater than the second water spray flow rate. [18] Cleaning station according to one of claims 14 to 17, wherein the wastewater in the wastewater tank flows into the wastewater pool if the cleaning robot is docked at the cleaning station; and a wastewater groove is provided between the scraper rib and the water inlet channel, wherein the scraper rib acts on the roller to scrape off dirt, and the scraped dirt enters the wastewater pool through the wastewater groove. [19] Cleaning station according to one of claims 14 to 17, wherein in a process of cleaning the roll: The cleaning robot's clean water tank provides the first cleaning fluid, and the cleaning station provides the second cleaning fluid; the first cleaning fluid flows to an area of ​​the roller, the roller rotates, the area rotates to a position of the second cleaning fluid, and the second cleaning fluid flows to the area of ​​the roller; and the area is wiped a first time by the wiper rib when the area rotates to the wiper rib, and the area is wiped a second time by the wiper component when the area rotates to the wiper component. [20] Cleaning station according to claim 19, wherein the cleaning robot is equipped with a liquid supply port, and the liquid supply port serves to provide the first cleaning liquid; the cleaning station is equipped with a water inlet channel, and the water inlet channel serves to provide the second cleaning fluid; the liquid supply connection and the scraper rib are arranged above and below the roller, respectively, and opposite each other; and a water outlet of the water inlet channel and the wiper component are arranged on the left and right sides of the roller, respectively, and are positioned opposite each other. [21] Cleaning station according to one of claims 14 to 17, wherein an outlet of the water inlet channel is designed with a water path branching plate, wherein the water path branching plate is equipped with a plurality of branching connections at intervals along a longitudinal direction, and cleaning fluid flows in the water inlet channel from the plurality of branching connections to a cleaning actuator; the cleaning seat is equipped with a cleaning tank, and the cleaning tank is equipped with a scraper rib and a wastewater groove; and the multitude of branch connections, the scraper rib and the wastewater groove are arranged in a vertical direction in sequence from high to low. [22] Cleaning station according to claim 21, wherein the scraper rib is formed as a side wall of the wastewater groove, and the water path branching plate is formed as a further side wall of the wastewater groove. [23] Cleaning station according to claim 21, wherein an arc wall is provided at the bottom of the branch connections, and a circle where the arc wall is arranged is concentric with a cross-sectional circle of the cleaning actuator. [24] Cleaning station according to claim 21, wherein opening widths of two adjacent branch connections are defined such that a width of a branch connection close to the water inlet channel is not greater than a width of a branch connection away from the water inlet channel. [25] Cleaning station according to claim 21, wherein a confluence channel connected to the wastewater pool is provided at the bottom of the cleaning tank, and the confluence channel serves to direct wastewater into the wastewater pool. [26] Cleaning station according to claim 25, wherein the confluence channel is arranged on a central axis of the wastewater pool. [27] Cleaning station according to claim 25, wherein the scraper rib is arranged on a bottom wall of the cleaning tank, the cleaning tank is aligned with the roller, and the confluence channel is arranged on a lateral side of the cleaning tank. [28] Cleaning station according to claim 25, wherein the confluence channel is arranged at the bottom of the water path branching plate and between adjacent two of the branching connections.

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