Filtration device, base station and cleaning robot system

Abstract

The present invention discloses a filtering device, a base station and a cleaning robot system. [Solution] The filtration device is used in a base station of a cleaning robot system, and the base station is provided with a cleaning tank to which the filtration device is attached. The filtration device includes a lid and a filter mesh bag. The lid is provided above the filter mesh bag and, together with the filter mesh bag, surrounds a storage cavity. The lid and the filter mesh bag are movably connected by a connecting structure to open and close the storage cavity. The lid is provided with a plurality of first filter holes. The first filter holes filter out some of the foreign matter contained in the liquid flowing into the storage cavity through the cleaning tank. The storage cavity receives some of the solid foreign matter contained in the liquid flowing within the storage cavity. This reduces clogging of the wastewater discharge pipe of the base station, which is advantageous for improving wastewater discharge efficiency, and also makes it easier to clean the filtration device, thereby improving user satisfaction.

Description

Related Applications

[0001] This application claims priority from a Chinese application entitled "Filtration Device, Base Station and Cleaning Robot System" filed with the China Patent Office on January 4, 2023, application number 202320018139.3, the entire contents of which are incorporated herein by reference. [Technical Field]

[0002] The present invention relates to the technical field of smart homes, and in particular to a filtering device, a base station and a cleaning robot system. [Background technology]

[0003] Conventional base stations are generally equipped with a cleaning assembly to clean the flat mop of a cleaning robot capable of suction cleaning and wet mopping. At the same time, foreign matter collected in the cleaning process is collected in a cleaning tank, and solid foreign matter may be present in the foreign matter, causing a situation where the wastewater discharge pipe is clogged. Summary of the Invention [Means for solving the problem]

[0004] A series of concepts are introduced in a simplified form in the Detailed Description section, which will be further explained in detail in the Specific Embodiments section. This section of the present invention is not intended to limit the key features and necessary features of the claimed technical solution, nor to determine the protection scope of the claimed technical solution.

[0005] An embodiment of a first aspect of the present invention provides a filtering device, which is used in a base station of a cleaning robot system, and the base station is provided with a cleaning tank to which the filtering device is attached, and the filtering device includes a cover body and a filter mesh bag, the cover body is provided above the filter mesh bag and, together with the filter mesh bag, surrounds a storage cavity, and the cover body and the filter mesh bag are movably connected by a connecting structure to realize opening and closing of the storage cavity, wherein the cover body is provided with a plurality of first filtering holes, and the first filtering holes filter out some of the foreign matter contained in the liquid flowing into the storage cavity through the cleaning tank, and the storage cavity receives some of the solid foreign matter contained in the liquid flowing in the storage cavity.

[0006] Furthermore, the connecting structure includes at least one of a pivot mechanism, a fastening structure, a magnetic attraction structure, and a threaded structure.

[0007] Furthermore, the filter mesh bag comprises a support frame and a mesh material, the support frame is connected to the lid body, and a drainage area is formed that connects the inside and outside of the storage cavity, and the mesh material is connected to the support frame and located in the drainage area.

[0008] Furthermore, the number of drainage areas is at least one, and there is a one-to-one correspondence between the mesh material and the drainage areas.

[0009] Furthermore, the support frame is a plastic member, and the support frame is connected to the mesh material by post-molding.

[0010] Furthermore, the support frame is further provided with a second filtering hole that connects the inside and outside of the receiving cavity, and the second filtering hole is located above the mesh material.

[0011] Furthermore, the support frame comprises a bottom plate and a side plate connected together, the side plate being connected to the lid, the drainage area being provided in the bottom plate, and the second filtering holes being located in the side plate and / or the bottom plate.

[0012] Furthermore, the filtration device further includes a float assembly provided on the cover body, the float assembly having a float body that floats on the liquid surface due to the action of the liquid, one of the non-contact sensing element and the non-contact sensed element being provided on the float body and the other being provided on the base station, and when the filtration device is provided in the cleaning tank and the liquid level in the cleaning tank is within a specific range, the non-contact sensing element can sense the non-contact sensed element.

[0013] Furthermore, the non-contact type sensed element is provided on the float body, and the non-contact type sensing element is provided on the base station.

[0014] Furthermore, the non-contact sensed element includes a magnetic member, and the non-contact sensing element includes a magnetic sensing element.

[0015] Furthermore, the lid body comprises a lid body and an surrounding fence, the lid body is connected to the filter mesh bag, and a first filter hole is opened in the lid body, the surrounding fence and a part of the outer edge of the lid body are connected to each other to surround and form an installation space located outside the accommodating cavity, and the float body is located in the installation space along the horizontal direction.

[0016] Furthermore, the float assembly further comprises a mounting frame and a connecting member, the mounting frame being removably attached to the cover body or formed above the cover body, and the connecting member having one end rotatably connected to the mounting frame and the other end connected to the float body.

[0017] Furthermore, the filtering device is provided with a mistake-proofing stopper and an indicator, the mistake-proofing stopper being adapted to abut against the base station, and the indicator indicating whether the filtering device is installed in the predetermined position or not.

[0018] Furthermore, the Pokayoke stopper has a snap-fit ​​structure, and the indicator has a planar structure located above the Pokayoke stopper.

[0019] Furthermore, the filtration device further includes a connection part, which is connected to the lid body and is located on the side of the lid body that is away from the filter mesh bag, and the Poka-Yoke stopper is provided at the connection part, and a flat structure is provided at one end of the connection part that is away from the filter mesh.

[0020] Furthermore, the lid and / or the outer wall of the filter mesh bag are provided with a protruding structure.

[0021] An embodiment of a second aspect of the present invention provides a base station for cleaning a cleaning robot, the base station comprising a base station body provided with a cleaning tub and a filtration device according to any one of the first aspects, the filtration device being removably mounted in the cleaning tub.

[0022] Furthermore, a mounting tank is provided at the bottom of the cleaning tank, and a recessed tank structure is provided on the side wall of the mounting tank to match the protruding structure of the filtering device.

[0023] Furthermore, a first Pokayoke positioning member and a second Pokayoke positioning member are provided within the cleaning tank, positioned above the installation tank and distributed from top to bottom. When the Pokayoke stopper of the filtration device is aligned with the first Pokayoke positioning member, the planar structure of the filtration device is higher than the top of the cleaning tank, indicating that the filtration device is not installed in the specified position. When the Pokayoke stopper is aligned with the second Pokayoke positioning member, the planar structure is positioned below the top of the tank or is flush with the top of the tank, indicating that the filtration device is installed in the specified position.

[0024] Furthermore, the first and second error-proofing positioning members are both elastic members, the first error-proofing positioning member has a first abutment portion and a first support portion connected together, the first abutment portion and the error-proofing stopper are suitable for abutting against each other, the first support portion is connected to the base station main body, the second error-proofing positioning member has a second abutment portion and a second support portion connected together, the second abutment portion and the error-proofing stopper are suitable for abutting against each other and are located below the first abutment portion, and the second support portion is connected to the base station main body.

[0025] An embodiment of a third aspect of the present invention provides a cleaning robot system, the cleaning robot system comprising a cleaning robot and any one of the base stations of the second aspect, wherein the cleaning robot is adapted to be parked at the base station. [Effects of the Invention]

[0026] In accordance with an embodiment of the present invention, the base station includes a cleaning tank, and the cleaning robot system includes a filter disposed in the cleaning tank, the filter including a cover and a filter mesh bag. The cover is disposed above the filter mesh bag and, together with the filter mesh bag, surrounds a storage cavity. The cover and the filter mesh bag are movably connected by a connecting structure to open and close the storage cavity. The cover is provided with a plurality of first filter holes, which filter out some of the foreign matter contained in the liquid flowing into the storage cavity from the cleaning tank, and the storage cavity receives some of the solid foreign matter contained in the liquid flowing in the storage cavity. Thus, the waste liquid in the cleaning tank flows into the storage cavity after large, fixed foreign matter is filtered through the first filter holes in the cover, and the small, solid foreign matter contained in the waste liquid in the storage cavity is filtered again through the filter mesh bag before being received in the storage cavity. The remaining foreign matter can be discharged to the external environment together with the liquid through the filter mesh bag. This improves the cleanliness of the liquid discharged outside the accommodating cavity, improves the smoothness and cleanliness of the discharged liquid from the cleaning tank, reduces clogging of the wastewater discharge pipe, and is advantageous for improving the efficiency of wastewater discharge. Furthermore, since the lid and the filtering mesh bag are movably connected by a connecting structure, the accommodating cavity can be opened and closed according to filtering or cleaning needs, making it easier for users to clean foreign objects contained in the accommodating cavity and improving the user's cleaning experience.

[0027] The above description is only a summary of the technical solution of the present application, which can be implemented based on the contents of the specification in order to more clearly understand the technical solution of the present application, and in order to make the above and other objectives, features and advantages of the present application more comprehensible, the following particularly lists specific embodiments of the present application. [Brief explanation of the drawings]

[0028] The following drawings of the present invention are helpful in understanding the present invention as part of the embodiments of the present invention. The drawings illustrate embodiments of the present invention and their illustrations and serve to explain the principles of the present invention.

[0029] [Figure 1] 1 is a schematic diagram illustrating the configuration of a cleaning robot system according to one selectable embodiment of the present invention. [Figure 2] 1 is a schematic diagram illustrating the configuration of a cleaning robot according to one selectable embodiment of the present invention. [Figure 3] FIG. 3 is a schematic diagram illustrating the configuration of the embodiment shown in FIG. 2 from one viewpoint. [Figure 4] FIG. 4 is a partial exploded schematic view of the embodiment shown in FIG. 3. [Figure 5] FIG. 2 is a schematic diagram of a base station according to one alternative embodiment of the present invention. [Figure 6] FIG. 6 is a schematic diagram illustrating the configuration of the embodiment shown in FIG. 5 from one viewpoint. [Figure 7] 1 is a schematic diagram of a cleaning assembly in one alternative embodiment of the present invention. [Figure 8] 1 is a schematic diagram of a filtering device according to one alternative embodiment of the present invention; [Figure 9] FIG. 9 is a schematic diagram illustrating the configuration of the embodiment shown in FIG. 8 from one viewpoint. [Figure 10] FIG. 9 is a schematic diagram of the configuration of the embodiment shown in FIG. 8 from another viewpoint. [Figure 11] FIG. 9 is a schematic diagram of the configuration of the embodiment shown in FIG. 8 from another viewpoint. [Figure 12] FIG. 9 is a schematic diagram illustrating the configuration of the embodiment shown in FIG. 8 from another viewpoint. [Figure 13] FIG. 9 is a schematic diagram of the configuration of the embodiment shown in FIG. 8 from another viewpoint. [Figure 14] FIG. 9 is a schematic diagram of the configuration of the embodiment shown in FIG. 8 from still another viewpoint. [Figure 15] FIG. 2 is a partial structural schematic diagram of a base station in one alternative embodiment of the present invention. [Figure 16] FIG. 16 is a schematic diagram of a portion of the embodiment shown in FIG. 15. DETAILED DESCRIPTION OF THE INVENTION

[0030] In the following description, numerous specific details are given to provide a more complete understanding of the technical solution provided by the present invention. However, it will be apparent to those skilled in the art that the technical solution provided by the present invention can be implemented without one or more of these details.

[0031] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the exemplary embodiments according to the present invention. As used herein, the singular forms "a," "an," and "the" are intended to include the plural forms unless the context clearly dictates otherwise. Furthermore, it should be understood that the terms "comprises" and / or "including," when used herein, specify the presence of features, wholes, steps, operations, elements, and / or components, but do not exclude the presence or addition of one or more other features, wholes, steps, operations, elements, components, and / or combinations thereof.

[0032]

[0023] Exemplary embodiments according to the present invention will now be described in more detail with reference to the accompanying drawings. However, exemplary embodiments may be embodied in many different forms and should not be construed as being limited to the embodiments set forth herein. It is understood that these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the concept of these exemplary embodiments to those skilled in the art.

[0033] As shown in Figures 1 to 16, an embodiment of the present invention provides a filtering device, a base station, and a cleaning robot system, where, as shown in Figure 1, the cleaning robot system includes a cleaning robot 10 and a base station 20, i.e., the base station 20 is used in cooperation with the cleaning robot 10, and the base station 20 includes a filtering device 40.

[0034] 2 and 3, the cleaning robot 10 may include a device body 110, a sensing system 120, a control module 130, a drive system 140, a cleaning system 150, an energy system 160, and a human-machine interaction system 170. As can be appreciated, the cleaning robot 10 may be an autonomous mobile cleaning robot 10 or another cleaning robot 10 that meets a user's needs. The autonomous mobile cleaning robot 10 is a device that automatically performs cleaning operations in an area to be cleaned without user operation. When the autonomous mobile cleaning robot 10 starts its work, the automatic cleaning device departs from the base station to perform the cleaning task. When the autonomous mobile cleaning robot 10 completes the cleaning task or when it is necessary to abort the cleaning task, the autonomous mobile cleaning robot 10 can return to the base station to charge or perform other operations.

[0035] As shown in FIG. 2, the device body 110 has a front portion 111 and a rear portion 112 and may have a generally circular shape (both the front and rear are circular), a generally D-shaped shape with a rectangular front and a circular rear, and other shapes including, but not limited to, shapes with rectangular or square front and rear.

[0036] 2, the sensing system 120 includes a positioning device 121 located on the device body 110, a collision sensor provided on a shock absorber 122 in the front part 111 of the device body 110, a proximity sensor, a cliff sensor provided on the bottom of the device body 110, and sensor devices such as a magnetometer, an accelerometer, a gyroscope, and an odometer provided inside the device body 110 for providing various position information and operating status information of the device to the control module 130. The positioning device 121 includes, but is not limited to, a camera and a laser distance measuring device (LDS, collectively called a laser distance sensor).

[0037] As shown in FIG. 2, the front part 111 of the device body 110 can have a buffer 122 mounted thereon. When the driving wheel module 141 propels the cleaning robot 10 along the floor during the cleaning process, the buffer 122 detects one or more events along the path of the cleaning robot 10 through a sensor system, such as an infrared sensor, provided therein. When an event, such as an obstacle or a wall, is detected by the buffer 122, the cleaning robot 10 controls the driving wheel module 141 to cause the cleaning robot 10 to respond to the event, for example, move away from the obstacle.

[0038] The control module 130 is provided on a circuit motherboard within the device main body 110 and includes a calculation processor, such as a central processing unit and an application processor, communicating with non-transitory memory, such as a hard disk, flash memory, or random access memory. The application processor uses a positioning algorithm, such as simultaneous localization and mapping (SLAM, collectively known as Simultaneous Localization And Mapping), based on obstacle information fed back by the laser distance measurement device to create a real-time map of the environment in which the cleaning robot 10 is located. In addition, the distance information and speed information fed back from sensor devices such as sensors installed in the buffer 122, cliff sensors, magnetometers, accelerometers, gyroscopes, and odometers are combined to comprehensively determine the current operating state of the cleaning robot 10, where it is located, and the current position and posture of the cleaning robot 10, such as whether it has crossed a threshold, stepped on a carpet, is located on a cliff, is stuck above or below, the dust collection box is full, or is being lifted, and specific next operating policies are provided for different situations, so that the cleaning robot 10 has better cleaning performance and user experience.

[0039] As shown in FIG. 3 , the drive system 140 can operate the device body 110 to move across a floor surface based on a drive command having distance and angle information (e.g., x, y, and θ components). The drive system 140 includes a drive wheel module 141, which can simultaneously control the left and right wheels. For more precise control of the device's movement, the drive wheel module 141 preferably includes a left drive wheel module 141 and a right drive wheel module 141, respectively. The left and right drive wheel modules 141 are arranged along a horizontal axis defined by the device body 110. To enable the cleaning robot 10 to move more stably across a floor surface or to have higher mobility, the cleaning robot 10 may include one or more driven wheels 142, which may include, but are not limited to, universal wheels. The drive wheel module 141 includes a running wheel, a drive motor, and a control circuit for controlling the drive motor. The drive wheel module 141 may be connected to a circuit for measuring drive current and an odometer. The drive wheels may have an offset drop suspension system that is fastened in a movable manner, e.g., rotatably attached to the device body 110, and allows a spring offset that is offset downward and away from the device body 110. The spring offset allows the drive wheels to maintain contact and traction with the floor surface with a constant landing force, and also allows the cleaning members of the cleaning robot 10 to contact the floor surface with a constant pressure.

[0040] The energy system 160 includes a rechargeable battery, such as a nickel-metal hydride battery or a lithium battery. A charging control circuit, a battery pack charging temperature detection circuit, and a low battery voltage monitoring circuit may be connected to the rechargeable battery. The charging control circuit, battery pack charging temperature detection circuit, and low battery voltage monitoring circuit are further connected to a single-chip microcomputer control circuit. The host connects to a charging pile via charging electrodes provided on the side or bottom of the main body to charge the battery.

[0041] The human-machine interaction system 170 may include buttons on a host panel for a user to select functions, and may further include a display, indicator lights, and / or a speaker. The display, indicator lights, and speaker display the current device status or function selection items to the user, and may further include a client program on a mobile terminal. A route navigation type automatic cleaning device can display a map of the environment in which the device is located and its location to the user on the client side of the mobile phone, providing the user with richer and more user-friendly functions.

[0042] The cleaning system 150 may be a dry cleaning system 151 and / or a wet cleaning system 153 .

[0043] As shown in Figure 3, a dry cleaning system 151 according to an embodiment of the present invention may include a roller brush, a dust collection box, a fan, and an exhaust port. The roller brush, which has a certain degree of interference with the floor surface, picks up dust on the floor surface and draws it in front of the dust suction port between the roller brush and the dust collection box. The dust is then sucked into the dust collection box by suction gas generated by the fan and passing through the dust collection box. The dry cleaning system 151 may further include an edge brush 152 having a rotation axis at a certain angle to the floor surface to move the dust to the roller brush area of ​​the cleaning system 150.

[0044] As shown in FIGS. 3 and 4, a wet cleaning system 153 according to an embodiment of the present invention may include a cleaning head 1531, a drive unit 1532, a water supply mechanism, a liquid storage tank, etc. Here, the cleaning head 1531 may be disposed below the liquid storage tank. The cleaning liquid in the liquid storage tank is transported to the cleaning head 1531 via the water supply mechanism, and the cleaning head 1531 thereby performs wet cleaning on the surface to be cleaned. In another embodiment of the present invention, the cleaning liquid in the liquid storage tank may be sprayed directly onto the surface to be cleaned. The cleaning head 1531 cleans the surface by uniformly applying the cleaning liquid.

[0045] Here, the cleaning head 1531 is used to clean the surface to be cleaned, and the drive unit 1532 is used to drive the cleaning head 1531 to basically move back and forth along the target surface, which is a part of the surface to be cleaned. The cleaning head 1531 moves back and forth along the surface to be cleaned, and a cleaning cloth or cleaning plate is provided on the surface of the cleaning head 1531 that contacts the surface to be cleaned, and the back and forth movement generates high-frequency friction with the surface to be cleaned, removing dirt on the surface to be cleaned.

[0046] 4 , the driving unit 1532 may further include a driving platform 1533 and a support platform 1534. The driving platform 1533 is connected to the bottom surface of the apparatus body 110 and is used to provide driving force, and the support platform 1534 is detachably connected to the driving platform 1533 and is used to support the cleaning head 1531 and can be raised and lowered under the driving of the driving platform 1533.

[0047] In an optional embodiment of the present invention, the wet cleaning system 153 may be connected to the device body 110 via an active lifting module. When the wet cleaning system 153 is temporarily not involved in work, for example, when the cleaning robot 10 is parked at the base station to clean the cleaning head 1531 of the wet cleaning system 153, fill the liquid storage tank with water, or handle a surface to be cleaned that cannot be cleaned by the wet cleaning system 153, the active lifting module lifts the wet cleaning system 153.

[0048] In the wet scrubbing system 153 according to an embodiment of the present invention, the scrubbing head 1531, the drive platform 1533, the support platform 1534, the water supply mechanism, the liquid storage tank, etc. may be powered by one or more motors. The energy system 160 provides power and energy to the motors and is generally controlled by the control module 130.

[0049] Here, the water supply mechanism in an embodiment of the present invention may include a water spouting device. The water spouting device may be directly or indirectly connected to the liquid spouting port of the liquid storage tank. Here, cleaning liquid can flow to the water spouting device through the cleaning liquid outlet of the liquid storage tank and be evenly applied to the surface to be cleaned by the water spouting device. A connecting member may be provided on the water spouting device, and the water spouting device is connected to the cleaning liquid outlet of the liquid storage tank via the connecting member. The water spouting device may be provided with a distribution port, which may be a continuous opening or may be configured by combining multiple divided small openings. The distribution port may be provided with multiple nozzles. The cleaning liquid flows to the distribution port via the cleaning liquid outlet of the liquid storage tank and the connecting member of the water spouting device, and is evenly applied to the surface to be cleaned via the distribution port.

[0050] In an embodiment of the present invention, the liquid storage tank further includes a water supply port, which may be located on the side wall of the water tank. When the cleaning robot 10 is parked at the base station 20, the base station 20 can inject water into the liquid storage tank of the cleaning robot 10 through the water supply port.

[0051] 5 and 7, the base station 20 includes a base station main body 21 and a cleaning assembly 30. The cleaning assembly 30 is movably mounted on the base station main body 21. Specifically, the cleaning assembly 30 can move relative to the base station main body 21 along a certain direction. For example, the cleaning assembly 30 can move back and forth along the left-right direction of the base station 20, which is indicated by the solid arrow in FIG. 5. Here, the cleaning assembly 30 includes a cleaning member, which is used to remove foreign matter on the cleaning system 150 by interfering with the cleaning system 150. In other words, when the cleaning robot 10 is parked at the base station body 21, the cleaning assembly 30 faces the position of the cleaning system 150, and the cleaning member interferes with the cleaning system 150, and removes foreign objects on the cleaning system 150 as the cleaning assembly 30 moves relative to the base station body 21. In other words, the cleaning robot 10 can realize automatic cleaning of the cleaning assembly 30 of the base station 20, and further eliminates the need to manually clean the cleaning system 150 or replace it with a new one, simplifying manual operation and improving the manual cleaning experience, making it suitable for popularization and application.

[0052] Furthermore, the cleaning assembly 30 further includes a liquid dispensing device 34. When the cleaning assembly 30 is cleaning the cleaning system 150 of the cleaning robot 10, the liquid dispensing device 34 of the cleaning assembly 30 can operate simultaneously. The liquid dispensing device 34 sprays cleaning liquid onto the cleaning system 150, and uses the impact force of the cleaning liquid to clean the cleaning system 150, or uses the cleaning liquid to wet the cleaning system 150, thereby further improving the cleaning effect when the cleaning member cleans the cleaning system 150.

[0053] Furthermore, the dispenser 34 can spray cleaning liquid onto the cleaning member 33, which applies the cleaning liquid to the cleaning system 150, ensuring a better cleaning effect. Specifically, the cleaning assembly 30 includes a bracket 32, and the cleaning member may include a first cleaning member 31 and a second cleaning member 33 mounted on the bracket 32. The first cleaning member 31 may be a cleaning scraper, and the second cleaning member 33 may be a cleaning roller, which can rotate on its own axis. When the dispenser 34 sprays cleaning liquid onto the cleaning roller, the rotation of the cleaning roller can be used to uniformly apply the cleaning liquid to the cleaning system 150. As can be seen, the dispenser 34 can spray cleaning liquid onto the cleaning system 150 and the second cleaning member 33 simultaneously, further improving the infiltration efficiency of the cleaning system 150.

[0054] 5, the base station body 21 is provided with a cleaning basin 22. Specifically, the cleaning basin 22 is provided below the base station body 21, and the cleaning assembly 30 is located above the cleaning basin 22. In this manner, foreign matter removed from the cleaning system 150 by the cleaning member can be collected in the cleaning basin 22, which facilitates subsequent disposal of the foreign matter and is beneficial to improving the cleanliness of the environment near the base station 20. As can be understood, the foreign matter removed from the cleaning system 150 may include dirty water, hair, debris, particulate dust, or other foreign matter that meets requirements, and the present invention is not specifically limited thereto. As can be understood, since the cleaning assembly 30 is located above the cleaning basin 212, the cleaning liquid sprayed by the liquid dispenser 34 is collected in the cleaning basin 212 after cleaning the cleaning system 150 is completed.

[0055] In an embodiment of the present invention, as shown in Figures 8 to 14, the base station 20 is further provided with a filtering device 40, which is installed in the cleaning tank 22. The filtering device 40 comprises a cover 42 and a filter mesh bag 43. The cover 42 is disposed above the filter mesh bag 43 and, together with the filter mesh bag 43, surrounds and forms a storage cavity. The cover 42 and the filter mesh bag 43 are movably connected by a connecting structure 45 to realize the opening and closing of the storage cavity. Here, the cover 42 is provided with a plurality of first filtering holes 421, which filter out some of the foreign matter contained in the liquid flowing into the storage cavity through the cleaning tank, and the storage cavity receives some of the solid foreign matter contained in the liquid flowing in the storage cavity.

[0056] Specifically, the dirty liquid in the cleaning tank 22 flows into the storage cavity after some foreign matter has been filtered and removed by the first filter hole 421 in the lid body 42. For example, the first filter hole 421 in the lid body 42 filters out large solid foreign matter particles and hair in the cleaning tank 22 and causes them to remain on the lid body 42, while the dirty liquid and small solid foreign matter particles flow into the storage cavity, improving the cleanliness of the liquid in the storage cavity. Since the cover 42 and the filter mesh bag 43 surround and form the storage cavity, the filter mesh bag 43 can re-filter the liquid that has flowed into the storage cavity. For example, small solid foreign matter particles contained in the waste liquid in the storage cavity are filtered again by the filter mesh bag 43 and then stored in the storage cavity, and the remaining foreign matter can be discharged to the external environment together with the liquid through the filter mesh bag 43. This improves the cleanliness of the liquid discharged outside the storage cavity, improves the smoothness and cleanliness of the discharged liquid from the cleaning tank 22, reduces the occurrence of clogging in the waste liquid discharge pipeline, and is also advantageous for improving the discharge efficiency of the waste liquid.

[0057] Here, the filtration accuracy of the filter mesh bag 43 may be greater than the filtration accuracy of the first filter hole 421 in the lid body 42. For example, the minimum mesh dimension of the filter mesh bag 43 may be smaller than the minimum opening dimension of the first filter hole 421. As a result, the waste liquid in the cleaning tank 22 is roughly filtered through the first filter hole 421 in the lid body 42 to filter out large solid foreign matter, and then flows into the storage cavity. The liquid flowing in the storage cavity is then finish-filtered through the filter mesh bag 43 and discharged outside the storage cavity, thereby performing the waste liquid discharge operation.

[0058] Specifically, the cover 42 is provided with a plurality of first filter holes 421. For example, the cover 42 may be a filter net. The size and shape of the first filter holes 421 may be reasonably set to limit the filtering accuracy of the first filter holes 421 of the cover 42. Specifically, the minimum opening size of the first filter holes 421 may be 8 mm, 10 mm, 15 mm, or any other value that meets the requirements. Similarly, the size and shape of the mesh of the filter net bag 43 may be reasonably set to limit the filtering accuracy of the filter net bag 43. Specifically, the minimum opening size of the mesh of the filter net bag 43 may be 3 mm, 4 mm, 5 mm, or any other value that meets the requirements; the present invention is not specifically limited.

[0059] In other words, the base station 20 according to the present invention is provided with a filter 40 in the cleaning tank 22, so that the waste liquid in the cleaning tank 22 is subjected to double filtration by the filter 40. Specifically, the first filtering holes 421 in the cover 42 of the filter 40 are used to perform a first filtering of the large-particle solid foreign matter in the cleaning tank 22, allowing the relatively clean liquid to flow into the receiving cavity. Then, the mesh filter bag 43 is used to perform a second filtering of the small-particle solid foreign matter in the liquid flowing in the receiving cavity, so that the small-particle solid foreign matter is contained in the receiving cavity. Then, the more clean liquid that has flowed out of the receiving cavity through the mesh filter bag 43 is subjected to a waste liquid discharge operation, thereby discharging the waste liquid from the cleaning tank 22. This reduces clogging of the waste liquid discharge line and is advantageous for improving the discharge efficiency of the waste liquid.

[0060] During the wastewater discharge process, large solid particles are filtered out of the receiving cavity. For example, after the liquid in the cleaning tank 22 is discharged, large solid particles remain in the lid 42, while small solid particles remain in the receiving cavity. The lid 42 and the filter mesh bag 43 are movably connected to open and close the receiving cavity, thereby facilitating the separate disposal of large solid particles and small solid particles in the receiving cavity. For example, when the receiving cavity is closed by the lid 42 and the filter mesh bag 43, the large solid particles outside the receiving cavity can be disposed of. After the receiving cavity is opened by the connecting structure 45, the small solid particles inside the receiving cavity can be cleaned and removed. This makes it easier for users to clean the filter device 40, which is beneficial to improving the cleaning experience of the filter device 40 and contributing to the thoroughness and effectiveness of cleaning the filter device 40.

[0061] That is, in the filtering device 40 according to the embodiment of the present invention, the cover 42 and the filtering mesh bag 43 are movably connected by the connecting structure 45, so that the accommodating cavity can be opened or closed according to filtering or cleaning needs, and the user can clean and remove foreign matter in the accommodating cavity while the accommodating cavity is open, which makes it easy for the user to clean and remove foreign matter stored in the accommodating cavity and improves the user's cleaning experience. As can be seen, large particulate solid foreign matter remaining on the cover 42 can be directly removed because it is outside the accommodating cavity.

[0062] 9 and 14, the connecting structure 45 includes at least one of a pivot mechanism, a fastening structure, a magnetic attraction structure, and a threaded structure. The pivot mechanism may be a pivot shaft, the fastening structure may be a snap-fit ​​structure, the magnetic attraction structure may be a magnetic member, and the threaded structure may be a screw or thread. Thus, one or more of the connecting structures 45 can achieve a movable connection between the cover 42 and the filter mesh bag 43, and can open and close the storage cavity.

[0063] Specifically, the cover 42 and the filter mesh bag 43 may be separate structures, and can be attached and detached by, for example, a fastening structure, a magnetic attraction structure, or a screw-on structure, and the cover 42 and the filter mesh bag 43 can be cleaned after being removed and separated, further improving the thoroughness of cleaning the filtration device 40. In addition, by doing so, if the cover 42 or the filter mesh bag 43 breaks down, it can be replaced or repaired separately, which is advantageous for reducing the cost of replacing parts and improving repair efficiency.

[0064] As can be understood, the cover 42 and the filter mesh bag 43 may be rotatably connected via a pivot shaft, so that the cover 42 can rotate relative to the filter mesh bag 43 to open and close the storage cavity, which is convenient to operate.

[0065] Specifically, as shown in Figures 9 and 14, the cover 42 and the filter mesh bag 43 are rotatably connected via a pivot mechanism, and the cover 42 and the filter mesh bag 43 are connected via an attachment structure. In this way, when the storage cavity is opened by the cover 42 and the filter mesh bag 43, the cover 42 and the filter mesh bag 43 do not separate from each other, preventing the cover 42 and the filter mesh bag 43 from separating and being lost. Furthermore, the attachment structure ensures that the cover 42 and the filter mesh bag 43 are securely connected to each other, improving the reliability of closing the storage cavity and facilitating operation, thereby improving user satisfaction.

[0066] Furthermore, the filtering device 40 is removably mounted in the washing tank 22, so that the filtering device 40 can be removed from the washing tank 22 for cleaning, repair or replacement, which is simple and convenient to operate.

[0067] 15, the filter 40 may be located at the bottom of the inside of the washing tank 22 of the base station 20, which is advantageous for improving the thoroughness with which the filter 40 filters the liquid in the washing tank 22. In addition, the filter 40 has filter holes in the upper cover 42 and a mesh in the lower filter mesh bag 43, allowing the upper and lower layers to smoothly pass the liquid through the filter 40 and facilitating air circulation. This prevents water from remaining between the filter and the bottom of the washing tank if it cannot be drained in a timely manner, which can cause odors over time.

[0068] The filtration device 40 may be located on at least one side of the washing tank 22, i.e., the filtration device 40 may be installed only on the bottom of one side of the washing tank 22, or the filtration device 40 may be installed on the bottom of both sides of the washing tank 22. Different installation positions of the filtration device 40 can meet the needs of different structures of the filtration device 40 and different filtration efficiencies of the washing tank 22, and expand the scope of use of the product.

[0069] Furthermore, the bottom of the interior of the cleaning tank 22 is sloped downward from the side away from the filter device 40 to the side closer to the filter device 40, thereby providing a good guiding effect and helping the liquid in the cleaning tank 22 to flow quickly and thoroughly into the filter device 40, thereby improving filtering efficiency and effect.

[0070] In the above embodiment, the cover 42 is located above the filter mesh bag 43, i.e., the filter mesh bag 43 is located below the cover 42, so that the liquid flowing in the storage cavity is filtered again by the filter mesh bag 43 and then discharged to the outside of the storage cavity by the filter mesh bag 43, i.e., the liquid in the storage cavity is discharged by the filter mesh bag 43, thereby realizing the waste liquid discharge operation for the cleaning tank 22.

[0071] Furthermore, the cleaning tank 22 is provided with a waste liquid discharge outlet 211, which is connected to the filter mesh bag 43 and the external environment. For example, the waste liquid discharge outlet 211 is located near the filter mesh bag 43 and is connected to the external environment, so that the liquid discharged from the filter mesh bag 43 can be discharged to the external environment through the waste liquid discharge outlet. Furthermore, as shown in Figure 6, the waste liquid in the cleaning tank 22 flows into the storage cavity through the filter mesh 42 and is discharged from the filter mesh bag 43 to the external environment through the waste liquid discharge outlet 211.

[0072] Furthermore, the base station 20 may further include a waste liquid discharge mechanism, which communicates with the waste liquid discharge port 211 and transports the waste liquid in the accommodating cavity to the outside of the washing tank 22 through the drain port and the waste liquid discharge port 211 by suction action, pumping action, etc., by the waste liquid discharge mechanism, thereby further improving the waste liquid discharge effect of the base station 20. Specifically, the waste liquid discharge mechanism may include a fan assembly or a pump assembly, or a waste liquid discharge assembly that meets the requirements, and the present invention is not specifically limited.

[0073] Furthermore, the base station 20 may further include a collection box, which is connected to the wastewater outlet 211 via a wastewater discharge mechanism, so that the wastewater in the cleaning tank 22 is transported to the collection box via the storage cavity, the filter mesh bag 43, the wastewater outlet 211, and the wastewater discharge mechanism, preventing foreign matter in the cleaning tank 22 from overflowing, affecting the cleaning effect of the cleaning element, and polluting the working environment. The installation of the collection box is advantageous for ensuring a good cleaning effect and for centrally disposing of the collected foreign matter.

[0074] In some possible embodiments of the present invention, as shown in Figures 9, 10, 12 and 14, the filter mesh bag 43 comprises a support frame 431 and a mesh material 432, the support frame 431 is connected to the cover body 42 and has a drainage area that connects the inside and outside of the storage cavity, and the mesh material 432 is connected to the support frame 431 and is located in the drainage area.

[0075] Here, the installation of the support frame 431 allows the support frame 431 and the cover body 42 to be connected to form a certain space, which further surrounds the storage cavity. The installation of the drainage area allows the liquid inside the storage cavity to be discharged to the outside of the storage cavity through the drainage area. The installation of the mesh material 432 in the drainage area allows the liquid discharged from inside the storage cavity to the outside of the storage cavity to be filtered through the drainage area, further realizing the secondary filtration operation of the filtration device 40, thereby improving the cleanliness of the liquid discharged to the outside of the storage cavity by the filtration device 40 and preventing clogging of the sewage discharge pipe.

[0076] As can be appreciated, the wastewater outlet 211 may be connected to a drainage area, so that liquid within the containment cavity is filtered through the mesh material 432 as it flows through the drainage area and into the wastewater outlet.

[0077] 9 and 14, in the above embodiment, the number of drainage areas is at least one, and the mesh material 432 corresponds to the drainage areas one-to-one, that is, the number of drainage areas may be one, two, three, or other numbers, thereby meeting different drainage efficiency needs of the filter device 40. The mesh material 432 corresponds to the drainage areas one-to-one, so that each drainage area is provided with a mesh material 432 to perform filtering, and further ensure the cleanliness of the liquid discharged out of the receiving cavity by the filter device 40.

[0078] Specifically, the drainage area may be located at the bottom of the support frame 431, which reduces the problem of some liquid remaining in the receiving cavity and being unable to be drained, and is advantageous for improving the drainage efficiency and thoroughness of the filtration device 40. Here, the shapes of the multiple drainage areas may be the same or different, and the mesh sizes of the mesh material 432 corresponding to the different drainage areas may be the same or different.

[0079] Here, the mesh material 432 may be made of a metal material or a non-metal material. For example, the mesh material 432 may be made of stainless steel wire, nylon-based mesh material 432, glass fiber-based mesh material 432, etc. Specifically, the material, thickness, mesh size, etc. of the mesh material 432 may be reasonably selected according to specific needs.

[0080] In some possible embodiments of the present invention, the support frame 431 is a plastic member, and the support frame 431 is connected to the mesh material 432 by post-molding. That is, the filter mesh bag 43 is manufactured by a post-molding process, which simplifies the installation of the connection 426 between the support frame 431 and the mesh material 432, meets the design need for a compact structure for the filter mesh bag 43, and is beneficial to improving the reliability and strength of the connection between the support member and the mesh material 432, reducing the occurrence of the mesh material 432 detaching from the support member, extending the service life of the filter mesh bag 43, and improving the reliability of the filtration device 40.

[0081] In some possible embodiments of the present invention, as shown in Figures 9 and 11, the support frame 431 further has a second filter hole 433 connecting the inside and outside of the storage cavity, and the second filter hole 433 is located above the mesh material 432.

[0082] In this embodiment, the installation of second filter hole 433 increases the water passing rate of filter device 40 and further improves the filtering efficiency of filter device 40. For example, when the receiving cavity is closed, liquid outside the receiving cavity can flow into the receiving cavity through first filter hole 421 in cover 42 and second filter hole 433 in support frame 431. Because second filter hole 433 is located above mesh material 432, the liquid in the receiving cavity can be filtered by mesh material 432 and then flow out of the receiving cavity, thereby improving the filtering efficiency of filter device 40.

[0083] Furthermore, when small solid particles on the mesh material 432 clog the mesh material 432, the first filter hole 421 in the cover 42 and the second filter hole 433 in the support frame 431 can form a liquid circulation passage. Because the second filter hole 433 is located above the mesh material 432 and below the first filter hole 421, the mesh material 432 can be cleaned, thereby reducing the occurrence of the mesh material 432 being clogged with foreign matter and ensuring good filtering performance of the filtering mesh bag 43.

[0084] Specifically, the number of second filter holes 433 may be one, two, or other numbers, thereby meeting the needs of different water passage rates of the filter mesh bag 43. The filtration accuracy of the second filter holes 433 may be smaller than the filtration accuracy of the mesh material 432, thereby facilitating the processing of the second filter holes 433, and the filtration accuracy of the second filter holes 433 may be greater than, equal to, or smaller than the filtration accuracy of the first filter holes 421.

[0085] 9, the support frame 431 includes a bottom plate 434 and a side plate 435 connected to each other, and the side plate 435 is connected to the cover 42. That is, the bottom plate 434, the side plate 435, and the cover 42 surround the receiving cavity, and the bottom plate 434 faces the cover 42 and is located at the bottom of the filter device 40. Here, a drainage area is provided in the bottom plate 434, so that the liquid in the receiving cavity can flow out of the receiving cavity through the drainage area located at the bottom of the filter device 40, thereby discharging the waste liquid.

[0086] Here, the second filter hole 433 may be located on the side plate 435, or the second filter hole 433 may be located on the bottom plate 434, or the second filter hole 433 may be located on both the side plate 435 and the bottom plate 434 at the same time, thereby meeting the needs of different water passage volumes of the filter mesh bag 43. Specifically, when the second filter hole 433 is located on the side plate 435, it can be understood that the second filter hole 433 is located on the side of the receiving cavity, and when the second filter hole 433 is located on the bottom plate 434, it can be understood that the second filter hole 433 is located on the bottom of the receiving cavity.

[0087] Specifically, when the second filter hole 433 is located on the bottom plate 434, a boss structure is formed on the bottom plate 434, and the second filter hole 433 is opened in the boss structure, so that the second filter hole 433 is located above the mesh material 432.

[0088] 8 to 14, in some possible embodiments of the present invention, the filtering device 40 further includes a float assembly 41 provided on the cover 42, and the float assembly 41 includes a float body 411 that floats on the liquid surface due to the action of the liquid, and one of the non-contact sensing element and the non-contact sensed element is provided on the float body 411, and the other is provided on the base station 20. When the filtering device 40 is provided in the cleaning tank 22 and the liquid level in the cleaning tank 22 is within a specific range, the non-contact sensing element can sense the non-contact sensed element.

[0089] Here, the non-contact sensing element is used to detect the non-contact sensed element, for example, the non-contact sensing element is used to detect the signal parameters transmitted by the non-contact sensed element, one of the non-contact sensing element and the non-contact sensed element is provided on the float body 411, and the other is provided on the base station 20, for example, on the base station body 21, that is, one of the non-contact sensing element and the non-contact sensed element moves along with the floating of the float body 411, and the other is provided at a fixed position on the base station body 21, for example, the other is provided at the target mounting position of the filtration device 40 on the base station body 21, in this way, during the process of the float body 411 floating up and down due to the action of the liquid, the signal parameters transmitted by the non-contact sensed element detected by the non-contact sensing element are different, and further based on the different signal parameters, the liquid level position range in the cleaning tank 22 can be identified and whether the filtration device 40 is located in the cleaning tank can be determined.

[0090] In an embodiment of the present invention, the float assembly 41 may be arranged outside the accommodating cavity, which can prevent the accommodating cavity from interfering with the floating range of the float assembly 41 and is advantageous in improving the detection accuracy of the float assembly 41.

[0091] Furthermore, when the filtering device 40 is installed in the washing basin 22 of the base station 20 and the liquid level in the washing basin 22 is within a certain range, the non-contact sensing element can sense the non-contact sensed element, indicating that the filtering device 40 is correctly installed in the base station body 21 and the water level in the washing basin 22 is within a certain range, for example, the water level in the washing basin 22 is at a safe position and does not affect the normal operation of the base station. That is, the detection device consisting of the float assembly 41, the non-contact sensing element, and the non-contact sensed element can simultaneously detect the liquid level in the washing basin 22 and the current position of the filtering device 40, which expands the function of the float assembly 41 and simplifies the installation of the detection device, i.e., simplifies the product structure and the system software program and algorithm, effectively reduces costs, and is suitable for popularization and application.

[0092] In other words, the base station 20 of an embodiment of the present invention has a float assembly 41 installed in the filtering device 40, and by cooperating with a non-contact sensing element and a non-contact sensed element, the base station 20 can simultaneously detect whether the filtering device 40 is attached to the washing tank 22 and whether the water level in the washing tank 22 is within the normal range, thereby simplifying the structure of the base station 20.

[0093] Furthermore, the float assembly 41 is provided on one side of the filtering device 40, thus realizing good detection between the non-contact sensing element and the non-contact sensed element, which is advantageous for improving detection accuracy.

[0094] Specifically, on the one hand, the non-contact sensed element is provided on the float body 411 and the non-contact sensing element is provided on the base station body 21, and on the other hand, the non-contact sensing element is provided on the float body 411 and the non-contact sensed element is provided on the base station body 21. The different installation positions of the non-contact sensed element and the non-contact sensing element can meet the different structural and performance needs of the non-contact sensed element and the non-contact sensing element, thereby expanding the use range of the product.

[0095] As can be understood, the non-contact sensed element may include a magnetic member, a light-emitting member, or other member that meets the requirements, and the non-contact sensing element may include a magnetic sensing member, a light-sensing member, or other member that meets the requirements. The non-contact sensed element or non-contact sensing element provided on the float body 411 may be provided inside or outside the float body 411, or at any other position that meets the requirements, and the present invention is not specifically limited thereto.

[0096] Furthermore, the base station 20 determines that the high water level of the washing tank 22 is a first predetermined threshold, and the specific range is below the first predetermined threshold. That is, when the liquid level in the washing tank 22 is below the high water level of the washing tank 22 and the filtration device 40 is installed in the washing tank 22, the non-contact sensing element can sense the non-contact sensed element, indicating that the filtration device 40 is installed in the washing tank 22 of the base station body 21 and the water level in the washing tank 22 is below the high water level. The liquid in the washing tank 22 will not affect the normal operation of the base station 20, for example, there is no risk of the dirty liquid in the washing tank 22 overflowing, and the dirty liquid in the washing tank 22 will not contaminate the cleaning assembly 30, etc. In this case, the washing tank 22 can continue to contain foreign matter and dirty liquid.

[0097] Conversely, if the filtration device 40 is not installed in the washing tank 22 of the base station main body 21, or if the filtration device 40 is installed in the washing tank 22 of the base station main body 21 and the water level in the washing tank 22 is higher than a certain range, the non-contact sensing element will be unable to sense the non-contact sensed element, indicating that the filtration device 40 is not installed in the designated position or the water level in the washing tank 22 is high, which may affect the normal operation of the base station 20. At this time, the user can be alerted to install the filtration device 40 in the base station main body 21 or to stop putting foreign objects and dirty liquid into the washing tank 22.

[0098] In an embodiment of the present invention, the high water level value of the washing tub 22 may be a fixed value, i.e., the first predetermined threshold may be a fixed value, for example, the high water level value of the washing tub 22 may be 10 mm, 20 mm, 30 mm, 50 mm, or other values ​​that meet the requirements. Alternatively, the high water level value of the washing tub 22 may be related to the height of the washing tub 22, for example, the high water level value of the washing tub 22 may be 0.95, 0.90, 0.85 times the height of the washing tub 22, or other values ​​that meet the requirements.

[0099] As can be understood, the base station 20 further includes a controller, and the cleaning assembly 30 further includes a liquid dispenser 34 electrically connected to the controller. When the cleaning members of the cleaning assembly 30 are cleaning the cleaning system 150 of the cleaning robot 10, the liquid dispenser 34 of the cleaning assembly 30 can be simultaneously operated to spray cleaning liquid onto the cleaning system 150 and clean the cleaning system 150 using the impact force of the cleaning liquid, or to wet the cleaning system 150 using the cleaning liquid, thereby improving the cleaning effect when the cleaning members are cleaning the cleaning system 150. Here, since the cleaning assembly 30 is located above the cleaning tub 22, the cleaning liquid is collected in the cleaning tub 22 after the cleaning system 150 has been cleaned.

[0100] The non-contact sensing element is electrically connected to the controller of the base station 20, thereby outputting the sensing result to the controller. As can be understood, the controller of the base station 20 can exchange information with the cleaning robot 10, a remote control terminal (APP), or the like. In this way, the controller can rationally control the operation of other components of the cleaning system 150 based on the sensing result of the non-contact sensing element. For example, the controller can control the operation state of the liquid dispensing device 34 based on the sensing result. For example, if the non-contact sensing element detects the non-contact sensed element, the controller controls the liquid dispensing device 34 to continue operating. If the non-contact sensing element does not detect the non-contact sensed element, the controller controls the liquid dispensing device 34 to stop operating, thereby preventing the liquid in the cleaning tank 22 from affecting the normal operation of the base station 20. Furthermore, if the non-contact sensing element does not sense the non-contact sensed element, the controller can further send a warning signal to remind the user to check whether the filtering device 40 is installed in the specified position, thus greatly improving the reliability and safety of the operation of the base station 20 and making it suitable for popularization and application.

[0101] Furthermore, as shown in Figure 5, the base station 20 further includes a liquid supply section 50 and a liquid delivery passage, the end of which is connected to the liquid supply section 50 and the other end of which is connected to the liquid delivery device 34, so that the liquid supply section 50 delivers cleaning liquid to the liquid delivery device 34 via the liquid delivery passage.

[0102] In some possible embodiments of the present invention, the non-contact sensed element is provided on the float body 411 and the non-contact sensing element is provided on the base station body 21 .

[0103] Furthermore, the non-contact type sensed element includes a magnetic member, and the non-contact type sensing element includes a magnetic sensing element, where the magnetic member is provided in the float body 411, and the magnetic sensing element is provided in the base station body 21. Specifically, the magnetic member may be provided inside the float body 411. This avoids the problem of the magnetic member being wetted and corroded by liquid when the magnetic member is provided outside the float body 411, causing malfunctions and interfering with the transmission strength of the signal, and is also advantageous to improving the service life of the magnetic member and the stability and reliability of the transmission signal.

[0104] That is, the filtering device 40 of the present invention is provided with a float assembly 41, the filtering device 40 is installed in the cleaning tank 22 of the base station 20, the magnetic member is installed inside the float body 411, and the magnetic sensing element is installed in the base station body 21. When the magnetic member floats within the detection range of the magnetic sensing element due to the action of the liquid, that is, when the magnetic sensing element can detect the signal of the magnetic member, it indicates that the filtering device 40 is installed in the cleaning tank 22 and the liquid level in the cleaning tank 22 is within a certain range, for example, the liquid level is below the high water level of the cleaning tank 22. At this time, the control device controls the liquid dispensing device 34 to continue operating and the cleaning assembly 30 to continue operating to clean the cleaning system 150 of the cleaning robot 10. If the magnetic element floats out of the detection range of the magnetic sensing element, i.e., if the magnetic sensing element can no longer detect the signal from the magnetic element, it indicates that the liquid level in the washing tub 22 may have reached or exceeded the high water level of the washing tub 22, which may affect the normal operation of the base station 20, or that the filter 40 may not be installed correctly in the washing tub 22. In this case, the control device can control the base station 20 to stop operating, such as the liquid dispenser 34, to prevent the liquid level in the washing tub 22 from continuing to rise and overflow. Furthermore, the control device can send a warning signal to remind the user to check whether the filter 40 is installed in the correct position. This simple structure, easy implementation, low cost, and suitable for widespread use are thus realized.

[0105] Specifically, the magnetic member may be a magnetic strip, a magnetic ring, or other magnetic structure that meets the requirements, and the magnetic sensing element may be a magnetic sensing sensor or other structure that meets the requirements, specifically, the magnetic sensing element may be a ring-shaped structure, a sheet-shaped structure, or other structure that meets the requirements.

[0106] Furthermore, the number of magnetic sensing elements may be one, two or more, and two or more magnetic sensing elements may be provided at different positions on the base station body 21, which can sense when different heights of liquid level in the washing tank 22 reach different specific ranges, i.e., can detect different heights of liquid level in the washing tank 22, thereby expanding the range of use of the product.

[0107] In some possible embodiments of the present invention, as shown in Figures 8, 10 and 13, the cover body 42 comprises a cover body 422 and an enclosure fence 423, the cover body 422 is connected to the filter mesh bag 43, and a first filter hole 421 is opened in the cover body 42, and the enclosure fence 423 and a part of the outer edge of the cover body 422 are connected to each other to surround and form an installation space located outside the receiving cavity, that is, the enclosure fence 423 is distributed at the edge position of the cover body 422, and the float body 411 is located horizontally within the installation space.

[0108] In this embodiment, the float body 411 is located outside the receiving cavity, so that the receiving cavity does not interfere with the float body's movement range, which is advantageous to improving the accuracy of the float assembly 41 detecting the liquid level in the cleaning tank 22. Furthermore, the float body 411 can be repaired or inspected outside the receiving cavity, facilitating user operation. The first filtering hole 421 is opened in the cover body 422, which indicates that the first filtering hole 421 is located outside the installation space. During the wastewater discharge process, large particles of foreign matter may pass through the first filtering hole 421 and remain in the cover body 422. The installation of the enclosure fence 423 provides a certain protection for the float body 411, preventing large particles of foreign matter on the cover body 422 from affecting the floating accuracy of the float body 411 and further improving the detection accuracy of the float assembly 41.

[0109] In some possible embodiments of the present invention, as shown in Figures 8, 10, 11 and 12, the float assembly 41 further includes a mounting frame 412 and a connecting member 413, wherein the mounting frame 412 is provided on the cover body 42, and the connecting member 413 is connected to the mounting frame 412 and one end of the float body 411, thereby allowing the float body 411 to rotate relative to the mounting frame 412. That is, the float body 411 floats on the liquid surface due to the action of the liquid, and the float body 411 can swing approximately in an up-and-down direction relative to the mounting frame 412; that is, the float body 411 swings toward the lid body 42 relative to the mounting frame 412, and also swings away from the lid body 42, and further moves the non-contact sensing element provided on the float assembly 41 to swing up and down relative to the lid body 42, and cooperates with the non-contact sensing element provided on the base station body 21 to detect the liquid level position in the cleaning tank 22 and whether the filtration device 40 is installed in the cleaning tank 22.

[0110] Specifically, a through hole is provided in the mounting frame 412, a mounting hole is provided at one end of the float body 411, and a connecting member 413 is drilled into the mounting hole and the through hole, thereby allowing one end of the float body 411 to be rotatably connected to the mounting frame 412, where the connecting member 413 may be a rotation axis, a hinge pin, or other connecting member 413 that meets the requirements, and the axis along which the float body 411 rotates relative to the mounting frame 412 is parallel to the plane on which the bottom wall of the cleaning tank 22 is located, for example, the axis of the rotation axis is parallel to the plane on which the bottom wall of the cleaning tank 22 is located, in this way the float assembly 41 can swing only along a direction almost vertical to the mounting frame 412, thereby realizing accurate measurement of the height of the liquid level position.

[0111] Furthermore, in an embodiment of the present invention, the mounting frame 412 may be detachably mounted on the cover 42, i.e., the mounting frame 412 allows the float assembly 41 to be quickly and easily mounted on the filtering device 40, and the float assembly 41 is arranged on the corresponding product or scene as a standardized module, thereby expanding the range of use of the float assembly 41. Furthermore, the installation of the mounting frame 412 makes it easy for the user to remove the float assembly 41 from the cover 42 of the filtering device 40 for repair and cleaning, greatly improving the user experience.

[0112] In another embodiment of the present invention, the mounting frame 412 is formed on the cover 42, i.e., the mounting frame 412 and the cover 42 are an integral structure, which facilitates production and simplifies the assembly operation of the mounting frame 412 and the cover 42, which is advantageous to improving production efficiency and reducing costs, and also improves the reliability of the connection between the mounting frame 412 and the cover 42.

[0113] In the above embodiment, the mounting frame 412 may be disposed within the mounting space. For example, the mounting frame 412 may be removably mounted on the enclosure fence 48 or may be formed on the enclosure fence 48. The mounting frame 412 may be removably mounted on a portion of the outer edge of the cover 42 or may be formed on a portion of the outer edge of the cover 42. As can be appreciated, the float assembly 41 and the cover 42 may be integrally formed, which is advantageous for further improving production efficiency and reducing manufacturing costs. For example, the cover 42 and the float assembly 41 may be integrally molded, and the magnetic member may be disposed outside the float assembly 41. Alternatively, the cover 42 and the float assembly 41 may both be injection-molded components, and the magnetic member may be disposed inside the float assembly 41 and integrally molded with the cover 42 during the injection molding process, further simplifying the assembly process.

[0114] In some possible embodiments of the present invention, as shown in Figures 8 and 12, the filtering device 40 is provided with a mistake-proofing stopper 425 and an indicator 424, where the mistake-proofing stopper 425 is adapted to abut against the base station 20 and the indicator 424 is used to indicate whether the filtering device 40 is installed in the specified position.

[0115] 15 and 16, an attachment tank is provided at the bottom of the cleaning tank 22, and the lid 42 is suitable for being positioned within the attachment tank, i.e., the receiving cavity is located within the attachment tank. A first error-proofing positioning member 241 and a second error-proofing positioning member 242 are provided inside the cleaning tank 22 from top to bottom, i.e., the first error-proofing positioning member 241 is positioned above the second error-proofing positioning member 242. As shown in FIGS. 8 and 12, the filtration device 40 is provided with an error-proofing stopper 425 and an indicator 424. When the error-proofing stopper 425 is aligned with the second error-proofing positioning member 242, the indicator 424 indicates that the filtration device 40 is attached in the specified position, and when the error-proofing stopper 425 is aligned with the first error-proofing positioning member 241, the indicator 424 indicates that the filtration device 40 is not attached in the specified position.

[0116] The provision of indicator 424 provides a good indication, so that if indicator 424 shows that filtration device 40 is not installed in the specified position, the user can timely adjust the installation position of filtration device 40 relative to the installation tub of washing tub 22, and determine whether filtration device 40 is installed correctly in the appropriate position in washing tub 22 based on the indication of indicator 424. That is, the cooperation of the two error-proofing positioning members, error-proofing stopper 425 and indicator 424, makes it possible to quickly and accurately determine whether filtration device 40 is installed correctly in the appropriate position in washing tub 22, thereby alerting the user to perform the appropriate operation, and the structure is simple and easy to use.

[0117] In other words, the base station 20 of the present invention is provided with two error-proofing positioning members, namely, the first error-proofing positioning member 241 and the second error-proofing positioning member 242, on the base station body 21, and with an error-proofing stopper 425 and an indicator 424 on the filtering device 40. This allows the filtering device 40 to filter the liquid discharged from the cleaning tank 22, detect the liquid level in the cleaning tank 22, and whether the filtering device 40 is attached to the specified position relative to the cleaning tank 22, and at the same time indicate whether the filtering device 40 is attached accurately to the specified position relative to the cleaning tank 22. This expands the functions of the filtering device 40, diversifies the functions of the filtering device 40, and meets the need for a compact design for the base station 20.

[0118] Furthermore, the base station body 21 may be provided with other Poka-Yoke positioning members in addition to the first Poka-Yoke positioning member 241 and the second Poka-Yoke positioning member 242. That is, the number of Poka-Yoke positioning members may be at least three, for example, three, four, or any other number that meets the requirements. A different number of Poka-Yoke positioning members can meet the needs of different mounting positions of the filtration device 40 relative to the cleaning tank 22 and different structures of the filtration device 40. As can be understood, in some embodiments, the number of Poka-Yoke positioning members may be one. That is, when the Poka-Yoke positioning member is aligned with the Poka-Yoke stopper 425, the indicator 424 indicates that the filtration device 40 is mounted in the predetermined position; otherwise, the indicator 424 indicates that the filtration device 40 is not mounted in the predetermined position, which is advantageous for further simplifying the structure.

[0119] 16 , the first and second Pokayoke positioning members 241 and 242 are provided above the mounting tank; for example, the first and second Pokayoke positioning members 241 and 242 are provided on the inner wall of the cleaning tank 22, with the first Pokayoke positioning member 241 located above the second Pokayoke positioning member 242. The indicator 424 may have a planar structure located above the Pokayoke stopper 425; for example, the indicator 424 is the top surface of the filtration device. When the user installs the filtration device 40, if the user simply places the filtration device 40 in the mounting tank without applying downward pressure to the filtration device 40, the Pokayoke stopper 425 will abut against the first Pokayoke positioning member 241. In this case, the planar structure above indicator 424, i.e., poka-yoke stopper 425, is higher than top 221 of cleaning tub 22, indicating that filter 40 is not installed in the correct position. That is, the sidewall of filter 40 adjacent to the interior of cleaning tub 22 protrudes from the bottom of cleaning tub 22. In this case, liquid at the bottom of cleaning tub 22, located outside the installation area, is blocked by the sidewall and cannot flow smoothly through filter 40. For example, liquid cannot flow into the receiving cavity through lid 42. Therefore, filter 40 must be reinstalled. Because indicator 424 clearly protrudes from cleaning tub 22, it can alert the user that filter 40 is not installed in the correct position. Upon receiving this notification, the user applies downward pressure to the filter 40, moving the Pokayoke stopper 425 downward and fitting it into the second Pokayoke positioning member 242, i.e., the Pokayoke stopper 425 is positioned on the underside of the second Pokayoke positioning member 242. At this time, the indicator 424, i.e., the planar structure of the Pokayoke stopper 425, is located within the cleaning tank 22, i.e., the planar structure is located below the top 221 of the cleaning tank 22 or is flush with the top 221, indicating that the filter 40 is installed in the specified position. At this time, liquid at the bottom of the cleaning tank 22, which is located outside the installation tank, can smoothly flow through the filter 40 for filtration, i.e., the liquid can smoothly flow into the receiving cavity via the lid 42.

[0120] Here, indicator 424 is a planar structure located above poka-yoke stopper 425. A planar structure makes it easy to compare the planarity with other components and allows users to easily determine whether filtration device 40 is installed in the specified position. Planar structures are easy to process and implement, and are suitable for widespread use and application. Furthermore, the planar structure can be colored or equipped with an indicator light, etc., to further enhance attention and identification. For example, the planar structure can be painted yellow, red, or other bright colored pigment, allowing users to quickly and accurately locate the planar structure and determine whether filtration device 40 is installed in the specified position by checking whether the planar structure protrudes from top 221 of cleaning tub 22.

[0121] In other words, the base station 20 of an embodiment of the present invention has an installation tank at the bottom of the cleaning tank 22, and by utilizing the positional relationship between the planar structure of the top of the filtration device 40 and the top 221 of the cleaning tank 22, for example, whether the top surface of the filtration device 40 protrudes from the cleaning tank 22, it can determine whether the filtration device 40 is installed correctly in the specified position relative to the cleaning tank, and indicate that the filtration device 40 is not installed in the specified position relative to the cleaning tank 22. Furthermore, when a situation occurs in which the non-contact sensing element senses the non-contact sensed element, the installation accuracy of the filtration device 40 is improved, and the structure is simple, easy to implement, has good indication effect, and the indication results are accurate, making it easy for the user to determine whether the filtration device 40 is installed in the specified position.

[0122] Here, by installing the first error-proofing positioning member 241, the second error-proofing positioning member 242 and the error-proofing stopper 425, it is possible to restrict the movement of the filtration device 40 relative to the cleaning tank 22, for example, to restrict the movement of the filtration device 40 in a vertically upward direction relative to the cleaning tank 22, which is advantageous for realizing pre-positioning of the filtration device 40 during the installation process and for realizing a secure connection between the filtration device 40 and the base station main body 21, and the structure is simple and easy to implement.

[0123] In this embodiment of the present invention, the second error-proofing positioning member 242 can fix the filtering device 40 when the filtering device 40 is correctly installed in the installation tub. Furthermore, by positioning the first error-proofing positioning member 241 above the second error-proofing positioning member 242, if the error-proofing stopper 425 is pushed up by the first error-proofing positioning member 241, it is possible to more clearly indicate to the user that the filtering device 40 is not correctly installed in the cleaning tub 22, which is advantageous to improving the reliability of the operation of the base station 20.

[0124] In the above embodiment, as shown in Figures 8 and 12, the filtering device 40 has a connection part 426 connected to the cover 42, which is located on the side of the cover 42 facing away from the filter mesh bag 43. That is, the connection part 426 is located outside the receiving cavity and extends to above the mounting tank. The error-proofing stopper 425 is provided at the connection part 426. This installation avoids the problem of the error-proofing stopper 425 being located within the mounting tank and causing a large gap between the filtering device 40 and the mounting tank, preventing some liquid from flowing through the filtering device 40 and affecting the filtering effect. That is, the error-proofing stopper 425 located above the mounting tank is aligned with the second error-proofing positioning member 242, which is advantageous to improve the adhesion between the filtering device 40 and the mounting tank and ensure a better filtering effect.

[0125] Here, one end of connecting portion 426 is connected to cover 42, and a flat structure is provided at one end of connecting portion 426 that is remote from cover 42, i.e., the flat structure is located on the top of connecting portion 426. In this way, connecting portion 426 can realize the installation of error-proofing stopper 425 and indicator 424, and the structure is compact, thereby meeting the design needs of a small base station volume and a compact structure. Furthermore, connecting portion 426 is connected to cover 42, for example, connecting portion 426 and cover 42 are integrally molded, which is advantageous to improving the reliability of the connection between connecting portion 426 and cover 42, and also facilitates production, simplifies the assembly process, and reduces manufacturing costs.

[0126] In the above embodiment, the Poka-Yoke stopper 425 includes a snap-fit ​​structure, and as shown in FIG. 16, the first Poka-Yoke positioning member 241 and the second Poka-Yoke positioning member 242 are both elastic members, where the first Poka-Yoke positioning member 241 has a first abutting portion 243 suitable for abutting against the Poka-Yoke stopper 425, and the second Poka-Yoke positioning member 242 has a second abutting portion 245 suitable for abutting against the Poka-Yoke stopper 425, and the first abutting portion 243 is The first and second abutment portions 243 and 245 are positioned above the second abutment portion 245, and with this arrangement, the Poka-Yoke stopper 425 abuts against the first and second abutment portions 243 and 245, thereby restricting the movement of the filtration device 40 relative to the base station main body 21. The elasticity of the first and second Poka-Yoke positioning members 241 and 242 can be utilized to achieve pre-positioning and detachable connection between the filtration device 40 and the base station main body 21.

[0127] For example, during the assembly process of the filtration device 40, when the snap-fit ​​structure of the Poka-Yoke stopper 425 abuts against the first abutment portion 243 of the first Poka-Yoke positioning member 241, the planar structure located above the connection portion 426 of the filtration device 40 is higher than the tank top 221 of the cleaning tank 22, indicating that the filtration device 40 is not installed in the specified position. Because the error-proofing positioning member 24 is an elastic member, the first error-proofing positioning member 241 overcomes the elastic force acting on the error-proofing stopper 425 and continues to press the filtration device 40 downward, causing the snap-fit ​​structure of the error-proofing stopper 425 to abut against the second abutment portion 245 of the second error-proofing positioning member 242. The planar structure above the connection portion 426 of the filtration device 40 is positioned within the cleaning tub 22, for example, flush with the top portion 221 of the cleaning tub 22, or lower than the top portion 221 of the cleaning tub 22, indicating that the filtration device 40 is installed in the specified position. The second error-proofing positioning member 242 uses the elastic force acting on the error-proofing stopper 425 to securely and stably restrict the position of the filtration device 40 within the installation tub, ensuring a secure connection between the filtration rotation shaft and the base station main body 21.

[0128] 8, 9 and 14, protrusion structures 44 are provided on the outer walls of the cover 42 and / or the filter mesh bag 43, i.e., protrusion structures 44 are provided on the outer wall of the filtration device 40, and correspondingly, recessed groove structures that fit the protrusion structures 44 are provided on the inner wall of the mounting tank, so that the recessed groove structures can be aligned with the protrusion structures 44, thereby enabling pre-positioning of the filtration device 40 and the mounting tank when they are assembled, which is advantageous to improving the assembly efficiency of both. As can be understood, the protrusion structures 44 may be provided on the outer wall of the filtration mesh bag 43.

[0129] Specifically, the protrusion structure 44 may be provided on the cover 42, or the protrusion structure 44 may be provided on the filter mesh bag 43, or the protrusion structure 44 may be provided on both the cover 42 and the filter mesh bag 43 at the same time. Different installation positions of the protrusion structure 44 can meet the needs of different structures of the cover 424 and the filter mesh bag 43, thereby expanding the range of use of the product. Specifically, as shown in FIG. 8, the protrusion structure 44 is provided on the cover 42.

[0130] 16 , the first error-proofing positioning member 241 further includes a first support portion 244 connecting the first abutment portion 243 and the base station main body 21, which is advantageous for improving the reliability of the connection between the first abutment portion 243 and the base station main body 21. The second error-proofing positioning member 242 further includes a second support portion 246 connecting the second abutment portion 245 and the base station main body 21, which is advantageous for improving the reliability of the connection between the second abutment portion 245 and the base station main body 21. As can be understood, the first support portion 244 and the first abutment portion 243 may be an integral structure or separate structures, and the second support portion 246 and the second abutment portion 245 may be an integral structure or separate structures, i.e., the first error-proofing positioning member 241 may be an integral structure or separate structures, and the second error-proofing positioning member 242 may be an integral structure or separate structures. Here, the integrated structure is advantageous in that production is easy, the assembly process is simplified, and manufacturing costs are reduced, while the separate structure is advantageous in that repair and replacement costs are reduced. Furthermore, the first error-proofing positioning member 241 and the second error-proofing positioning member 242 may be integrated with the base station main body 21, which is advantageous in that processing is easy, the assembly process is simplified, and manufacturing costs are reduced.

[0131] Here, the first support portion 244 and / or the second support portion 246 may have an elastic bending structure, that is, by utilizing the elastic deformation of the bending structure, the first abutment portion 243 and / or the second abutment portion 245 can be moved relative to the base station body 21, whereby the first abutment portion 243 and / or the second abutment portion 245 can be securely and tightly abutted against the snap-fit ​​structure of the Poka-Yoke stopper 425, or the snap-fit ​​structure can be smoothly released from the first abutment portion 243 and / or the second abutment portion 245, resulting in a simple structure, easy to implement, and low cost.

[0132] Specifically, the bent structure may be at least one of L-shaped, Z-shaped, V-shaped, N-shaped, and M-shaped, and different shapes of the bent structure may meet the needs of different positions and structures of the first abutting portion 243 and / or the second abutting portion 245. Here, the first abutting portion 243 and / or the second abutting portion 245 may be a protrusion, a locking groove, or other structures that meet the requirements, and the present invention is not specifically limited thereto.

[0133] Specifically, as shown in FIG. 16, a rail trough 23 through which the cleaning assembly 30 passes is provided on the side wall of the mounting trough, and the first error-proofing positioning member 241 and the second error-proofing positioning member 242 are provided close to one end of the rail trough 23. In this way, the effect of the first error-proofing positioning member 241 and the second error-proofing positioning member 242 on the movement range of the cleaning assembly 30 can be reduced, which is advantageous in greatly expanding the movement range of the cleaning assembly 30 and improving the cleaning effect.

[0134] Although the present invention has been described with reference to the above-mentioned embodiments, it should be understood that the above-mentioned embodiments are provided for the purpose of illustration and description only, and are not intended to limit the scope of the present invention to the described embodiments. In addition, as can be understood by those skilled in the art, the present invention is not limited to the above-mentioned embodiments, and many variations and modifications can be made according to the teachings of the present invention, and all of these variations and modifications are included in the scope of the claims of the present invention. The protective scope of the present invention is defined by the appended claims and their equivalents. [Explanation of symbols]

[0135] 10 Cleaning robot, 110 Device body, 111 Front part, 112 Rear part, 120 Sensing system, 121 Identification device, 122 Shock absorber, 130 Control module, 140 Drive system, 141 Drive wheel module, 142 Driven wheel, 150 Cleaning system, 151 Dry cleaning system, 152 Edge brush, 153 Wet cleaning system, 1531 Cleaning head, 1532 Drive unit, 1533 Drive platform, 1534 Support platform, 160 Energy system, 170 Human-machine interaction system, 20 Base station, 21 Base station body, 211 Wastewater discharge port, 22 Cleaning tank, 221 Tank top, 23 Rail tank, 241 First error-proofing positioning member, 242 Second error-proofing positioning member, 243 First abutment, 244 First support part, 245 Second contact part, 246 Second support part, 30 Cleaning assembly, 31 First cleaning member, 32 Bracket, 33 Second cleaning member, 34 Liquid dispensing device, 40 Filtering device, 41 Float assembly, 411 Float body, 412 Mounting frame, 413 Connecting member, 42 Lid body, 421 First filter hole, 422 Lid body, 423 Enclosure fence, 424 Indicator, 425 Poka-yoke stopper, 426 Connecting part, 43 Filter mesh bag, 431 Support frame, 432 Mesh material, 433 Second filter hole, 434 Bottom plate, 435 Side plate, 44 Protrusion structure, 45 Connecting structure, 50 Liquid supply part

Claims

1. A filtering device used in a base station of a cleaning robot system, the base station is provided with a cleaning tank in which the filtration device is mounted; The filtering device includes a lid and a filtering mesh bag. The cover is disposed above the filter mesh bag and surrounds the receiving cavity together with the filter mesh bag, and the cover and the filter mesh bag are movably connected by a connecting structure to open and close the receiving cavity; A filtering device characterized in that the lid body has a plurality of first filtering holes, the first filtering holes filtering out some of the foreign matter contained in the liquid flowing into the storage cavity through the cleaning tank, and the storage cavity storing some of the solid foreign matter contained in the liquid flowing within the storage cavity.

2. 2. The filtering device of claim 1, wherein the connecting structure includes at least one of a pivot mechanism, a fastening structure, a magnetic attraction structure, and a threaded structure.

3. The filter mesh bag includes a support frame and a mesh material; 2. The filtering device according to claim 1, wherein the support frame is connected to the lid body and has a drainage area that connects the inside and outside of the storage cavity, and the mesh material is connected to the support frame and located in the drainage area.

4. 4. The filtering device according to claim 3, wherein the number of the drainage areas is at least one, and the mesh material and the drainage area correspond one-to-one.

5. 4. The filtering device according to claim 3, wherein the support frame is a plastic member, and the support frame is connected to the mesh material by secondary molding.

6. The filtering device according to claim 3, wherein the support frame further has a second filtering hole communicating the inside and outside of the accommodating cavity, the second filtering hole being located above the mesh material.

7. 7. The filtering device of claim 6, wherein the support frame comprises a bottom plate and a side plate connected together, the side plate being connected to the lid, the drainage area being provided in the bottom plate, and the second filtering hole being located in the side plate and / or the bottom plate.

8. The float assembly is further provided on the lid. The float assembly includes a float body that floats on the surface of the liquid due to the action of the liquid, one of the non-contact sensing element and the non-contact sensed element is provided on the float body, and the other is provided on the base station; The filtering device according to claim 1, characterized in that the filtering device is installed in the cleaning tank, and when the liquid level in the cleaning tank is within a specific range, the non-contact sensing element is capable of sensing the non-contact sensed element.

9. The non-contact sensing element is provided on the float body, 9. The filtering device of claim 8, wherein the non-contact sensing element is provided in the base station.

10. the non-contact type sensed element includes a magnetic member, 9. The filtering device of claim 8, wherein the non-contact sensing element comprises a magnetic sensing element.

11. The lid body includes a lid main body and an enclosure fence, The filtration device described in claim 8, characterized in that the lid body is connected to the filter mesh bag, and the first filter hole is opened in the lid body, the surrounding fence and a part of the outer edge of the lid body are connected to each other to surround and form an installation space located outside the accommodating cavity, and the float body is located in the installation space along the horizontal direction.

12. The float assembly further comprises a mounting frame and a connecting member; the mounting frame is detachably attached to the lid body or formed above the lid body, 9. The filtering device according to claim 8, wherein one end of the connecting member is rotatably connected to the mounting frame and the other end is connected to the float body.

13. 2. The filtering device according to claim 1, wherein the filtering device is provided with a mistake-proofing stopper and an indicator, the mistake-proofing stopper being adapted to abut against the base station, and the indicator indicating whether the filtering device is installed in a predetermined position.

14. The Poka-Yoke stopper has a snap-fit ​​structure, 14. The filtration device of claim 13, wherein the indicator comprises a planar structure positioned above the poka-yoke stopper.

15. The filtering device further comprises a connection portion; 15. The filtration device according to claim 14, wherein the connection portion is connected to the lid body and is located on a side of the lid body that is remote from the filter mesh bag, the Poka-Yoke stopper is provided on the connection portion, and the planar structure is provided on one end of the connection portion that is remote from the filter mesh.

16. 2. The filtering device according to claim 1, wherein a protrusion structure is provided on the outer wall of the lid and / or the filtering mesh bag.

17. A base station for cleaning a cleaning robot, comprising: a base station body provided with a cleaning tank; and a filtration device according to any one of claims 1 to 16, The base station is characterized in that the filtration device is removably mounted within the cleaning tank.

18. The base station according to claim 17, wherein a mounting tank is provided at the bottom of the cleaning tank, and a recessed tank structure is provided on the side wall of the mounting tank to match the protrusion structure of the filtering device.

19. 19. The base station of claim 18, wherein the cleaning tank is provided with a first error-proofing positioning member and a second error-proofing positioning member located above the installation tank and distributed from top to bottom, and when the error-proofing stopper of the filtering device is aligned with the first error-proofing positioning member, the planar structure of the filtering device is higher than the tank top of the cleaning tank, indicating that the filtering device is not installed in the specified position, and when the error-proofing stopper is aligned with the second error-proofing positioning member, the planar structure is located below the tank top or is flush with the tank top, indicating that the filtering device is installed in the specified position.

20. 20. The base station of claim 19, wherein the first and second error-proofing positioning members are elastic members, the first error-proofing positioning member has a first abutting portion and a first supporting portion connected together, the first abutting portion and the error-proofing stopper are suitable for abutting against each other, the first supporting portion is connected to the base station main body, and the second error-proofing positioning member has a second abutting portion and a second supporting portion connected together, the second abutting portion and the error-proofing stopper are suitable for abutting against each other and are located below the first abutting portion, and the second supporting portion is connected to the base station main body.

21. A cleaning robot system, A cleaning robot and a base station according to any one of claims 17 to 20, The cleaning robot system is characterized in that the cleaning robot is adapted to stay at the base station.

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