Base Station and Cleaning Robot System

Abstract

The present disclosure relates to the technical field of smart homes, and provides a base station and a cleaning robot system. The base station is configured to clean a cleaning system of a cleaning robot, and the base station includes a base station body and a cleaning assembly, and the cleaning assembly is movably mounted on the base station body, and the cleaning assembly includes a first cleaning member and a second cleaning member different from the first cleaning member, where the first cleaning member and the second cleaning member remove dirt on the cleaning system by interference with the cleaning system. After the cleaning assembly faces the position of the cleaning mechanism, the first cleaning member and the second cleaning member can contact the cleaning mechanism of the cleaning robot through the relative movement of the cleaning assembly and the cleaning mechanism to remove dirt on the cleaning mechanism.

Description

[Technical Field]

[0001] (Related Applications) This application claims priority to Chinese Patent Application No. 202110805968.1, filed on July 16, 2021, the entire contents of which are incorporated herein by reference.

[0002] The present disclosure relates to the technical field of smart homes, and in particular to base stations and cleaning robot systems. [Background technology]

[0003] Regarding cleaning robots in the related art, after the cleaning robot performs a cleaning task, the cleaning unit usually needs to be cleaned, and currently, it is mostly cleaned manually or directly replaced with a new cleaning unit, which results in great inconvenience in use. Summary of the Invention

[0004] The present disclosure provides a base station and cleaning robot system for automatic cleaning of a cleaning mechanism.

[0005] According to one aspect of the present disclosure, there is provided a base station for cleaning a cleaning system of a cleaning robot, the base station comprising: A base station body, a cleaning assembly movably provided on the base station body, the cleaning assembly including a first cleaning member and a second cleaning member different from the first cleaning member; Here, the first cleaning member and the second cleaning member remove dust on the cleaning system by interfering with the cleaning system.

[0006] In one embodiment of the present disclosure, the cleaning assembly further includes a cleaning assembly bracket; The first cleaning member and the second cleaning member are mounted parallel to one another on the cleaning assembly bracket.

[0007] In one embodiment of the present disclosure, the first cleaning member includes a cleaning roller, which is rotatably mounted relative to the cleaning assembly bracket.

[0008] In one embodiment of the present disclosure, the cleaning roller is provided with brushes and / or blades on its outer surface.

[0009] In one embodiment of the present disclosure, the second cleaning member comprises a cleaning wiper.

[0010] In one embodiment of the present disclosure, when the cleaning robot moves to the base station body, the cleaning assembly is configured to move relative to the base station body, wherein: The cleaning roller is configured to interact with a cleaning system of the cleaning robot using brushes and / or blades provided on its outer surface during the rotation process; The cleaning wiper is configured to interfere with the cleaning system of the cleaning robot during the course of moving relative to the base station body.

[0011] In one embodiment of the present disclosure, the cleaning assembly further includes a drive unit connected to the base station body and the cleaning assembly bracket, respectively, for driving the cleaning assembly bracket to move relative to the base station body.

[0012] In one embodiment of the present disclosure, the drive is drivingly connected to the first cleaning member and drives the first cleaning member to rotate relative to the cleaning assembly bracket; Here, when the cleaning assembly bracket moves relative to the base station body, the first cleaning member rotates relative to the cleaning assembly bracket.

[0013] In one embodiment of the present disclosure, the cleaning assembly further comprises a liquid dispensing device; The cleaning liquid discharged from the liquid discharging device is used to clean the cleaning system of the cleaning robot.

[0014] In one embodiment of the present disclosure, the base station body includes a cleaning basin, and the cleaning assembly is located above the cleaning basin; Here, the cleaning liquid discharged from the liquid ejection device enters the cleaning tank.

[0015] In one embodiment of the present disclosure, the cleaning tank is provided with a liquid extraction port, and the cleaning liquid in the cleaning tank can be discharged through the liquid extraction port.

[0016] In an embodiment of the present disclosure, the base station body further includes a guide bottom, and the guide bottom is provided with anti-skid protrusions, and the cleaning robot moves on the guide bottom along the anti-skid protrusions; Here, the cleaning assembly is spaced apart from the anti-skid protrusions.

[0017] In one embodiment of the present disclosure, the base station body further includes a guide top surface, and a guide portion that contacts the cleaning robot is provided on the guide top surface; Here, the guide is located above the cleaning assembly.

[0018] In one embodiment of the present disclosure, the base station further comprises a water refill connector; The water refill connector is provided on the base station body, and the water refill connector is configured to be connected to a liquid storage tank of the cleaning robot, and the base station supplies liquid to the liquid storage tank via the water refill connector.

[0019] According to one aspect of the present disclosure, there is provided a cleaning robot system including the above-described base station and cleaning robot.

[0020] In this embodiment, after the cleaning assembly faces the cleaning mechanism, the base station moves relative to the cleaning assembly, causing the first and second cleaning members to contact the cleaning mechanism of the cleaning robot and remove dirt from the cleaning mechanism, i.e., the cleaning robot can automatically clean on the cleaning assembly.

[0021] Various objectives, features, and advantages of the present disclosure will become more apparent by describing in detail preferred embodiments of the present disclosure with reference to the accompanying drawings, which are used for illustrative purposes of the present disclosure and are not necessarily drawn to scale. In the accompanying drawings, the same reference numerals always refer to the same or similar components. [Brief explanation of the drawings]

[0022] [Figure 1] 1 is a structural schematic diagram of a cleaning robot system according to an exemplary embodiment, in which the cleaning robot is in a first position; [Figure 2] 1 is a structural schematic diagram of a cleaning robot system according to an exemplary embodiment, in which the cleaning robot is in a second posture; [Figure 3] 1 is a structural schematic diagram of a cleaning robot from a first perspective, according to an exemplary embodiment; [Figure 4] 1 is a structural schematic diagram of a second view of a cleaning robot according to an exemplary embodiment; [Figure 5] 1 is a schematic diagram illustrating a partially exploded view of a cleaning robot in accordance with an exemplary embodiment; [Figure 6] 1 is a structural schematic diagram of a cleaning robot according to an exemplary embodiment; [Figure 7] 1 is a structural schematic diagram of a liquid storage tank of a cleaning robot according to an exemplary embodiment; [Figure 8] 1 is a cross-sectional structural schematic diagram of a liquid storage tank of a cleaning robot according to an exemplary embodiment; [Figure 9] 4 is a structural schematic diagram of a cleaning robot according to an exemplary embodiment; [Figure 10] 1 is a structural schematic diagram of a support platform of a cleaning robot in accordance with an illustrative embodiment; [Figure 11] 1 is a partial structural schematic diagram of a base station according to an exemplary embodiment; [Figure 12] 1 is a partial structural schematic diagram of a base station according to an exemplary embodiment; [Figure 13] 1 is a schematic diagram of the internal structure of a base station from a first perspective according to an exemplary embodiment; [Figure 14]2 is a structural schematic diagram of a second viewpoint of a base station according to an exemplary embodiment; [Figure 15A] 1 is a partial structural schematic diagram of a cleaning assembly of a base station according to an exemplary embodiment; [Figure 15B] 1 is a partial structural schematic diagram of a cleaning assembly of a base station according to an exemplary embodiment; [Figure 15C] FIG. 10 is a partial structural schematic diagram of a cleaning assembly of a base station according to another exemplary embodiment; [Figure 15D] FIG. 10 is a partial structural schematic diagram of a cleaning assembly of a base station according to another exemplary embodiment; [Figure 16] 1 is a cross-sectional structural schematic diagram of a cleaning assembly of a base station according to an exemplary embodiment; [Figure 17] 1 is a schematic diagram of a separation structure of a liquid storage tank, a water refill connector, and a first positioning unit of a cleaning robot system according to an exemplary embodiment; [Figure 18] 1 is a structural schematic diagram of a water refill connector and a first positioning portion of a base station according to an exemplary embodiment; [Figure 19] 1 is a structural schematic diagram of a base station in one state according to another exemplary embodiment; [Figure 20] 1 is a structural schematic diagram of a base station in another state according to another exemplary embodiment; [Figure 21] 1 is a schematic diagram of a cooperative structure of a cleaning robot and a base station of a cleaning robot system according to an exemplary embodiment; [Figure 22] 1 is a schematic diagram of a local cooperation structure of a cleaning robot and a base station of a cleaning robot system according to an exemplary embodiment; [Figure 23] 1 is a schematic diagram of a local structure of a base station according to an exemplary embodiment; [Explanation of symbols]

[0023] 10 Cleaning robot 110 Device body 111 Front part 112 Rear part 120 Sensing System 121 Positioning device 122 buffers 1221 Through hole 130 Control Module 140 Drive System 141 Drive Wheel Module 142 driven wheel 150 Cleaning System 151 Dry Cleaning System 152 Side Brush 160 Energy Systems 170 Man-machine interaction system 400 Wet Cleaning System 410 cleaning head 420 drive unit 421 Driving Platform 422 Support Platform 4217 Water discharge devices 4218 Clean water pump pipe 4219 Clean water pump 12 1st charging contact pole piece 13 Liquid storage tank 14 Second positioning part 16 Water refill port 17 Valve 18 Conduit 19 Spinning Wheel 20 Base station main unit 21 Cleaning tank 211 Liquid extraction port 22 Guide bottom 221 Anti-slip protrusion 222 Extension plate 23 Guide side 231 Lateral surface 232 Intermediate Surface 24 Guide top 25 Guide press block 26 Guide Wheel 27 Guide Bridge 30 Cleaning Assembly 31 first cleaning member 311 First rotation axis 32 second cleaning member 33 Washing Assembly Bracket 34 Drive unit 341 Gears 342 racks 343 Second Rotation Axis 35 Liquid outlet 36 Liquid discharge device 371 First Gear 372 2nd Gear 373 Third Gear 374 4th Gear 375 5th Gear 376 6th Gear 377 7th Gear 378 8th Gear 379 9th Gear 40 Second charging contact pole piece 50 Water Refill Connector 51 Main body 52 Sealing part 53 Connector part 60 First positioning part 61 Containment Space 70 Liquid supply section 71 Collection Box DETAILED DESCRIPTION OF THE INVENTION

[0024] Representative embodiments embodying the features and advantages of the present disclosure are described in detail in the following description, and it should be understood that various modifications of different embodiments may be made without departing from the scope of the present disclosure, and that the description therein and the accompanying drawings are for illustrative purposes only and are not intended to limit the present disclosure.

[0025] Different exemplary embodiments of the present disclosure will now be described with reference to the accompanying drawings, which form a part of this disclosure and illustrate different exemplary structures, systems, and steps embodying aspects of the present disclosure. It should be understood that other specific solutions of components, structures, exemplary apparatus, systems, and steps may be utilized, and structural and functional changes may be made without departing from the scope of the present disclosure. Furthermore, while terms such as "on," "between," and "in" are used herein to describe different exemplary features and devices of the present disclosure, it should be understood that these terms are used for convenience only to indicate exemplary orientations, for example, in the accompanying drawings. Nothing herein should be construed as requiring a specific three-dimensional orientation of a structure to fall within the scope of the present disclosure.

[0026] As shown in FIGS. 1 to 23, a cleaning robot system according to an embodiment of the present disclosure may include a cleaning robot 10 and a base station.

[0027] In an embodiment of the present disclosure, as shown in FIGS. 3 and 4 , the cleaning robot 10 may include a device body 110, a sensing system 120, a control module 130, a driving system 140, a cleaning system 150, an energy system 160, and a man-machine interaction system 170.

[0028] As shown in FIG. 3, the device body 110 includes a front portion 111 and a rear portion 112 and is generally circular in shape (front-to-back circular), but may be other shapes, including, but not limited to, a generally D-shape with a square front portion and a circular rear portion, and a rectangular or square shape with a square front portion and a square rear portion.

[0029] 3, the sensing system 120 includes a positioning device 121 located on the device body 110, a collision sensor and a proximity sensor provided on a buffer 122 of the front portion 111 of the device body 110, a cliff sensor provided at the bottom of the device body, and sensing devices such as a magnetometer, an accelerometer, a gyroscope, and an odometer provided inside the device body, and is used to provide various position information and movement 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 sensor (LDS).

[0030] As shown in FIG. 3, the front part 111 of the equipment body 110 carries the buffer 122. During the cleaning process, when the drive wheel module 141 propels the cleaning robot 10 to travel on the floor, the buffer 122 detects one or more events in the travel path of the cleaning robot 10 through a sensor system, such as an infrared sensor, provided thereon. Based on the events detected by the buffer 122, such as an obstacle or a wall, the cleaning robot 10 controls the drive wheel module 141 to make the cleaning robot 10 respond to the events, for example, move away from the obstacle.

[0031] The control module 130 is mounted on a main circuit board within the device body 110 and includes a computing processor, such as a central processing unit (CPU) and an application processor, communicating with a 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), to draw a real-time map of the environment in which the cleaning robot 10 is located based on obstacle information fed back by the laser distance sensor. Furthermore, based on distance and speed information fed back by sensing devices, such as sensors, cliff sensors, magnetometers, accelerometers, gyroscopes, and odometers, the control module 130 comprehensively determines the current working state, position, and posture of the cleaning robot 10, such as whether the cleaning robot 10 has crossed a door stop, stepped on a carpet, is at a cliff and is stuck above or below, the dustbin is full, or has been picked up, and provides specific next operation strategies for different situations to ensure better cleaning performance and user experience for the cleaning robot 10.

[0032] As shown in FIG. 4 , the drive system 140 controls the machine 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. To more precisely control the movement of the machine, the drive wheel module 141 may include a left drive wheel module and a right drive wheel module, respectively. The left and right drive wheel modules are arranged along a lateral axis defined by the machine 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, including, but not limited to, universal wheels. The drive wheel module includes a running wheel, a drive motor, and a control circuit for controlling the drive motor. The drive wheel module may further be connected to a circuit for measuring drive current and an odometer. The drive wheel module 141 may be detachably connected to the machine body 110 for easy disassembly, assembly, and maintenance. The drive wheels may include an offset drop suspension system, and are movably fixed, for example rotatably assembled to the equipment body 110, and receive a spring offset that is offset downwardly away from the equipment body 110. The spring offset allows the drive wheels to maintain contact and traction with the floor surface with a constant ground contact force, and at the same time, the cleaning elements of the cleaning robot 10 also contact the floor surface with a constant pressure.

[0033] The energy system may include a rechargeable battery such as a nickel-metal hydride battery or a lithium battery. The rechargeable battery is connected to a charging control circuit, a battery pack charging temperature detection circuit, and a battery undervoltage monitoring circuit, which are connected to a single-chip microcomputer control circuit. The host has charging electrodes on the side or bottom of the device that are connected to a charging pile for charging.

[0034] The human-machine interaction system 170 may include buttons on a host panel for the user to select functions, a display screen, and / or indicator lights and / or a speaker, which are used to display the current device status or function options to the user, and may further include a mobile phone client program. In the case of a route-navigation type automatic cleaning device, the mobile phone client can display a map of the device's environment and the device's location to the user, providing a richer and more user-friendly range of functions.

[0035] The cleaning system may be a dry cleaning system 151 and / or a wet cleaning system 400 .

[0036] As shown in FIG. 4, a dry cleaning system 151 provided by an embodiment of the present disclosure may include a roller brush, a dust box, a fan, and an air outlet. The roller brush, which has a certain degree of contact with the floor surface, sweeps up dust on the floor surface, lifts it up in front of the dust suction port between the roller brush and the dust box, and then is sucked into the dust box by the gas with extraction force generated by the fan passing through the dust box. The dust removal capacity of the cleaning robot 10 can be characterized by its dust pickup efficiency (DPU). DPU is affected by the structure and materials of the roller brush, the wind power utilization rate of the air passage formed by the dust suction port, dust box, fan, air outlet, and the connecting members between them, and the type and output of the fan, making it a complex system design issue. Compared to conventional plug-in dust collectors, improved dust removal capacity is significant for energy-limited automatic cleaning devices. Improved dust removal capacity significantly reduces energy requirements. That is, a device that can clean 80 square meters of floor space on a single charge can be improved to clean more than 180 square meters on a single charge. The battery life is also significantly extended with fewer charges, potentially reducing the frequency with which users need to change batteries. More intuitively and importantly, the improved dust removal capability is the most obvious and significant user experience, allowing users to directly conclude whether thorough cleaning / mopping has been achieved. The dry cleaning module further includes side brushes 152 with a rotating shaft that is angled relative to the floor surface to move debris to the roller brush area of ​​the cleaning system 150.

[0037] 4 to 8, a wet cleaning system 400 provided by an embodiment of the present disclosure may include a cleaning head 410, a drive unit 420, a water supply mechanism, a liquid storage tank 13, etc. Here, the cleaning head 410 may be disposed below the liquid storage tank 13, and the cleaning liquid inside the liquid storage tank 13 is delivered to the cleaning head 410 via the water supply mechanism, and the cleaning head 410 performs wet cleaning on the flat surface to be cleaned. In other embodiments of the present disclosure, the cleaning liquid inside the liquid storage tank 13 may also be sprayed directly onto the flat surface to be cleaned, and the cleaning head 410 evenly applies the cleaning liquid to clean the flat surface.

[0038] Here, the cleaning head 410 is used to clean a surface to be cleaned, and the drive unit 420 drives the cleaning head 410 to move substantially back and forth along the target surface, where the target surface is a part of the surface to be cleaned. The cleaning head 410 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 410 that comes into contact with the surface to be cleaned, and the back and forth movement generates high-frequency friction with the surface to be cleaned, thereby removing dirt on the surface to be cleaned.

[0039] The higher the friction frequency, the more friction times per unit time. High-frequency reciprocating motion, also known as reciprocating vibration, has a much higher cleaning ability than ordinary reciprocating motion, such as rotational friction cleaning. Optionally, the friction frequency is similar to that of sound waves, and the cleaning effect is much better than rotational friction cleaning with several tens of turns per minute. Meanwhile, the tufts on the surface of the cleaning head 410 are more aligned and spread in the same direction due to high-frequency vibration, resulting in a more uniform cleaning effect overall. Unlike the low-frequency rotation, which increases frictional force solely through downward pressure, the tufts do not spread in the same direction. As a result, after high-frequency vibration cleaning, the water marks on the surface are more uniform, and no chaotic water stains remain.

[0040] The reciprocating motion may be repeated movement along any one or more directions within the surface to be cleaned, or may be vibration perpendicular to the surface to be cleaned, but is not strictly limited to this. Alternatively, the reciprocating motion of the cleaning module may be substantially perpendicular to the direction of travel of the device. Reciprocating motion parallel to the direction of travel of the device may cause instability of the device itself during movement, with the drive wheels prone to skidding due to thrust and resistance in the direction of travel. The effect of skidding is more pronounced when a wet cleaning module is included, and the likelihood of skidding increases with wetness of the surface to be cleaned. Skidding not only affects the device's stable cleaning, but also leads to inaccurate distance measurements by sensors such as odometers and gyroscopes, preventing the navigation-type automatic cleaning device from accurately determining its location or drawing a map. Frequent skidding can also have a significant impact on SLAM, so skidding of the device must be prevented as much as possible. In addition to skidding, the movement component of the cleaning head 410 in the direction of travel of the device may constantly push the device back and forth during movement, resulting in unstable operation of the device.

[0041] In an embodiment of the present disclosure, as shown in FIG. 5 , the driving unit 420 further includes a driving platform 421 connected to the bottom surface of the equipment body 110 to provide driving force, and a support platform 422 detachably connected to the driving platform 421 to support the cleaning head 410 and move it up and down under the driving of the driving platform 421.

[0042] As an optional embodiment of the present disclosure, the wet cleaning system 400 may be connected to the machine body 110 via an active lifting module. When the wet cleaning system 400 is temporarily not involved in work, for example, when the cleaning robot 10 stops at the base station to wash the cleaning head 410 of the wet cleaning system 400 and inject water into the liquid storage tank 13, or when the cleaning robot 10 encounters a surface to be cleaned that cannot be cleaned by the wet cleaning system 400, the active lifting module lifts the wet cleaning system 400.

[0043] In the wet cleaning system 400 provided by the embodiment of the present disclosure, the cleaning head 410, the drive platform 421, the support platform 422, the water delivery mechanism, and the liquid storage tank 13 may be powered by one or more motors. The energy system 160 provides power and energy to the motors and is controlled as a whole by the control module 130.

[0044] Here, the water supply mechanism in the embodiment of the present disclosure may include a water spouting device, which may be directly or indirectly connected to the liquid outlet of the liquid storage tank 13. Here, as shown in FIG. 10 , the cleaning liquid may flow toward the water spouting device 4217 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, which is connected to the cleaning liquid outlet of the liquid storage tank via the connecting member. A distribution port may be provided on the water spouting device, which may be a continuous opening or may be formed by combining multiple small openings, or the distribution port may be provided with multiple nozzles. The cleaning liquid flows toward 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 through the distribution port.

[0045] As shown in Figures 5 and 10, the water delivery mechanism further includes a clean water pump 4219 and / or a clean water pump pipe 4218, and the clean water pump 4219 can be in communication with the cleaning liquid outlet of the liquid storage tank directly or by the clean water pump pipe 4218.

[0046] The clean water pump 4219 is connected to the connection member of the water discharger to extract the cleaning liquid from the liquid storage tank to the water discharger. The clean water pump may be a gear pump, a vane pump, a plunger pump, a peristaltic pump, etc.

[0047] The water supply mechanism extracts the cleaning liquid from the liquid storage tank via the clean water pump 4219 and the clean water pump pipe 4218 and supplies it to the water discharge device. The water discharge device 4217 may be a sprinkler head, drip hole, wet cloth, etc., and distributes water evenly over the cleaning head 410, wetting the cleaning head 410 and the surface to be cleaned. After wetting, dirt on the surface to be cleaned can be more easily removed. In the wet cleaning system 400, the output / flow rate of the clean water pump may be adjusted.

[0048] In an embodiment of the present disclosure, the liquid storage tank 13 may further include a water refill port 16, which may be arranged on the side wall of the water tank, as shown in Figures 7 to 9 , and when the cleaning robot 10 stops at the base station, the base station may inject water into the liquid storage tank 13 of the cleaning robot 10 through the water refill port 16.

[0049] In an embodiment of the present disclosure, as shown in FIG. 7 , the liquid storage tank 13 may be provided with a second positioning part 14, which may be connected to a base station, and the base station may inject water into the liquid storage tank 13 of the cleaning robot 10 through the water refill port 16.

[0050] In an embodiment of the present disclosure, as shown in Fig. 8, a valve 17 may be provided at the water refill port 16 of the liquid storage tank 13, and the valve 17 may be opened and closed to control communication and disconnection between the water refill port 16 and the liquid storage tank 13. A pipe 18 is provided in the liquid storage tank 13, and the valve 17 is provided at one end of the pipe 18.

[0051] In an embodiment of the present disclosure, the valve 17 may be an electronic valve or a manual valve, and may be opened or closed by a corresponding control. In another embodiment of the present disclosure, the valve 17 may be a check valve, and after the liquid storage tank 13 is completely refilled and the water refill port 16 is disconnected from the liquid storage tank 13, the valve 17 is automatically closed to prevent leakage of the cleaning liquid in the liquid storage tank 13. For example, the valve 17 may be a cross valve, a lift-up check valve, a swing check valve, etc.

[0052] In an embodiment of the present disclosure, the cleaning robot 10 further includes a first charging contact piece 12, which may be provided on the device body 110 and connected to the energy system of the cleaning robot 10, so that when the cleaning robot 10 stops at a base station, the base station can charge the energy system of the cleaning robot 10 through the first charging contact piece 12. In an embodiment of the present disclosure, the first charging contact piece 12 may be provided on the side of the body of the cleaning robot 10, which can prevent the first charging contact piece 12 from being contaminated by puddles on the floor, and can prevent the charging contact piece from contacting water and damaging the cleaning robot 10 when the cleaning robot 10 stops at the base station to inject water into the liquid storage tank 13 or clean the cleaning system 150 of the cleaning robot 10.

[0053] In an embodiment of the present disclosure, as shown in Figures 11 and 12, the base station may include a base station body 20 and a cleaning assembly 30, where the cleaning assembly 30 is movably mounted on the base station body 20, and the cleaning assembly 30 includes a first cleaning member 31 and a second cleaning member 32 different from the first cleaning member 31, where the first cleaning member 31 and the second cleaning member 32 remove debris on the cleaning system 150 by interfering with the cleaning system 150.

[0054] In an embodiment of the present disclosure, when the cleaning robot 10 moves to the base station body 20, the cleaning assembly 30 faces the cleaning system 150, and the cleaning assembly 30 moves relative to the base station body 20, and the first cleaning member 31 and the second cleaning member 32 interact with the cleaning system 150 to remove debris on the cleaning system 150, i.e., the cleaning robot 10 can automatically clean on the cleaning assembly 30.

[0055] In an embodiment of the present disclosure, as shown in Figures 11 and 12, the cleaning assembly 30 may further include a cleaning assembly bracket 33, which is movably mounted on the base station body 20, and the first cleaning member 31 and the second cleaning member 32 are mounted on the cleaning assembly bracket 33, i.e., the cleaning assembly bracket 33 functions as a movable part, ensuring that the first cleaning member 31 and the second cleaning member 32 can move therewith, so that the first cleaning member 31 and the second cleaning member 32 can interfere with different positions of the cleaning system 150 and ensure good cleaning effect.

[0056] In the embodiment of the present disclosure, the first cleaning member 31 and the second cleaning member 32 are arranged parallel to the cleaning assembly bracket 33. The second cleaning member 32 may be arranged parallel to both sides of the first cleaning member 31, for example, when there are multiple second cleaning members 32, the second cleaning members 32 may be distributed parallel to any or both sides of the first cleaning member 31.

[0057] In an embodiment of the present disclosure, the first cleaning member 31 includes a cleaning roller, which is rotatably mounted on the cleaning assembly bracket 33. The cleaning roller has brushes and / or blades on its outer surface. The second cleaning member 32 includes a cleaning wiper.

[0058] In an embodiment of the present disclosure, when the cleaning robot 10 moves to the base station body 20, the cleaning assembly 30 is configured to move relative to the base station body 20, wherein the cleaning roller is configured to interfere with the cleaning system 150 of the cleaning robot 10 using brushes and / or blades provided on its outer surface during the rotation process, and the cleaning wiper is configured to interfere with the cleaning system 150 of the cleaning robot 10 during the movement process relative to the base station body 20.

[0059] In the embodiment of the present disclosure, as described above, the cleaning system 150 of the cleaning robot 10 may include the dry cleaning system 151 and the wet cleaning system 400. The process of cleaning the wet cleaning system 400 of the cleaning robot 10 by the cleaning assembly 30 of the base station will now be described in detail.

[0060] As shown in FIG. 1 , when the cleaning robot 10 moves to the base station body 20, the wet cleaning system 400 of the cleaning robot 10 is fixedly mounted to the base station body 20. The cleaning assembly 30 of the base station contacts the cleaning head 410 of the wet cleaning system 400 of the cleaning robot 10. In another embodiment of the present disclosure, the wet cleaning system 400 of the cleaning robot 10 can move up and down by an active lifting module. Therefore, when the cleaning robot 10 stops at the base station to perform a cleaning operation, the active lifting module is adjusted to achieve good contact between the cleaning assembly 30 of the base station and the cleaning head 410 of the wet cleaning system 400 of the cleaning robot 10. For example, in one embodiment of the present disclosure, the wet cleaning system 400 of the cleaning robot 10 is cleaned when it is fully lifted. In other embodiments of the present disclosure, the wet cleaning system 400 of the cleaning robot 10 may be cleaned in other lifted and lowered states. The lifting state of the wet cleaning system 400 may be adjusted according to the material of the cleaning head 410 of the wet cleaning system 400. For example, when the coefficient of friction of the cleaning head 410 to be cleaned is small, the contact between the cleaning head 410 and the cleaning assembly 30 becomes closer, and when the cleaning assembly 30 moves relative to the base station body 20, the frictional force between the cleaning head 410 and the cleaning assembly 30 falls within a certain range, ensuring easy cleaning, and vice versa. Furthermore, the lifting state of the wet cleaning system 400 may be adjusted according to the degree of dirt on the cleaning head 410 of the wet cleaning system 400. For example, when the cleaning head 410 to be cleaned is relatively dirty, the contact between the cleaning head 410 and the cleaning assembly 30 becomes closer, generating a large frictional force between the cleaning head 410 and the cleaning assembly 30, ensuring effective removal of debris on the cleaning head 410, and vice versa.In an embodiment of the present disclosure, the elevation state of the wet cleaning system 400 may be adjusted by a user according to actual conditions. For example, a sensor may be provided at a specific position, such as the cleaning head 410 of the wet cleaning system 400, and the sensor may send a specific signal to the control module 130 of the cleaning robot 10. The control module 130 may then automatically adjust the elevation state of the wet cleaning system 400 according to the feedback result from the sensor. In other embodiments of the present disclosure, the elevation state of the wet cleaning system 400 may be adjusted in other ways, and this disclosure is not particularly limited thereto. In other embodiments of the present disclosure, the elevation state of the cleaning assembly 30 may be adjusted to achieve good contact between the cleaning assembly 30 and the cleaning head 410 of the wet cleaning system 400 of the cleaning robot 10, and this disclosure is not particularly limited thereto.

[0061] When the cleaning robot 10 is fixed to the base station body 20 and the cleaning head 410 of the wet cleaning system 400 of the cleaning robot 10 and the cleaning assembly 30 of the base station are in good contact with each other, the cleaning assembly 30 can perform cleaning on the wet cleaning system 400 of the cleaning robot 10. In an embodiment of the present disclosure, as shown in FIG. 15A , the cleaning assembly 30 includes a first cleaning member 31 configured as a roller and a second cleaning member 32 configured as a squeegee. In another embodiment of the present disclosure, the cleaning assembly may further include a liquid discharger 36. During the cleaning process of the cleaning assembly 30 cleaning the wet cleaning system 400 of the cleaning robot 10, the liquid discharger of the cleaning assembly 30 simultaneously operates to spray cleaning liquid onto the first cleaning member 31, which then contacts the cleaning head 410 of the wet cleaning system 400 of the cleaning robot 10 and rotates to uniformly apply the cleaning liquid to the cleaning head 410 of the wet cleaning system 400. Furthermore, the first cleaning member 31 may be a brush roller or a soft rubber roller with blades, and the cleaning head 410 of the wet cleaning system 400 of the cleaning robot 10 may be a soft cloth made of fiber or cotton, or a sponge. During cleaning, the bristles or blades of the first cleaning member 31 extend into the cleaning head 410 and make sufficient contact therewith, thereby removing dirt from the cleaning head 410 of the wet cleaning system 400. Furthermore, the first cleaning member 31 rotates while moving left and right, and its bristles or blades brush the cleaning head 410 of the wet cleaning system 400 during rotation, shaking out and removing dirt from the cleaning head 410 due to the vibrations caused by the brushing effect. At the same time, in cooperation with the operation of the first cleaning member 31, the squeegee of the second cleaning member 32 scrapes off the dirt removed or shaken out from the cleaning head 410 of the wet cleaning system 400, as well as the dirty water on the cleaning head 410. In other embodiments of the present disclosure, the first cleaning member 31 can rotate in different directions while moving left and right. For example, the first cleaning member 31 can rotate clockwise while moving leftward relative to the base station body 20, or the first cleaning member 31 can rotate counterclockwise while moving rightward relative to the base station body 20.

[0062] As described above, the wet cleaning system 400 of the cleaning system 150 can move back and forth relative to the base station body 20. In an embodiment of the present disclosure, while the cleaning assembly 30 moves relative to the base station body 20, the wet cleaning system 400 of the cleaning robot 10 may be fixed, or the wet cleaning system 400 may move back and forth correspondingly to cooperate with the movement of the cleaning assembly 30 to ensure rapid cleaning of the wet cleaning system 400. For example, when the cleaning assembly 30 moves left relative to the base station body 20, the wet cleaning system 400 of the cleaning robot 10 may move right relative to the base station body 20, thereby increasing the relative movement speed between the cleaning assembly 30 and the wet cleaning system 400 and improving cleaning efficiency, and vice versa.

[0063] In the embodiment of the present disclosure, the first cleaning member 31 and the second cleaning member 32 are provided so as to be movable in synchronization with each other.

[0064] 15A , the first cleaning member 31 and the second cleaning member 32 are both mounted on the cleaning assembly bracket 33 of the cleaning assembly 30. The cleaning assembly bracket 33 drives the first cleaning member 31 and the second cleaning member 32 to move synchronously and in the same direction, allowing the first cleaning member 31 and the second cleaning member 32 to sequentially clean the cleaning system 150. In other embodiments of the present disclosure, the first cleaning member 31 and the second cleaning member 32 may be mounted on different brackets. In this way, the movement of the brackets is controlled separately, thereby controlling the movement of the first cleaning member 31 and the second cleaning member 32 separately, thereby realizing asynchronous movement of the first cleaning member 31 and the second cleaning member 32. For example, the first cleaning member 31 or the second cleaning member 32 may operate independently, or a time difference may be generated depending on the actual situation when the first cleaning member 31 and the second cleaning member 32 clean the same position on the cleaning head 410. This disclosure is not particularly limited.

[0065] As described above, the cleaning assembly 30 may include one or more first cleaning members 31 and second cleaning members 32. For example, in one embodiment of the present disclosure, as shown in FIG. 15C , the cleaning assembly 30 may include two first cleaning members 31 and two second cleaning members 32, with the first cleaning members 31 provided on either side of the second cleaning member 32. In this embodiment, the first cleaning member 31 may always be positioned in front of the second cleaning member 32 while the cleaning assembly 30 is moving back and forth. With this installation, when the cleaning assembly 30 is cleaning the cleaning head 410 of the wet cleaning system 400 of the cleaning robot 10, the first cleaning member 31 first cleans the area of ​​the cleaning head 410 to be cleaned, i.e., the bristles or blades of the first cleaning member 31 create a stroking effect on the cleaning head 410 while the first cleaning member 31 is rotating, and the dust inside the cleaning head 410 is shaken out and scraped away under the vibration caused by the stroking effect; then, the squeegee of the second cleaning member 32 scrapes away the dust that has been removed or shaken out from the cleaning head 410 and the dirty water on the cleaning head 410, so that the cleaning head 410 is cleaned relatively thoroughly.

[0066] In an embodiment of the present disclosure, as shown in Figures 15A and 16, the cleaning assembly 30 further includes a drive unit 34, which is connected to the cleaning assembly bracket 33, and which is connected to the base station body 20 and drives the cleaning assembly bracket 33 to move relative to the base station body 20.

[0067] Optionally, as shown in Figures 15A and 15B, the drive unit 34 and the cleaning assembly bracket 33 move synchronously relative to the base station body 20, i.e., the drive unit 34 may include a motor and a gear 341, the motor drives to rotate the gear 341, a rack 342 is provided on the base station body 20, the gear 341 moves along the extension direction of the rack 342, and the drive unit 34 and the cleaning assembly bracket 33 move synchronously on the base station body 20. Optionally, a rack 342 is provided on each end side of the cleaning assembly bracket 33, and correspondingly, there are at least two gears 341, and the at least two gears 341 mesh with two racks 342, respectively.

[0068] Furthermore, as described above, when the cleaning assembly 30 moves relative to the base station body 20, the first cleaning member 31 of the cleaning assembly 30 rotates about its own axis. The drive unit 34 is drivably connected to the first cleaning member 31 and drives the first cleaning member 31 to rotate relative to the cleaning assembly bracket 33, whereby the first cleaning member 31 rotates relative to the cleaning assembly bracket 33 when the cleaning assembly bracket 33 moves relative to the base station body 20. In one embodiment of the present disclosure, one motor may simultaneously drive the movement of the cleaning assembly 30 relative to the base station body 20 and the rotation of the first cleaning member 31 about its own axis. Specifically, the output shaft of the motor is connected to the gear 341 and the first cleaning member 31 through a gear transmission assembly. When the motor operates, the motor simultaneously drives the gear 341 and the first cleaning member 31 to rotate, whereby the gear 341 moves along the extension direction of the rack and the first cleaning member 31 rotates about its own axis. The gear transmission assembly may be arranged according to the actual rotation speed requirements and is not limited thereto. The gear transmission assembly includes a gear and a connecting shaft, and may further include a belt or a chain, etc., and is not limited thereto, as long as the motor can simultaneously drive to rotate the gear 341 and the first cleaning member 31. In some embodiments of the present disclosure, it is not excluded to use two motors to drive the movement of the cleaning assembly 30 relative to the base station body 20 and the rotational movement of the first cleaning member 31, respectively.

[0069] Alternatively, the drive unit 34 may be fixed to the base station body 20. The drive unit 34 may be an air cylinder or an oil cylinder, with an extendable rod of the drive unit 34 connected to the cleaning assembly bracket 33, and the extension and contraction of the extendable rod drives the cleaning assembly bracket 33 to move on the base station body 20. In other embodiments of the present disclosure, the drive unit 34 may be an electric cylinder or a combination of a motor and a belt, as long as it can drive the cleaning assembly bracket 33 to move; this is not particularly limited in this disclosure. As described above, the first cleaning member 31 and the second cleaning member 32 in the embodiments of the present disclosure may be arranged on different brackets to achieve asynchronous movement of the two, and therefore, independent drive units may be provided for the brackets on which the first cleaning member 31 and the second cleaning member 32 are arranged. This is not particularly limited in this disclosure.

[0070] 15D , the left-right movement of the cleaning assembly 30 relative to the base station body 20 and the rotation of the first cleaning member 31 may be driven by the same drive unit. In this embodiment, the left-right movement of the cleaning assembly 30 and the rotation of the first cleaning member 31 are achieved by a drive unit 34 cooperating with a multi-stage gear. In this embodiment, the drive unit 34 may be a motor, and the cleaning assembly 30 may further include a gear transmission assembly, which drives the motor to move the cleaning assembly bracket 33 via the gear transmission assembly and simultaneously rotate the first cleaning member 31, i.e., drives the gear 341 and the first cleaning member 31 to rotate synchronously.

[0071] 15D , the gear transmission assembly includes a first gear 371, a second gear 372, a third gear 373, a fourth gear 374, a fifth gear 375, a sixth gear 376, a seventh gear 377, an eighth gear 378, and a ninth gear 379. The motor is connected to the first gear 371, which meshes with the second gear 372, which meshes with the third gear 373, and the second gear 372 is located between the first gear 371 and the third gear 373. When the motor drives the first gear 371 to rotate, the first gear 371 drives the third gear 373 to rotate via the second gear 372. The fourth gear 374 is connected to the third gear 373 and is disposed coaxially with the third gear 373. The third gear 373 drives the fourth gear 374 to rotate synchronously. The fourth gear 374 meshes with the fifth gear 375 and drives it to rotate. The sixth gear 376 is connected to the fifth gear 375 and is arranged coaxially with the fifth gear 375, so that the fifth gear 375 drives the sixth gear 376 to rotate synchronously, and the first rotating shaft 311 connected to the sixth gear 376 and the fifth gear 375 drives the first cleaning member 31 to rotate. The sixth gear 376 meshes with the seventh gear 377 and drives it to rotate. The eighth gear 378 is connected to the seventh gear 377 and is arranged coaxially with the seventh gear 377, so that the seventh gear 377 rotates coaxially with the eighth gear 378. The eighth gear 378 meshes with the ninth gear 379 to drive the ninth gear 379 to rotate, and the second rotating shaft 343 connected to the ninth gear 379 drives the gear 341 attached thereto to rotate, causing the gear 341 to move along the rack 342.

[0072] In this embodiment, the motor can rotate forward and backward, driving the cleaning assembly bracket 33 to move in two opposite directions and simultaneously driving the first cleaning member 31 to rotate in two directions (i.e., clockwise and counterclockwise). For example, the motor can move the cleaning assembly bracket 33 leftward relative to the base station body 20 and simultaneously drive the first cleaning member 31 to rotate clockwise; the motor can move the cleaning assembly 33 rightward relative to the base station body 20 and simultaneously drive the first cleaning assembly 31 to rotate counterclockwise. Note that the types and sizes of the gears are not limited herein and may be selected appropriately according to actual requirements.

[0073] In other embodiments of the present disclosure, the cleaning assembly 30 may be configured according to the shape of the object to be cleaned. As shown in Fig. 5, the cleaning head 410 of the wet cleaning system 400 of the cleaning robot 10 is shaped like a fan, and to improve cleaning efficiency, the cleaning assembly 30 may be configured to move in a manner similar to a wiper brush, i.e., one end of the cleaning assembly 30 may be fixed to the base station body 20, and the other end may move back and forth around the fixed end. This is not a limitation of the embodiments of the present disclosure.

[0074] The base station body 20 includes a cleaning tub 21, and the cleaning assembly 30 includes a liquid dispenser 36. The cleaning liquid discharged from the liquid dispenser 36 is used to clean the cleaning system 150 of the cleaning robot 10 and enters the cleaning tub 21. The cleaning assembly 30 is located above the cleaning tub 21.

[0075] In an embodiment of the present disclosure, the liquid dispensing device 36 of the base station is movably arranged to more uniformly spray or apply the cleaning liquid to the cleaning system 150 of the cleaning robot 10, so that when the cleaning assembly 30 cleans the cleaning system 150 of the cleaning robot 10, the cleaning system 150 can be ensured to be wetted with the cleaning liquid in a timely manner.

[0076] Furthermore, while the cleaning system 150 is being cleaned, the cleaning liquid is prevented from spilling into the external environment or into the associated power members of the cleaning robot 10, which could cause a safety hazard.

[0077] In an embodiment of the present disclosure, when the cleaning robot 10 is stopped and fixed on the base station body 20, the cleaning assembly 30 comes into contact with the cleaning system 150 of the cleaning robot 10 and moves relative to the base station body 20 and the cleaning robot 10, and the cleaning liquid discharged from the liquid discharging device 36 wets the cleaning system 150 of the cleaning robot 10, thereby effectively cleaning the cleaning system 150 of the cleaning robot 10.

[0078] Furthermore, when the cleaning assembly 30 of the base station moves, the cleaning liquid discharged from the liquid dispensing device 36 cleans the cleaning system 150 of the cleaning robot 10, i.e., the dirt on the cleaning system 150 of the cleaning robot 10 is removed with the help of the cleaning liquid, and the cleaning system 150 is uniformly wetted during the movement process of the liquid dispensing device 36.

[0079] 12 , the liquid dispensing device 36 is mounted on the cleaning assembly bracket 33, i.e., the cleaning assembly bracket 33 functions as a movable part, and the liquid dispensing device 36 moves therewith, so that the cleaning liquid is discharged from different positions and ensures uniform wetting of the object to be cleaned. In the embodiment of the present disclosure, the base station may further include a liquid delivery channel, one end of which communicates with the liquid supply unit 70 and the other end of which communicates with the liquid delivery channel. The liquid supply unit 70 supplies the cleaning liquid to the liquid delivery channel, and at least a portion of the liquid delivery channel is movable with the cleaning assembly bracket 33. The liquid supply unit 70 stores the cleaning liquid, and the liquid delivery channel functions as a transport member and moves with the cleaning assembly bracket 33.

[0080] In an embodiment of the present disclosure, the liquid supply flow path is a liquid supply tube, which is connected to the cleaning assembly bracket 33, i.e., the cleaning assembly bracket 33 is provided with a liquid ejection device 36, and both ends of the liquid supply tube are connected to the liquid supply section 70 and the liquid ejection device 36, respectively, to realize liquid supply.

[0081] Optionally, a pump body may be provided in the liquid supply passage, and the cleaning liquid in the liquid supply unit 70 may be transported to the liquid discharge device 36 under the action of the pump body, so that the cleaning liquid has a certain impact force and can improve cleaning performance. In an embodiment of the present disclosure, a controller provided in the base station may control parameters such as the water discharge frequency, water discharge amount, and water discharge time of the pump body. Furthermore, the controller may be connected to a communication device of the base station, and may control the operation of one or more elements on the base station when the communication device receives a command from the cleaning robot 10 or a remote controller, such as a computer terminal or a mobile phone app.

[0082] In an embodiment of the present disclosure, the liquid ejection device 36 is provided with multiple liquid outlets 35 spaced apart, and cleaning liquid is discharged through the liquid outlets 35 and discharged from multiple locations, thereby improving cleaning efficiency.

[0083] Optionally, the liquid discharge device 36 is integrated into the cleaning assembly bracket 33, and multiple spaced apart liquid outlets 35 are provided on the cleaning assembly bracket 33 to allow for liquid discharge from multiple locations. In other embodiments of the present disclosure, the liquid discharge device 36 may be provided separately on the cleaning assembly bracket 33 for maintenance, replacement, etc. of the liquid discharge device 36.

[0084] In another embodiment of the present disclosure, the liquid dispensing device 36 may be fixed to the base station body 20. For example, the liquid dispensing device may include multiple liquid outlets 35, which may be arranged from left to right along the base station body 20. When the cleaning assembly 30 moves left and right relative to the base station body 20, the order and frequency of liquid discharge from the liquid outlets 35 may be set according to the moving direction and moving speed of the cleaning assembly 30. When the cleaning assembly 30 cleans the wet cleaning system 400 of the cleaning robot 10, the area to be cleaned may be wetted earlier, thereby improving cleaning efficiency. In addition, the liquid outlet 35 may be provided with a water pressure adjustment device and / or a water temperature adjustment device, which adjusts the water pressure and / or water temperature of the liquid outlet 35 according to factors such as the degree of soiling of the object to be cleaned, thereby further improving cleaning efficiency.

[0085] In another embodiment of the present disclosure, cleaning liquid may be supplied to the cleaning assembly 13 from the liquid storage tank 13 of the cleaning robot 10. For example, during the process of cleaning the cleaning head 410 of the wet cleaning system 400 of the cleaning robot 10, the amount of water delivered from the liquid storage tank 13 to the cleaning head 410 and the delivery timing of the cleaning liquid can be controlled by controlling the water pump provided in the liquid storage tank 13 of the cleaning robot 10. In this embodiment, there is no need to provide a water discharge device in the cleaning assembly 30.

[0086] In an embodiment of the present disclosure, as shown in FIG. 13, the cleaning tank 21 located below the cleaning assembly 30 is provided with a liquid extraction port 211, through which the cleaning liquid in the cleaning tank 21 is discharged, ensuring timely replacement of the cleaning liquid in the cleaning tank 21.

[0087] In an embodiment of the present disclosure, referring to FIG. 14, the base station further includes a collection box 71, which is connected to the cleaning tank 21 via a liquid extraction port 211, so that dirty water in the cleaning tank 21 can flow into the collection box 71.

[0088] Specifically, as shown in FIG. 14 , the base station further includes a liquid supply unit 70, which is connected to the liquid outlet 35 via a liquid supply pipe and is configured to supply cleaning liquid for cleaning the cleaning system 150 of the cleaning robot 10.

[0089] In the embodiment of the present disclosure, the base station further includes a first pump body and a second pump body, the first pump body is configured to pump cleaning liquid into the cleaning tank 21, and the second pump body is configured to extract cleaning liquid from the cleaning tank 21. The first pump body and the second pump body respectively realize the pumping and extraction of cleaning liquid, which ensures the replacement of cleaning liquid in the cleaning tank 21 and guarantees the cleaning effect.

[0090] The first pump body communicates with the liquid supply unit 70 and pumps the cleaning liquid in the liquid supply unit 70 into the cleaning tank 21 through the liquid outlet 35. The second pump body communicates with the collection box 71 and extracts the cleaning liquid in the cleaning tank 21 into the collection box 71 through the liquid extraction port 211.

[0091] In an embodiment of the present disclosure, the first pump body and the second pump body may operate simultaneously, with the first pump body spraying the cleaning liquid into the cleaning tank 21 and the second pump body extracting the cleaning liquid from the cleaning tank 21, i.e., the cleaning liquid flows quickly within the cleaning tank 21.

[0092] In the embodiment of the present disclosure, the first cleaning member 31 and the second cleaning member 32 constitute cleaning members. The cleaning members are parallel to the liquid dispensing device 36, which allows the structure of the cleaning assembly 30 to be compact. Due to this compact structure, when the cleaning members perform a cleaning operation, the cleaning system 150 of the cleaning robot 10 can be wetted in time by the cleaning liquid discharged from the liquid dispensing device 36, which helps the cleaning members to clean the cleaning system 150 of the cleaning robot 10.

[0093] The cleaning member is parallel to the liquid discharge device 36, that is, the extension direction of the cleaning member is parallel to a line connecting the center points of the plurality of liquid outlets 35 of the liquid discharge device 36.

[0094] In an embodiment of the present disclosure, as shown in FIG. 15A , the first cleaning member 31 is mounted on the cleaning assembly bracket 33, and the first cleaning member 31 removes dirt from the cleaning system 150 of the cleaning robot 10 by contacting and moving relative to the cleaning system 150. Furthermore, the liquid outlet 35 on the liquid dispenser 36 may be positioned toward the first cleaning member 31, and with this arrangement, the cleaning liquid discharged from the liquid outlet 35 is first sprayed onto the first cleaning member 31, which then uniformly applies the cleaning liquid to the cleaning system 150 of the cleaning robot 10. In other embodiments of the present disclosure, the cleaning liquid discharged from the liquid outlet 35 is also sprayed directly onto the cleaning system 150 of the cleaning robot 10, and this is not particularly limited in the present disclosure. In an embodiment of the present disclosure, the first cleaning member 31 may be a cleaning roller, such as a brush roller or a soft rubber roller, that rotates parallel to the axis of the liquid dispenser 36.

[0095] In an embodiment of the present disclosure, as shown in Fig. 15A, the second cleaning member 32 is provided on the cleaning assembly bracket 33, and the second cleaning member 32 cooperates with the first cleaning member 31 to remove debris on the cleaning system 150 by contacting and moving relative to the cleaning system 150. As shown in Fig. 15A, the second cleaning member 32 is provided on one side of the first cleaning member 31 and is positioned above the liquid discharge device 36. In an embodiment of the present disclosure, the second cleaning member 32 may be a soft rubber squeegee or the like.

[0096] In some embodiments of the present disclosure, by controlling the liquid level in the cleaning tank 21, the first cleaning member 31 and the second cleaning member 32 may be partially immersed in the cleaning liquid in the cleaning tank 21, completely immersed in the cleaning liquid, or not immersed in the cleaning liquid at all.

[0097] Here, when a portion of the first cleaning member 31 and the second cleaning member 32 is immersed in the cleaning liquid in the cleaning tank 21, the first cleaning member 31 rotates during the reciprocating movement process, and during the rotation process, the first cleaning member 31 extracts the cleaning liquid from the cleaning tank 21 and applies it to the cleaning head 410 of the wet cleaning system 400 of the cleaning robot 10, thereby cleaning the cleaning head 410 even when the water discharge device of the base station is not operating. Furthermore, while the first cleaning member 31 and the second cleaning member 32 are reciprocating, dirt on them is removed by the flushing of the water flow.

[0098] When the first cleaning member 31 and the second cleaning member 32 are completely immersed in the cleaning liquid in the cleaning tub 21, i.e., when the cleaning head 410 of the wet cleaning system 400 of the cleaning robot 10 is immersed in the cleaning liquid in the cleaning tub 21, the cleaning head 410 can perform cleaning using the cleaning liquid in the cleaning tub 21 even when the water discharge device of the base station is not operating. Furthermore, while the first cleaning member 31 and the second cleaning member 32 are reciprocating, dirt on them is removed by the flushing water flow.

[0099] When the first cleaning member 31 and the second cleaning member 32 are not immersed in the cleaning liquid in the cleaning tank 21 at all, the cleaning head 410 of the wet cleaning system 400 of the cleaning robot 10 is completely cleaned with the cleaning liquid sprayed from the water discharge device of the base station, and therefore the cleaning head 410 is not secondarily contaminated by the dirt in the cleaning tank 21. Therefore, this method is applicable when the cleaning head 410 is very dirty or when the cleaning liquid in the cleaning tank 21 has been used many times but has not been replaced.

[0100] In the embodiment of the present disclosure, the liquid outlet 35 of the liquid discharger 36 faces at least one of the first cleaning member 31 and the second cleaning member 32, and the cleaning liquid discharged from the liquid outlet 35 impacts at least one of the first cleaning member 31 and the second cleaning member 32. That is, the liquid outlet 35 not only functions as a flow path for the cleaning liquid to enter the cleaning tank 21, but also allows a water flow to impact at least one of the first cleaning member 31, the second cleaning member 32, and the cleaning head 410 of the wet cleaning system 400 of the cleaning robot 10 through the liquid outlet 35 to clean them.

[0101] In one embodiment of the present disclosure, the first cleaning member 31 and the second cleaning member 32 are arranged in parallel, and the liquid outlet 35 of the liquid discharger 36 is located below the second cleaning member 32 and faces the first cleaning member 31. The liquid outlet 35 sprays cleaning liquid from the liquid supply unit 70 onto the first cleaning member 31, and the rotation of the first cleaning member 31 interferes with the cleaning head 410 of the wet cleaning system 400 of the cleaning robot 10, applying the cleaning liquid to the cleaning head 410. In another embodiment of the present disclosure, the liquid outlet 35 of the liquid discharger 36 may have a liquid discharge direction facing the cleaning head 410, so that the cleaning liquid is sprayed directly onto the cleaning head 410, and the impact of the cleaning liquid on the cleaning head 410 cooperates with the first cleaning member 31 and the second cleaning member 32 to clean the cleaning head 410.

[0102] Furthermore, in other embodiments of the present disclosure, the liquid dispensing device 36 may be provided independently of the cleaning assembly 30, i.e., the first cleaning member 31 and the second cleaning member 32. This arrangement allows for a situation in which one member is unable to operate without affecting the operation of the other members. For example, the base station may clean the cleaning head 410 only by using the liquid dispensing device 36, i.e., by simply impacting the cleaning head 410 with cleaning liquid.

[0103] In the embodiment of the present disclosure, the liquid dispensing device 36 may have multiple liquid outlets 35, which may operate simultaneously or discharge cleaning liquid according to a preset schedule, i.e., the multiple liquid outlets 35 may not discharge cleaning liquid simultaneously. For example, different water pumps or valves may be used to control the water discharge time and frequency of different liquid outlets 35. This allows the base station to accommodate cleaning heads 410 of different shapes and sizes. For example, when the cleaning area of ​​the cleaning head 410 is small, only some of the multiple liquid outlets 35 may be operated to avoid wasting cleaning liquid.

[0104] The above focuses on cleaning the cleaning head 410 of the wet cleaning system 400 of the cleaning robot 10; in other embodiments of the present disclosure, the base station may clean other elements of the cleaning robot 10, and the present disclosure is not particularly limited thereto.

[0105] In an embodiment of the present disclosure, as shown in Figures 11 and 12, the base station further includes a water refill connector 50, which is provided on the base station body 20 and is connected to the water refill port 16 of the liquid storage tank 13 of the cleaning robot 10, and is configured to inject water into the liquid storage tank 13 of the cleaning robot 10.

[0106] In an embodiment of the present disclosure, as shown in FIG. 1, the cleaning robot 10 can move to and stop at the base station body 20 for subsequent liquid replenishment.

[0107] In this embodiment, when the cleaning robot 10 moves to the base station body 20, the water refill connector 50 of the base station is connected to the water refill port 16 of the cleaning robot 10, and the base station supplies liquid to the liquid storage tank 13 via the water refill connector 50.

[0108] In the embodiment of the present disclosure, since the cleaning robot 10 may slightly swing left and right during the process of stopping at the base station, in order to better align the water refill connector 50 of the base station with the water refill port 16 of the liquid storage tank 13 of the cleaning robot 10, at least a portion of the water refill connector 50 of the base station is made movable, for example, the water refill connector 50 may be made of a flexible material or the water refill connector 50 may be placed on a flexible material.

[0109] In an embodiment of the present disclosure, as shown in Figures 17 and 18, the water refill connector 50 includes a body portion 51 connected to the base station body 20, a sealing portion 52 having one end connected to the body portion 51, and a connector portion 53 connected to the other end of the sealing portion 52 remote from the body portion 51, the connector portion 53 being connected to the liquid storage tank 13, wherein the sealing portion 52 is formed from a flexible material.

[0110] Specifically, the main body portion 51 is the main flow path of the liquid, the connector portion 53 is a hard interface portion that is connected to the water refill port 16 of the liquid storage tank 13 of the cleaning robot 10, and the sealing portion 52 has a soft structure. By providing the soft sealing portion 52, the water refill connector 50 can move radially and axially to facilitate alignment with the water refill port 16 of the liquid storage tank 13.

[0111] 17 , the water refill inlet 16 is configured to fit the water refill connector 50, i.e., one end of the water refill connector 50 can be inserted into the water refill inlet 16, and the connector portion 53 of the water refill connector 50 can be inserted into the water refill inlet 16. As described above, the water refill inlet 16 of the cleaning robot 10 is provided with a valve, for example, a cross valve. After the water refill connector 50 of the base station is aligned with the water refill inlet 16 of the cleaning robot 10, the base station starts to refill the liquid storage tank with water through the water refill inlet 16. The cross valve opens under the action of water pressure from the direction of the water refill connector 50, connecting the water refill inlet 16 to the liquid storage tank 13, allowing the cleaning liquid to flow into the liquid storage tank 13. After the water refilling is completed, the water pressure from the direction of the water refill connector 50 at the water refill inlet 16 disappears, closing the cross valve and disconnecting the water refill inlet 16 from the liquid storage tank 13 to prevent the cleaning liquid from leaking from the liquid storage tank 13.

[0112] In an embodiment of the present disclosure, when the cleaning robot 10 stops at the base station to refill the liquid storage tank 13 with water, a forward driving force may be applied to the drive wheels of the cleaning robot 10. During the process of refilling the liquid storage tank 13 with water, the water refill connector 50 of the base station applies a backward thrust to the cleaning robot 10 during the water discharging process, causing the cleaning robot 10 to tend to move backward. The forward driving force applied to the drive wheels offsets at least a portion of the thrust, making the cleaning robot 10 more stable when refilling the liquid storage tank 13 with water. In other embodiments of the present disclosure, whether the forward driving force is increased and the magnitude of the driving force may be determined by factors such as the water discharging speed of the water refill connector 50, the mass of the cleaning robot 10 itself, or the frictional force between the drive wheels and the stopping surface of the base station when the cleaning robot 10 stops at the base station, and are not particularly limited in the present disclosure.

[0113] To timely replenish the cleaning robot 10's liquid storage tank 13 with cleaning liquid, the cleaning robot 10 may be provided with a sensor to detect changes in the liquid level in the liquid storage tank 13. For example, the liquid storage tank 13 may be provided with a float including a magnetic element, and the liquid storage tank 13 or the body of the cleaning robot 10 may be provided with one or more magnetic induction elements to detect changes in the liquid level in the liquid storage tank 13. If the liquid level in the liquid storage tank 13 is lower than a preset threshold, the cleaning robot 10 may automatically return to the base station to replenish water, or the cleaning robot 10 may remind the user via an app or voice, and the user may control the cleaning robot 10 to return to the base station to replenish water. In other embodiments of the present disclosure, changes in the liquid level in the liquid storage tank 13 may be detected by other means, such as an infrared sensor. In other embodiments of the present disclosure, the cleaning robot 10 may be controlled by other control methods to return to the base station to replenish water, for example, after completing a task for a designated cleaning area or a task for a designated region, the cleaning robot 10 may automatically return to the base station to replenish water. This disclosure is not particularly limited. Further, according to the above, the cleaning head 410 of the wet cleaning system 400 of the cleaning robot 10 may be cleaned while the liquid storage tank 13 is replenished with water.

[0114] 17 and 18, the base station further includes a first positioning portion 60 provided on the base station body 20. The first positioning portion 60 is configured to be connected to the second positioning portion 14 on the liquid storage tank 13.

[0115] Specifically, after the cleaning robot 10 moves to the base station main body 20, the first positioning part 60 is connected to the second positioning part 14, and the water refill connector 50 is connected to the liquid storage tank 13, and at this time, liquid is refilled into the liquid storage tank 13 through the water refill connector 50.

[0116] 18 , in the embodiment of the present disclosure, an accommodation space 61 is provided in the first positioning part 60, and the end of the water refill connector 50 connected to the liquid storage tank 13 is located within the accommodation space 61. When the first positioning part 60 is connected to the second positioning part 14, the water refill connector 50 located within the accommodation space 61 can be securely connected to the water refill port 16 of the liquid storage tank 13.

[0117] 17 , in the embodiment of the present disclosure, the second positioning portion 14 is a groove that fits into the first positioning portion 60. That is, the first positioning portion 60 is inserted into the groove, and the water refill connector 50 is securely connected to the water refill port 16. The outer surface of the first positioning portion 60 may be an inclined surface to facilitate insertion into the groove, and the first positioning portion 60 can be introduced into the second positioning portion 14 even when the cleaning robot 10 and the base station body 20 are not perfectly aligned.

[0118] In an embodiment of the present disclosure, the liquid supply 70 is in communication with the water refill connector 50, and the liquid supply 70 supplies liquid to the liquid storage tank 13 via the water refill connector 50. The liquid supply 70 is configured to contain a cleaning liquid, and the liquid in the liquid supply 70 is delivered into the liquid storage tank 13 via the water refill connector 50.

[0119] Optionally, the liquid supply unit 70 may selectively communicate with the water refill connector 50 or the liquid outlet 35, i.e., the liquid supply unit 70 may refill the liquid storage tank 13 with liquid via the water refill connector 50, or the liquid supply unit 70 may pump the cleaning liquid into the cleaning tank 21 via the liquid outlet 35 of the liquid discharge device 36. The first pump body may be configured to pump the cleaning liquid into the cleaning tank 21, or the first pump body may be configured to pump liquid to the water refill connector 50 and to refill the liquid storage tank 13 with liquid.

[0120] The liquid discharged from the liquid supply unit 70 flows into two flow paths, one of which communicates with the water refill connector 50 and the other of which communicates with the liquid outlet 35. The liquid supply unit 70 selectively communicates with the two flow paths so as to control the supply of liquid to the water refill connector 50 or the liquid outlet 35. Here, a valve may be provided for each of the two flow paths, and the opening and closing of the valves may be controlled to control the connection and disconnection of the two flow paths. Alternatively, a three-way valve, for example, a solenoid valve may be provided, that is, a solenoid valve may be provided to control the connection and disconnection of the liquid supply unit 70 and the corresponding flow path.

[0121] 11 and 12, the base station further includes a second charging contact piece 40, which is electrically connected to the first charging contact piece 12 of the cleaning robot 10 so that the base station charges the cleaning robot 10. As shown in FIG. 2, after the cleaning robot 10 stops at the base station, the second charging contact piece 40 is electrically connected to the first charging contact piece 12.

[0122] In some embodiments, as shown in FIG. 12 , the base station body 20 further includes a guide side 23, the second charging contact pole piece 40 is provided on the guide side 23, the first charging contact pole piece 12 is provided on a side surface of the cleaning robot 10, and the second charging contact pole piece 40 is electrically connected to the first charging contact pole piece 12.

[0123] In some embodiments, as shown in FIG. 12 , the guide side 23 includes two opposing side surfaces 231 and an intermediate surface 232 located between the two side surfaces 231, the intermediate surface 232 facing the forward direction of the cleaning robot 10 moving on the base station, wherein the second charging contact pole piece 40 is provided on the intermediate surface 232, i.e., the first charging contact pole piece 12 is provided on the end side surface of the cleaning robot 10.

[0124] In the embodiment of the present disclosure, the plurality of second charging contact pieces 40 and the plurality of first charging contact pieces 12 are provided in pairs. Optionally, the second charging contact pieces 40 may be provided on the side surfaces 231, i.e., two second charging contact pieces 40 in a pair may be located on two side surfaces 231, respectively.

[0125] Correspondingly, in an embodiment of the present disclosure, the first charging contact piece 12 on the cleaning robot 10 may be located on the front side of the cleaning robot 10. As shown in FIG. 21 , a buffer 122 is provided at the front of the cleaning robot 10, and the buffer 122 is movably provided on the body of the cleaning robot 10. When the cleaning robot 10 encounters an obstacle ahead during its movement, the buffer 122 collides with the obstacle and moves toward the body of the cleaning robot 10. After the cleaning robot 10 leaves the obstacle, the buffer 122 moves away from the body of the cleaning robot 10. Therefore, the buffer 122 may be repeatedly compressed and expanded during the working process of the cleaning robot 10. In an embodiment of the present disclosure, the first charging contact piece 12 of the cleaning robot 10 is provided on the body of the cleaning robot 10 behind the buffer 122, and a through-hole 1221 is provided at the corresponding portion of the buffer 122. During the charging process of the cleaning robot 10, the first charging contact piece 12 contacts the second charging contact piece 40. The first charging contact pole piece 12 is located at the rear of the buffer 122, preventing it from being directly exposed to the outside of the main body, thereby avoiding friction damage to the first charging contact pole piece 12 caused when the cleaning robot 10 collides with a hard obstacle.

[0126] In the embodiment of the present disclosure, the first charging contact piece 12 and the wet cleaning system 400 of the cleaning robot 10 are respectively disposed on opposite sides of the cleaning robot 10, i.e., on the front and rear ends in the direction of movement of the cleaning robot 10. Specifically, the first charging contact piece 12 is located on the front side of the cleaning robot 10, and the wet cleaning system 400 is located on the rear side of the cleaning robot 10. Therefore, in the embodiment of the present disclosure, the cleaning robot 10 may stop at the base station in two positions: when returning to the base station to charge, the cleaning robot 10 moves forward and stops at the base station; when cleaning the wet cleaning system 400 or refilling the liquid storage tank 13 with water, the cleaning robot 10 moves backward and stops at the base station. To cooperate with these two operation modes, elements for communicating with the base station may be provided on the front and rear sides of the cleaning robot 10, such as infrared devices for receiving signals from the base station, but this disclosure is not particularly limited thereto.

[0127] In an embodiment of the present disclosure, as shown in FIG. 19 , the base station may further include a guide bridge 27, which is disposed above the cleaning tub 21 and configured to support the driven wheels 142 of the cleaning robot 10. As shown in FIG. 4 , the driven wheels 142 are disposed at the front of the bottom of the cleaning robot 10. To ensure the stability of the cleaning robot 10 when it stops at the base station to charge, a support, i.e., the guide bridge 27, may be disposed below the driven wheels 142. As shown in FIG. 19 , the guide bridge 27 in this embodiment spans both the front and rear ends of the cleaning tub 21, guiding the passage of the driven wheels 142 and providing support after the cleaning robot 10 stops. In another embodiment of the present disclosure, a forward-extending breakable bridge is disposed only at the front end of the water tank, and the extension length may be determined based on factors such as the stopping position of the cleaning robot 10 and the installation position of the driven wheels 142, and is not particularly limited in the present disclosure. In the embodiment of the present disclosure, the cleaning assembly 30, which moves back and forth from side to side, is provided above the cleaning tub 21. To prevent the guide bridge 27 from interfering with the movement of the cleaning assembly 30, the guide bridge 27 may be movably provided above the cleaning tub 21. For example, when the cleaning robot 10 stops at the base station to charge, the guide bridge 27 may be moved to the center of the cleaning tub 21 to guide and support the driven wheels 142 of the cleaning robot 10. When the cleaning robot 10 stops at the base station to clean the cleaning head 410 of the wet cleaning system 400, the guide bridge 27 may be moved to one side of the cleaning tub 21 so that the cleaning assembly 30 moves from side to side. In the embodiment of the present disclosure, as shown in FIG. 19 , the guide bridge 27 and the cleaning assembly 30 may be mounted on the same bracket and driven by the same drive unit to move from side to side. This arrangement allows for a more compact arrangement between the components and effectively utilizes the space in the base station.

[0128] In an embodiment of the present disclosure, as shown in FIG. 19 , the base station body 20 further includes a guide bottom surface 22, and the guide bottom surface 22 is provided with anti-slip protrusions 221. The cleaning robot 10 moves along the guide bottom surface 22 along the anti-slip protrusions 221, and the anti-slip protrusions 221 generate a certain frictional force with the cleaning robot 10, which ensures that the cleaning robot 10 moves to the base station body 20 and assists in positioning the cleaning robot 10 during the cleaning process.

[0129] In the embodiment of the present disclosure, the cleaning assembly 30 is located above the guide bottom surface 22, and the cleaning assembly 30 is spaced apart from the anti-slip protrusions 221, and after the cleaning robot 10 moves a certain distance on the guide bottom surface 22, the cleaning assembly 30 is placed opposite the cleaning system 150 for the subsequent cleaning process.

[0130] Alternatively, the cleaning tank 21 may be provided on a guide bottom surface 22, the guide bottom surface 22 including an inclined surface and a flat surface, the anti-skid protrusions 221 may be provided on the inclined surface, and the cleaning tank 21 may be provided on the flat surface.

[0131] The anti-slip structures formed by the anti-slip protrusions 221 correspond to the running wheel assemblies of the cleaning robot 10, and if there are two running wheel assemblies, there are also two anti-slip structures.

[0132] 19 and 20 , in the embodiment of the present disclosure, the base station body 20 is provided with an extension plate 222, which is connected to the end of the base station body 20 to assist the cleaning robot 10 to move to the base station body 20, and the extension plate 222 is foldable, i.e., can be stacked on the guide bottom surface 22. Under special circumstances, for example, on a slippery floor, the extension plate 222 may be deployed to allow the cleaning robot 10 to climb a slope.

[0133] In the embodiment of the present disclosure, the base station body 20 further includes a guide surface 24, and the guide surface 24 is provided with a guide portion that contacts the cleaning robot 10, where the guide portion is located above the cleaning assembly 30. The guide portion can restrict the cleaning robot 10 and ensure that the cleaning robot 10 moves to an appropriate position.

[0134] Specifically, the guide portion is located above the cleaning assembly 30, i.e., the cleaning assembly 30 is located on the guide bottom surface 22, and the guide portion is located on the guide top surface 24, and when viewed from the height direction, the guide portion is located above the cleaning assembly 30.

[0135] In an embodiment of the present disclosure, as shown in Figures 21 and 22, the guide part may include a guide press block 25, and a rotating wheel 19 is provided on the upper edge of the cleaning robot 10, and as shown in Figure 9, the rotating wheel 19 may rotate around an axis perpendicular to the moving direction of the cleaning robot 10. When the cleaning robot 10 needs to move to the base station body 20, the rotating wheel 19 cooperates with the guide press block 25 to enable the cleaning robot 10 to move to the base station body 20 more smoothly.

[0136] 23 , the guide unit may include a guide wheel 26, which not only assists the cleaning robot 10 in moving toward the base station body 20 but also restricts the cleaning robot 10 from moving vertically after stopping at the base station body 20. For example, when the cleaning robot 10 stops at the base station body 20 to clean, the cleaning assembly 30 of the base station contacts the cleaning head 410 of the wet cleaning system 400 of the cleaning robot 10, exerting a vertically upward thrust on the cleaning robot 10. The guide wheel 26 can partially or completely offset the vertically upward thrust and prevent the cleaning robot 10 from moving upward. Optionally, there may be at least two guide wheels 26 symmetrically arranged on both the left and right sides of the base station.

[0137] The base station of this embodiment can clean the cleaning robot, refill the cleaning robot's liquid storage tank, and charge the cleaning robot.

[0138] Other embodiments of the present disclosure will be readily apparent to those skilled in the art in light of the specification and disclosure herein. The present disclosure is intended to cover any variations, uses, or adaptations of the present disclosure that follow the general principles of the present disclosure and include common general knowledge or customary technical means in the art that are not disclosed in the present disclosure. The specification and exemplary embodiments are to be considered as exemplary only, with the true scope and spirit of the present disclosure being indicated by the following claims.

[0139] It should be understood that the present disclosure is not limited to the specific structures described above and illustrated in the accompanying drawings, and that various modifications and changes can be made without departing from the scope thereof, which is defined by the appended claims.

Claims

1. 1. A base station configured to clean a cleaning system of a cleaning robot, comprising: A base station body, a cleaning assembly linearly movably mounted on the base station body; the cleaning assembly includes a first cleaning member and a second cleaning member that is structurally different from the first cleaning member; the first cleaning member and the second cleaning member move in the same direction and sequentially clean the same position of the cleaning system; The base station, wherein the first cleaning member and the second cleaning member interact with the cleaning system to remove debris from the cleaning system.

2. the cleaning assembly further includes a cleaning assembly bracket; The base station of claim 1 , wherein the first cleaning member and the second cleaning member are mounted parallel to the cleaning assembly bracket.

3. The base station of claim 2 , wherein the first cleaning member includes a cleaning roller, the cleaning roller being rotatably mounted relative to the cleaning assembly bracket.

4. 4. The base station of claim 3, wherein the cleaning roller is provided with brushes and / or blades on its outer surface.

5. The base station of claim 4 , wherein the second cleaning member comprises a cleaning wiper.

6. When the cleaning robot moves to the base station body, the cleaning assembly is configured to move relative to the base station body; the cleaning roller is configured to interact with a cleaning system of the cleaning robot using brushes and / or blades provided on its outer surface during rotation; The base station of claim 5 , wherein the scrubbing wiper is configured to interfere with a cleaning system of the cleaning robot during the course of moving relative to the base station body.

7. The base station of any one of claims 2 to 6, wherein the cleaning assembly further includes a drive unit connected to the base station body and the cleaning assembly bracket, respectively, and configured to drive the cleaning assembly bracket to move relative to the base station body.

8. The base station of claim 7 , wherein the drive section is further drivingly connected to the first cleaning member to drive the first cleaning member to rotate relative to the cleaning assembly bracket.

9. The base station of claim 8 , wherein the drive section simultaneously drives the cleaning assembly bracket to move relative to the base station body and the first cleaning member to rotate relative to the cleaning assembly bracket.

10. the driving unit drives the cleaning assembly bracket to move leftward relative to the base station body, and simultaneously drives the first cleaning member to rotate clockwise relative to the cleaning assembly bracket; The base station of claim 9 , wherein the drive unit drives the cleaning assembly bracket to move rightward relative to the base station body and simultaneously drives the first cleaning member to rotate counterclockwise relative to the cleaning assembly bracket.

11. The base station of claim 8 , wherein the cleaning assembly includes a plurality of first cleaning members, the plurality of first cleaning members being disposed on either side of the second cleaning member.

12. the cleaning assembly further includes a liquid dispensing device; The base station according to any one of claims 1 to 6, wherein the cleaning liquid discharged from the liquid dispensing device is used to clean a cleaning system of the cleaning robot.

13. A cleaning robot system comprising the base station according to any one of claims 1 to 12 and a cleaning robot.

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