Cleaning robot system, base station and base

Abstract

The present disclosure relates to a cleaning robot system and a base station. The base station comprises: a main body, wherein the main body is provided with a first accommodating space and a water inlet; a water supply assembly, which is communicated to the water inlet so as to transport water for cleaning a cleaning robot to the water inlet; and a sewage discharge assembly, which comprises a sewage tank and a negative pressure generation unit, wherein the negative pressure generation unit is provided with an air extraction end for generating a negative pressure and an air exhaust end for generating a positive pressure, the air extraction end is in communication with the sewage tank to form the negative pressure in the sewage tank, the air exhaust end is communicated to the water inlet, and a positive pressure gas transported by the air exhaust end flows out of the water inlet, or the positive pressure gas transported by the air exhaust end is mixed with water transported by the water supply assembly to form a gas-liquid mixture of which the pressure is greater than that of the water supply pressure of the water supply assembly, and then flows out of the water inlet. The cleaning robot system and the base station provided by the embodiments of the present disclosure can reduce the consumption of flushing water, reduce a water adding frequency of the base station, and save on the space of the base station.

Description

Cleaning robot systems, base stations and mounts

[0001] This application claims priority to the Chinese patent application filed with the State Intellectual Property Office of China on December 4, 2023, with application number "202311648599.5" and invention name "A cleaning robot system and base station", the Chinese patent application filed with the State Intellectual Property Office of China on November 27, 2023, with application number "202311596269.6" and invention name "Cleaning base station and cleaning equipment", the Chinese patent application filed with the State Intellectual Property Office of China on May 29, 2023, with application number "202310618157.X" and invention name "Base station and base", and the Chinese patent application filed with the State Intellectual Property Office of China on August 23, 2023, with application number "202311068541.3" and invention name "Base station and base", the entire contents of which are incorporated by reference into this application. Technical Field

[0002] The present disclosure relates to the field of household cleaning robot systems, and in particular to a cleaning robot system, a base station, and a base. Background Art

[0003] For household cleaning robot systems, after the cleaning robot completes sweeping and mopping operations, it will return to the base station to automatically clean its roller brush and mop. In related technologies, water is generally pumped by a water pump and sprayed onto the roller brush and mop to achieve self-cleaning. This self-cleaning method has the following problems: if the water pressure and flow of the water pump are large, the water consumption is large and manual water addition is required frequently; if the water pressure and flow of the water pump are small, the cleaning rate is poor and the cleaning effect cannot be satisfactory. In addition, after the base station cleans the roller brush and mop, the sewage is sucked away by the water pump, but solid garbage such as hair, particles, and dust will remain in the first receiving space and need to be cleaned regularly by humans. The convenience and intelligence level are not high.

[0004] Currently, garbage will accumulate in the base of the sweeping robot base station on the market after long-term use. Over time, it will become smelly and produce bacteria, requiring users to clean it manually, affecting user use and experience.

[0005] Alternatively, cleaning robots such as sweeping robots, mopping robots, and sweep-and-mop robots are used to clean the floor, and their sweeping brushes or mops need to be frequently cleaned at the base station. After the wastewater is discharged through the drainage pump, it can become contaminated with oil, dust, and other stains on the base tray. Over time, this can lead to deterioration, odor, and bacterial growth, negatively impacting the user experience.

[0006] Summary of the Invention

[0007] In order to solve at least one of the above-mentioned technical problems, the present application provides a cleaning robot system, base station or base, which can directly use the negative pressure generating unit in the sewage discharge component to generate positive pressure gas, and use the positive pressure gas to directly clean the cleaning robot, or use the positive pressure gas to mix with the water delivered by the water supply component to form a gas-liquid mixture to clean the cleaning robot, which can reduce the amount of water used for flushing, reduce the frequency of adding water to the base station, and save base station space; it can automatically clean the stains generated by the tray of the base during the cleaning operation, effectively prevent the residual stains from deteriorating, odor and breeding bacteria, and improve the user experience.

[0008] According to a first aspect of the present disclosure, a cleaning robot system is provided, comprising a cleaning robot and a base station, the base station comprising: a main body, the main body being provided with a first receiving space and a water inlet; a water supply component, the water supply component being configured to be connected to the water inlet so as to deliver water for cleaning the cleaning robot to the water inlet; a sewage discharge component, the sewage discharge component being arranged on the main body, the sewage discharge component comprising a sewage tank and a negative pressure generating unit, the negative pressure generating unit being constructed to have an exhaust end for generating negative pressure and an exhaust end for generating positive pressure; wherein the exhaust end is constructed to be connected to the sewage tank so as to form a negative pressure in the sewage tank; the exhaust end is constructed to be connected to the water inlet, the positive-pressure gas delivered by the exhaust end flows out of the water inlet, or the positive-pressure gas delivered by the exhaust end is mixed with the water delivered by the water supply component to form a gas-liquid mixture greater than the water supply pressure of the water supply component and then flows out of the water inlet.

[0009] According to a second aspect of the present disclosure, a base station is provided, which includes: a main body, which is provided with a first receiving space and a water inlet; a water supply component, which is configured to be connected to the water inlet to deliver water for cleaning the cleaning robot to the water inlet; a sewage discharge component, which is arranged on the main body, and the sewage discharge component includes a sewage tank and a negative pressure generating unit, and the negative pressure generating unit is constructed to have an exhaust end for generating negative pressure and an exhaust end for generating positive pressure; wherein the exhaust end is constructed to be connected to the sewage tank to form a negative pressure in the sewage tank; the exhaust end is constructed to be connected to the water inlet, and the positive-pressure gas delivered by the exhaust end flows out of the water inlet, or the positive-pressure gas delivered by the exhaust end is mixed with the water delivered by the water supply component to form a gas-liquid mixture greater than the water supply pressure of the water supply component and then flows out of the water inlet.

[0010] According to a third aspect of the present disclosure, a base station is provided, which includes: a base, having a first receiving space, the bottom surface of the first receiving space forming a collection area; a filter box, including a box body, a filter element and a first sewage discharge part, the box body is arranged on the base and has a second receiving space, the second receiving space is connected to the first receiving space through a collection port, and the first sewage discharge part is connected to the second receiving space through the first sewage discharge port; a spraying assembly, used to supply fluid to flush garbage in the collection area into the second receiving space; a drying assembly, used to supply drying airflow to the second receiving space; a dust collection assembly, including a dust collection fan and a first dust collection pipeline, the first dust collection pipeline is connected to the first sewage discharge part.

[0011] According to a fourth aspect of the present disclosure, a cleaning robot system is also provided, which includes a cleaning robot and the base station provided in the first aspect of the present application.

[0012] According to a fifth aspect of the present disclosure, a base station is provided, comprising: a main body, a accommodating cavity being provided at the bottom thereof, and a water outlet being provided above the accommodating cavity; a base, accommodated in the accommodating cavity, the base comprising: a chassis assembly; a tray, stacked on the chassis assembly and detachably connected to the chassis assembly, the tray being provided with cleaning ribs for performing cleaning operations; a water inlet pipe, one end of which is connected to the water outlet and the other end of which is connected to the tray, for introducing cleaning liquid into the tray; a cleaning assembly, for cleaning stains generated when the tray performs cleaning operations; a drainage device, one end of which is connected to the tray and the other end of which is connected to the sewage treatment device, for discharging sewage through negative pressure.

[0013] According to the sixth aspect of the present disclosure, an embodiment of the present application provides a base, which is separately arranged from the main body of the base station, and a accommodating cavity is provided at the bottom of the main body, and a water outlet is provided above the accommodating cavity. The base can be accommodated in the accommodating cavity, and the base includes: a chassis assembly; a tray, which is stacked on the chassis assembly and detachably connected to the chassis assembly, and the tray is provided with cleaning ribs for performing cleaning operations; a water inlet pipe, one end of which is connected to the water outlet and the other end is connected to the tray, for introducing cleaning liquid into the tray; a cleaning assembly, for cleaning stains generated when the tray performs cleaning operations; a drainage device, one end of which is connected to the tray and the other end is connected to the sewage treatment device, for discharging sewage through negative pressure.

[0014] One beneficial effect of the present disclosure is that in the cleaning robot system and base station provided by the embodiments of the present disclosure, the base station includes a main body, a water supply component and a sewage discharge component, the main body is provided with a first receiving space and a water inlet, the water supply component is configured to be connected to the water inlet to deliver water for cleaning the cleaning robot to the water inlet, the sewage discharge component includes a sewage tank and a negative pressure generating unit, the negative pressure generating unit is constructed so that the suction end can suck air to generate negative pressure, and the exhaust end can blow air to generate positive pressure, wherein the suction end is constructed to be connected to the sewage tank, so that when the negative pressure generating unit is started, a negative pressure can be formed in the sewage tank so that dirt is sucked into the sewage tank; and the exhaust end of the negative pressure generating unit is connected to the water inlet, so that the positive pressure gas blown by the exhaust end can be delivered to the water inlet, so that the positive pressure gas delivered by the exhaust end can flow out directly from the water inlet, or the positive pressure gas delivered by the exhaust end is mixed with water delivered by the water supply component to form a gas-liquid mixture greater than the water supply pressure of the water supply component, and then flows out from the water inlet to clean the cleaning robot and / or the first receiving space.

[0015] The cleaning robot system and base station provided in the embodiments of the present disclosure can directly use the negative pressure generating unit in the sewage discharge component to generate positive pressure gas, and use the positive pressure gas to directly clean the cleaning robot, or use the positive pressure gas to mix with the water delivered by the water supply component to form a gas-liquid mixture to clean the cleaning robot, which can reduce the amount of water used for flushing, reduce the frequency of water addition to the base station, and save base station space.

[0016] The base station and cleaning robot system provided by the embodiment of the present application, when the base station completes the cleaning of the cleaning robot's cleaning parts, the base station of the embodiment of the application can complete the self-cleaning process in the base, and the specific working method is as follows: the spray component sprays fluid into the first receiving space of the base to flush the garbage in the collection area into the filter box; the filter element in the filter box filters the garbage collected in the second receiving space, and the fluid in the garbage is filtered and discharged through the third sewage discharge part. At this time, the drying component starts to work, and the drying component generates a drying airflow with a certain temperature and transports it to the second receiving space. The drying airflow is used to dry the garbage in the filter box; after the garbage in the filter box is dried, the dust collection fan of the dust collection component acts, and the garbage in the filter box is sucked into the dust collection bag through the first dust collection pipeline. Through the above working process, the base station of the embodiment of the present application can replace the user's manual cleaning process and realize the self-cleaning of the base. The base of the base station can also be kept clean after long-term use, avoiding odor and bacterial growth, and improving the user experience.

[0017] The base station and base provided in the embodiment of the present application include a main body and a base of separate design, wherein a receiving cavity is provided at the bottom of the main body, a water outlet is provided above the receiving cavity, and the base is received in the receiving cavity. The base includes: a chassis assembly; a tray, stacked and arranged on the chassis assembly and detachably connected to the chassis assembly, the tray being provided with cleaning ribs for performing cleaning operations; a water inlet pipe, one end of which is connected to the water outlet and the other end is connected to the tray for introducing cleaning liquid into the tray; a cleaning assembly for cleaning stains generated when the tray performs cleaning operations; a drainage device, one end of which is connected to the tray and the other end is connected to the sewage treatment device for discharging sewage. Thus, the cleaning assembly provided on the base can automatically clean stains generated when the tray performs cleaning operations, effectively preventing residual stains from deteriorating, odors, and breeding bacteria, thereby improving the user experience.

[0018] Other features and advantages of the present disclosure will become apparent from the following detailed description of exemplary embodiments of the present disclosure with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments of the present disclosure and, together with the description, serve to explain the principles of the present disclosure.

[0020] FIG1 is a schematic diagram of the appearance structure of a base station provided by an embodiment of the present disclosure;

[0021] FIG2 is a structural diagram of a first accommodation space in a base station provided by an embodiment of the present disclosure from one perspective;

[0022] FIG3 is a structural diagram of a first accommodation space in a base station provided by an embodiment of the present disclosure from another perspective;

[0023] FIG4 is a schematic diagram of the internal structure of a base station provided by an embodiment of the present disclosure;

[0024] FIG5 is a schematic diagram of the internal structure of the base station in the embodiment shown in FIG4;

[0025] FIG6 is a schematic diagram of the internal structure of a base station provided by another embodiment of the present disclosure;

[0026] FIG7 is a schematic diagram of the internal structure of the base station in the embodiment shown in FIG6;

[0027] FIG8 is a schematic structural diagram of an ejector;

[0028] FIG9 is a schematic diagram of the internal structure of a base station provided by another embodiment of the present disclosure;

[0029] FIG10 is a schematic diagram of the internal structure of the base station in the embodiment shown in FIG9;

[0030] FIG11 is a front view of the structure of a spray nozzle in a base station provided by an embodiment of the present disclosure;

[0031] FIG12 is a perspective structural diagram of a spray nozzle in a base station provided by an embodiment of the present disclosure;

[0032] FIG13 is a front view of the structure of a spray nozzle in a base station provided by another embodiment of the present disclosure;

[0033] FIG14 is a perspective structural diagram of a spray nozzle in a base station provided by another embodiment of the present disclosure;

[0034] FIG15 is a front view of the structure of a spray nozzle in a base station provided by another embodiment of the present disclosure;

[0035] FIG16 is a perspective structural diagram of a spray nozzle in a base station provided by another embodiment of the present disclosure;

[0036] FIG17 schematically shows a three-dimensional structural diagram of a base station assembly according to an embodiment of the present invention;

[0037] FIG18 schematically shows a rear structural diagram of a base station assembly according to an embodiment of the present invention;

[0038] FIG19 schematically shows a side view of a base station assembly according to an embodiment of the present invention;

[0039] FIG20 schematically shows a top view of a base and a filter box in a base station provided by an embodiment of the present invention;

[0040] FIG21 schematically shows a three-dimensional structural diagram of a base and a filter box in a base station provided by an embodiment of the present invention;

[0041] FIG22 schematically shows a three-dimensional structural diagram of a filter box in a base station provided by an embodiment of the present invention;

[0042] FIG23 schematically shows a front view of a filter box in a base station provided by an embodiment of the present invention;

[0043] FIG24 schematically shows a cross-sectional view of the flip cover in the first position at the cross-sectional perspective AA shown in FIG23;

[0044] FIG25 schematically shows a cross-sectional view of the flip cover in the second position at the cross-sectional perspective AA in FIG23;

[0045] FIG26 schematically shows a three-dimensional structural diagram of the filter box and part of the base when the filter element is in an ascending state;

[0046] FIG27 schematically shows a three-dimensional structural diagram of the filter box and part of the base when the filter element is in a lowered state;

[0047] FIG28 schematically shows a rear view of the filter cartridge assembly and a portion of the base;

[0048] FIG29 schematically shows a cross-sectional view of the filter element in the raised state at the cross-sectional perspective shown by BB in FIG28;

[0049] FIG30 schematically shows a cross-sectional view of the filter element in a lowered state at the cross-sectional perspective shown by line BB in FIG28;

[0050] FIG31 schematically shows a front view of an airway switching structure provided in an embodiment of the present invention;

[0051] FIG32 schematically shows a right side view of the airway switching structure provided by an embodiment of the present invention;

[0052] FIG33 schematically shows a bottom view of the airway switching structure provided by an embodiment of the present invention;

[0053] FIG34 is a CC sectional view in FIG31;

[0054] FIG35 is a DD sectional view in FIG32;

[0055] FIG36 schematically shows an exploded view of a portion of the structure of the base and the spray assembly in the cleaning record provided by an embodiment of the present invention;

[0056] FIG37 schematically shows a front structural diagram of a base station assembly provided in an embodiment of the present invention;

[0057] FIG38 schematically shows a cross-sectional view of a locking structure in a base station provided by an embodiment of the present invention;

[0058] FIG39 schematically shows a cross-sectional view of another locking structure in a base station provided by an embodiment of the present invention;

[0059] FIG40 schematically shows a front view of a spray nozzle structure in a base station provided by an embodiment of the present invention;

[0060] FIG41 schematically shows a cross-sectional view of a water channel of a spray nozzle structure in a base station according to an embodiment of the present invention;

[0061] FIG42 schematically shows a cross-sectional view of a nozzle cavity of a spray nozzle structure in a base station according to an embodiment of the present invention;

[0062] FIG43 schematically shows the arrangement of the shower holes in the spray nozzle structure of the base station provided by an embodiment of the present invention;

[0063] FIG44 shows an exploded structural diagram of a base station provided in an embodiment of the present application;

[0064] FIG45 shows a top view of a base provided by an embodiment of the present application;

[0065] FIG46 shows an exploded structural view of the base shown in FIG45;

[0066] FIG47 shows a top view of a base provided by another embodiment of the present application;

[0067] FIG48 is a schematic diagram showing the exploded structure of the base shown in FIG47 ;

[0068] FIG49 is a schematic diagram showing a layout structure of the nozzle assembly of the tray in FIG48;

[0069] FIG50 shows a cross-sectional view of the tray in FIG49 along the AA direction;

[0070] FIG51 shows a schematic diagram of the back structure of the tray in FIG48;

[0071] FIG52 is a schematic structural diagram of the nozzle in FIG49;

[0072] FIG53 is a schematic diagram showing another layout structure of the nozzle assembly of the tray in FIG48;

[0073] FIG54 is a schematic structural diagram of the nozzle assembly of the tray in FIG48;

[0074] FIG55 shows a top view of a base provided by another embodiment of the present application;

[0075] FIG56 is a schematic diagram showing the exploded structure of the tray in the base shown in FIG55 ;

[0076] FIG57 is a schematic diagram showing the back structure of the tray shown in FIG56;

[0077] FIG58 shows a cross-sectional view of the base in FIG55 along the BB direction;

[0078] FIG59 shows a top view of a base provided in an embodiment of the present application;

[0079] FIG60 shows an exploded structural view of the base shown in FIG59;

[0080] FIG61 shows the back side and exploded structure of the spray assembly in FIG60;

[0081] FIG62 is a schematic structural diagram showing the back side of the tray in FIG59 from another angle;

[0082] FIG63 shows a cross-sectional view of the tray in FIG59 along direction BB;

[0083] FIG. 64 shows a schematic top view of the structure of the tray in FIG. 59 .

[0084] Explanation of reference numerals: 10z, base station; 12z, sewage discharge assembly; 15z, first flushing pipeline; 16z, tee; 17z, second flushing pipeline; 18z, ejector; 19z, check valve; 20z, third flushing pipeline; 11zC, water supply port; 120z, sewage pipe; 121z, sewage tank; 121z', air inlet pipe; 122z, negative pressure generating unit; 122zA, air extraction end; 122zB, exhaust end; 123z, first exhaust pipeline; 124z, second exhaust pipeline; 125z, third exhaust pipeline; 130z, injection hole; 131z, straight-line injection port; 1 4zA, heating element; 140z, fifth water supply pipeline; 141z, clean water tank; 142z, first power pump; 142z', water outlet pipe; 143z, first water supply pipeline; 144z, second water supply pipeline; 145z, first control valve; 146z, third water supply pipeline; 147z, second power pump; 148z, second control valve; 149z, fourth water supply pipeline; 151z, third power pump; 152z, third control valve; S1z, flushing area; S2z, sewage area; 18zA, gas inlet; 18zB, liquid inlet; 18zC, outlet; 2. Main body; 1. Base; 210. First receiving space; 220. Collection area; 230. Second drainage part; 240. Rib column; 250. Bottom plate; 260. Third drainage part; 300. Filter box; 310. Box body; 311. Stopper; 320. Filter element; 321. Filter hole; 330. First drainage part; 331. First drainage outlet; 340. Second receiving space; 341. Collection outlet; 350. Flip cover; 351. First cover; 352. Second cover; 360. Rotating shaft; 370. Vibrating assembly; 371. Eccentric block; 372. Second driving member; 123. Spraying assembly; 410. Medium pipe; 420. Spraying nozzle; 421. Water inlet; 422. Nozzle chamber; 423. Waterway; 424. Nozzle; 425, water channel through hole; 430, boiler assembly; 440, steam generating assembly; 450, sliding joint; 451, joint; 460, locking structure; 461, rotating handle; 462, buckle; 463, gear; 464, rack; 465, crankshaft; 466, connecting rod; 470, pipeline quick release assembly; 480, compression spring; 490, micro switch; 500, drying assembly; 510, second driving member; 520, heating element; 530, drying air duct; 600, dust collection assembly; 610, first dust collection pipeline; 620, second dust collection pipeline; 630, third dust collection pipeline; 640, three-way conversion member; 650, dust collection drawer; 660, third driving member; 10. Chassis assembly; 101. Chassis; 102. Baffle; 11. Tray; 110. Cleaning ribs; 111. Bottom plate; 112. Side plates; 112a. First side plate; 112b. Second side plate; 112c. Third side plate; 112d. Arc edge;113. Sewage tank; 114. Cover; A1. First area; A2. Second area; A3. Third area; A4. Fourth area; X. First direction; Y. Second direction; 12. Cleaning assembly; 15. First solenoid valve; 16. Second solenoid valve; 17. Fastener; 121. Nozzle assembly; 121a. Nozzle; A11. Water storage unit; A12. Water inlet unit; A13. Water spray unit; B1. First locating lug; 121b. Hard pipe assembly; 4T. Cross-connect pipe; 3T. Tee; 121c. Hose; 122. Spray pipe assembly; 122a. Spray pipe; 122b. Conduit; 122c. Water spray hole; B2. Second locating lug; 123a. First spray unit; 123b. Second spray unit; 123c. Water diversion pipe; H1. First spray hole; H2. Second spray hole; D. Water conduit; D1, first water conduit; D2, first water conduit; S1, first groove; S2, second groove; H3, through hole; H4, threaded hole; M1, front shell; M2, rear cover; F, inclined surface; P1, cleaning boss; P2, support column; E, hollow portion; W, water diversion surface; 13, drainage device; 131, drainage pump; 132, drainage pipe; 20, accommodating chamber. DETAILED DESCRIPTION

[0085] Various exemplary embodiments of the present disclosure will now be described in detail with reference to the accompanying drawings. It should be noted that unless otherwise specifically stated, the relative arrangement of components and steps, numerical expressions and numerical values ​​set forth in these embodiments do not limit the scope of the present disclosure.

[0086] The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the present disclosure, its application, or uses.

[0087] Technologies, methods, and equipment known to ordinary technicians in the relevant art may not be discussed in detail, but where appropriate, the technologies, methods, and equipment should be considered part of the specification.

[0088] It should be noted that like reference numerals and letters refer to like items in the following figures, and therefore, once an item is defined in one figure, it need not be further discussed in subsequent figures.

[0089] The specific embodiments of the present disclosure are described below with reference to the accompanying drawings.

[0090] In this document, “upper”, “lower”, “front”, “back”, “left”, “right”, etc. are only used to indicate the relative position relationship between related parts, rather than to limit the absolute positions of these related parts.

[0091] In this article, "first", "second", etc. are only used to distinguish each other, and do not indicate the importance and order, or the prerequisite for each other's existence.

[0092] In this document, “equal”, “same”, etc. are not strictly limited in a mathematical and / or geometric sense, but also include errors that can be understood by those skilled in the art and are allowed in manufacturing or use.

[0093] An embodiment of the present disclosure provides a cleaning robot system, which includes a cleaning robot and a base station. The base station includes a main body, a water supply component, and a sewage discharge component. The main body is provided with a first receiving space and a water inlet. The water supply component is configured to be connected to the water inlet to deliver water for cleaning the cleaning robot to the water inlet; the sewage discharge component is provided on the main body, and the sewage discharge component includes a sewage tank and a negative pressure generating unit. The negative pressure generating unit is constructed to have an air suction end and an air exhaust end, and the air suction end can extract air to generate negative pressure, and the air exhaust end can blow air to generate positive pressure. The air suction end is configured to be connected to the sewage tank to form a negative pressure in the sewage tank; the exhaust end is configured to be connected to the water inlet, and the positive pressure gas delivered by the exhaust end flows out of the water inlet, or the positive pressure gas delivered by the exhaust port is mixed with the water delivered by the water supply component to form a gas-liquid mixture greater than the water supply pressure of the water supply component, and then flows out of the water inlet.

[0094] In this way, when the mop and roller brush of the cleaning robot are placed in the first receiving space, the negative pressure generating unit is started, and the air is sucked out at the exhaust end to form a negative pressure in the sewage tank, so that the dirt is sucked into the sewage tank; and the positive-pressure gas blown from the exhaust end can be transported to the water inlet, so that the positive-pressure gas can be used to flow out directly from the water inlet to clean the cleaning robot, or, the positive-pressure gas and the water transported to the water inlet by the water supply component are used to form a gas-liquid mixture with a pressure greater than the water supply pressure of the water supply component, and then flow out from the water inlet to clean the mop and roller brush of the cleaning robot, and / or the first receiving space, thereby realizing the self-cleaning function of the cleaning robot.

[0095] It can be seen that the cleaning robot system provided by the embodiment of the present disclosure can directly utilize the negative pressure generating unit in the sewage discharge component to generate positive pressure gas, and use the positive pressure gas to directly clean the cleaning robot, or use the positive pressure gas to mix with the water delivered by the water supply component to form a gas-liquid mixture to clean the cleaning robot, which can reduce the amount of water used for flushing, reduce the frequency of adding water to the base station, and save base station space.

[0096] For ease of understanding, the specific structure and working principle of the cleaning robot system and base station disclosed in the present invention are described in detail below in combination with an embodiment with reference to Figures 1 to 16.

[0097] An embodiment of the present disclosure provides a cleaning robot system, which includes a cleaning robot and a base station.

[0098] A cleaning robot can be a handheld cleaning robot, such as a handheld washing machine, a handheld vacuum cleaner, a handheld floor scrubber, or other handheld cleaning robots familiar to those skilled in the art. Alternatively, the cleaning robot can be a sweeping robot, a mopping robot, or a sweeping and mopping robot, all designed to clean surfaces such as floors, sofas, and carpets. The cleaning robot can include an actuator for performing cleaning actions on the surface being cleaned, and the actuator can include at least one of a roller brush and a mop. The roller brush and mop can come into contact with the surface being cleaned, thereby cleaning the surface.

[0099] Please refer to Figures 1, 4 and 5, the base station 10z may include a main body 2, a water supply component and a sewage discharge component 12z, the main body 2 is provided with a first receiving space 210 and a water inlet 421, the water supply component is configured to be connected to the water inlet 421 to transport water for cleaning the cleaning robot to the water inlet 421; the sewage discharge component 12z is provided on the main body 2, and the sewage discharge component 12z includes a sewage tank 121z and a negative pressure generating unit 122z, the negative pressure generating unit 122z is constructed to have an exhaust end 122zA and an exhaust end 122zB, the exhaust end 122zA can exhaust air to generate negative pressure, and the exhaust end 122zB can blow air to generate positive pressure. The exhaust end 122zA is constructed to be connected to the sewage tank 121z through the air inlet pipe 121z' to form a negative pressure in the sewage tank 121z; the exhaust end 122zB is constructed to be connected to the water inlet 421, and the positive-pressure gas delivered by the exhaust end 122zB flows out from the water inlet 421, or the positive-pressure gas delivered by the exhaust end 122zB is mixed with the water delivered by the water supply component to form a gas-liquid mixture greater than the water supply pressure of the water supply component, and then flows out from the water inlet 421.

[0100] In this way, when the mop and roller brush of the cleaning robot are placed in the first receiving space, the negative pressure generating unit 122z is started, and the exhaust end 122zA exhausts air, which can form a negative pressure in the sewage tank 121z, so that the dirt is sucked into the sewage tank 121z; and the positive pressure gas blown by the exhaust end 122zB can be transported to the water inlet 421, so that the cleaning robot can be directly cleaned by the positive pressure gas, or the positive pressure gas can be used with the water transported to the water inlet 421 by the water supply component to form a gas-liquid mixture with a pressure greater than the water supply pressure of the water supply component, and then flow out from the water inlet 421 to clean the mop and roller brush of the cleaning robot, and / or the first receiving space, thereby realizing the self-cleaning function of the cleaning robot.

[0101] It can be seen from this that the cleaning robot system provided by the embodiment of the present disclosure can directly use the negative pressure generating unit in the sewage discharge component to generate positive pressure gas, so as to use the positive pressure gas to directly clean the cleaning robot, or use the positive pressure gas to mix with the water delivered by the water supply component to form a gas-liquid mixture to clean the cleaning robot, which can reduce the amount of water used for flushing, reduce the frequency of adding water to the base station, and save base station space.

[0102] It should be noted that in the prior art, a vacuum air pump or the like is usually installed on the base station 10z of the cleaning robot system to generate negative pressure to suck out sewage. In the cleaning robot system provided by the embodiment of the present disclosure, a vacuum air pump or the like is directly utilized, which can not only utilize the negative pressure generated by its suction end 122zA to suck out dirt, but also utilize the positive pressure generated by its exhaust end 122zB to provide flushing pressure.

[0103] In one embodiment of the present disclosure, as shown in Figures 2 and 3, a first receiving space 210 is provided on the main body 2, and the first receiving space 210 includes a flushing area S1z and a sewage area S2z. The water inlet 421 is provided in the flushing area S1z, and the sewage area S2z is provided with a second sewage discharge part 230, which is used to discharge dirt generated by the cleaning robot after cleaning.

[0104] In one embodiment of the present disclosure, the first receiving space 210 is configured so that sewage can flow from the flushing area S1z into the sewage area S2z under the action of gravity. Specifically, the first receiving space 210 can be configured to have a slope, with the flushing area S1z being higher than the sewage area S2z. The sewage tank 121z can be configured to connect to the second sewage drain 230 via the sewage pipe 120z. In this way, when negative pressure is generated within the sewage tank 121z, dirt is sucked into the sewage tank 121z through the second sewage drain 230. In one embodiment of the present disclosure, the second sewage drain 230 can be provided with a filter to filter out large particles of waste to prevent clogging of the sewage pipe 120z.

[0105] In one embodiment of the present disclosure, as shown in Figures 2 and 3 , the base station 10z further includes a spray assembly 420. The spray assembly 420 is located in the flushing area S1z, and the water inlet 421 is connected to the spray assembly 420. The spray assembly 420 is configured to spray fluid from the flushing area S1z toward the sewage area S2z. In this way, the fluid discharged from the water inlet 421 into the spray assembly 420 can be sprayed from the flushing area S1z toward the sewage area S2z, flushing dirt toward the location of the second sewage discharge portion 230.

[0106] In one embodiment of the present disclosure, the main body 2 may also be provided with a sewage docking port for docking with the cleaning robot. This sewage docking port can be connected to a sewage tank 121z via a sewage pipe 120z. Specifically, another sewage tank can be provided within the cleaning robot, and the sewage tank within the cleaning robot can be connected to the sewage docking port. In this way, when negative pressure is formed in the sewage tank 121z, dirt in the sewage tank within the cleaning robot can be sucked into the sewage tank 121z of the base station 10z.

[0107] In one embodiment of the present disclosure, the negative pressure generating unit 122z can be implemented by any suitable component such as a vacuum air pump.

[0108] In one embodiment of the present disclosure, as shown in FIG. 4 , FIG. 5 , FIG. 6 and FIG. 7 , the water supply assembly includes a clean water tank 141 z , which is configured to be connected to the water inlet 421 to deliver water to the water inlet 421 .

[0109] In some embodiments of the present disclosure, the clean water tank 141z can be used to deliver water to the water inlet 421, and the negative pressure generating unit 122z can be used to deliver positive pressure gas to the water inlet 421 to form a gas-liquid mixture; or only one of the positive pressure gas and water can be selectively used to clean the execution components such as the roller brush or mop, and / or clean the first receiving space.

[0110] Depending on the type of dirt, appropriate methods such as air blowing, water flushing, or water-air mixture flushing can be used to clean the roller brush or mop and / or clean the first receiving space 210. For example, the roller brush and mop can be cleaned using water flushing, and the generated wastewater is sucked into the wastewater tank 121z. However, solid waste such as hair, particles, and dust may remain in the first receiving space 210. In this case, air blowing or water-air mixture flushing can be combined to blow the solid waste toward the second waste discharge portion 230, thereby promptly cleaning the dirt and preventing the accumulation of dirt in the first receiving space 210.

[0111] In one embodiment of the present disclosure, as shown in conjunction with Figures 4 and 5, the water supply assembly further includes a first power pump 142z and a first water supply pipeline 143z. The first power pump 142z is connected to the water outlet of the clean water tank 141z through a water inlet pipe 141z'. The first water supply pipeline 143z is configured to be connected to the water outlet of the first power pump 142z, so that the first power pump 142z pressurizes the water in the clean water tank 141z to form positive pressure water and transports it to the water inlet 421 through the first water supply pipeline 143z. The exhaust end 122zB is configured to be connected to the first exhaust pipeline 123z, the water inlet 421 is configured to be connected to the first flushing pipeline 15z, and the first water supply pipeline 143z is configured to be connected to the first flushing pipeline 15z in parallel with the first exhaust pipeline 123z. In other words, the first water supply pipeline 143z is configured so that the water inside it can merge with the positive-pressure gas inside the first exhaust pipeline 123z in the first flushing pipeline 15z, so that the positive-pressure water and positive-pressure gas are delivered to the water inlet 421. The first power pump 142z can be any suitable component such as a diaphragm pump.

[0112] In the above solution, the first power pump 142z can pressurize the water in the clean water tank 141z to form high-pressure water, which is then delivered to the first water supply pipeline 143z. The negative pressure generating unit 122z can deliver positive-pressure gas to the first exhaust pipeline 123z. As shown in FIG4 , the first exhaust pipeline 123z, the first water supply pipeline 143z, and the first flushing pipeline 15z can be interconnected via a tee 16z. In this way, one or both of the high-pressure water and positive-pressure gas in the first exhaust pipeline 123z can be delivered to the water inlet 421 via the first flushing pipeline 15z.

[0113] In this embodiment, as shown in Figure 6 , the main body 2 is further provided with a water replenishment port 11zC for replenishing water to the cleaning robot. The water supply assembly also includes a first control valve 145z and a second water supply line 144z. The first control valve 145z includes a first water inlet, a first water outlet, and a second water outlet. The first water inlet is connected to the water outlet of the first power pump 142z via a water outlet pipe 142z', the first water outlet is connected to the water inlet 421 via a first water supply line 143z, and the second water outlet is connected to the water replenishment port 11zC via a second water supply line 144z. The first control valve 145z can be a solenoid valve, for example.

[0114] In the above scheme, by controlling the opening and closing status of the first control valve 145z, the water in the clean water tank 141z can be delivered not only to the water inlet 421 for high-pressure water delivery, but also to the water replenishment port 11zC. In other words, the first power pump 142z, clean water tank 141z, and first control valve 145z used in the water supply assembly for supplying water to the water inlet 421 are reused as the water supply assembly for the water replenishment port 11zC. This results in a more compact structure and lowers costs. Of course, it is understood that in other embodiments, a separate power pump and control valve connected to the clean water tank 141z can be provided to deliver water to the water replenishment port 11zC.

[0115] In addition, in one embodiment of the present disclosure, the base station 10z also includes: a control unit (not shown in the figure), the control unit is electrically connected to the water supply component and the sewage discharge component 12z, and the control unit is configured to control the working state of the water supply component and the sewage discharge component 12z based on a pulse cycle; wherein, a cycle includes a first time period and a second time period arranged in sequence; in the first time period, a first control instruction is sent to the water supply component and the sewage discharge component 12z to make the first water supply pipeline 143z conductive and the first exhaust pipeline 123z cut off, and only positive pressure water is delivered to the first flushing pipeline 15z; in the first time period, a second control instruction is sent to the water supply component and the sewage discharge component 12z to make the first water supply pipeline 143z cut off and the first exhaust pipeline 123z conductive, and only positive pressure gas is delivered to the first flushing pipeline 15z.

[0116] In the above scheme, when the cleaning robot system needs to self-clean, the control unit sends a control instruction to control the working state of the water supply component and the sewage discharge component 12z to achieve a pulse flushing method. Specifically, the self-cleaning process of the cleaning robot system can be as follows: in a pulse cycle, within a first time period, the control unit sends a first control instruction to the water supply component and the sewage discharge component 12z, the first power pump 142z is started (the first water outlet end of the control valve is opened), and the negative pressure generating unit 122z is closed. At this time, the first water supply pipeline 143z delivers positive pressure water, and the exhaust pipeline is cut off, and at least part of the positive pressure water fills the flushing pipeline; within a second time period, the control unit sends a second control instruction to the water supply component and the sewage discharge component 12z, controlling the first power pump to be turned off, the negative pressure generating unit 122z to be started, the exhaust pipeline to deliver positive pressure gas, and the first water supply pipeline 143z to be cut off. At this time, the positive pressure of the positive pressure gas is used to spray water in the flushing pipeline, and the negative pressure of the negative pressure generating unit 122z is used to suck dirt into the sewage tank 121z. This process is repeated to achieve a pulse flushing process and improve the cleaning effect.

[0117] In another embodiment of the present disclosure, the base station 10z also includes: a control unit, which is electrically connected to the water supply component and the sewage discharge component 12z, and the control unit is configured to send a third control instruction to the water supply component and the sewage discharge component 12z within a predetermined time period, so that the first water supply pipeline 143z and the first exhaust pipeline 123z are simultaneously opened, and the positive pressure water and positive pressure gas are simultaneously delivered to the first flushing pipeline 15z for mixing.

[0118] In the above scheme, when the cleaning robot system needs to self-clean, the control unit sends a control instruction to control the working state of the water supply component and the sewage discharge component 12z to realize the high-pressure gas-liquid mixture flushing method. Specifically, the self-cleaning process of the cleaning robot system can be as follows: the control unit sends a third control instruction, the negative pressure generating unit 122z and the first power pump 142z are started at the same time, the first power pump 142z pumps water from the clean water tank 141z and delivers it to the first liquid supply pipeline, and at the same time the negative pressure generating unit 122z delivers the positive pressure gas to the exhaust pipeline. Since the exhaust pipeline is connected in parallel with the first liquid supply pipeline and is connected to the flushing pipeline through the tee 16z. Therefore, the positive pressure gas and high pressure water will mix at the position of the tee 16z to form a high pressure gas-liquid mixture (water mist), and the high pressure gas-liquid high pressure gas-liquid mixture will then reach the water inlet 421 through the flushing pipe. Hair, dust, oil, and other debris remaining in the first receiving space 210 are blown toward the second drainage portion 230 of the first receiving space 210 by the high-pressure gas-liquid mixture. These waste are then drawn out by the negative pressure, thereby achieving the self-cleaning function of the cleaning robot system. This high-pressure flushing method utilizing the high-pressure gas-liquid mixture is suitable for flushing the roller brush, mop, and the first receiving space 210, improving cleaning effectiveness.

[0119] In one embodiment of the present disclosure, filters may be installed at the water inlet end of the first power pump 142z and the air inlet end of the negative pressure generating unit 122z to prevent foreign matter from entering the system and causing blockage of the pipeline or components in the pipeline.

[0120] In one embodiment of the present disclosure, the first water supply line 143z, the first exhaust line 123z and the first flushing line 15z are connected to each other through a tee 16z, and the tee 16z can be a tee joint or an ejector. The ejector is also called a water ejector, a venturi tube, etc., which can mix gas with liquid, or liquid with liquid to form a high-pressure water-gas mixture (i.e., high-pressure water mist). When the first water supply line 143z, the exhaust line and the flushing line are connected to each other through the ejector, the ejector can include a gas inlet end, a liquid inlet end and an outlet end, the first exhaust line 123z is connected to the gas inlet end, the first water supply line 143z is connected to the liquid inlet end, and the first flushing line 15z is connected to the outlet end.

[0121] In one embodiment of the present disclosure, the working flow rate (liquid flow rate) of the first power pump 142z may be 0.3L to 3L / min, and the working flow rate (gas flow rate) of the negative pressure generating unit 122z may be 1 to 30L / min.

[0122] It should be noted that, in order to achieve an ideal flushing effect, if the gas flow rate is large, the water consumption can be small; if the gas flow rate is small, the water flow rate needs to be increased accordingly. In an exemplary embodiment, the water flow rate can be 0.5 L / min and the gas flow rate can be 30 L / min.

[0123] In another embodiment of the present disclosure, as shown in Figures 6 and 7, the exhaust end 122zB is constructed to be connected to the second exhaust pipe 124z, the water inlet 421 is constructed to be connected to the second flushing pipe 17z, and the water outlet end of the clean water tank 141z is constructed to be connected to the third water supply pipe 146z; wherein, the third water supply pipe 146z is constructed to be connected to the second flushing pipe 17z in parallel with the second exhaust pipe 124z, so that the water in the clean water tank 141z is sucked into the second flushing pipe 17z under the action of siphon.

[0124] In the above scheme, third water supply line 146z and second exhaust line 124z are connected in parallel to second flushing line 17z. Thus, the water outlet of clean water tank 141z is directly siphoned into third water supply line 146z by the positive-pressure gas transported in second exhaust line 124z, where it mixes with the positive-pressure gas to form a high-pressure gas-liquid mixture, which is then transported to water inlet 421 via second flushing line 17z. This method, due to the siphon effect, produces liquid molecules of 5-10 μm. Compared to the embodiment shown in the above figure, this method reduces the amount of water used for flushing, saves space in base station 100, and requires less water refilling. It also effectively rinses common stains such as floating dust and animal hair.

[0125] In this embodiment, please refer to Figures 6 to 8, the base station 10z also includes: an ejector 18z, the ejector 18z is constructed to mix water vapor to form water mist, the ejector 18z includes a gas inlet end 18zA, a liquid inlet end 18zB and an outlet end 18zC, the second exhaust pipe 124z is connected to the gas inlet end 18zA, the third water supply pipe 146z is connected to the liquid inlet end 18zB, and the second flushing pipe 17z is connected to the outlet end 18zC.

[0126] In the above solution, the negative pressure generated by the high-speed gas flow is used to siphon water from the clean water tank 141z. The water can then be flushed using the ejector 18z, which mixes the water and gas to form a high-pressure water mist. In this embodiment, the base station 10z also includes a control unit connected to the negative pressure generating unit 122z and configured to control the operating state of the negative pressure generating unit 122z to achieve self-cleaning.

[0127] In the above solution, when the cleaning robot system needs to self-clean, the control unit sends a control instruction to control the working state of the sewage discharge component 12z to achieve a high-pressure gas-liquid mixture flushing method.

[0128] Specifically, the self-cleaning process of the cleaning robot system can be as follows:

[0129] When the cleaning system requires self-cleaning, the control unit issues a control command to activate negative pressure generating unit 122z. Air extraction port 122zA now draws air, creating a negative pressure within wastewater tank 121z and drawing dirt from second wastewater discharge section 230. Exhaust port 122zB delivers the drawn air to ejector 18z, where the sudden change in airflow creates negative pressure, siphoning water from clean water tank 141z. This water vapor merges to form a high-pressure water mist, which is then delivered to water inlet 421 via second flushing line 17z. The pressure of the water mist blows hair, dust, and other debris remaining in first containment space 210 toward second wastewater discharge section 230, where it is then drawn into wastewater tank 121z, thus achieving self-cleaning. In this embodiment, filters may be installed at positions such as the third water supply pipeline 146z and the air extraction end 122zA of the negative pressure generating unit 122z to prevent foreign matter from entering the pipeline and various components in the pipeline and causing blockage.

[0130] In this embodiment, as shown in Figures 6 and 7 , the main body 2 is further provided with a water refill port 11zC for refilling water to the cleaning robot. The water supply assembly also includes a second power pump 147z and a second control valve 148z. The water outlet of the clean water tank 141z is configured to be connected to a fourth water supply line 149z in parallel with the third water supply line 146z. The clean water tank 141z is sequentially connected to the second power pump 147z, the second control valve 148z, and the refill port 11zC via the fourth water supply line 149z. The water outlet of the clean water tank 141z is connected to the second power pump 147z via an inlet pipe 141z'. The water outlet of the second power pump 147z is connected to the inlet of the second control valve 148z via an outlet pipe 142z'. The outlet of the second control valve 148z is connected to the refill port 11zC.

[0131] In the above scheme, the clean water tank 141z can provide water for flushing and can also supply water for the cleaning robot. In other words, the clean water tank 141z for supplying water to the cleaning robot is directly used as the clean water tank 141z for flushing, and the structure can be more compact.

[0132] In one embodiment of the present disclosure, a check valve for controlling the flow of gas is provided on the exhaust line between the exhaust port 122zB and the water inlet 421. For example, referring to Figures 4 and 5, a check valve 19z is provided on the first exhaust line 123z.

[0133] In one embodiment of the present disclosure, as shown in FIG5 , the water supply assembly may further include a heating element 14zA configured to heat water delivered to the water inlet 421 to enhance cleaning performance. Referring to FIG5 , in one embodiment, the heating element 14zA may be positioned between the first control valve 145z and the first power pump 142z.

[0134] It should be noted that the above are only a few exemplary embodiments. Other embodiments not illustrated in the present disclosure may also be a combination of one or several of the above embodiments. In this way, more options can be provided for the self-cleaning method of the cleaning robot system.

[0135] In one embodiment of the present disclosure, as shown in Figures 11-12 and 15-16, the spray assembly 420 includes at least one row of spray holes 130z. Each row of spray holes 130z is configured such that the spray holes 130z are sequentially spaced along a predetermined straight line. The spray holes 130z can be configured as circular holes with a diameter between 0.2 and 0.6 mm. This type of spray hole 130z produces high water pressure and is suitable for flushing distant garbage and stubborn stains. The predetermined straight line can be parallel to the axial direction of the roller brush.

[0136] In another embodiment of the present disclosure, as shown in Figures 13 and 14, the spray assembly 420 includes at least one straight-line jet orifice 131z, which is configured to extend along a predetermined linear direction. The width of the straight-line jet orifice 131z can be 0.1 to 0.5 mm. This type of jet orifice 131z provides a wide water coverage area, suitable for flushing nearby debris, dust, hair, etc. The predetermined linear direction can be parallel to the axial direction of the roller brush.

[0137] It should be understood that in actual applications, the shapes of the spray holes 130z can be arranged and combined according to the working conditions. For example, the spray assembly 420 can be distributed with a single row of circular holes, a double row of circular holes, or a combination of a single row of circular holes and a straight-line spray port 131z.

[0138] According to a second aspect of the present disclosure, a cleaning robot system is provided. As shown in FIG10 , the cleaning robot system includes a cleaning robot and a base station 10z. The base station 10z includes:

[0139] The main body 2 is provided with a first receiving space and a water inlet 421;

[0140] a water supply assembly, the water supply assembly being configured to be connected to the water inlet 421 to deliver water for cleaning the cleaning robot to the water inlet 421;

[0141] The sewage discharge component 12z is provided on the main body 2. The sewage discharge component 12z includes a sewage tank 121z and a negative pressure generating unit 122z. The negative pressure generating unit 122z is constructed to have an air extraction end 122zA for generating negative pressure and an air exhaust end 122zB for generating positive pressure.

[0142] The air extraction end 122zA is configured to communicate with the sewage tank 121z to form a negative pressure in the sewage tank 121z; the air exhaust end 122zB is configured to communicate with the water inlet 421 to deliver positive pressure gas to the water inlet 421.

[0143] In the above solution, the air extraction end 122zA in the sewage discharge component 12z is constructed to be connected to the sewage tank 121z through the air inlet pipe 121z' to form a negative pressure in the sewage tank 121z; the air exhaust end 122zB is constructed to be connected to the water inlet 421 to deliver positive pressure gas to the water inlet 421.

[0144] When the mop and roller brush of the cleaning robot are placed in the first receiving space 210, the negative pressure generating unit 122z is started, and the exhaust end 122zA exhausts air, which can form a negative pressure in the sewage tank 121z, so that the dirt is sucked into the sewage tank 121z; and the positive pressure gas blown by the exhaust end 122zB can be transported to the water inlet 421, so that the positive pressure gas can be used to blow toward the mop and roller brush of the cleaning robot, and / or the first receiving space, for example, the mop and roller brush of the cleaning robot, and / or the first receiving space can be dried, or foreign matter can be blown into the first receiving space, etc.

[0145] In one embodiment of the present disclosure, the base station 10z further includes a control unit, which is configured to control the water supply component to supply water to the water inlet 421; or to control the negative pressure generating unit 122z to form a negative pressure in the sewage tank 121z while delivering positive pressure gas to the water inlet 421. Specifically, as shown in Figures 9 and 10, the exhaust end 122zB is directly connected to the water inlet 421 through the third exhaust pipe 125z, the main body 2 also includes a water replenishment port 11zC, and the base station 10z further includes a water supply component, which is configured to supply water to the water replenishment port 11zC through a water supply pipe (denoted as the fifth water supply pipe 140z). The third exhaust pipe 125z is independent of the water supply pipe in the water supply component. In this way, based on the type of dirt in the actual application scenario, a separate air blowing flushing method or a separate water supply flushing method can be selected for self-cleaning.

[0146] It should be noted that the fifth water supply pipeline 140z can also be configured to be connected to the water inlet 421 and be independent of the third exhaust pipeline 125z, or can be configured to be disconnected from the water inlet 421. The water supply assembly can include a clean water tank 141z, a third power pump 151z, and a third control valve 152z, which are sequentially arranged on the fifth water supply pipeline 140z along the water delivery direction. The water outlet of the clean water tank 141z is connected to the water inlet of the third power pump 151z via a water inlet pipe 141z', and the water outlet of the third power pump 151z is connected to the third control valve 152z via a water outlet pipe 142z'.

[0147] According to the second aspect of the present disclosure, a base station is provided. Referring to FIG1, FIG3 and FIG4, the base station 10z comprises: a main body 2 and a sewage discharge assembly 12z, wherein the main body 2 is provided with a water inlet 421,

[0148] The water supply component is configured to be connected to the water inlet 421 to deliver water for cleaning the cleaning robot to the water inlet 421; the sewage discharge component 12z is arranged on the main body 2, and the sewage discharge component 12z includes a sewage tank 121z and a negative pressure generating unit 122z. The negative pressure generating unit 122z is constructed to have an exhaust end 122zA and an exhaust end 122zB. The exhaust end 122zA can exhaust air to generate negative pressure, and the exhaust end 122zB can blow air to generate positive pressure. The air extraction end 122zA is constructed to be connected to the sewage tank 121z through the air inlet pipe 121z' to form a negative pressure in the sewage tank 121z; the air exhaust end 122zB is constructed to be connected to the water inlet 421, and the positive-pressure gas delivered by the air exhaust end 122zB flows out from the water inlet 421, or the positive-pressure gas delivered by the air exhaust end 122zB is mixed with the water delivered by the water supply component to form a gas-liquid mixture greater than the water supply pressure of the water supply component, and then flows out from the water inlet 421.

[0149] In this way, when the mop and roller brush of the cleaning robot are placed in the first receiving space, the negative pressure generating unit 122z is started, and the exhaust end 122zA exhausts air, which can form a negative pressure in the sewage tank 121z, so that the dirt is sucked into the sewage tank 121z; and the positive-pressure gas blown by the exhaust end 122zB can be delivered to the water inlet 421, so as to use the positive-pressure gas to flow out from the water inlet 421, or the positive-pressure gas delivered by the exhaust end 122zB forms a gas-liquid mixture with the water delivered to the water inlet 421 by the water supply component, whose pressure is greater than the water supply pressure of the water supply component, and then flows out from the water inlet 421 to clean the mop and roller brush of the cleaning robot, and / or the first receiving space, thereby realizing the self-cleaning function of the cleaning robot.

[0150] It can be seen from this that the cleaning robot system provided by the embodiment of the present disclosure can directly use the negative pressure generating unit in the sewage discharge component to generate positive pressure gas to directly clean the cleaning robot, or use the positive pressure gas to mix with the water delivered by the water supply component to form a gas-liquid mixture to clean the cleaning robot, which can reduce the amount of water used for flushing, reduce the frequency of adding water to the base station, and save base station space.

[0151] Application Scenario 1

[0152] In this application scenario, a cleaning robot system is provided, which includes a cleaning robot and a base station 10z. Referring to Figures 1, 3, and 4, the base station 10z includes a main body 2, a water supply assembly, and a sewage discharge assembly 12z. The main body 2 is provided with a water inlet 421, and the water supply assembly is configured to be connected to the water inlet 421 to deliver water for cleaning the cleaning robot to the water inlet 421; the sewage discharge assembly 12z is provided on the main body 2, and includes a sewage tank 121z and a negative pressure generating unit 122z. The negative pressure generating unit 122z is constructed to have an air extraction end 122zA and an air exhaust end 122zB. The air extraction end 122zA can extract air to generate negative pressure, and the air exhaust end 122zB can blow air to generate positive pressure. The exhaust end 122zA is constructed to be connected to the sewage tank 121z through the air inlet pipe 121z' to form a negative pressure in the sewage tank 121z; the exhaust end 122zB is constructed to be connected to the water inlet 421, and the positive-pressure gas delivered by the exhaust end 122zB flows out from the water inlet 421, or the positive-pressure gas delivered by the exhaust end 122zB is mixed with the water delivered by the water supply component to form a gas-liquid mixture greater than the water supply pressure of the water supply component, and flows out from the water inlet 421.

[0153] When it is necessary to self-clean the execution components such as the roller brush and mop or the first receiving space 210, the negative pressure generating unit 122z is started, and the exhaust end 122zA exhausts air, which can form a negative pressure in the sewage tank 121z, so that the dirt is sucked into the sewage tank 121z; and the positive pressure gas blown by the exhaust end 122zB can be transported to the water inlet 421, so that the positive pressure gas can be used to directly clean the cleaning robot, or the positive pressure gas can be used to form a gas-liquid mixture with the water transported to the water inlet 421 by the water supply component with a pressure greater than the water supply pressure of the water supply component, and then flow out from the water inlet 421 to clean the mop and roller brush of the cleaning robot, and / or the first receiving space, thereby realizing the self-cleaning function of the cleaning robot.

[0154] The cleaning robot system provided by the embodiment of the present disclosure can directly utilize the negative pressure generating unit in the sewage discharge component to generate positive pressure gas, so as to directly utilize the positive pressure gas to clean the cleaning robot, or utilize the positive pressure gas to mix with the water delivered by the water supply component to form a gas-liquid mixture to clean the cleaning robot, which can reduce the amount of water used for flushing, reduce the frequency of adding water to the base station, and save base station space.

[0155] It should be noted that, unless there is any conflict, the embodiments and features in the embodiments of this application can be combined with each other.

[0156] Figures 17 to 19 are overall structural diagrams of the base station provided in an embodiment of the present application. Referring to Figures 17 to 19, an embodiment of the present application provides a base station, which includes at least a main body 2 and a base 1. The main body 2 serves as the basic bearing structure and support structure of the base station. The base 1 and other functional structures are all arranged on the main body 2, and the base is used to park the cleaning robot. Specifically, the cleaning robot includes but is not limited to a cleaning robot with cleaning functions such as washing, sweeping, and vacuuming, or a robot for collecting sewage, etc., and the term cleaning robot is uniformly used hereinafter. After the cleaning robot has worked for a period of time, the cleaning robot needs to return to the base station, and then the base station provides services for the cleaning robot, such as replenishing the cleaning water required by the cleaning robot, discharging sewage, charging, cleaning the cleaning parts on the cleaning robot (such as the sweeping parts of a sweeper, the mopping parts of a washing robot, or the mopping parts of a sweeping and mopping robot, etc.), replacing cleaning parts services, etc.

[0157] As shown in Figures 17-31, the base station includes a base 1, a filter box 300, a spray assembly 123, a drying assembly 500 and a dust collection assembly, wherein: the base 1 is detachably arranged on the main body 2, and the base 1 has a first receiving space 210, the first receiving space 210 is used to park the cleaning robot, and the bottom surface of the first receiving space 210 forms a collection area 220; the filter box 300 includes a box body 310, a filter element 320 and a first sewage discharge part 330, the box body 310 is arranged on the base 1 and has a second receiving space 340, the second receiving The storage space 340 is connected to the first storage space 210 through the collection port 341, and the first sewage discharge part 330 is connected to the second storage space 340 through the first sewage discharge port 331; the spraying assembly 123 is used to supply fluid to flush the garbage in the collection area 220 into the second storage space 340; the drying assembly 500 is used to supply drying airflow to the second storage space 340; the dust collection assembly includes a dust collection fan (not shown in the figure) and a first dust collection pipeline 610, and the first dust collection pipeline 610 is connected to the first sewage discharge part 330.

[0158] After the base station completes the cleaning of the cleaning robot, there will be garbage remaining in the base 1, especially in the collection area 220 of the first receiving space 210 of the base 1. The base station of the embodiment of the application can complete the self-cleaning process in the base 1. The specific working method is: the spray component 123 sprays fluid into the first receiving space 210 of the base 1, and washes the garbage in the collection area 220 into the filter box 300; the filter element 320 in the filter box 300 filters the garbage collected in the second receiving space 340, and removes the garbage in the garbage. After the fluid is filtered, it is discharged through the third sewage discharge part 260. At this time, the drying component 500 starts to work. The drying component 500 generates a drying airflow with a certain temperature and transports it to the second receiving space 340. The drying airflow is used to dry the garbage in the filter box 300. The drying time of the garbage can be specifically set as needed, for example, it can be between 1H and 4H. After the garbage in the filter box 300 is dried, under the action of the dust collection fan of the dust collection component, the garbage in the filter box 300 is sucked into the dust collection bag (not shown in the figure) through the first dust collection pipeline 610. Through the above working process, the base station of the embodiment of the present application can replace the user's manual cleaning process and realize the self-cleaning of the base 1. The base 1 of the base station can also be kept clean after long-term use to avoid odor and bacterial growth, thereby improving the user experience.

[0159] In some embodiments, as shown in Figures 20-25, the filter box 300 also includes a flip cover 350, which is rotatably connected to the box body 310, and the flip cover 350 has a first position and a second position during the rotation process; in the first position, the flip cover 350 closes the first sewage outlet 331 and opens the collection port 341, and the second receiving space 340 is connected to the first receiving space 210; in the second position, the flip cover 350 closes the collection port 341 and opens the first sewage outlet 331, and the second receiving space 340 is connected to the first sewage outlet 330.

[0160] The design of the flip cover 350 can improve the dust collection efficiency of the garbage in the filter box 300. When the spray assembly 123 is working, the flip cover 350 is in the first position as shown in Figure 24. At this time, the collection port 341 is in an open state, and the first receiving space 210 is connected to the second receiving space 340. The garbage in the first receiving space 210 can enter the second receiving space 340 under the flushing effect of the circulation, which can conveniently complete the process of collecting wet garbage; after the garbage in the filter box 300 is filtered and dried, the dust collection assembly is opened for work. At this time, the flip cover 350 is in the second position as shown in Figure 25, the collection port 341 is in a closed state and the first sewage outlet 331 is in an open state. When the dust collecting fan is sucking, the airflow from the first receiving space 210 through the collection port 341 into the second receiving space 340 can be avoided or reduced, so that all or most of the filter box 300 is fed with air through the filter element 320, thereby improving the dust collection efficiency.

[0161] As a specific implementation method, both ends of the flip cover 350 are rotatably connected to the box body 310 through the rotating shaft 360. The flip cover 350 includes a first cover body 351 and a second cover body 352 respectively located on both sides of the rotating shaft 360. When the flip cover 350 is in the first position, the flip cover 350 is generally horizontally arranged. At this time, the second cover body 352 of the flip cover 350 closes the first sewage outlet 331, and the first cover body 351 of the flip cover 350 extends into the first receiving space 210 to open the collection port 341, and in the filter box 300 A stopper 311 is provided at the connection with the first sewage discharge part 330, and one end of the second cover body 352 away from the first cover body 351 abuts against the stopper 311 to prevent excessive rotation of the flip cover 350. When the flip cover 350 is in the second position, the flip cover 350 is generally vertically arranged. At this time, the first cover body 351 of the flip cover 350 is closed and collected, and the second cover body 352 is attached to the inner wall of the first sewage discharge part 330 to open the first sewage discharge port 331, thereby achieving limitation while preventing excessive rotation of the flip cover 350.

[0162] The specific driving method for switching the flip cover 350 between the first position and the second position can be selected according to specific needs. Optionally, the flip cover 350 is driven by a micro motor, which drives the flip cover 350 to rotate so that the flip cover 350 stays in a desired position; optionally, the flip cover 350 is driven by a torsion spring, which is sleeved on the rotating shaft 360, and the elastic reset force of the torsion spring makes the flip cover 350 in the first position, the collecting port 341 is in the normally open state and the first sewage outlet 331 is in the normally closed state. When the dust collecting component is working, the negative pressure generated by the dust collecting fan can overcome the elastic force of the torsion spring, so that the flip cover 350 is rotated to the second position; optionally, the flip cover 350 is driven by gravity, and by reasonably configuring the mass distribution of the first cover body 351 and the second cover body 352, the flip cover 350 is in the first position in a natural state, the collecting port 341 is in the normally open state and the first sewage outlet 331 is in the normally closed state. When the dust collecting component is working, the negative pressure generated by the dust collecting fan can overcome the gravity of the flip cover 350, so that the flip cover 350 is rotated to the second position.

[0163] In some embodiments, as shown in Figures 21-30, the filter element 320 is a filter plate disposed at the bottom of the box body 310. The filter plate is provided with a plurality of filter holes 321. When the fluid flushes the waste in the first receiving space 210 into the filter box 300, the wet waste is filtered by the filter plate, and the wastewater enters the base 1 below the filter plate through the filter holes 321. The third sewage discharge portion 260 provided on the base 1 allows a sewage pump to extract the wastewater in the base 1 through the third sewage discharge portion 260 and pump it into the sewage tank. The sewage pump and sewage tank can be disposed on the main body 2 of the base station. Once the sewage tank is full of wastewater, the user can remove the sewage tank and empty it.

[0164] In some embodiments, the base 1 has a plurality of ribs 240 formed in the area below the filter plate, facing the filter holes. The filter box 300 of the base station also includes a vibration assembly 370, which is used to drive the filter plate to vibrate back and forth relative to the ribs 240. This reciprocating motion of the filter plate of the filter box 300 can, firstly, vibrate and separate dry waste adhering to the filter plate surface. Secondly, during the vibration process, the ribs 240 can pass through the filter holes 321 and lift and separate dry waste adhering to the filter plate surface. Thirdly, the ribs 240 can prevent clogging of the filter holes 321. These three effects improve the dust collection efficiency of the dust collection assembly for waste within the filter box 300. Optionally, the filter holes 321 on the filter plate are circular, and the ribs 240 in the base 1 are cylindrical. A gap of 1-3 mm is reserved between the filter holes 321 and the ribs 240 to ensure smooth passage of wastewater. In addition, in order to reduce the adhesion of garbage in the filter box 300, a coating of anti-sticking material can be provided on the filter plate of the filter box 300. For example, by forming a coating of Teflon material on the filter plate, the adhesion of garbage can be reduced.

[0165] In some embodiments, as shown in Figures 26-30, the vibration assembly 370 includes a reset member (not shown), an eccentric mass 371, and a first driving member for driving the eccentric mass 371 to rotate. The eccentric mass 371 is used to drive the filter plate to move away from the base 1, and the reset member ensures that the filter plate always has a tendency to move closer to the base 1. The eccentric mass 371 is disposed on a side of the filter plate away from the base 1. The first driving member drives the eccentric mass 371 to rotate eccentrically, thereby directly or indirectly applying pressure to the filter plate and causing it to move linearly. During the rotation of the eccentric mass 371, when the distance between the rotation axis of the eccentric mass 371 and the filter plate gradually increases, the eccentric mass 371 drives the filter plate to gradually move away from the rotation axis of the eccentric mass 371, and this stage overcomes the reset force of the reset member; when the distance between the rotation axis of the eccentric mass 371 and the filter plate gradually decreases, the reset member drives the filter plate to gradually move closer to the rotation axis of the eccentric mass 371; through the continuous cyclic rotation of the eccentric mass 371, the above process is repeated, thereby achieving reciprocating vibration of the filter plate relative to the base 1. Among them, the first driving member is preferably a motor, and the rotation axis 360 of the eccentric mass 371 can be directly coaxially connected to the output shaft of the motor. Of course, the rotation axis 360 of the eccentric mass 371 can also be driven and matched with the output shaft of the motor through a gear 463, a transmission belt, a belt, or other structures.

[0166] Optionally, the reset member can be an elastic member, with its two ends connected to the base 1 and the filter plate, respectively. During the rotation of the eccentric block 371, when the distance between the rotation axis of the eccentric block 371 and the filter plate gradually increases, the elastic member will undergo elastic deformation; when the distance between the rotation axis of the eccentric block 371 and the filter plate gradually decreases, the elastic reset force of the elastic member will drive the filter plate gradually closer to the rotation axis of the eccentric block 371. Through the continuous cyclic rotation of the eccentric block 371 and the force of the elastic member, the reciprocating vibration of the filter plate relative to the base 1 is achieved. The elastic member is preferably a coil spring.

[0167] Optionally, the reset member can be selected as a magnetic member. Specifically, the magnetic member includes a first magnetic member provided on the base 1 and a second magnetic member provided on the filter plate. The first magnetic member and the second magnetic member are arranged opposite each other and have the same magnetic poles. When installed in place, the repulsive force of the first magnetic member and the second magnetic member causes the filter plate to move away from the base 1. During the rotation of the eccentric block 371, when the distance between the rotation axis of the eccentric block 371 and the filter plate gradually decreases, the magnetic repulsive force between the first magnetic member and the second magnetic member will be overcome, causing the second magnetic member to gradually approach the first magnetic member; when the distance between the rotation axis of the eccentric block 371 and the outer wall of the filter plate gradually increases, the first magnetic member will repel the second magnetic member, thereby driving the filter plate to gradually approach the rotation axis of the eccentric block 371; through the continuous cyclic rotation of the eccentric block 371 and the force of the magnetic members, the reciprocating vibration of the filter plate is achieved.

[0168] In some embodiments, as shown in Figures 17 and 18, the drying assembly 500 includes a second driving member, a heating member 520, and a drying air duct 530. The second driving member drives the airflow through the heating member 520 and then into the drying air duct 530. The drying air duct 530 is connected to the second receiving space 340. The second driving member is preferably a fan or an air pump, the heating member 520 can be a PTC heater, and the drying air duct 530 is connected to the second receiving space 340 to input the drying airflow into the second receiving space 340. Preferably, two drying air ducts 530 are provided, entering the second receiving space 340 from both sides of the filter box 300. This can ensure that the drying airflow output by the drying assembly 500 is evenly dispersed within the second receiving space 340, thereby improving the drying efficiency of the drying assembly 500.

[0169] In some embodiments, as shown in Figures 17-20 and Figures 31-35, the base 1 is further provided with a second sewage discharge part 230 connected to the first receiving space 210, and the dust collecting assembly also includes a second dust collecting pipeline 620, a third dust collecting pipeline 630 and a three-way conversion part 640. The second dust collecting pipeline 620 is connected to the second sewage discharge part 230, and the three-way conversion part 640 can be switched between a first conduction position and a second conduction position; in the first conduction position, the three-way conversion part 640 connects the second dust collecting pipeline 620 and the third dust collecting pipeline 630; in the second conduction position, the three-way conversion part 640 connects the first dust collecting pipeline 610 and the third dust collecting pipeline 630. The second sewage discharge part 230 is used to collect dust from the cleaning robot. After the cleaning robot is docked, the second sewage discharge part 230 will be connected to the dust discharge port on the cleaning robot. After the second sewage discharge part 230 is docked with the second dust collection pipeline 620, the dust collection fan will generate negative pressure to extract the garbage in the cleaning robot through the second sewage discharge part 230 to clean the garbage inside the cleaning robot. Of course, the first sewage discharge part 330 and the second sewage discharge part 230 can each be independently provided with a dust collection fan to work, but this will increase the number of electrical components in the base station, increase space occupancy and cost. The three-way conversion part 640 in the embodiment of the present application is used to realize the connection between the first dust collection pipeline 610 and the second dust collection pipeline 620 and the third dust collection pipeline 630, wherein the third dust collection pipeline 630 is used to communicate with the dust collection bag, and a dust collection drawer 650 can be provided on the main body 2, wherein the main body 2 is provided with a drawer cavity, and the dust collection drawer 650 is provided in the drawer cavity. A connecting hole is provided on the dust collection drawer 650, and a dust collection bag is provided in the dust collection drawer 650. The bag opening of the dust collection bag is connected to the connecting hole, and the connecting hole is connected to the dust collection fan through the third dust collection pipe.

[0170] The position of the three-way switching member 640 can be adjusted manually or electrically. For example, the dust collection assembly may further include a third drive member 660 for driving the rotation of the three-way switching member to switch between the first and second conducting positions. The third drive member 660 may be a motor and a reduction gearbox. Of course, in other embodiments, the reduction gearbox may not be provided, and the three-way switching member 640 may be driven directly by the motor. This embodiment is not limited thereto.

[0171] In some embodiments, as shown in Figures 36-43, the spray assembly 123 includes a medium system, a drive pump, a medium pipe 410 and a spray nozzle 420, wherein the medium system is used to store or generate a medium, and the drive pump is used to drive the medium through the medium pipe 410 into the spray nozzle 420 and then sprayed out. The spray nozzle 420 and the filter box 300 are respectively located on opposite sides of the base 1, and the slope of the collection area 220 gradually decreases along the direction from the spray nozzle 420 to the filter box 300.

[0172] Optionally, the medium system in the above embodiment includes a clean water tank, which is used to store clean water. The driving pump is used to drive the clean water in the clean water tank to enter the spray nozzle 420 through the medium pipe 410 and then be sprayed out, thereby directly flushing the garbage in the base 1 with clean water at room temperature.

[0173] Optionally, as shown in FIG37 , the medium system in the above embodiment includes a clean water tank and a boiler assembly 430. The boiler assembly 430 is used to heat the clean water in the clean water tank to form high-temperature water. The drive pump is used to drive the high-temperature water through the medium pipe 410 and into the spray nozzle 420 for spraying. The boiler assembly 430 can be disposed on the main body 2 and can heat the cold water drawn from the clean water tank. After the heated high-temperature water is sprayed through the spray nozzle 420, it not only achieves self-cleaning of the base 1 but also achieves a hot water sterilization effect. In addition, the high-temperature hot water can also be used to clean the cleaning robot's rag or roller, and can also be used for deep cleaning of the floor.

[0174] Optionally, as shown in FIG37 , the medium system in the above embodiment includes a clean water tank and a steam generating assembly 440. The steam generating assembly 440 is used to heat the clean water in the clean water tank to form high-temperature steam. The driving pump is used to drive the high-temperature steam through the medium pipe 410 into the spray nozzle 420 for spraying. The steam generating assembly 440 can be arranged on the main body 2. The steam generating assembly 440 can heat and vaporize the cold water drawn from the clean water tank. After the heated high-temperature steam is sprayed through the spray nozzle 420, it not only achieves self-cleaning of the base 1 but also achieves high-temperature steam sterilization. It can also disinfect and sterilize the main unit drum or rag and the base station base 1. At the same time, to ensure safety, structures such as the medium pipe 410 and the spray nozzle 420 need to be designed with high-temperature resistant materials.

[0175] Optionally, the medium system may also include a clean water tank, a boiler assembly 430 and a steam generating assembly 440. The medium pipe 410 is connected to the three respectively through a four-way valve. The medium in the medium pipe 410 can be selected as normal temperature water, high temperature water machine high temperature steam as needed, thereby improving the selectivity.

[0176] The spray nozzle 420 and the filter box 300 are respectively located on opposite sides of the base 1, which can facilitate the fluid sprayed by the spray nozzle 420 to cover the entire collection area 220 without leaving any dead corners. In addition, along the direction from the spray nozzle 420 to the filter box 300, the slope of the collection area 220 gradually decreases, which can facilitate the water flow to converge onto the filter element 320 at the position of the filter box 300. Preferably, the spray nozzle 420 is set at the front end of the collection area 220, and the filter box 300 is set at the rear end of the collection area 220, wherein the side of the base 1 with the docking inlet is the front side, and the other opposite side is the rear side. The medium pipe 410 is preferably set to two, so that the medium can be provided from both sides at the same time to increase the uniformity of the fluid. The driving pump can be selected as a water pump or an air pump, or a combination of the two, as needed to obtain a greater flushing force.

[0177] In some embodiments, as shown in Figures 36, 38 and 39, the spray assembly 123 also includes a sliding joint 450 and a locking structure 460. The sliding joint 450 is used to connect the medium pipe 410 and the spray nozzle 420. The sliding joint 450 is slidably set in the slide on the base 1. The formation of the slide can be achieved by grooving in the base 1, or a base plate 250 can be separated from the bottom of the base 1 to form a slide by combining the base plate 250 and other parts of the base 1. The locking structure 460 has a locked state and an unlocked state; in the locked state, the sliding joint 450 is fixed relative to the base 1 and the sliding joint 450 is connected to the spray nozzle 420; in the unlocked state, the sliding joint 450 is separated from the spray nozzle 420. The sliding joint 450 extends along the left-right direction of the base 1 and slides along the front-to-back direction of the base 1 to achieve assembly and separation with the spray nozzle 420. The two ends of the sliding joint 450 in the extension direction serve as inlets, and the direction of fluid flow is also parallel to the extension direction of the sliding joint 450. The two inlets are respectively connected to the two medium pipes 410. The two medium pipes 410 and the sliding joint 450 are respectively connected through the pipeline quick-release assembly 470 to achieve quick plug-in and pull-out assembly. The sliding joint 450 is provided with a joint 451 as an outlet, and the direction of fluid flow is the front-to-back direction. The rear of the spray nozzle 420 is provided with a water inlet 421 that cooperates with the joint 451. In the locked state, the joint 451 of the sliding joint 450 is matched with the water inlet 421 of the spray nozzle 420, and a sealing ring can be provided at the connection between the two. The provision of the sliding joint 450 can conveniently achieve detachable matching and quick assembly of various structures.

[0178] Specifically, the locking structure 460 includes a rotating handle 461, a transmission assembly, and a buckle 462. One end of the rotating handle 461 is coupled to the sliding joint 450 via the transmission assembly, and the buckle 462 is provided at the other end of the rotating handle 461. During the rotation of the rotating handle 461, the sliding joint 450 switches between a locked state and an unlocked state. In the locked state, the buckle 462 engages with the base 1. In the locked state, the buckle 462 engages with the base 1. Manual rotation of the rotating handle 461 drives the sliding joint 450 to slide, achieving docking and separation between the sliding joint 450 and the spray nozzle 420. The structure is simple and easy to operate. The design of the buckle 462 prevents the sliding joint 450 from loosening and separating from the spray nozzle 420 when in the locked state.

[0179] The transmission assembly includes but is not limited to a rack and pinion assembly, a connecting rod assembly or a crank slider assembly.

[0180] For example, as shown in Figure 38, the transmission assembly is a gear rack assembly, which specifically includes a gear 463 and a rack 464 that mesh with each other. The gear 463 is rotatably set on the base 1 and is connected to the rotating handle 461. The rotation of the gear 463 can be controlled by the rotating handle 461. The rack 464 is set on the sliding joint 450. The rotation of the gear 463 drives the rack 464 to move linearly, so that the sliding joint 450 switches between a locked state and an unlocked state.

[0181] As shown in Figure 39, the transmission assembly is a connecting rod assembly, which specifically includes a crankshaft 465 and a connecting rod 466 that are connected to each other. The crankshaft 465 is rotatably set on the base 1 and is connected to the rotating handle 461. The rotation of the crankshaft 465 can be controlled by rotating the handle 461. The connecting rod 466 is connected to the sliding joint 450. The rotation of the crankshaft 465 drives the connecting rod 466 to move, so that the sliding joint 450 switches between a locked state and an unlocked state.

[0182] In some embodiments, as shown in FIG36 , a compression spring 480 is directly provided between the sliding joint 450 and the base 1. The compression spring 480 always tends to cause the sliding joint 450 to slide toward the spray nozzle 420. That is, the compression spring 480 has the function of maintaining the sliding joint 450 in a locked state and preventing it from loosening. One or more compression springs 480 can be selected as needed. In the embodiments of the present application, both the compression spring 480 and the buckle 462 have the function of maintaining the lock and preventing loosening. Those skilled in the art can choose to use either or both to improve the locking effect.

[0183] In some embodiments, as shown in FIG36 , a micro switch 490 or a Hall sensor is mounted on the sliding joint 450 , which is triggered when the connector 451 of the slider joint 451 is inserted into the water inlet 421 of the spray nozzle 420 , allowing the base station to detect the installation status of the spray nozzle 420 and the slider joint 451 , thereby preventing the spray assembly 123 from being activated when it is not connected.

[0184] In some embodiments, as shown in Figures 40-43, the structure of the spray nozzle 420 includes a nozzle cavity 422 located in an upper layer and a water channel 423 located in a lower layer. Multiple nozzle cavities 422 are provided along the extension direction of the spray nozzle 420. By arranging the spray nozzle 420 in two layers, the width of the nozzle cavity 422 (in the vertical direction) can be reduced, while the length of the guide angle of the nozzle cavity 422 (in the front-to-back direction) can be increased. The spray nozzle 420 can take in water from both sides and then spray it out from multiple nozzle cavities 422. The number of nozzle cavities 422 is preferably four. Because the base 1 is generally longer in the left-right direction, the length of the spray nozzle 420 is also correspondingly longer. Designing only one or two nozzle cavities 422 would result in an excessively large guide angle and a large distance between the left and right sides, resulting in a reduced water flow and low water pressure. Water flows through the sliding joint 450 and enters the water channel 423 at the bottom of the spray nozzle 420 from the left and right water inlets 421, then flows into the nozzle cavity 422 through the water channel through holes 425 on both sides, and then is sprayed out from the nozzle cavity 422 through the nozzle 424 to rinse the base 1.

[0185] Preferably, the guide angle of each nozzle cavity 422 does not exceed 135 degrees and can cover the spray holes of the outermost nozzle cavity 422. The guide angle is designed in the nozzle cavity 422 to balance the amount and pressure of water sprayed from the spray nozzle 420 at all locations.

[0186] Optionally, as shown in Figure 40 , the nozzle opening 424 of each nozzle chamber 422 is a strip-shaped hole extending in the same direction as the spray nozzle 420. The vertical gap width of the strip-shaped hole can be 0.5 mm. This configuration allows the spray nozzle 420 to have a wide water coverage area, but requires higher water pressure and water volume, making it suitable for automatic water supply and discharge models. The above dimensions of this embodiment are only a preferred example and can be adjusted according to actual working conditions.

[0187] Optionally, as shown in Figure 43 , the nozzle opening 424 of the nozzle chamber 422 comprises a plurality of shower holes spaced apart along the extension direction of the spray nozzle 420. These shower holes can be waist-shaped, with a width of 1 mm from side to side and a length of 3 mm from top to bottom. This design provides moderate water pressure for the spray nozzle 420, ensuring both near and far flushing of the bottom surface of the base 1. Alternatively, the shower holes can be round, with a diameter of 0.5 mm, for even greater water pressure. The dimensions of this embodiment are merely exemplary and can be adjusted based on actual operating conditions.

[0188] This embodiment also correspondingly separately protects a cleaning robot system, including a cleaning robot and a base station. The base station in this embodiment can be implemented using the structure of the base station provided in the above embodiment, which will not be described in detail here.

[0189] Figure 44 shows a decomposition structure diagram of the base station provided in an embodiment of the present application.

[0190] As shown in Figure 44, an embodiment of the present application provides a base station for charging and cleaning cleaning robots, such as sweeping robots, mopping robots, and sweeping and mopping robots. A sweeping robot uses a sweeping brush to sweep the floor, a mopping robot uses a mop to mop the floor, and a sweeping and mopping robot uses a mop to both sweep and mop the floor. For ease of description, this application uses a mopping robot as an example.

[0191] As a mopping robot moves across the floor, the mop moves with the main body of the device while rotating, creating sliding friction between the mop and the floor, effectively mopping and cleaning the floor. During the cleaning process, the mop needs to be frequently cleaned at the base station. After the wastewater is discharged through the drainage pump, it will adhere to the tray on the base, leaving stains such as oil and dust. Over time, this can lead to deterioration, odor, and bacterial growth, negatively impacting the user experience.

[0192] To this end, the base station provided in the embodiment of the present application can automatically clean the stains generated when the tray performs the cleaning operation through the cleaning component arranged on the base, effectively preventing the residual stains from deteriorating, odors and breeding bacteria, thereby improving the user experience.

[0193] Specifically, the base station provided in the embodiments of the present application includes a base 1 and a main body 2. The bottom of the main body 2 is provided with a receiving cavity 20, also known as a "base dock." A water outlet (not shown) is provided above the receiving cavity 20. The water outlet is used to connect to a liquid supply device to provide cleaning fluid for the base station. The base 1 is accommodated in the receiving cavity 20 and includes: a chassis assembly 10, a tray 11, a water inlet pipe (not shown), a cleaning assembly 12, and a drainage device 13.

[0194] The tray 11 is stacked on the chassis assembly 10 and is detachably connected to the chassis assembly 10. The tray 11 is provided with cleaning ribs 110 for performing cleaning operations. The cleaning ribs 110 correspond to the position of the mop, for example, and are used to clean the mop.

[0195] One end of the water inlet pipe is connected to the water outlet, and the other end is connected to the tray 11, used to introduce cleaning liquid into the tray 11. The cleaning assembly 12 is used to clean the stains generated by the cleaning operation on the tray 11. The drainage device 13 is connected to the tray 11 at one end and connected to the sewage treatment device at the other end, which is used to discharge the sewage through negative pressure. The sewage after cleaning the mop and the sewage after cleaning the tray 11 can be discharged to the sewage treatment device through the drainage device 13.

[0196] Therefore, the base station and base 1 provided in the embodiment of the present application can automatically clean the stains generated when the tray 11 performs the cleaning operation through the cleaning component 12 set on the base 1, effectively preventing the residual stains from deteriorating, odors and breeding bacteria, thereby improving the user experience.

[0197] The specific structure of the base 1 provided in the embodiment of the present application is described in detail below with reference to the accompanying drawings.

[0198] Figure 45 shows a top view of the base provided in one embodiment of the present application; Figure 46 shows a decomposition structure diagram of the base shown in Figure 45.

[0199] In some embodiments, the tray 11 includes a bottom plate 111 and side plates 112 that are arranged around a portion of the edge of the bottom plate 111 and symmetrically distributed relative to the midline of the width direction of the bottom plate 111. An opening is formed between the symmetrically distributed side plates 112, and the cleaning ribs 110 are arranged on the bottom plate 111.

[0200] As shown in Figures 45 and 46, the bottom plate 111 is provided with two spaced-apart cleaning ribs 110 along its width. These ribs 110 correspond to the position of a mop, for example. The cleaning ribs 110 are provided with multiple spaced-apart friction posts that squeeze and rub the mop as it rotates, enhancing its cleaning and drying properties. The openings formed between the symmetrically arranged side panels 112 allow the mopping robot to enter the accommodating cavity 20 of the main body 2 via the tray 11 and clean the mop using the cleaning ribs 110 provided on the bottom plate 111.

[0201] In some embodiments, the cleaning component 12 includes an ultrasonic generator, which is disposed between the chassis component 10 and the bottom plate 111 and contacts the bottom plate 111 . The ultrasonic generator cleans the inner wall of the tray 11 by impacting bubbles generated by high-frequency vibration.

[0202] As shown in Figure 46, the ultrasonic generator is arranged between the chassis assembly 10 and the bottom plate 111. Specifically, the tray 11 and the chassis assembly 10 are detachably connected. The ultrasonic generator can be fixed to the chassis assembly 10 by adhesive or screws, and the top of the ultrasonic generator is in contact with the bottom plate 111. The ultrasonic generator uses a signal generator to generate a signal of a specific frequency. This signal can be a sine signal or a pulse signal. The ultrasonic generator is used to increase the frequency of this signal to a certain value. This specific frequency is the frequency of the transducer. The ultrasonic frequencies generally used in ultrasonic equipment are 20KHz, 28KHz, 40KHz, and 60KHz. The frequency signal generated by the signal generator needs to be impedance matched after passing through the power amplifier so that the output impedance matches that of the transducer, driving the transducer to convert the electrical signal into mechanical vibration. In this way, the ultrasonic generator can transmit the mechanical vibration to the bottom plate 111 of the tray 11.

[0203] The ultrasonic generator must operate in the presence of water. When the mopping robot finishes cleaning the mop, there is water in the tray 11 of the base 1, or the main body 2 of the base station automatically injects water into the tray 11. The amount of water should not exceed the bottom of the tray 11. The amount of water varies depending on the size of the tray 11. The water used to clean the mop can also be used to directly perform ultrasonic cleaning on the tray 11. The ultrasonic generator mainly cleans the tray 11 of the base 1, and can also clean the tray 11 at the same time as the mopping robot cleans the mop. Since the base station does not have a stain detection function, and the self-cleaning of the base 1 is a relatively simple logic, the mopping robot can clean the mop first and then the base 1, or both can be performed simultaneously without delaying each other.

[0204] The ultrasonic generator uses high-frequency vibration to generate bubbles that impact and clean the inner wall of the tray 11, thereby removing stubborn stains or garbage remaining on the inner wall of the tray 11, and then flowing to the drainage device 13 along the direction of the water flow, completing the self-cleaning of the base 1. In order to prevent the stains on the mop cloth of the mopping robot from falling back onto the tray 11 and making it impossible to clean thoroughly, the working time of the ultrasonic generator must be greater than the time it takes the mop cloth to be cleaned. Optionally, the vibration frequency of the ultrasonic generator is 50KHz to 70KHz, and the vibration duration is 10s to 30s. This setting can ensure that stubborn stains attached to the tray 11 can also fall off.

[0205] When there is only one ultrasonic generator, it should be positioned as close to the center of the tray 11 as possible. This ensures uniform vibration in all directions, resulting in a better cleaning effect. Alternatively, there may be at least two ultrasonic generators, with the at least two ultrasonic generators symmetrically positioned about the centerline of the bottom plate 111. This ensures uniform vibration in two symmetrical directions, resulting in optimal cleaning results.

[0206] Furthermore, the drainage device 13 is arranged opposite to the open side of the bottom plate 111, and the drainage device 13 includes a drainage pump 131 and a drainage pipe 132 connected between the drainage pump 131 and the sewage treatment device. The drainage pump 131 can be a centrifugal pump, which includes a rotating impeller and a fixed pump casing. The liquid in the center of the impeller is thrown to the periphery under the action of inertial centrifugal force and gains energy, thereby increasing its static pressure energy and flow rate. After the liquid leaves the impeller and enters the pump casing, the flow channel of the pump casing gradually expands, causing the liquid flow rate to slow down, and part of the kinetic energy is converted into static pressure energy. As a result, the liquid with a higher pressure is transported to the sewage treatment device through the drainage pipe 132 of the pump.

[0207] Furthermore, a sewage trough 113 and a filter element 320 detachably mounted on the sewage trough 113 are provided on one side of the tray 11 near the drainage device 13. The filter element 320 is used to filter impurities in the sewage. The filter element 320 includes a frame and a filter screen connected to the frame. The mesh of the filter screen can filter out large particles of dirt. A hook is provided on the periphery of the frame of the filter element 320, and a snap fastener that cooperates with the hook is correspondingly provided on the sewage trough 113, so that the filter element 320 can be detachably mounted on the sewage trough 113, making it easy to remove the filter element 320 and clean impurities in the sewage. It can also prevent impurities from clogging the drainage pump 131 and affecting the drainage function of the drainage pump 131.

[0208] In one example, as shown in FIG46 , the sewage trough 113 is formed by the bottom plate 111 being recessed toward the chassis assembly 10, and the drain pump 131 and the drain pipe 132 are located on a side of the side plate 112 away from the bottom plate 111. In another example, the sewage trough 113 is disposed on a side of the side plate 112 away from the bottom plate 111, the drain pump 131 is disposed within the sewage trough 113, and the drain pipe 132 passes through a cover plate 114 covering the sewage trough 113.

[0209] After washing tray 11, wastewater is discharged into wastewater tank 113. When the liquid at the center of the impeller of drain pump 131 is thrown outward, a low-pressure area is generated at the center of the impeller. Because the pressure above the liquid surface in wastewater tank 113 is higher than the pressure at the inlet of drain pump 131, liquid is drawn into the center of the impeller. Therefore, the impeller continuously rotates, continuously drawing in and out liquid.

[0210] As shown in Figures 44 and 46, the chassis assembly 10 includes a chassis 101 and a baffle 102 that can be flipped relative to the chassis 101. The chassis 101 is detachably connected to the tray 11. The baffle 102 is located on the opening side of the bottom plate 111. When the cleaning assembly 12 cleans the tray 11, the baffle 102 flips over and covers the accommodating cavity 20 of the main body 2.

[0211] Baffle 102 has a certain slope to facilitate the mopping robot to climb into the tray 11 and then clean the mop cloth at the cleaning ribs 110 on the bottom plate 111 of the tray 11. Baffle 102 is provided with multiple anti-skid ribs on both sides along the width direction to prevent the mopping robot from slipping during the climbing process, further improving its climbing ability.

[0212] In addition, a rotating shaft is provided on the side of the chassis 101 corresponding to the opening of the bottom plate 111. The baffle 102 is rotatably connected to the rotating shaft, allowing the baffle 102 to flip relative to the chassis 101. The flipping power can be manually operated by the user or driven by a motor. In this way, when the cleaning assembly 12 cleans the tray 11, the baffle 102 can flip relative to the chassis 101 and cover the receiving cavity 20 of the main body 2, thereby preventing the cleaning liquid from splashing out and contaminating the floor, further improving the user experience.

[0213] Figure 47 shows a top view of a base provided in another embodiment of the present application; Figure 48 shows a schematic diagram of the decomposed structure of the base shown in Figure 47; Figure 49 shows a schematic diagram of a layout structure of the nozzle assembly of the tray in Figure 48; Figure 50 shows a cross-sectional view of the tray in Figure 49 along the AA direction; Figure 51 shows a schematic diagram of the back structure of the tray in Figure 48; Figure 52 shows a schematic diagram of the structure of the nozzle in Figure 49.

[0214] As shown in Figures 47 to 52, the base 1 provided in the embodiment of the present application has a structure similar to that of the base 1 shown in Figures 45 to 46 above, except that the cleaning assembly 12 includes a nozzle assembly 121 and a nozzle assembly 122, the nozzle assembly 121 is used to clean the bottom plate 111 of the tray 11, and the nozzle assembly 122 is used to clean the side plate 112 of the tray 11.

[0215] Specifically, the cleaning assembly 12 includes a nozzle assembly 121, which includes multiple nozzles 121a disposed on the edge of the bottom plate 111. The nozzles 121a are connected to the water inlet pipe and are used to clean the side of the bottom plate 111 of the tray 11 facing away from the chassis assembly 10. Because the bottom plate 111 of the tray 11 is in direct contact with the mopping robot's mop, most of the stains left by the mop are concentrated on this side of the bottom plate 111. This requires timely rinsing with cleaning fluid sprayed from the nozzles 121a to prevent the stains from adhering to the bottom plate 111, generating odor and breeding bacteria.

[0216] Furthermore, the nozzle assembly 121 also includes a hard pipe assembly 121b located on the side of the bottom plate 111 facing the chassis assembly 10 and a hose 121c connected to the hard pipe assembly 121b. The hard pipe assembly 121b is connected to the water inlet pipeline, and the end of the hose 121c away from the hard pipe assembly 121b is connected to the nozzle 121a.

[0217] As shown in Figure 48, the hard tube assembly 121b is fixed to the side of the base plate 111 facing the chassis assembly 10 by glue or screws, or the hard tube assembly 121b is fixed to the chassis assembly 10 by glue or screws. The hard tube assembly 121b is connected to the water inlet pipe. The hard tube assembly 121b has a high structural strength and can withstand the impact force of the cleaning liquid introduced from the water inlet pipe. The cleaning liquid is then transported to the nozzle 121a through the hose 121c and sprayed to the side of the base plate 111 away from the chassis assembly 10. The high-pressure cleaning liquid sprayed by the nozzle 121a is used to clean the base plate 111.

[0218] Furthermore, the hard pipe assembly 121b includes a four-way pipe 4T and multiple three-way pipes 3T connected to the four-way pipe 4T. The four-way pipe 4T is located at the center of the side of the bottom plate 111 facing the chassis assembly 10. One end of the four-way pipe 4T is connected to the water inlet pipe through a hose 121c; the two ends of the three-way pipe 3T away from the four-way pipe 4T are respectively connected to the nozzle 121a through the hose 121c.

[0219] As shown in Figure 51 , the cross-tube 4T is located in the center of the bottom plate 111 on the side facing the chassis assembly 10. Three tees 3T are located at the three openings of the cross-tube 4T. The other opening of the cross-tube 4T is connected to the water inlet pipeline via a hose 121c. The two ends of the tee 3T, away from the cross-tube 4T, are connected to the nozzle 121a via hoses 121c. As a result, the direction of flow of the cleaning fluid in the hard tube assembly 121b and hose 121c is shown by the arrows in Figure 51 , that is, it flows from the central cross-tube 4T to the three tees 3T, and then through each hose 121c to each nozzle 121a.

[0220] Optionally, at least one of the multiple nozzles 121a is located at an edge of one side of the opening of the bottom plate 111. In one example, two nozzles 121a are provided at one edge of the opening of the bottom plate 111, and two nozzles 121a are provided at each of the other two edges. Thus, the six nozzles 121a are spaced apart along the peripheral edge of the bottom plate 111, thereby spraying cleaning liquid toward the bottom plate 111 from all directions simultaneously, thereby improving the cleaning efficiency and cleaning effect of the bottom plate 111.

[0221] As shown in Figure 52, the nozzle 121a includes a water storage part A11, a water inlet part A12 and a water spraying part A13 connected to the water storage part A11, and the water inlet part A12 is connected to the hose 121c; the water spraying part A13 sprays water toward the bottom plate 111, and first positioning ears B1 are also provided on both sides of the water storage part A11. The nozzle 121a is connected to the edge of the bottom plate 111 through the first positioning ears B1.

[0222] As shown in Figure 51, a fixing plate is installed on the side of the bottom plate 111 facing the chassis assembly 10, corresponding to each nozzle 121a. The first positioning lug B1 of the nozzle 121a is connected to the fixing plate via screws. The water inlet A12 of the nozzle 121a is connected to the hose 121c, which draws cleaning liquid into the water storage portion A11 of the nozzle 121a. The cleaning liquid is then sprayed toward the bottom plate 111 through the water spray portion A13 of the nozzle 121a.

[0223] Furthermore, the water spray portion A13 is a flat duckbill valve. The water reservoir A11 has a larger cross-sectional area, while the flat duckbill valve has a smaller cross-sectional area. Cleaning liquid is introduced from the larger cross-sectional area of ​​the water reservoir A11 to the smaller cross-sectional area of ​​the water spray portion A13, causing the water spray portion A13 to spray high-pressure water, effectively cleaning the bottom plate 111 of the tray 11.

[0224] FIG. 53 is a schematic diagram showing another layout structure of the nozzle assembly of the tray in FIG. 48 .

[0225] As shown in FIG53 , in another example, multiple nozzles 121 a are all concentrated on one edge of the opening of the base plate 111 , so that the multiple nozzles 121 a can spray cleaning liquid simultaneously in the same direction, which can also improve the cleaning efficiency and cleaning effect of the base plate 111 .

[0226] Figure 54 is a schematic structural diagram of the nozzle assembly of the tray in Figure 48.

[0227] As shown in Figures 48, 49 and 54, the cleaning assembly 12 also includes a nozzle assembly 122 located on the side panel 112. The nozzle assembly 122 includes a spray pipe 122a adapted to the shape of the side panel 112 and a conduit 122b arranged on the spray pipe 122a. The spray pipe 122a is provided with a plurality of water spray holes 122c distributed at intervals along its own extension direction. The end of the conduit 122b away from the spray pipe 122a is connected to the water inlet pipe. The plurality of water spray holes 122c are located on one side of the inner wall of the side panel 112 and are used to clean the inner wall of the side panel 112 of the tray 11.

[0228] In an embodiment of the present application, there may be multiple water inlet pipes, for example, one water inlet pipe is connected to the nozzle 121a of the nozzle assembly 121, one water inlet pipe is connected to the conduit 122b of the nozzle assembly 122, and another water inlet pipe directly sprays the cleaning liquid onto the mop of the cleaning mopping robot.

[0229] In addition, because the cleaning liquid in tray 11 reaches a certain depth when cleaning, for example, a mop cloth used by a mopping robot, stains may also adhere to the inner walls of side panels 112, requiring cleaning. As shown in FIG49 , tray 11 includes two side panels 112 symmetrically arranged about the widthwise midline of base panel 111. Each side panel 112 is provided with a nozzle assembly 122. The spray pipe 122a of nozzle assembly 122 is provided with a plurality of spray holes 122c spaced apart along its extension. These plurality of spray holes 122c are located in close proximity to the inner walls of side panels 112 of tray 11, allowing the sprayed cleaning liquid to effectively clean the inner walls of side panels 112.

[0230] Furthermore, a second positioning ear B2 is provided on one side of the spray pipe 122a, and the spray pipe assembly 122 is connected to the chassis assembly 10 via the second positioning ear B2. In this way, the spray pipe assembly 122 can be fixed to the base 1 to prevent movement during the spraying process and spraying the cleaning liquid outside the tray 11.

[0231] Figure 45 shows a top view of the base provided in another embodiment of the present application; Figure 56 shows a schematic diagram of the decomposed structure of the tray in the base shown in Figure 55; Figure 57 shows a schematic diagram of the back structure of the tray shown in Figure 56; Figure 58 shows a cross-sectional view of the base in Figure 55 along the BB direction.

[0232] As shown in Figures 55 to 58, the base 1 provided in the embodiment of the present application has a structure similar to the base 1 shown in Figures 48 to 54 above, except that the cleaning component 12 includes a spray component 123 connected to the water inlet pipe, and the spray component 123 is arranged on one side of the opening of the base plate 111.

[0233] Specifically, the spray assembly 123 includes a first spray portion 123a extending along the width direction of the base plate 111 and a plurality of second spray portions 123b connected to the first spray portion 123a and distributed at intervals. The second spray portion 123b extends along the length direction of the base plate 111. The range of the first spray portion 123a is greater than or equal to the length of the second spray portion 123b, and is used to clean the portion of the tray 11 close to the opening. The second spray portion 123b is used to clean the portion of the tray 11 away from the opening.

[0234] The range of the first spray part 123a is greater than or equal to the length of the second spray part 123b, so that the cleaning liquid sprayed by the first spray part 123a and the second spray part 123b along the length direction of the tray 11 at least partially overlaps, ensuring that the cleaning liquid can cover the length direction of the tray 11.

[0235] Optionally, the four second spray portions 123b are spaced apart along the length direction of the first spray portion 123a, that is, spaced apart along the width direction of the bottom plate 111, so that the sprayed cleaning liquid can cover the width direction of the tray 11, thereby ensuring that every corner of the tray 11 can be cleaned.

[0236] Furthermore, a plurality of first spray holes H1 are provided on the side of the first spray portion 123a facing the second spray portion 123b, and a second spray hole H2 is provided on the side of the second spray portion 123b facing away from the first spray portion 123a. The spray assembly 123 also includes a water conduit 123c located on the side of the bottom plate 111 facing the chassis assembly 10. A water conduit D is provided on the side of at least one second spray portion 123b facing the bottom plate 111. The water conduit D passes through the bottom plate 111 and communicates with the water conduit 123c. The end of the water conduit 123c away from the water conduit D is connected to the water inlet pipeline.

[0237] As shown in Figures 56 and 57 , the first spray hole H1 is a small circular hole, and the second spray hole H2 is an elongated hole. The two middle second spray portions 123b of the four second spray sections 123b are each provided with a water pipe D. Two water pipes 123c are provided on the side of the bottom plate 111 facing the chassis assembly 10. One end of each water pipe 123c is connected to the water pipe D, and the other end is connected to the water inlet pipeline. This allows the spray assembly 123 to be filled with cleaning liquid, and high-pressure cleaning liquid is sprayed onto the tray 11 through the first spray hole H1 and the second spray hole H2, respectively.

[0238] Furthermore, a first groove S1 for accommodating the first spray part 123a and a second groove S2 for accommodating the second spray part 123b are provided on the open side of the bottom plate 111, and at least one second groove S2 is provided with a through hole H3 allowing the water pipe D to pass through, and the remaining second grooves S2 and first grooves S1 are respectively provided with threaded holes H4 for fixing the first spray part 123a and the second spray part 123b.

[0239] In order to prevent the spray assembly 123 from moving due to the strong impact force of the water flow when spraying high-pressure cleaning liquid, a first groove S1 and a second groove S2 are set on the base plate 111 to accommodate the first spray part 123a and the second spray part 123b respectively. At the same time, the spray assembly 123 is fixed to the base plate 111 by fastening screws, thereby improving the stability of the spray assembly 123.

[0240] In addition, after the spray assembly 123 and the base plate 111 are assembled, sealant may be applied to the through hole H3 and the threaded hole H4 to prevent the cleaning liquid from leaking and contaminating the floor and other surrounding environments.

[0241] It can be understood that the cleaning component 12 in the embodiment of the present application can also be any one of the combination of the ultrasonic generator, the nozzle component 121 and the nozzle component 122, and the spray component 123, or a combination of at least two of them. On the one hand, it can improve the cleaning efficiency and cleaning effect of the tray 11. On the other hand, when any one of them is damaged, the tray 11 can also be cleaned by other cleaning components 12, which will not be repeated here.

[0242] The technical solution provided by this embodiment is described below in conjunction with specific application scenarios.

[0243] As shown in Figure 44 , the base station's base 1 is separated from its main body 2. The water outlet on the main body 1 is connected to a liquid supply device to provide cleaning fluid for the base station. The water inlet pipe on the base 1 is used to introduce the cleaning fluid into the tray 11. The cleaning assembly 12 is used to clean stains generated during the cleaning operation on the tray 11. The drainage device 13 is used to discharge wastewater to a sewage treatment device using negative pressure. The cleaning assembly 12 can be any one of an ultrasonic generator, a nozzle assembly 121, a nozzle assembly 122, and a spray assembly 123, or a combination of at least two of the three.

[0244] When the mopping robot needs to clean, it backs up past the reversible baffle 102 of the base 1 and enters the accommodating cavity 20 of the main body 2 of the base, places the mop on the cleaning ribs 110 of the tray 11, and cleans the stains by rotating the mop. If the cleaning component 12 is an ultrasonic generator, it is activated while the mop is being cleaned, and the bubbles generated by high-frequency vibrations impact and clean the inner wall of the tray 11. The operating time of the ultrasonic generator should be longer than the time it takes to clean the mop, so that the stains on the tray 11 are thoroughly cleaned.

[0245] If the cleaning assembly 12 includes a combination of a nozzle assembly 121 and a nozzle assembly 122, after the mop is cleaned and the mopping robot leaves the base 1, the bottom plate 111 of the tray 11 is cleaned by the high-pressure water flow sprayed by the multiple nozzles 121a, and the side panels of the tray 11 are cleaned by the cleaning liquid flowing out through the multiple water spray holes 122c of the nozzle assembly 122.

[0246] If the cleaning component 12 includes a spray component 123, after the mop is cleaned and the mopping robot leaves the base 1, the high-pressure water flow sprayed by the first spray part 123a starts to clean the part of the tray 11 close to the opening, including the bottom plate 111 and the side plate 112 close to the opening, and the high-pressure water flow sprayed by the second spray part 123b cleans the part of the tray 11 away from the opening, including the bottom plate 111 and the side plate 112 away from the opening.

[0247] If stubborn stains are attached to the tray 11, and the cleaning component 12 is a combination of an ultrasonic generator, a nozzle component 121, a nozzle component 122, and a combination of any one of the spray components 123, the ultrasonic generator can be started for a predetermined period of time, and the bubbles generated by high-frequency vibration are used to impact and clean the inner wall of the tray 11. Then, the bottom plate 111 of the tray 11 is cleaned by the high-pressure water flow sprayed by multiple nozzles 121a, and the side panels of the tray 11 are cleaned by the cleaning liquid flowing out through the multiple water spray holes 122c of the nozzle component 122, or the tray 11 is cleaned by the high-pressure water flow sprayed by the first spray part 123a and the second spray part 123b, so that the stubborn stains or garbage remaining on the inner wall of the tray 11 can be quickly removed.

[0248] During the process of cleaning the tray 11 by the cleaning component 12, the baffle 102 can be manually or automatically pushed to flip relative to the chassis 101 and cover the accommodating cavity 20 of the main body 2, thereby preventing the cleaning liquid from splashing outward and contaminating the floor, thereby improving the user experience.

[0249] After cleaning the tray 11, the stains that fall off flow into the sewage tank 113 along the direction of the water flow, and are first filtered out of large particles of impurities by the filter mesh of the filter element 320, and then the sewage is discharged to the sewage treatment device through the drainage pump 131 and the drainage pipe 132, completing the self-cleaning of the base 1 and improving the user experience.

[0250] If large particles of impurities remain in the filter after multiple cleanings, the filter element 320 can be removed from the sewage tank 113, the unfiltered impurities can be cleaned, and the filter element 320 can be reinstalled in the sewage tank 113 to improve the cleaning effect of the tray 11. In addition, after long-term use, the base 1 may be damaged. Since the base 1 is detachably connected to the main body 2, the base 1 can be removed from the main body 2 for replacement, further improving the user experience.

[0251] Figure 59 shows a top view of the base provided in an embodiment of the present application; Figure 60 shows a decomposition structure diagram of the base shown in Figure 59; Figure 61 shows the back side and decomposition structure schematic diagram of the spray assembly in Figure 60; Figure 57 shows a back side structure schematic diagram of the tray shown in Figure 56; Figure 62 shows a structure schematic diagram of the back side of the tray in Figure 59 along another angle.

[0252] In some embodiments, the cleaning assembly 12 includes a spray assembly 123 connected to the water inlet pipe, and the spray assembly 123 is disposed on one side of the opening of the bottom plate 111. Furthermore, the spray assembly 123 is detachably connected to the bottom plate 111.

[0253] Specifically, the spray assembly 123 includes a first spray portion 123a extending along a first direction X of the bottom plate 111 and a plurality of second spray portions 123b connected to the first spray portion 123a and spaced apart. The second spray portions 123b extend along a second direction Y of the bottom plate 111, and the first direction X and the second direction Y intersect. The first direction X can be the length direction of the bottom plate 111, and the second direction Y can be the width direction of the bottom plate 111; alternatively, the first direction X can be the width direction of the bottom plate 111, and the second direction Y can be the length direction of the bottom plate 111.

[0254] The first spray portion 123 a is used to clean the portion of the tray 11 close to the opening, and the second spray portion 123 b is used to clean the portion of the tray 11 away from the opening.

[0255] Optionally, the range of the first spray part 123a is greater than or equal to the length of the second spray part 123b. Such an arrangement can make the cleaning liquid sprayed by the first spray part 123a and the second spray part 123b along the second direction Y of the tray 11 at least partially overlap, so as to ensure that the cleaning liquid can cover the length direction of the tray 11.

[0256] Optionally, the four second spray parts 123b are spaced apart along the length direction of the first spray part 123a, that is, spaced apart along the first direction X of the bottom plate 111, so that the sprayed cleaning liquid can cover the width direction of the tray 11, thereby ensuring that every corner of the tray 11 can be cleaned.

[0257] Furthermore, a plurality of first spray holes H1 are provided on a side of the first spray portion 123a facing the second spray portion 123b, and a second spray hole H2 is provided on a side of the second spray portion 123b away from the first spray portion 123a.

[0258] The spray assembly 123 also includes a water pipe 123c located on the side of the bottom plate 111 facing the chassis assembly 10, and at least one second spray part 123b is provided with a water pipe on the side facing the bottom plate 111. The water pipe passes through the bottom plate 111 and is connected to the water pipe 123c. The end of the water pipe 123c away from the water pipe is connected to the water inlet pipeline.

[0259] Furthermore, among the multiple second spray parts 123b, at least one of the second spray parts 123b is provided with a first water pipe D1 on the side facing the bottom plate 111, and at least another one of the second spray parts 123b is provided with a second water pipe D2 on the side facing the bottom plate 111. The first water pipe D1 and the second water pipe D2 are independently controlled from each other, the first water pipe D1 is connected to the first spray part 123a, and the second water pipe D2 is connected to the multiple second spray parts 123b.

[0260] As shown in Figures 60 and 61 , the first spray hole H1 is a small circular hole, and the second spray hole H2 is an elongated hole. Of the two middle second spray sections 123b of the four second spray sections 123b, one is provided with a first water conduit D1, and the other is provided with a second water conduit D2. The first and second water conduits D1 and D2 are independently controlled. The first water conduit D1 communicates with the first spray section 123a, while the second water conduit D2 communicates with the multiple second spray sections 123b.

[0261] Furthermore, a first groove S1 for accommodating the first spray portion 123a and a second groove S2 for accommodating the second spray portion 123b are provided on the open side of the bottom plate 111, at least one second groove S2 is provided with a through hole H3 allowing the first water pipe D1 to pass through, and at least another second groove S2 is provided with a threaded hole H4 allowing the second water pipe D2 to pass through.

[0262] In order to prevent the spray assembly 123 from moving due to the strong impact force of the water flow when spraying high-pressure cleaning liquid, a first groove S1 and a second groove S2 are provided on the base plate 111 to accommodate the first spray part 123a and the second spray part 123b respectively. At the same time, the spray assembly 123 is detachably connected to the base plate 111, thereby improving the stability of the spray assembly 123.

[0263] Specifically, the second groove S2 is further provided with a support column P2 having a threaded hole, and the second spray portion 123b is threadedly connected to the threaded hole through a fastener 17, so that the spray assembly 123 is detachably connected to the bottom plate 111.

[0264] Since the spray assembly 123 may be damaged after long-term use, since the spray assembly 123 is detachably connected to the base plate 111, the spray assembly 123 can be removed from the base plate 111 for replacement, further improving the user experience.

[0265] In addition, after the spray assembly 123 and the base plate 111 are assembled, sealant may be applied to the through hole H3, the threaded hole H4 and the support column P2 with the threaded hole to prevent the cleaning liquid from leaking and contaminating the floor and other surrounding environments.

[0266] Furthermore, the first water pipe D1 and the second water pipe D2 are respectively connected to the water inlet pipeline through the corresponding water pipe 123c, at least one of the water pipes 123c is provided with a first solenoid valve 15, and at least the other water pipe 123c is provided with a second solenoid valve 16. The first solenoid valve 15 and the second solenoid valve 16 are cycled on and off at intervals to control the first spray part 123a and the second spray part 123b to alternately and circulate the spraying of cleaning liquid.

[0267] As shown in Figures 57 and 62, two water pipes 123c are provided on the side of the bottom plate 111 facing the chassis assembly 10, one end of one water pipe 123c is connected to the first water pipe D1, and the other end is connected to the water inlet pipe; one end of the other water pipe 123c is connected to the second water pipe D2, and the other end is connected to the water inlet pipe, so that the spray assembly 123 can be filled with cleaning liquid, and high-pressure cleaning liquid can be sprayed onto the tray 11 through the first spray hole H1 and the second spray hole H2 respectively.

[0268] Furthermore, one of the water pipes 123c connected to the first water pipe D1 is provided with a first solenoid valve 15, and the other water pipe 123c connected to the second water pipe D2 is provided with a second solenoid valve 16. The first solenoid valve 15 and the second solenoid valve 16 are switched on and off in an intermittent cycle to control the first spray part 123a and the second spray part 123b to spray the cleaning liquid alternately and cyclically, that is, the high-pressure cleaning liquid is sprayed onto the tray 11 alternately and cyclically through the first spray hole H1 and the second spray hole H2.

[0269] Furthermore, among the plurality of second spraying parts 123b, the second spraying parts 123b located on both sides of the bottom plate 111 in the first direction X have inclined surfaces F inclined toward the middle of the bottom plate 111 along the first direction X, and the second spraying holes H2 are provided on the inclined surfaces F.

[0270] As shown in Figures 59 and 61, of the four second spray sections 123b, the two second spray sections 123b located along the first spray section 123a on either side of the bottom plate 111 in the first direction X are each provided with an inclined surface F that tilts toward the center of the bottom plate 111 in the first direction X, and the second spray holes H2 are provided on the inclined surface F. The two second spray sections 123b located in the middle are provided with a flat surface, and the second spray holes H2 are provided on the flat surface. The inclined surface F allows the cleaning liquid sprayed from the second spray holes H2 to be directed toward the drain device 13 located in the middle, thereby facilitating the discharge of the wastewater after cleaning.

[0271] Furthermore, a plurality of cleaning protrusions P1 are provided on a side of the second spray portion 123b away from the bottom plate 111 for supporting and cleaning the objects to be cleaned.

[0272] As shown in Figure 59, the four second spray parts 123b correspond to the position of the mop, for example. A plurality of cleaning protrusions P1 are provided on the side of the second spray part 123b facing away from the bottom plate 111. The plurality of cleaning protrusions P1 can squeeze and rub the mop together with the plurality of friction columns on the cleaning ribs 110 during the rotation of the mop, thereby improving the cleaning and drying effects of the mop.

[0273] FIG63 shows a cross-sectional view of the tray in FIG59 along direction BB; FIG64 shows a schematic top view of the tray in FIG59.

[0274] Furthermore, the cleaning ribs 110 are arranged on both sides of the first direction X of the sewage trough 113 and extend in the direction toward the opening. The end of the cleaning rib 110 close to the bottom plate 111 is provided with a hollow portion E that penetrates laterally and is connected to the sewage trough 113. The side of the hollow portion E away from the sewage trough 113 is provided with a water diversion surface W inclined toward the hollow portion E, and the water diversion surface W is used to introduce water into the sewage trough 113.

[0275] As shown in FIG63 , the end of the cleaning rib 110 near the bottom plate 111 is provided with a hollow portion E extending laterally therethrough and communicating with the sewage trough 113. A water diversion surface W is provided on the side of the hollow portion E away from the sewage trough 113, which is inclined toward the hollow portion E. The hollow portion E reduces the weight of the tray 11 and facilitates the passage of cleaned sewage through the hollow portion E into the sewage trough 113, where it is filtered by the filter element 320 and discharged through the drain device 13. A water diversion surface W is provided on the side of the hollow portion E away from the sewage trough 113, which is inclined toward the hollow portion E. This facilitates the diversion surface W in directing water into the sewage trough 113, thereby improving the efficiency of sewage drainage.

[0276] Furthermore, the bottom plate 111 includes a first area A11, a second area A2, a third area A3 and a fourth area A4 with increasing heights. A sewage trough 113 is provided in the first area A11, a cleaning rib 110 is provided in the second area A2, the fourth area A4 is located between adjacent second spray parts 123b or between the second spray part 123b and the cleaning rib 110, and the third area A3 is located between the second area A2 and the fourth area A4.

[0277] As shown in Figure 64, the bottom plate 111 includes a first area A11, a second area A2, a third area A3 and a fourth area A4 with successively increasing heights. By setting the bottom plate 111 of the tray 11 to flow from the relatively high fourth area A4 where the spray assembly 123 is located, through the third area A3 and the second area A2 with gradually decreasing heights, and finally gradually transitioning to the relatively low first area A11 where the sewage trough 113 is located, the efficiency of sewage discharge is further improved.

[0278] Furthermore, the side panel 112 of the tray 11 includes a first side panel 112a arranged opposite to the opening, a second side panel 112b and a third side panel 112c symmetrically distributed relative to the midline of the first direction X of the bottom panel 111, and the two ends of the first side panel 112a are smoothly connected to the second side panel 112b and the third side panel 112c respectively through an arc edge 112d, and the curvature of the arc edge 112d is π / 2.

[0279] As shown in Figure 64, the side panel 112 includes a first side panel 112a arranged opposite to the opening, a second side panel 112b and a third side panel 112c symmetrically distributed relative to the midline of the first direction X of the bottom panel 111, and the two ends of the first side panel 112a are respectively connected to the second side panel 112b and the third side panel 112c through a large-angle arc edge 112d for smooth transition, thereby reducing the cleaning dead corners of the tray 11 and greatly improving the cleaning effect of the tray 11.

[0280] In some embodiments, a spray assembly 123 is also provided on the side panel 112. The structures of the spray assemblies 123 provided on the symmetrically distributed second and third side panels 112b, 112c are similar to those of the aforementioned spray assemblies 123, for example, each including a first spray portion 123a and a plurality of second spray portions 123b interconnected with the first spray portion 123a and spaced apart, and are not further described. The spray assemblies 123 provided on the symmetrically distributed second and third side panels 112b, 112c can each clean the opposite side panel 112 with the sprayed cleaning fluid, further enhancing the cleaning effect of the tray 11.

[0281] The technical solution provided by this embodiment is described below in conjunction with specific application scenarios.

[0282] As shown in Figures 55 and 59 to 64, the cleaning assembly 12 includes a spray assembly 123, which is located on one side of the opening of the bottom plate 111. After the mop is cleaned and the mopping robot leaves the base 1, the first spray unit 123a begins to spray high-pressure water to clean the portion of the tray 11 near the opening, including the portion of the bottom plate 111 and side plate 112 near the opening. The second spray unit 123b then sprays high-pressure water to clean the portion of the tray 11 away from the opening, including the portion of the bottom plate 111 and side plate 112 away from the opening. A first solenoid valve 15 controls the amount and timing of cleaning fluid sprayed by the first spray unit 123a, while a second solenoid valve 16 controls the amount and timing of cleaning fluid sprayed by the second spray unit 123b. Optionally, the first and second solenoid valves 15 and 16 can be cycled on and off at intervals to control the alternating and cyclical spraying of cleaning fluid by the first and second spray units 123a, 123b.

[0283] The spraying assembly 123 is also provided on the side panel 112 . The spraying assemblies 123 provided on the two symmetrically distributed side panels 112 can respectively clean the side panels 112 on the opposite sides by spraying cleaning liquid, thereby further improving the cleaning effect of the tray 11 .

[0284] If stubborn stains are attached to the tray 11, the tray 11 can be cleaned by controlling the pressure and time of the high-pressure water flow sprayed by the first spray part 123a and the second spray part 123b of the spray assembly 123, so that the stubborn stains or garbage remaining on the inner wall of the tray 11 can be quickly removed.

[0285] It should be noted that references in this specification to "one embodiment," "an embodiment," "an exemplary embodiment," "some embodiments," and the like indicate that the described embodiment may include a particular feature, structure, or characteristic, but not necessarily every embodiment includes that particular feature, structure, or characteristic. Furthermore, such phrases do not necessarily refer to the same embodiment. Furthermore, when a particular feature, structure, or characteristic is described in conjunction with an embodiment, it is within the knowledge of those skilled in the art to implement such feature, structure, or characteristic in conjunction with other embodiments, whether explicitly described or not.

[0286] It should be readily understood that “on,” “above,” and “over” in this disclosure should be interpreted in the broadest manner, such that “on” means not only “directly on something,” but also includes “on something” with intervening features or layers therebetween, and “above” or “over” includes not only the meaning of “above” or “over,” but also includes “above” or “over” with no intervening features or layers therebetween (i.e., directly on something).

[0287] Additionally, spatially relative terms, such as "below," "beneath," "beneath," "above," and the like, may be used herein for ease of description to describe the relationship of one element or feature relative to other elements or features as shown in the figures. Spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. The device may be in other orientations (rotated 90 degrees or at other orientations), and the spatially relative descriptors used herein should be interpreted accordingly.

[0288] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "comprises," "comprising," or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article, or device comprising a series of elements includes not only those elements, but also other elements not explicitly listed, or elements inherent to such process, method, article, or device. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of other identical elements in the process, method, article, or device comprising the element.

[0289] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some or all of the technical features therein. These modifications or replacements do not deviate the essence of the corresponding technical solutions from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A cleaning robot system, characterized in that: It includes a cleaning robot and a base station, and the base station includes: A main body, wherein the main body is provided with a first receiving space and a water inlet; a water supply assembly, the water supply assembly being configured to be connected to the water inlet so as to deliver water for cleaning the cleaning robot to the water inlet; A sewage discharge assembly is provided on the main body, and includes a sewage tank and a negative pressure generating unit. The negative pressure generating unit is constructed to have an air suction end for generating negative pressure and an air exhaust end for generating positive pressure; wherein, The air extraction end is configured to communicate with the sewage tank to form a negative pressure in the sewage tank; The exhaust end is constructed to be connected to the water inlet, and the positive-pressure gas delivered by the exhaust end flows out of the water inlet, or the positive-pressure gas delivered by the exhaust end is mixed with the water delivered by the water supply component to form a gas-liquid mixture with a pressure greater than the water supply pressure of the water supply component and then flows out of the water inlet.

2. The cleaning robot system according to claim 1, characterized in that: The water supply assembly includes a clean water tank, a first power pump and a first water supply pipeline, wherein the first water supply pipeline is configured to be connected to the water outlet of the first power pump, so that the first power pump pressurizes the water in the clean water tank to form positive pressure water and delivers the pressurized water to the water inlet via the first water supply pipeline; In which, the exhaust end is constructed to be connected to a first exhaust pipe, the water inlet is constructed to be connected to a first flushing pipe, and the first water supply pipe is constructed to be connected to the first flushing pipe in parallel with the first exhaust pipe, so that the positive-pressure water and the positive-pressure gas are transported to the water inlet.

3. The cleaning robot system according to claim 2, characterized in that: The main body is also provided with a water supply port for supplying water to the cleaning robot; the water supply component also includes a first control valve and a second water supply pipeline, the first control valve includes a first water inlet end, a first water outlet end and a second water outlet end, wherein the first water inlet end is constructed to be connected to the water outlet end of the first power pump, the first water outlet end is constructed to be connected to the water inlet through the first water supply pipeline, and the second water outlet end is constructed to be connected to the water supply port through the second water supply pipeline.

4. The cleaning robot system according to claim 2, characterized in that: The base station further includes: a control unit, the control unit being electrically connected to the water supply component and the sewage discharge component and being configured to control the working states of the water supply component and the sewage discharge component based on a pulse cycle; wherein, One cycle includes a first time period and a second time period arranged in sequence; During the first time period, a first control instruction is sent to the water supply component and the sewage discharge component to connect the first water supply pipeline and cut off the first exhaust pipeline, so that only positive pressure water is delivered to the first flushing pipeline; During the first time period, a second control instruction is sent to the water supply component and the sewage discharge component to cut off the first water supply pipeline and connect the first exhaust pipeline, so that only positive pressure gas is delivered to the first flushing pipeline.

5. The cleaning robot system according to claim 2, characterized in that: The base station also includes: a control unit, which is electrically connected to the water supply component and the sewage discharge component, and is configured to send a third control instruction to the water supply component and the sewage discharge component within a predetermined time period, so that the first water supply pipeline and the first exhaust pipeline are simultaneously opened, and positive pressure water and positive pressure gas are simultaneously delivered to the first flushing pipeline for mixing.

6. The cleaning robot system according to claim 1, characterized in that: The exhaust end is constructed to be connected to a second exhaust pipe, the water inlet is constructed to be connected to a second flushing pipe, the water supply assembly includes a clean water tank, and the water outlet end of the clean water tank is constructed to be connected to a third water supply pipe; wherein, the third water supply pipe is constructed to be connected to the second flushing pipe in parallel with the second exhaust pipe, so that the water in the clean water tank is sucked into the second flushing pipe under the action of siphon.

7. The cleaning robot system according to claim 6, characterized in that: The base station also includes: an ejector, which is constructed to mix water and gas to form the gas-liquid mixture, the ejector includes a gas inlet end, a liquid inlet end and an outlet end, the second exhaust pipe is connected to the gas inlet end, the third water supply pipe is connected to the liquid inlet end, and the second flushing pipe is connected to the outlet end.

8. The cleaning robot system according to claim 6, characterized in that: The main body is also provided with a water supply port for supplying water to the cleaning robot; the water supply component also includes a second power pump and a second control valve, wherein the water outlet end of the clean water tank is constructed to be connected to a fourth water supply pipeline in parallel with the third water supply pipeline, and the clean water tank is connected to the second power pump, the second control valve and the water supply port in sequence through the fourth water supply pipeline.

9. The cleaning robot system according to claim 1, characterized in that: A check valve for controlling the flow direction of gas is provided on the exhaust pipeline between the exhaust end and the water inlet.

10. The cleaning robot system according to claim 1, characterized in that: The first receiving space includes a flushing area and a sewage area. The water inlet is provided in the flushing area. The sewage area is provided with a second sewage discharge part. The first receiving space is constructed so that sewage can flow from the flushing area into the sewage area under the action of gravity.

11. The cleaning robot system according to claim 10, characterized in that: The base station further includes a spray nozzle, which is provided in the flushing area, the water inlet is connected to the spray nozzle, and the spray nozzle is configured to spray fluid from the flushing area to the sewage area.

12. The cleaning robot system according to claim 11, characterized in that: The spray nozzle includes at least one row of spray holes, each row of spray holes is configured to be sequentially spaced apart along a predetermined straight line; and / or the spray nozzle includes at least one straight-line spray port, the straight-line spray port is configured to extend along a predetermined straight line direction.

13. A base station, characterized in that: include: A main body, wherein the main body is provided with a first receiving space and a water inlet; a water supply assembly, the water supply assembly being configured to be connected to the water inlet so as to deliver water for cleaning the cleaning robot to the water inlet; A sewage discharge assembly is provided on the main body, and includes a sewage tank and a negative pressure generating unit. The negative pressure generating unit is constructed to have an air suction end for generating negative pressure and an air exhaust end for generating positive pressure; wherein, The air extraction end is configured to communicate with the sewage tank to form a negative pressure in the sewage tank; The exhaust end is constructed to be connected to the water inlet, and the positive-pressure gas delivered by the exhaust end flows out from the water inlet, or the positive-pressure gas delivered by the exhaust end is mixed with the water delivered by the water supply component to form a gas-liquid mixture with a pressure greater than the water supply pressure of the water supply component and then flows out from the water inlet.

14. A base station, characterized in that: include: The base has a first receiving space, wherein the bottom surface of the first receiving space forms a collecting area; A filter box, comprising a box body, a filter element, and a first drainage portion, wherein the box body is disposed on the base and has a second receiving space, the second receiving space being connected to the first receiving space via a collecting port, and the first drainage portion being connected to the second receiving space via a first drainage port; a spray assembly for supplying fluid to flush the garbage in the collection area into the second receiving space; a drying component, configured to supply a drying airflow to the second receiving space; The dust collecting component includes a dust collecting fan and a first dust collecting pipeline, wherein the first dust collecting pipeline is connected to the first sewage discharge part.

15. The base station according to claim 14, characterized in that: The filter box further comprises a flip cover, which is rotatably connected to the box body, and the flip cover has a first position and a second position during the rotation process; In the first position, the flip cover closes the first sewage outlet and opens the collecting port, and the second receiving space is connected to the first receiving space; In the second position, the flip cover closes the collecting port and opens the first sewage outlet, and the second receiving space is communicated with the first sewage outlet.

16. The base station according to claim 14, characterized in that The filter element is a filter plate arranged at the bottom of the box body, and a plurality of filter holes are opened on the filter plate.

17. The base station according to claim 16, characterized in that: The base is provided with a plurality of ribs facing the filter holes in an area below the filter plate. The base station further comprises a vibration component for driving the filter plate to vibrate back and forth relative to the ribs.

18. The base station according to claim 17, characterized in that The vibration assembly includes a reset member, an eccentric block and a first driving member for driving the eccentric block to rotate. The eccentric block is used to drive the filter plate to move away from the base. The reset member allows the filter plate to always have a tendency to approach the base.

19. The base station according to claim 18, characterized in that The reset component is an elastic member or a magnetic member.

20. The base station according to claim 14, characterized in that The drying assembly includes a second driving member, a heating member and a drying air duct. The second driving member drives the airflow through the heating member and then enters the drying air duct. The drying air duct is communicated with the second receiving space.

21. The base station according to claim 14, characterized in that The base is further provided with a second sewage discharge portion connected to the first receiving space, and the dust collection assembly further includes a second dust collection pipeline, a third dust collection pipeline and a three-way conversion piece, the second dust collection pipeline is connected to the second sewage discharge portion, and the three-way conversion piece can be switched between a first conducting position and a second conducting position; In the first conducting position, the three-way conversion component connects the second dust collecting pipeline and the third dust collecting pipeline; in the second conducting position, the three-way conversion component connects the first dust collecting pipeline and the third dust collecting pipeline.

22. The base station according to claim 14, characterized in that The spray assembly includes a medium system, a drive pump, a medium pipe and a spray nozzle. The medium system is used to store or generate medium. The drive pump is used to drive the medium through the medium pipe into the spray nozzle and then spray it out. The spray nozzle and the filter box are respectively located on opposite sides of the base, and the slope of the collection area gradually decreases along the direction from the spray nozzle to the filter box.

23. The base station according to claim 22, characterized in that The spray assembly further includes a sliding joint and a locking structure, wherein the sliding joint is used to connect the medium pipe and the spray nozzle, the sliding joint is slidably arranged in a slideway on the base, and the locking structure has a locked state and an unlocked state; In the locked state, the sliding joint is fixed relative to the base and is in communication with the spray nozzle; in the unlocked state, the sliding joint is separated from the spray nozzle.

24. The base station according to claim 23, characterized in that The locking structure includes a rotating buckle, a transmission assembly and a buckle. One end of the rotating buckle is engaged with the sliding joint through the transmission assembly, and the buckle is provided at the other end of the rotating buckle. During the rotation of the rotating buckle, the sliding joint switches between a locked state and an unlocked state. In the locked state, the buckle is engaged with the base. In the locked state, the buckle is engaged with the base.

25. The base station according to claim 24, characterized in that The transmission assembly is a gear rack assembly, a connecting rod assembly, a cam assembly or a crank slider assembly.

26. The base station according to claim 22, characterized in that The spray nozzle includes a nozzle cavity located at an upper layer and a water channel located at a lower layer. A plurality of nozzle cavities are provided along an extending direction of the spray nozzle.

27. The base station according to claim 26, characterized in that The nozzle opening of the nozzle chamber is a strip-shaped hole that is consistent with the extension direction of the spray nozzle; or The nozzle opening of the nozzle cavity is a plurality of shower holes distributed at intervals in the extending direction of the spray nozzle.

28. The base station according to claim 22, characterized in that The medium system includes a clean water tank, and the driving pump is used to drive the clean water in the clean water tank to enter the spray nozzle through the medium pipe and then be sprayed out.

29. The base station according to claim 28, characterized in that The medium system also includes a boiler assembly and / or a steam generating assembly. The boiler assembly is used to heat the clean water in the clean water tank to form high-temperature water. The steam generating assembly is used to heat the clean water in the clean water tank to form high-temperature steam. The driving pump is used to drive the high-temperature water or the high-temperature steam through the medium pipe into the spray nozzle and then spray out.

30. A cleaning robot system, characterized in that: include: cleaning robots; The base station according to any one of claims 14 to 29.

31. A base station, characterized in that: include: The main body has a receiving cavity at the bottom and a water outlet at the top of the receiving cavity; A base is accommodated in the accommodating cavity, and the base includes: chassis components; A tray is stacked on the chassis assembly and detachably connected to the chassis assembly, and the tray is provided with cleaning ribs for performing cleaning operations; a water inlet pipe, one end of which is connected to the water outlet and the other end of which is connected to the tray, for introducing cleaning liquid into the tray; A cleaning component, used for cleaning stains generated when the tray is cleaned; A drainage device is connected to the tray at one end and communicated with the sewage treatment device at the other end, and is used to discharge sewage through negative pressure.

32. The base station according to claim 31, wherein The tray includes a bottom plate and side plates which are arranged around a portion of the edge of the bottom plate and are symmetrically distributed relative to the midline of the width direction of the bottom plate. Openings are formed between the symmetrically distributed side plates, and the cleaning ribs are arranged on the bottom plate.

33. The base station according to claim 32, characterized in that The cleaning component includes an ultrasonic generator, which is arranged between the chassis component and the bottom plate and contacts the bottom plate. The ultrasonic generator cleans the inner wall of the tray by impacting bubbles generated by high-frequency vibration.

34. The base station according to claim 33, characterized in that The vibration frequency of the ultrasonic generator is 50KHz to 70KHz, and the vibration duration is 10s to 30s.

35. The base station according to claim 33, characterized in that The number of the ultrasonic generators is at least two, and the at least two ultrasonic generators are symmetrically arranged relative to the center line of the bottom plate.

36. The base station according to claim 32, characterized in that The cleaning assembly includes a nozzle assembly, which includes a plurality of nozzles arranged on the edge of the bottom plate. The nozzles are connected to the water inlet pipe and are used to clean the side of the bottom plate of the tray away from the chassis assembly.

37. The base station according to claim 36, characterized in that The nozzle assembly also includes a hard tube assembly located on the side of the bottom plate facing the chassis assembly and a hose connected to the hard tube assembly. The hard tube assembly is connected to the water inlet pipeline, and the end of the hose away from the hard tube assembly is connected to the nozzle.

38. The base station according to claim 37, characterized in that The hard pipe assembly includes a four-way pipe and multiple three-way pipes connected to the four-way pipe. The four-way pipe is located at the center of the side of the base plate facing the chassis assembly. One end of the four-way pipe is connected to the water inlet pipe through the hose; the two ends of the three-way pipe away from the four-way pipe are respectively connected to the nozzle through the hose.

39. The base station according to claim 36, wherein The nozzle includes a water storage part and a water inlet part and a water spraying part connected to the water storage part, the water inlet part is connected to the hose; the water spraying part sprays water toward the bottom plate, and first positioning ears are also provided on both sides of the water storage part, and the nozzle is connected to the edge of the bottom plate through the first positioning ears.

40. The base station according to claim 39, wherein The water spraying part is a flat duckbill valve.

41. The base station according to any one of claims 36 to 40, characterized in that At least one of the plurality of nozzles is located at an edge of one side of the opening of the bottom plate.

42. The base station according to claim 36, wherein The cleaning assembly also includes a nozzle assembly located on the side panel, the nozzle assembly includes a spray pipe adapted to the shape of the side panel and a conduit arranged on the spray pipe, the spray pipe is provided with a plurality of water spray holes distributed at intervals along its own extension direction, the end of the conduit away from the spray pipe is connected to the water inlet pipe, the plurality of water spray holes are located on one side of the inner wall of the side panel, and are used for cleaning the inner wall of the side panel.

43. The base station according to claim 42, characterized in that A second positioning ear is further provided on one side of the spray pipe, and the spray pipe assembly is connected to the chassis assembly via the second positioning ear.

44. The base station according to claim 42, wherein The cleaning assembly includes a spray assembly connected to the water inlet pipe, and the spray assembly is arranged on one side of the opening of the bottom plate. The spray assembly includes a first spray part extending along the width direction of the bottom plate and a plurality of second spray parts connected to the first spray part and distributed at intervals. The second spray parts extend along the length direction of the bottom plate. The range of the first spray part is greater than or equal to the length of the second spray part, and is used to clean the part of the tray close to the opening. The second spray part is used to clean the part of the tray away from the opening.

45. The base station according to claim 44, characterized in that A plurality of first spray holes are provided on a side of the first spray portion facing the second spray portion; a second spray hole is provided on a side of the second spray portion away from the first spray portion; The spray assembly also includes a water pipe located on the side of the base plate facing the chassis assembly, and at least one of the second spray parts is provided with a water pipe on the side facing the base plate. The water pipe passes through the base plate and is connected to the water pipe, and the end of the water pipe away from the water pipe is connected to the water inlet pipe.

46. ​​The base station according to claim 32, wherein A first groove for accommodating the first spray part and a second groove for accommodating the second spray part are provided on one side of the opening of the base plate. At least one of the second grooves is provided with a through hole allowing the water pipe to pass through. The remaining second grooves and the first grooves are respectively provided with threaded holes for fixing the first spray part and the second spray part.

47. The base station according to claim 32, wherein The drainage device is arranged opposite to the opening of the bottom plate, and includes a drainage pump and a drainage pipe connected between the drainage pump and the sewage treatment device.

48. The base station according to claim 47, characterized in that A sewage trough and a filter element detachably mounted on the sewage trough are provided on one side of the tray close to the drainage device, and the filter element is used to filter impurities in the sewage.

49. The base station according to claim 48, characterized in that The sewage trough is arranged on a side of the side plate away from the bottom plate, the drainage pump is arranged in the sewage trough, and the drainage pipe passes through a cover plate covering the sewage trough; Alternatively, the sewage tank is formed by the bottom plate being recessed toward the chassis assembly, and the drainage pump and the drainage pipe are located on a side of the side plate away from the bottom plate.

50. The base station according to claim 32, wherein The chassis assembly includes a chassis and a baffle that can be flipped relative to the chassis. The chassis is detachably connected to the tray. The baffle is located on the opening side of the bottom plate. When the cleaning assembly cleans the tray, the baffle flips over and covers the accommodating cavity of the main body.

51. A base, characterized in that: The base is provided separately from the main body of the base station. A receiving cavity is provided at the bottom of the main body, a water outlet is provided above the receiving cavity, and the base can be accommodated in the receiving cavity. The base includes: chassis components; A tray is stacked on the chassis assembly and detachably connected to the chassis assembly, and the tray is provided with cleaning ribs for performing cleaning operations; a water inlet pipe, one end of which is connected to the water outlet and the other end of which is connected to the tray, for introducing cleaning liquid into the tray; A cleaning component, used for cleaning stains generated when the tray is cleaned; A drainage device is connected to the tray at one end and communicated with the sewage treatment device at the other end, and is used to discharge sewage through negative pressure.

52. The base according to claim 51, wherein The tray includes a bottom plate and side plates which are arranged around a portion of the edge of the bottom plate and are symmetrically distributed relative to the midline of the width direction of the bottom plate. Openings are formed between the symmetrically distributed side plates, and the cleaning ribs are arranged on the bottom plate.

53. The base according to claim 52, characterized in that The cleaning component includes an ultrasonic generator, which is arranged between the chassis component and the bottom plate and contacts the bottom plate. The ultrasonic generator cleans the inner wall of the tray by impacting bubbles generated by high-frequency vibration.

54. The base according to claim 52, characterized in that The cleaning assembly includes a nozzle assembly, which includes a plurality of nozzles arranged on the edge of the bottom plate. The nozzles are connected to the water inlet pipe and are used to clean the side of the bottom plate of the tray away from the chassis assembly.

55. The base according to claim 54, characterized in that At least one of the plurality of nozzles is located at an edge of one side of the opening of the bottom plate.

56. The base according to claim 54, characterized in that The cleaning assembly also includes a nozzle assembly, which includes a spray pipe adapted to the shape of the side panel and a conduit arranged on the spray pipe. The spray pipe is provided with a plurality of water spray holes distributed at intervals along its own extension direction. The end of the conduit away from the spray pipe is connected to the water inlet pipe. The plurality of water spray holes are located on one side of the inner wall of the side panel and are used to clean the inner wall of the side panel of the tray.

57. The base according to claim 52, wherein: The cleaning assembly includes a spray assembly connected to the water inlet pipe, and the spray assembly is arranged on one side of the opening of the bottom plate. The spray assembly includes a first spray part extending along the width direction of the bottom plate and a plurality of second spray parts connected to the first spray part and distributed at intervals. The second spray parts extend along the length direction of the bottom plate. The range of the first spray part is greater than or equal to the length of the second spray part, and is used to clean the part of the tray close to the opening. The second spray part is used to clean the part of the tray away from the opening.

58. The base station according to claim 31, wherein The tray includes a bottom plate and side plates surrounding a portion of the edge of the bottom plate, an opening is formed between the remaining edge of the bottom plate and the side plates, and the cleaning ribs are arranged on the bottom plate.

59. The base station according to claim 58, characterized in that The cleaning assembly includes a spray assembly connected to the water inlet pipe, and the spray assembly is arranged on one side of the opening of the base plate. The spray assembly includes a first spray part extending along a first direction of the base plate and a plurality of second spray parts connected to the first spray part and distributed at intervals. The second spray part extends along a second direction of the base plate, and the first direction and the second direction are arranged to intersect.

60. The base station according to claim 59, wherein The range of the first spray part is greater than or equal to the length of the second spray part.

61. The base station according to claim 59, wherein A plurality of first spray holes are provided on a side of the first spray portion facing the second spray portion; a second spray hole is provided on a side of the second spray portion away from the first spray portion; The spray assembly also includes a water pipe located on the side of the base plate facing the chassis assembly, and at least one of the second spray parts is provided with a water pipe on the side facing the base plate. The water pipe passes through the base plate and is connected to the water pipe, and the end of the water pipe away from the water pipe is connected to the water inlet pipe.

62. The base station according to claim 59, wherein Among the multiple second spray parts, at least one of the second spray parts is provided with a first water pipe on the side facing the bottom plate, and at least another one of the second spray parts is provided with a second water pipe on the side facing the bottom plate, the first water pipe and the second water pipe are independently controlled by each other, the first water pipe is connected to the first spray part, and the second water pipe is connected to the multiple second spray parts.

63. The base station according to claim 62, characterized in that A first groove for accommodating the first spray part and a second groove for accommodating the second spray part are provided on one side of the opening of the bottom plate, at least one of the second grooves is provided with a through hole allowing the first water pipe to pass through, and at least another second groove is provided with a threaded hole allowing the second water pipe to pass through.

64. The base station according to claim 62, characterized in that The first water conduit and the second water conduit are respectively connected to the water inlet pipe through the corresponding water conduit pipes. At least one of the water conduit pipes is provided with a first solenoid valve, and at least the other water conduit pipe is provided with a second solenoid valve. The first solenoid valve and the second solenoid valve are switched on and off at intervals to control the first spray part and the second spray part to spray the cleaning liquid alternately and cyclically.

65. The base station according to claim 61, characterized in that Among the plurality of second spray parts, the second spray parts located on both sides of the bottom plate in the first direction have inclined surfaces inclined toward the middle of the bottom plate along the first direction, and the second spray holes are provided on the inclined surfaces.

66. The base station according to claim 59, wherein A plurality of cleaning protrusions are provided on a side of the second spray portion facing away from the bottom plate, for supporting and cleaning the parts to be cleaned.

67. The base station according to claim 59, wherein The spray assembly is detachably connected to the base plate.

68. The base station according to claim 63, characterized in that The second groove is further provided with a support column having a threaded hole, and the second spray part is threadedly connected to the threaded hole through a fastener.

69. The base station according to claim 61, characterized in that The first spray part includes a front shell and a rear cover that are relatively arranged and detachably connected. The multiple second spray parts are arranged at intervals on the front shell. The multiple first spray holes are located on the front shell between adjacent second spray parts.

70. The base station according to claim 58, wherein The drainage device is arranged opposite to the opening of the bottom plate, and includes a drainage pump and a drainage pipe connected between the drainage pump and the sewage treatment device.

71. The base station according to claim 70, characterized in that A sewage trough and a filter element detachably mounted on the sewage trough are provided on one side of the tray close to the drainage device, and the filter element is used to filter impurities in the sewage.

72. The base station according to claim 71, characterized in that The sewage tank is formed by the bottom plate being recessed toward the chassis assembly, and the drainage pump and the drainage pipe are located on a side of the side plate away from the bottom plate.

73. The base station according to claim 72, characterized in that The cleaning ribs are arranged on both sides of the first direction of the sewage trough and extend in the direction toward the opening. The end of the cleaning rib close to the bottom plate is provided with a hollow portion that penetrates laterally and is connected to the sewage trough. The side of the hollow portion away from the sewage trough is provided with a water diversion surface inclined toward the hollow portion, and the water diversion surface is used to introduce water into the sewage trough.

74. The base station according to claim 59, wherein A sewage trough is provided on one side of the tray close to the drainage device, and the cleaning ribs are provided on both sides of the sewage trough in the width direction and extend in the direction toward the opening; The bottom plate includes a first area, a second area, a third area and a fourth area with successively higher heights. The sewage trough is provided in the first area, the cleaning ribs are provided in the second area, the fourth area is located between adjacent second spray parts or between the second spray part and the cleaning ribs, and the third area is located between the second area and the fourth area.

75. The base station according to any one of claims 59 to 74, characterized in that The spray assembly is also arranged on the side plate.

76. The base station according to claim 58, characterized in that The side panels of the tray include a first side panel arranged opposite to the opening, a second side panel and a third side panel symmetrically distributed along the midline of the bottom panel along the first direction, and the two ends of the first side panel are respectively connected to the second side panel and the third side panel through a smooth transition of an arc edge, and the curvature of the arc edge is π / 2.

77. The base station according to claim 58, characterized in that The chassis assembly includes a chassis and a baffle that can be flipped relative to the chassis. The chassis is detachably connected to the tray. The baffle is located on the opening side of the bottom plate. When the cleaning assembly cleans the tray, the baffle flips over and covers the accommodating cavity of the main body.

78. The base according to claim 51, characterized in that The tray includes a bottom plate and side plates surrounding a portion of the edge of the bottom plate, an opening is formed between the remaining edge of the bottom plate and the side plates, and the cleaning ribs are arranged on the bottom plate.

79. The base according to claim 78, characterized in that The cleaning assembly includes a spray assembly connected to the water inlet pipe, and the spray assembly is arranged on one side of the opening of the base plate. The spray assembly includes a first spray part extending along a first direction of the base plate and a plurality of second spray parts connected to the first spray part and distributed at intervals. The second spray part extends along a second direction of the base plate, and the first direction and the second direction are arranged to intersect.

80. The base according to claim 79, wherein The range of the first spray part is greater than or equal to the length of the second spray part.

81. The base according to claim 79, wherein Among the multiple second spray parts, at least one of the second spray parts is provided with a first water pipe on the side facing the bottom plate, and at least another one of the second spray parts is provided with a second water pipe on the side facing the bottom plate. The first water pipe and the second water pipe are independently controlled from each other, the first water pipe is connected to the multiple first spray parts, and the second water pipe is connected to the multiple second spray parts.

82. The base station according to claim 81, characterized in that The first water conduit and the second water conduit are respectively connected to the water inlet pipe through the corresponding water conduit pipes. At least one of the water conduit pipes is provided with a first solenoid valve, and at least the other water conduit pipe is provided with a second solenoid valve. The first solenoid valve and the second solenoid valve are switched on and off at intervals to control the first spray part and the second spray part to spray the cleaning liquid alternately and cyclically.

83. The base according to claim 79, wherein A sewage trough is provided on one side of the tray close to the drainage device, and the cleaning ribs are provided on both sides of the sewage trough in the first direction and extend in a direction toward the opening; The bottom plate includes a first area, a second area, a third area and a fourth area with successively higher heights. The sewage trough is provided in the first area, the cleaning ribs are provided in the second area, the fourth area is located between adjacent second spray parts or between the second spray part and the cleaning ribs, and the third area is located between the second area and the fourth area.

84. The base according to any one of claims 79 to 83, wherein The spray assembly is also arranged on the side plate.

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