Wastewater detection device for and working method of cleaning robot

Abstract

A wastewater detection device (100), a cleaning robot and a working method thereof, and a cleaning system. The wastewater detection device (100) comprises: a wastewater tank (10), wherein the wastewater tank (10) is used for collecting wastewater generated in a cleaning operation process, and the wastewater tank (10) is provided with a wastewater detection part (11); and a wastewater detection execution mechanism (20), wherein the wastewater detection execution mechanism (20) is mounted on the wastewater tank (10), and the wastewater detection execution mechanism (20) and the wastewater detection part (11) are assembled for real-time measurement of the contamination level of the wastewater in the wastewater detection part (11). Since the cleaning robot of the present application is equipped with the wastewater detection device (100), the cleaning robot can measure the contamination level of the wastewater in real time in the cleaning operation process, so that the cleaning scheme is properly and flexibly adjusted in time, improving the cleaning efficiency while ensuring the cleaning effect.

Description

Sewage detection device and working method of cleaning robot

[0001] This application claims priority to the Chinese patent application filed with the China Patent Office on January 18, 2024, with application number CN202410076349.7 and invention name “Sewage detection device, cleaning robot and its working method, cleaning system”, the entire contents of which are incorporated by reference into this application. Technical Field

[0002] The present application relates to the technical field of cleaning equipment, and in particular to a sewage detection device and working method of a cleaning robot. Background Art

[0003] The advent of intelligent cleaning devices such as sweeping robots has greatly liberated people's labor and improved their sense of well-being. To meet people's diverse cleaning needs, sweeping robots, in addition to basic cleaning functions, have also been given features such as washing and mopping to further enhance floor cleaning effectiveness. During the sweeping and mopping process, the wastewater generated is sucked into the robot's onboard wastewater tank. After the robot completes its cleaning operation and returns to the base station, the wastewater collected in the tank is pumped into a wastewater bucket. The base station then checks the contamination level of the wastewater in the bucket to assess whether the floor is clean.

[0004] However, this method of detecting the degree of sewage contamination has a certain lag, which prevents the sweeping robot from adjusting the cleaning plan in real time and flexibly according to the degree of sewage contamination during the cleaning operation, resulting in poor cleaning effect and low cleaning efficiency.

[0005] Summary of the Invention

[0006] Based on this, it is necessary to provide a sewage detection device, a cleaning robot and its working method, and a cleaning system to address the problem that the cleaning method cannot be adjusted according to the degree of sewage dirtiness, which affects the cleaning effect and cleaning efficiency.

[0007] In a first aspect of the present application, a sewage detection device is provided, comprising:

[0008] A sewage tank, the sewage tank is used to collect sewage generated during the cleaning process, and the sewage tank is provided with a sewage detection unit; and

[0009] The sewage detection actuator is installed on the sewage tank and is assembled with the sewage detection part to perform real-time detection of the degree of contamination of the sewage in the sewage detection part.

[0010] The sewage detection device of this solution is applied to a cleaning robot. When the cleaning robot performs cleaning operations such as washing and mopping, sewage is generated, which is collected and temporarily stored in a sewage tank. During this process, the sewage detection actuator detects the contamination level of the sewage stored in the sewage detection unit in real time. It can be understood that the contamination level of the sewage indirectly reflects the cleanliness level of the ground. That is, when the contamination level of the sewage is low, it means that there is less dirt in the sewage and the ground is cleaner. On the contrary, it means that the ground is still relatively dirty. By determining whether the real-time contamination data reaches a preset contamination threshold, if the real-time contamination data reaches or exceeds the preset contamination threshold, the sewage detection actuator feeds back a contamination signal to the controller of the cleaning robot, marking the current cleaning area as a special cleaning area. The cleaning robot then focuses on cleaning the special cleaning area, such as increasing the cleaning time and number of cleanings. If the real-time contamination data does not reach the preset contamination threshold, the cleaning robot cleans the remaining areas to be cleaned normally. In other words, after being equipped with the sewage detection device, the cleaning robot of this solution can detect the contamination level of the sewage in real time during the cleaning operation, thereby making timely and appropriate flexible adjustments to the cleaning plan to ensure the cleaning effect and improve the cleaning efficiency.

[0011] The technical solution of this application is further described below:

[0012] In one embodiment, the sewage detection portion is provided with a transparent window, and the sewage detection actuator includes a sewage detection sensor, and the detection portion of the sewage detection sensor is arranged opposite to the transparent window.

[0013] In one embodiment, a first transparent window and a second transparent window are respectively provided on opposite sides of the sewage detection portion, and the first transparent window and the second transparent window are arranged in opposition. The sewage detection actuator includes a sewage detection transmitter and a sewage detection receiver. The transmitting head of the sewage detection transmitter is arranged opposite to the first transparent window, and the receiving head of the sewage detection receiver is arranged opposite to the second transparent window.

[0014] In one embodiment, a first transparent window and a second transparent window are respectively provided on opposite sides of the sewage detection portion, and the sewage detection actuator includes a first sewage detection sensor and a second sewage detection sensor. The detection head of the first sewage detection sensor is arranged opposite to the first transparent window, and the detection head of the second sewage detection sensor is arranged opposite to the second transparent window.

[0015] In one embodiment, the sewage detection actuator further includes a detection base, the sewage tank further includes a mounting portion, the detection base is mounted on the mounting portion, and the first sewage detection sensor and the second sewage detection sensor are respectively mounted on the detection base.

[0016] In one embodiment, the mounting portion includes a first card slot and a second card slot recessed on the sewage tank, and the detection base includes a first mounting arm and a second mounting arm, the first mounting arm is clamped in the first card slot, the first sewage detection sensor is arranged on the first mounting arm, the second mounting arm is clamped in the second card slot, the second sewage detection sensor is arranged on the second mounting arm, and the detection head of the first sewage detection sensor and the detection head of the second sewage detection sensor are both arranged toward the sewage detection portion.

[0017] In one embodiment, the first mounting arm is provided with a first through hole opposite to the sewage detection portion, and the detection head of the first sewage detection sensor is inserted into the first through hole; the second mounting arm is provided with a second through hole opposite to the sewage detection portion, and the detection head of the second sewage detection sensor is inserted into the second through hole.

[0018] In one embodiment, the mounting portion further includes an avoidance groove, which is arranged between the first card slot and the second card slot and connects the first card slot with the second card slot. The detection base further includes a mounting body, which is arranged in the avoidance groove. The first mounting arm and the second mounting arm are arranged at intervals on the same side of the mounting body. The first mounting arm, the mounting body and the second mounting arm form a receiving cavity for receiving the sewage detection portion.

[0019] In one embodiment, the sewage detection device further includes a sewage box, and the sewage box is detachably installed inside the sewage detection part.

[0020] In one embodiment, the sewage detection device further includes a sewage recovery component, which is disposed on the sewage tank and communicates with the inner cavity of the sewage detection portion.

[0021] In one embodiment, the sewage recovery component is configured as a sewage suction pipe, one end of which is connected to the sewage tank and communicates with the inner cavity of the sewage detection portion, and the other end of the sewage suction pipe extends to the bottom of the sewage tank.

[0022] In a second aspect of the present application, a cleaning robot is further provided, which includes the sewage detection device as described above.

[0023] In a third aspect of the present application, there is further provided a working method of the cleaning robot as described above, which comprises the following steps:

[0024] S1: The cleaning robot starts cleaning, and the sewage generated during the cleaning process flows into the sewage tank;

[0025] S2: The sewage detection execution agency implements the detection of sewage pollution data through the sewage detection department;

[0026] S3: Determine whether the real-time dirtiness data reaches a preset dirtiness threshold. If so, the sewage detection actuator feeds back a dirtiness signal to the controller of the cleaning robot, marking the current cleaning area as a special cleaning area, and the cleaning robot focuses on cleaning the special cleaning area; if not, the cleaning robot cleans the remaining areas to be cleaned normally;

[0027] S4: Determine whether the cleaning operation is completed. If not, return to step S2; if so, end the cleaning operation and return to the base station.

[0028] In a fourth aspect of the present application, a cleaning system is further provided, comprising:

[0029] a base station; and

[0030] The cleaning robot as described above cooperates with the base station. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] The drawings that constitute a part of this application are used to provide further understanding of this application. The illustrative embodiments of this application and their descriptions are used to explain this application and do not constitute improper limitations on this application.

[0032] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0033] FIG1 is an assembly structure diagram of a sewage detection device according to an embodiment of the present application.

[0034] FIG2 is an exploded structural diagram of FIG1 .

[0035] FIG3 is a schematic structural diagram of a sewage detection actuator according to an embodiment.

[0036] FIG4 is a schematic structural diagram of FIG3 from another perspective.

[0037] FIG5 is a schematic diagram of the internal structure of a sewage detection device according to an embodiment of the present application.

[0038] FIG6 is a flowchart of the steps of a working method of a cleaning robot according to an embodiment.

[0039] Description of reference numerals:

[0040] 100. Sewage detection device; 10. Sewage tank; 11. Sewage detection unit; 111. First transparent window; 112. Second transparent window; 113. Overflow port; 12. Mounting unit; 121. First card slot; 122. Second card slot; 123. Avoidance groove; 13. Sewage storage chamber; 20. Sewage detection actuator; 21. First sewage detection sensor; 22. Second sewage detection sensor; 23. Detection base; 231. First mounting arm; 231a. First through hole; 232. Second mounting arm; 232a. Second through hole; 233. Mounting body; 30. Sewage box; 40. Sewage suction pipe. DETAILED DESCRIPTION

[0041] To make the above-mentioned objects, features, and advantages of the present application more clearly understood, the specific embodiments of the present application are described in detail below with reference to the accompanying drawings. The following description sets forth many specific details to facilitate a full understanding of the present application. However, the present application can be implemented in many other ways than those described herein, and those skilled in the art can make similar improvements without violating the scope of the present application. Therefore, the present application is not limited to the specific embodiments disclosed below.

[0042] In the description of this application, it should be understood that if the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. appear, the orientation or position relationship indicated by these terms is based on the orientation or position relationship shown in the accompanying drawings, which is only for the convenience of describing this application and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on this application.

[0043] In addition, if the terms "first" or "second" appear, these terms are used for descriptive purposes only and should not be understood to indicate or imply relative importance or implicitly specify the number of technical features indicated. Therefore, a feature specified as "first" or "second" may explicitly or implicitly include at least one of such features. In the description of this application, if the term "plurality" appears, "plurality" means at least two, for example, two, three, etc., unless otherwise specifically defined.

[0044] In this application, unless otherwise specified or limited, the terms "mounted," "connected," "connected," "fixed," etc., should be interpreted broadly. For example, these terms may refer to fixed connections, removable connections, or integration; mechanical connections or electrical connections; direct connections or indirect connections through an intermediary; and internal communication between two components or interaction between two components, unless otherwise specified. Those skilled in the art will understand the specific meanings of these terms in this application based on the specific circumstances.

[0045] In this application, unless otherwise expressly specified or limited, if a first feature is described as being "above" or "below" a second feature, or similar descriptions, this may mean that the first and second features are in direct contact, or that the first and second features are in indirect contact through an intermediate medium. Furthermore, when a first feature is described as being "above," "above," or "above" a second feature, it may mean that the first feature is directly above or diagonally above the second feature, or simply means that the first feature is at a higher level than the second feature. When a first feature is described as being "below," "below," or "below" a second feature, it may mean that the first feature is directly below or diagonally below the second feature, or simply means that the first feature is at a lower level than the second feature.

[0046] It should be noted that if an element is referred to as being "fixed to" or "disposed on" another element, it may be directly on the other element or there may be an intermediate element. If an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be an intermediate element. If any, the terms "vertical", "horizontal", "upper", "lower", "left", "right" and similar expressions used in this application are for illustrative purposes only and do not represent the only embodiment.

[0047] Referring to Figures 1 and 2, a sewage detection device 100 is shown in accordance with an embodiment of the present application, comprising a sewage tank 10 and a sewage detection actuator 20. The sewage tank 10 is used to collect sewage generated during the cleaning process. Specifically, in addition to a cleaning mechanism for cleaning dust, impurities, and other dirt on the ground, the cleaning robot is also equipped with a clean water tank and a washing and mopping mechanism. After the cleaning operation is completed, the clean water tank sprays water to the washing and mopping mechanism to moisten the washing and mopping mechanism, which then mops and washes the ground, thereby further improving the cleaning effect. The washing and mopping mechanism then scrapes with a preset scraper, which scrapes off the dirt adhering to the washing and mopping mechanism along with the water, thereby forming sewage.

[0048] It can be understood that the sewage tank 10 has a sewage cavity therein, and the sewage tank 10 is provided with a sewage detection portion 11 , and the inner cavity of the sewage detection portion 11 constitutes a part of the sewage cavity.

[0049] The sewage detection actuator 20 is installed on the sewage tank 10 , and the sewage detection actuator 20 is assembled with the sewage detection portion 11 to perform real-time detection of the dirtiness of the sewage in the sewage detection portion 11 .

[0050] It is important to note that in real-world cleaning, not all areas of the floor are equally dirty. Some areas are relatively clean, while others are dirtier. Therefore, the optimal cleaning method is for the robot to clean the relatively clean areas with a standard cleaning intensity, while the dirtier areas require the robot to spend more time, use a higher cleaning intensity, and use more cleaning cycles to clean them properly.

[0051] In summary, the implementation of the technical solution of this embodiment will have the following beneficial effects: the sewage detection device 100 of this solution is applied to a cleaning robot. When the cleaning robot performs washing and mopping cleaning operations, sewage will be generated, and the sewage will be recovered into the sewage tank 10 for temporary storage. During this process, the sewage detection actuator 20 will detect the dirtiness of the sewage stored in the sewage detection part 11 in real time. It can be understood that the dirtiness of the sewage indirectly reflects the cleanliness of the ground. That is, when the dirtiness of the sewage is low, it means that there is less dirt in the sewage and the ground is cleaner. On the contrary, it means that the ground is still relatively dirty. By judging whether the real-time dirtiness data meets the predicted A dirt threshold is set. If the real-time dirt data reaches or exceeds the preset dirt threshold, the sewage detection actuator 20 will feed back a dirt signal to the controller of the cleaning robot, marking the current cleaning area as a special cleaning area. The cleaning robot will focus on cleaning the special cleaning area, such as increasing the cleaning time, the number of cleanings, etc.; if the real-time dirt data does not reach the preset dirt threshold, the cleaning robot will clean the remaining areas to be cleaned normally; that is, the cleaning robot of this solution can detect the dirtiness of the sewage in real time during the cleaning operation after being equipped with the sewage detection device 100, so as to make timely and appropriate flexible adjustments to the cleaning solution to ensure the cleaning effect and improve the cleaning efficiency.

[0052] To detect the contamination level of the sewage, in some optional embodiments, the sewage detection unit 11 is provided with a transparent window, and the sewage detection actuator 20 includes a sewage detection sensor, with the detection portion of the sewage detection sensor positioned opposite the transparent window. The transparent window is used to avoid obstruction of the detection portion of the sewage detection sensor, thereby allowing the sewage detection sensor to detect and analyze the sewage through the transparent window, thereby obtaining sewage contamination data.

[0053] Alternatively, after prolonged operation, the sewage stored in the sewage tank 10 may contain increasing amounts of impurities, and the impurities may be unevenly distributed and settled within the sewage tank 10. This can easily result in the sewage within the transparent window containing an excessive or insufficient amount of impurities, thereby interfering with the accuracy of sewage contamination detection. To avoid this issue and its impact on the detection accuracy of the sewage detection device 100, in some optional embodiments, the sewage detection unit 11 is provided with a first transparent window 111 and a second transparent window 112 on opposite sides, respectively. The sewage detection actuator 20 includes a first sewage detection sensor 21 and a second sewage detection sensor 22. The detection head of the first sewage detection sensor 21 is positioned opposite the first transparent window 111, and the detection head of the second sewage detection sensor is positioned opposite the second transparent window 112.

[0054] Therefore, during the detection work, the first sewage detection sensor 21 and the second sewage detection sensor 22 can respectively detect sewage in different parts of the sewage detection part 11 from different directions at the same time through the first transparent window 111 and the second transparent window 112. By comprehensively analyzing and judging the detection data of the first sewage detection sensor 21 and the second sewage detection sensor 22, it helps to prevent the above-mentioned problems from occurring and improve the detection accuracy.

[0055] Optionally, the above-mentioned sewage detection sensor, the first sewage detection sensor 21, and the second sewage detection sensor 22 can be any one of a TDS sensor, a turbidity sensor, and the like.

[0056] The above two embodiments both adopt the method of directly analyzing and detecting the concentration of impurities in sewage to determine the degree of sewage contamination.

[0057] As an alternative solution, in some other optional embodiments, a first transparent window 111 and a second transparent window 112 are respectively provided on opposite sides of the sewage detection part 11, and the first transparent window 111 and the second transparent window 112 are arranged in alignment. The sewage detection actuator 20 includes a sewage detection transmitter and a sewage detection receiver. The transmitting head of the sewage detection transmitter is arranged opposite to the first transparent window 111, and the receiving head of the sewage detection receiver is arranged opposite to the second transparent window 112.

[0058] During operation, the sewage detection transmitter emits a detection light, which passes through the first transparent window 111, the sewage in the sewage detection part 11 and the second transparent window 112 in sequence and reaches the sewage detection receiver. Due to the presence of various impurities in the sewage, the light will be blocked, so that the amount of light that finally reaches the sewage detection receiver is less than the amount of light emitted by the sewage detection transmitter. By calculating the reduction in the amount of light, the degree of dirtiness of the sewage can also be judged.

[0059] Of course, the technical means for detecting the degree of contamination of sewage are not limited to the above-mentioned ones. In other embodiments, chemical reactions of reagent solutions, color change of test paper, and other methods can also be used to achieve the purpose of the present invention.

[0060] Optionally, the transparent window, the first transparent window 111 and the second transparent window 112 may be transparent plates, such as a glass plate, an acrylic plate, etc.

[0061] Continuing to refer to Figures 1 to 4 , in addition to any of the aforementioned embodiments, the sewage detection actuator 20 further includes a detection base 23. The sewage tank 10 further includes a mounting portion 12. The detection base 23 is mounted on the mounting portion 12, and the first sewage detection sensor 21 and the second sewage detection sensor 22 are respectively mounted on the detection base 23. Thus, the detection base 23 can be secured to the sewage tank 10 by assembling with the mounting portion 12, thereby mounting and securing the first sewage detection sensor 21 and the second sewage detection sensor 22, thereby improving the structural compactness and integrity of the sewage detection actuator 20.

[0062] Specifically, in the above embodiment, the mounting portion 12 includes a first card slot 121 and a second card slot 122 recessed on the sewage tank 10, and the detection base 23 includes a first mounting arm 231 and a second mounting arm 232. The first mounting arm 231 is clamped in the first card slot 121, and the first sewage detection sensor 21 is arranged on the first mounting arm 231. The second mounting arm 232 is clamped in the second card slot 122. The second sewage detection sensor 22 is arranged on the second mounting arm 232. The detection heads of the first sewage detection sensor 21 and the second sewage detection sensor 22 are both arranged toward the sewage detection portion 11.

[0063] Further optionally, the first mounting arm 231 is provided with a first through hole 231a opposite to the sewage detection part 11, and the detection head of the first sewage detection sensor 21 is inserted into the first through hole 231a; the second mounting arm 232 is provided with a second through hole 232a opposite to the sewage detection part 11, and the detection head of the second sewage detection sensor 22 is inserted into the second through hole 232a.

[0064] The first mounting arm 231 is snap-fitted into the first slot 121 to achieve secure installation, while the second mounting arm 232 is snap-fitted into the second slot 122 to achieve secure installation. The first and second mounting arms 231, 232 are simple to install and offer high stability, making them less likely to loosen, shift, or even fall. This ensures that the first and second sewage detection sensors 21, 22 can continuously and stably detect the level of sewage contamination. Inserting the detection head of the first sewage detection sensor 21 into the first through-hole 231a, and the detection head of the second sewage detection sensor 22 into the second through-hole 232a, helps improve the installation stability of the first and second sewage detection sensors 21, 22 and prevents vibration-induced displacement that could cause the detection heads to misalign with the through-holes, resulting in obstruction of the detection field.

[0065] Furthermore, the mounting portion 12 further includes an escape groove 123, which is disposed between the first card slot 121 and the second card slot 122 and connects the first card slot 121 with the second card slot 122. The detection base 23 further includes a mounting body 233, which is disposed within the escape groove 123. The first mounting arm 231 and the second mounting arm 232 are spaced apart and disposed on the same side of the mounting body 233. The first mounting arm 231, the mounting body 233, and the second mounting arm 232 form a receiving cavity for accommodating the sewage detection portion 11. This makes the assembly of the detection base 23 and the mounting portion 12 more compact, reduces assembly gaps, and achieves volume overlap, thereby helping to reduce the overall volume of the sewage detection device 100, reducing the required installation space, and achieving a miniaturized design.

[0066] In addition, based on any of the above embodiments, the sewage detection device 100 further includes a sewage box 30, which is detachably mounted within the sewage detection portion 11. The sewage box 30 can be used to hold sewage, and because the sewage box 30 is detachably mounted, it can be conveniently removed regularly for cleaning, thereby maintaining the cleanliness of the sewage detection device 100.

[0067] Furthermore, the sewage detection device 100 further includes a sewage recovery assembly, which is disposed on the sewage tank 10 and communicates with the inner cavity of the sewage detection portion 11. The sewage recovery assembly is used to recover the sewage scraped from the washing and mopping mechanism by the scraper into the sewage tank 10.

[0068] Continuing with Figure 1 , in some optional embodiments, the sewage recovery component is configured as a sewage suction pipe 40. One end of the sewage suction pipe 40 is connected to the sewage tank 10 and communicates with the inner cavity of the sewage detection unit 11. The other end of the sewage suction pipe 40 extends below the sewage tank 10. The sewage suction pipe 40 generates negative pressure suction, which continuously and stably sucks the scraped sewage into the sewage tank 10.

[0069] It can be understood that the sewage suction pipe 40 is connected to the negative pressure generator, and the negative pressure generator generates suction for the sewage suction pipe 40 to suck sewage.

[0070] As shown in Figure 5, the sewage tank 10 is also provided with a sewage storage chamber 13 for storing sewage. The cavity of the sewage detection unit is provided with a passage communicating with the sewage storage chamber. The passage is used to direct sewage overflowing from the inner cavity of the sewage detection unit into the sewage storage chamber. For example, the passage can be an overflow notch. Those skilled in the art will understand that during the cleaning robot's sewage suction process, sewage is sucked in through the sewage suction port connected to the sewage suction pipe inside the cleaning robot, and then flows from the end of the sewage suction pipe 40 extending from the bottom of the sewage tank 10 into the sewage box 30 inside the sewage detection unit 11. Once the sewage box is full, the sewage overflows from the passage 113 between the cavity of the sewage detection unit and the sewage storage chamber, and is ultimately stored in the sewage storage chamber 13 of the sewage tank. The sewage detection actuator detects the sewage temporarily stored in the sewage box 30 to achieve real-time detection of the degree of contamination of the sewage.

[0071] In a second aspect of the present application, a cleaning robot is further provided, which includes the sewage detection device 100 as described above.

[0072] Continuing to refer to FIG6 , the present application further provides a working method of the cleaning robot as described above, which includes the following steps:

[0073] S1: The cleaning robot starts cleaning, and the sewage generated during the cleaning process flows into the sewage tank 10.

[0074] S2: The sewage detection execution mechanism 20 detects the contamination data of sewage through the sewage detection unit 11.

[0075] S3: Determine whether the real-time dirtiness data reaches the preset dirtiness threshold. If so, the sewage detection actuator 20 feeds back the dirtiness signal to the controller of the cleaning robot, marking the current cleaning area as a special cleaning area, and the cleaning robot focuses on cleaning the special cleaning area; if not, the cleaning robot cleans the remaining areas to be cleaned normally.

[0076] S4: Determine whether the cleaning operation is completed. If not, return to step S2; if so, end the cleaning operation and return to the base station.

[0077] In addition, the present application also provides a cleaning system, which includes a base station and the cleaning robot described above, wherein the cleaning robot cooperates with the base station. For example, after the cleaning robot returns to the base station, the base station can provide the cleaning robot with services such as charging, sterilization, and wastewater recycling, ensuring that the cleaning robot can maintain its effective function for a long time.

[0078] The technical features of the above-mentioned embodiments can be combined arbitrarily. In order to make the description concise, not all possible combinations of the technical features in the above-mentioned embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0079] The above-described embodiments merely represent several implementation methods of the present application. While the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the patent application. It should be noted that a person of ordinary skill in the art may make various modifications and improvements without departing from the spirit of the present application, and these modifications and improvements fall within the scope of protection of the present application. Therefore, the scope of protection of the present patent application shall be determined by the appended claims.

Claims

1. A sewage detection device for a cleaning robot, comprising a sewage tank for collecting sewage generated during the cleaning operation of the cleaning robot and a sewage detection actuator for detecting the degree of dirtiness of the sewage, characterized in that: The sewage tank includes a sewage detection part provided with a transparent window; The sewage detection actuator is installed on the sewage tank and is grouped with the sewage detection part to be used for detecting the degree of dirtiness of the sewage in the sewage detection part in real time through the transparent window.

2. The sewage detection device of the cleaning robot according to claim 1, characterized in that, The sewage detection actuator includes a sewage detection sensor, and the detection part of the sewage detection sensor is arranged opposite to the transparent window.

3. The sewage detection device of the cleaning robot according to claim 2, wherein, The transparent window includes a first transparent window and a second transparent window, and the first transparent window and the second transparent window are arranged in alignment and are arranged on opposite sides of the sewage detection part; the sewage detection sensor includes a sewage detection transmitter and a sewage detection receiver, and the emission head of the sewage detection transmitter is arranged opposite to the first transparent window, and the receiving head of the sewage detection receiver is arranged opposite to the second transparent window.

4. The sewage detection device of the cleaning robot according to claim 2, characterized in that The transparent window includes a first transparent window and a second transparent window, and the first transparent window and the second transparent window are arranged in different directions of the sewage detection part; the sewage detection sensor includes a first sewage detection sensor and a second sewage detection sensor, and the detection head of the first sewage detection sensor is arranged opposite to the first transparent window, and the detection head of the second sewage detection generator is arranged opposite to the second transparent window.

5. The sewage detection device of the cleaning robot according to claim 1, characterized in that, The sewage detection actuator includes a sewage detection sensor and a detection base for installing the sewage detection sensor, and the sewage tank is further provided with an installation part for grouping with the detection base.

6. The sewage detection device of the cleaning robot according to claim 5, characterized in that The detection base includes a first installation arm and a second installation arm, and the installation part is provided with a first card slot for the first installation arm to be clamped and a second card slot for the second installation arm to be clamped; the sewage detection sensor includes a first sewage detection sensor and a second sewage detection sensor, the first sewage detection sensor is arranged on the first installation arm, the second sewage detection sensor is arranged on the second installation arm, and the detection heads of the first sewage detection sensor and the second sewage detection sensor are both arranged towards the sewage detection part.

7. The sewage detection device of the cleaning robot according to claim 6, characterized in that, The first installation arm is provided with a first through hole opposite to the sewage detection part, and the detection head of the first sewage detection sensor is inserted into the first through hole, the second installation arm is provided with a second through hole opposite to the sewage detection part, and the detection head of the second sewage detection sensor is inserted into the second through hole.

8. The sewage detection device of the cleaning robot according to claim 6, characterized in that, The installation part further includes an avoidance groove, the avoidance groove is arranged between the first card slot and the second card slot and communicates the first card slot and the second card slot, the detection base further includes an installation body, the installation body is arranged in the avoidance groove, the first installation arm and the second installation arm are arranged at the same side of the installation body at intervals, and the first installation arm, the installation body and the second installation arm enclose a receiving cavity for receiving the sewage detection part.

9. The sewage detection device of the cleaning robot according to claim 1, wherein, The sewage detection device further includes a sewage box for containing sewage, and the sewage box is detachably installed inside the sewage detection part.

10. The sewage detection device of the cleaning robot according to claim 1, characterized in that, The sewage detection device further includes a sewage recovery assembly for recovering sewage into the sewage tank. The sewage recovery assembly is arranged on the sewage tank and communicated with the inner cavity of the sewage detection part.

11. The sewage detection device of the cleaning robot according to claim 10, characterized in that, The sewage recovery assembly includes a sewage suction pipe for sucking sewage into the inner cavity of the sewage detection part. One end of the sewage suction pipe is connected to the sewage tank and communicated with the inner cavity of the sewage detection part, and the other end of the sewage suction pipe extends below the sewage tank.

12. The sewage detection device of the cleaning robot according to claim 1, characterized in that, The sewage tank is further provided with a sewage storage cavity for storing sewage. A through port communicated with the sewage storage cavity is provided on the cavity of the sewage detection part, and the through port is used for guiding the sewage overflowing from the inner cavity of the sewage detection part into the sewage storage cavity.

13. A working method of a cleaning robot, the cleaning robot comprising a sewage tank for collecting sewage generated during the cleaning operation of the cleaning robot and a sewage detection actuator for detecting the degree of dirtiness of the sewage, characterized in that, The sewage tank includes a sewage detection part provided with a transparent window. The sewage detection execution mechanism is installed on the sewage tank and is assembled with the sewage detection part to be used for detecting the dirt degree of the sewage in the sewage detection part in real time through the transparent window, including the following steps: S1: The cleaning robot starts the cleaning operation, and the sewage generated during the cleaning process flows into the sewage tank. S2: The sewage detection execution mechanism detects the dirt data of the sewage through the sewage detection part. S3: Judge whether the real-time dirt data reaches the preset dirt threshold. If so, the sewage detection execution mechanism feeds back a dirt signal to the controller of the cleaning robot, marks the current cleaning area as a special cleaning area, and the cleaning robot focuses on cleaning the special cleaning area; if not, the cleaning robot normally cleans the remaining areas to be cleaned. S4: Judge whether the cleaning operation is completed. If not, return to step S2; if so, end the cleaning operation and return to the base station.

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