Water path system, cleaning module, cleaning apparatus, base station, cleaning system and cleaning method for water path system

Abstract

A water path system (100), comprising a wastewater circuit (10) and a power system (20). The wastewater circuit (10) comprises a wastewater channel (11) and a wastewater tank (30), wherein the wastewater channel (11) is adapted for the flow-through of waste; and the wastewater tank (30) is provided with an accommodating cavity (31), the accommodating cavity (31) being in communication with the wastewater channel (11), and the accommodating cavity (31) being configured to store the waste from the wastewater channel (11). The power system (20) is in communication with the wastewater circuit (10), and the power system (20) is configured to switch between a first state and a second state. When the power system (20) is in the first state, the power system (20) enables the waste to enter the accommodating cavity (31) from the wastewater channel (11). When the power system (20) is in the second state, the power system (20) enables the waste to pass through the wastewater tank (30) and the wastewater channel (11) in sequence to be discharged out of the wastewater circuit (10).

Description

Waterway system, cleaning module, cleaning equipment, base station, cleaning system and cleaning method for waterway system Technical Field

[0001] The present application relates to the field of cleaning equipment, and in particular to a waterway system, a cleaning module, cleaning equipment, a base station, a cleaning system, and a cleaning method for a waterway system. Background Art

[0002] Cleaning robots are effective at cleaning surfaces, allowing people to free their hands. They are now being used in an increasing number of homes. However, after cleaning the surface, the robot's mop becomes contaminated with dirty water. If the contaminated mop continues to clean the surface, the cleaning effect is poor. Therefore, cleaning robots are typically equipped with a wastewater recycling system, which recycles the contaminated water from the mop, thereby improving its cleaning effectiveness. However, over time, the wastewater recycling system can accumulate a significant amount of dirt. This system typically requires manual cleaning, resulting in low cleaning efficiency.

[0003] Summary of the Invention

[0004] The embodiments of the present application provide a waterway system, a cleaning module, a cleaning device, a base station, a cleaning system and a cleaning method for a waterway system, which are at least used to solve the problem that sewage links usually require manual cleaning and have low cleaning efficiency.

[0005] In a first aspect, an embodiment of the present application provides a waterway system, comprising a sewage link and a power system. The sewage link comprises a sewage channel and a sewage tank, the sewage channel being used to allow sewage to flow through, and the sewage tank having a storage chamber that is connected to the sewage channel and is used to store sewage from the sewage channel. The power system is connected to the sewage link and is configured to switch between a first state and a second state. When the power system is in the first state, the power system causes the sewage to enter the storage chamber from the sewage channel. When the power system is in the second state, the power system causes the sewage to be discharged out of the sewage link through the sewage tank and the sewage channel in sequence.

[0006] In a second aspect, an embodiment of the present application provides a cleaning module, which includes a water system. The water system includes a sewage link and a power system. The sewage link includes a sewage channel and a sewage tank, the sewage channel is used for sewage flow, and the sewage tank has a accommodating cavity, which is connected to the sewage channel, and the accommodating cavity is used to store sewage from the sewage channel. The power system is connected to the sewage link, and the power system is used to switch between a first state and a second state. When the power system is in the first state, the power system allows the sewage to enter the accommodating cavity from the sewage channel. When the power system is in the second state, the power system allows the sewage to pass through the sewage tank and the sewage channel in sequence and be discharged outside the sewage link.

[0007] In a third aspect, an embodiment of the present application provides a cleaning device, which includes a body and a cleaning module, and the cleaning module is arranged on the body. The cleaning module includes a water system. The water system includes a sewage link and a power system. The sewage link includes a sewage channel and a sewage tank, the sewage channel is used for sewage flow, and the sewage tank has a accommodating cavity, which is connected to the sewage channel, and the accommodating cavity is used to store sewage from the sewage channel. The power system is connected to the sewage link, and the power system is used to switch between a first state and a second state. When the power system is in the first state, the power system causes the sewage to enter the accommodating cavity from the sewage channel. When the power system is in the second state, the power system causes the sewage to pass through the sewage tank and the sewage channel in sequence and be discharged outside the sewage link.

[0008] In the fourth aspect, the embodiment of the present application also provides a base station, which includes a main body and a force-applying member, which is installed on the main body. The force-applying member is used to cooperate with the sewage discharge member of the cleaning module. When the external force applied by the force-applying member to the outside of the sewage discharge member changes, the sewage discharge member can switch between a non-sewage discharge state and a sewage discharge state.

[0009] In a fifth aspect, embodiments of the present application further provide a cleaning system, comprising a cleaning device and a base station, the base station being configured to maintain the returning cleaning device. The base station comprises a main body and a force-applying member, the force-applying member being mounted on the main body and configured to cooperate with a waste-discharging member of a cleaning module. When the external force applied by the force-applying member to the outer side of the waste-discharging member changes, the waste-discharging member can switch between a non-discharging state and a waste-discharging state. The cleaning device comprises a body and a cleaning module, the cleaning module being mounted on the body. The cleaning module comprises a waterway system. The waterway system comprises a sewage link and a power system. The sewage link comprises a sewage channel and a sewage tank, the sewage channel being configured to allow waste to flow through, the sewage tank having a receiving chamber connected to the sewage channel, the receiving chamber being configured to store waste from the sewage channel. The power system is connected to the sewage link and configured to switch between a first state and a second state. When the power system is in the first state, the power system causes waste to enter the receiving chamber from the sewage channel. When the power system is in the second state, the power system causes the waste to be discharged out of the sewage link through the sewage tank and the sewage channel in sequence.

[0010] In a sixth aspect, an embodiment of the present application further provides a method for cleaning a waterway system, the method being applied to the waterway system. The waterway system includes a sewage link and a power system. The sewage link includes a sewage channel and a sewage tank, the sewage channel being used for sewage flow, the sewage tank having a receiving chamber, the receiving chamber being connected to the sewage channel, the receiving chamber being used to store sewage from the sewage channel. The power system is connected to the sewage link, and the power system is configured to switch between a first state and a second state. When the power system is in the first state, the power system allows the sewage to enter the receiving chamber from the sewage channel. When the power system is in the second state, the power system allows the sewage to be discharged out of the sewage link through the sewage tank and the sewage channel in sequence. The cleaning method includes: when the power system is in the first state, the sewage enters the receiving chamber through the sewage channel; and when the power system is in the second state, the sewage in the receiving chamber is discharged out of the waterway system through the sewage channel.

[0011] In the waterway system, cleaning module, cleaning equipment, base station, cleaning system and cleaning method of the waterway system of the embodiment of the present application, under the action of the power system, the dirt in the sewage channel can enter and be stored in the accommodating chamber, and the dirt in the accommodating chamber can also pass through the sewage channel and be discharged outside the sewage link. When the liquid in the accommodating chamber flows through the sewage channel, the liquid can clean the sewage channel, and the liquid can carry the dirt in the sewage channel to be discharged outside the sewage link, and the cleaning effect of the sewage link is better. Compared with the current sewage link, the cleaning efficiency of the sewage link of the present application is higher, the sewage link will not accumulate a lot of dirt, and the sewage link does not need to be cleaned manually, and the user experience is better.

[0012] Additional aspects and advantages of the present application will be given in part in the description below, and in part will become obvious from the description below, or will be learned through practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] The above and / or additional aspects and advantages of the present application will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which:

[0014] FIG1 is a perspective schematic diagram of a cleaning module according to certain embodiments of the present application;

[0015] FIG2 is a cross-sectional schematic diagram of the cleaning module of FIG1 ;

[0016] FIG3 is a cross-sectional schematic diagram of a cleaning module according to certain embodiments of the present application;

[0017] FIG4 is a perspective schematic diagram of a partial structure of the water system in the cleaning module of FIG1 ;

[0018] FIG5 is a perspective exploded schematic diagram of the cleaning module of FIG1 ;

[0019] FIG6 is a perspective schematic diagram of a cover body in the sewage tank in the cleaning module of FIG1 ;

[0020] FIG7 is a perspective schematic diagram of the cover body of FIG6 from another perspective;

[0021] FIG8 is a structural schematic diagram of the flow direction of liquid in the channel of the cover;

[0022] FIG9 is a schematic structural diagram of a sewage tank according to another embodiment of the present application;

[0023] FIG10 is a perspective schematic diagram of a sewage discharge member of a water system in a cleaning module in some embodiments of the present application in a sewage discharge state;

[0024] FIG11 is a schematic structural diagram of a sewage discharge member in a waterway system in some embodiments;

[0025] FIG12 is a perspective exploded schematic diagram of the cleaning module of FIG1 ;

[0026] FIG13 is a schematic structural diagram of a sewage discharge member in a water system in other embodiments;

[0027] FIG14 is a perspective exploded schematic diagram of the cleaning module of FIG1 ;

[0028] FIG15 is a schematic structural diagram of a sewage discharge member of a water system in another embodiment of the present application in a sewage discharge state;

[0029] FIG16 is a schematic structural diagram of the sewage discharge member of FIG15 in a non-discharge state;

[0030] FIG17 is a perspective schematic diagram of a cleaning device according to certain embodiments of the present application;

[0031] FIG18 is a perspective schematic diagram of a base station according to certain embodiments of the present application;

[0032] FIG19 is a perspective schematic diagram of a partial structure of the base station in FIG18;

[0033] FIG20 is a schematic structural diagram of the coordination between the force applying member and the waste discharging member in some embodiments of the present application;

[0034] FIG21 is a schematic structural diagram of the coordination between the force applying member and the waste discharging member in some embodiments of the present application;

[0035] FIG22 is a schematic structural diagram of the coordination between the force applying member and the waste discharging member in some embodiments of the present application;

[0036] FIG23 is a schematic structural diagram of the coordination between the force applying member and the waste discharging member in other embodiments of the present application;

[0037] FIG24 is a schematic structural diagram of the coordination of a force-applying member and a waste-discharging member in other embodiments of the present application;

[0038] FIG25 is a schematic structural diagram of a cleaning system according to certain embodiments of the present application;

[0039] FIG26 is a schematic flow chart of a method for cleaning a waterway system according to certain embodiments of the present application;

[0040] FIG27 is a schematic flow chart of a method for cleaning a waterway system according to certain embodiments of the present application;

[0041] FIG28 is a schematic flow chart of a method for cleaning a waterway system according to certain embodiments of the present application;

[0042] FIG29 is a schematic flow chart of a method for cleaning a waterway system according to certain embodiments of the present application;

[0043] FIG30 is a schematic flow chart of a method for cleaning a waterway system according to certain embodiments of the present application;

[0044] FIG31 is a schematic flow chart of a method for cleaning a waterway system according to certain embodiments of the present application;

[0045] FIG32 is a schematic flow chart of a method for cleaning a waterway system according to certain embodiments of the present application;

[0046] FIG33 is a schematic flow chart of a method for cleaning a waterway system according to certain embodiments of the present application;

[0047] Figure 34 is a flow chart of a method for cleaning a water system according to certain embodiments of the present application. DETAILED DESCRIPTION

[0048] The embodiments of the present application are described in detail below. Implementations of the embodiments are illustrated in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present application and are not to be construed as limiting the present application.

[0049] In the description of the embodiments of this application, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly specifying the number of the indicated technical features. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the described features. In the description of the embodiments of this application, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0050] Cleaning robots can effectively clean surfaces, allowing people to free their hands. Currently, cleaning robots are becoming increasingly common in homes. However, after cleaning the surface, the robot's mop and wiper may carry dirty water. If the mop, laden with dirty water, continues to clean the surface, the cleaning effect is poor. Furthermore, after cleaning a certain area of ​​the surface, the robot must return to the base station for cleaning, resulting in low cleaning efficiency. Therefore, cleaning robots often include a wastewater chain to recycle dirty water from the mop, keeping it relatively clean and effectively cleaning the surface. This eliminates the need for the mop to frequently return to the base station for cleaning, improving cleaning efficiency. However, if the wastewater chain continues to recycle dirty water, it can accumulate dirt. This chain typically requires manual cleaning, resulting in low cleaning efficiency. To solve this problem, the present application provides a water system 100 (shown in Figure 1), a cleaning module 200 (shown in Figure 1), a cleaning device 1000 (shown in Figure 17), a base station 3000 (shown in Figure 18), a cleaning system 10000 (shown in Figure 25) and a water system cleaning method (shown in Figure 26).

[0051] Referring to Figures 1 to 4 , in a first aspect, an embodiment of the present application provides a waterway system 100, which includes a sewage link 10 and a power system 20. The sewage link 10 includes a sewage channel 11 and a sewage tank 30. The sewage channel 11 is used to allow sewage to flow through. The sewage tank 30 has a storage chamber 31 that is connected to the sewage channel 11 and is used to store sewage from the sewage channel 11. The power system 20 is connected to the sewage link 10 and is configured to switch between a first state and a second state. When the power system 20 is in the first state, the power system 20 allows sewage to enter the storage chamber 31 from the sewage channel 11. When the power system 20 is in the second state, the power system 20 allows sewage to be discharged from the sewage link 10 through the sewage tank 30 and the sewage channel 11 in sequence.

[0052] Specifically, referring to Figure 15 , the water system 100 is a structure used in the cleaning module 200. The water system 100 is used to recover wastewater produced when the cleaning module 200 cleans the surface to be cleaned and to discharge this wastewater to a designated location. The cleaning module 200 is a structure used in the cleaning device 1000. The cleaning module 200 is used to clean the surface to be cleaned. The surface to be cleaned may be, but is not limited to, a floor, a marble surface, or a glass surface. This application uses the floor as an example for description. The cleaning device 1000 is a device used to clean the surface to be cleaned. For example, the cleaning device 1000 may include a sweeping robot, a mopping robot, a sweeping and mopping robot, a handheld scrubber, etc. A sweeping robot can be used to sweep the surface to be cleaned, a mopping robot can be used to wipe and clean the surface to be cleaned, and a sweeping and mopping robot can integrate the functions of both robots, i.e., a sweeping and mopping robot can be used to sweep and wipe the surface to be cleaned. A handheld scrubber can be used to wipe and clean the surface to be cleaned. The cleaning device 1000 of the present application is described by taking a sweeping and mopping robot as an example.

[0053] In some embodiments, the cleaning device 1000 may include a tracked cleaning robot or a drum-type cleaning robot. In some embodiments, the cleaning module 200 further includes a cleaning member 203, which may include a tracked wiping member 203 or a roller brush. If the cleaning device 1000 is a tracked cleaning robot, the wiping member 203 of the cleaning device 1000 is a tracked wiping member 203. If the cleaning device 1000 is a drum-type cleaning robot, the wiping member 203 of the cleaning device 1000 is a roller brush.

[0054] Both the crawler-type wiping member 203 and the roller brush can rotate to clean the surface to be cleaned. Compared to cleaning devices 1000 using conventional disc-type or other wiping members 203, the crawler-type or roller-type wiping members 203 rotate, resulting in a larger contact area between the wiping member 203 and the surface to be cleaned. Furthermore, debris on the wiping member 203 is continuously collected and transferred to the cleaning device 1000, keeping the wiping member 203 relatively clean. Therefore, the cleaning device 1000 provides a better cleaning effect on the surface to be cleaned. The wiping member 203 of this application will be described using a crawler-type wiping member 203 as an example. If the cleaning device 1000 is a crawler-type cleaning robot, the cleaning module 200 can clean the wiping member 203 while the crawler-type wiping member 203 rotates to clean the surface to be cleaned. Since the wastewater tank 30 can recover dirt from the wiping member, the wiping member 203 remains relatively clean, providing a better cleaning effect on the surface to be cleaned.

[0055] Referring to Figures 2 to 4 , the cleaning module 200 also includes a scraping member 205. When the wiping member 203 is cleaning the surface to be cleaned, the scraping member 205 is used to scrape off dirt from the wiping member 203, which then enters the sewage line 10. The sewage line 10 is used to recover dirt from the wiping member 203 and discharge it to a designated location. When the scraping member 205 scrapes off dirt from the wiping member 203, the dirt passes through the sewage channel 11 and the connecting pipe 13 of the sewage line 10 into the storage chamber 31, where it is stored. The storage chamber 31 is used to store dirt scraped off by the scraping member 15 to prevent it from falling onto the surface to be cleaned. When a sewage tank 30 is provided on the waterway system 100, it can recover and store dirt scraped off by the scraping member 15 from the wiping member 203, thereby keeping the wiping member 203 relatively clean and ensuring that the cleaning module 200 effectively cleans the surface to be cleaned. The cleaning module 200 does not need to frequently go to the base station 3000 (shown in Figure 16) to clean the mopping member 203, and the cleaning module 200 has a high cleaning efficiency for the surface to be cleaned. The dirt here may include liquid sewage and / or solid dirt. The material of the sewage tank 30 includes, but is not limited to, metal or plastic. Among them, the metal material includes, but is not limited to, aluminum, iron, steel, or aluminum alloy. When the sewage tank 30 is made of metal, the sewage tank 30 has high strength and a long service life. When the sewage tank 30 is made of plastic, the material cost of the sewage tank 30 is low, and the sewage tank 30 is light, making the sewage tank 30 easy to transport and handle. The cross-sectional shape of the sewage tank 30 can be, but is not limited to, circular, elliptical, triangular, quadrilateral, or other polygonal shapes.

[0056] Referring to Figures 1 and 2 , the sewage channel 11 is connected to both the sewage tank 30 and the scraping member 15 . When the cleaning module 200 is cleaning the surface to be cleaned, the water system 100 is used to recover dirt from the wiping member 203 . The scraping member 15 scrapes off dirt from the wiping member 203 , and the scraped dirt enters the sewage channel 11 . The sewage channel 11 transports the dirt scraped off by the scraping member 15 from the wiping member 203 to the storage chamber 31 of the sewage tank 30 , thereby preventing the dirt scraped off by the scraping member 15 from falling onto the surface to be cleaned and causing secondary contamination of the surface. When the cleaning module 200 needs to discharge waste, the water system 100 is used to discharge the waste, and the sewage channel 11 is used to discharge the waste in the storage chamber 31 through the sewage channel 11 to the outside of the cleaning module 200. When external liquid enters the sewage tank 30 to clean the sewage tank 30, the sewage channel 11 is also used to discharge the liquid and dirt in the accommodating chamber 31 to the outside of the cleaning module 200 through the sewage channel 11. The sewage channel 11 is not limited to being a sewage tank or a sewage pipe, and this application uses the sewage channel 11 as an example of a sewage tank for explanation. The liquid here includes but is not limited to clean water, cleaning liquid, or a mixed liquid with a cleaning liquid. When the liquid is a mixed liquid with a cleaning liquid, after the liquid enters the sewage tank 30, the liquid can effectively dissolve stubborn stains on the inner wall of the sewage tank 30, and the liquid has a better cleaning effect on the sewage tank 30. Moreover, when the liquid flows into the sewage channel 11, the liquid can also effectively dissolve stubborn stains in the sewage channel 11, and the liquid has a better cleaning effect on the sewage channel 11.

[0057] The waste collection and discharge of the wiping member 203 in the water system 100 both pass through the sewage link 10. Since the waste collection and discharge of the wiping member 203 in the water system 100 share a single link channel, the water system 100 does not require additional channels, resulting in a simpler structure and easier processing.

[0058] When sewage flows through the sewage channel 11, some of the dirt will remain in the sewage channel 11, and a certain amount of dirt will accumulate in the sewage channel 11. When external liquid enters the sewage tank 30 to clean the sewage tank 30, the liquid that has cleaned the sewage tank 30 will flow from the storage chamber 31 into the sewage channel 11. The liquid entering the sewage channel 11 can flush the sewage channel 11, and the liquid can carry the sewage in the sewage channel 11 out of the sewage link 10. As a result, there will not be much dirt accumulation in the sewage tank 30 and the sewage channel 11, and the sewage tank 30 and the sewage channel 11 can be kept relatively clean. The cleaning efficiency of the sewage link 10 is high, and the sewage link 10 does not require manual cleaning, which provides a good user experience. When the external liquid cleans the sewage tank 30, it also cleans the sewage channel 11. Therefore, less liquid is used to clean the sewage link 10, which can save liquid usage. The liquid sequentially cleans the sewage tank 30 and the sewage channel 11, shortening the cleaning time of the sewage channel 10, increasing the cleaning efficiency, and achieving a better cleaning effect. Preferably, the length of the sewage channel 11 is greater than or equal to the length of the scraping member 15. This allows the sewage channel 11 to receive the dirt scraped off the wiping member 203 by the scraping member 15, thus preventing the dirt scraped off the wiping member 203 by the scraping member 15 from falling onto the surface to be cleaned.

[0059] The power system 20 is used to allow waste to enter the sewage chain 10 and also to discharge waste from the sewage chain 10. The power system 20 may be an air pump assembly 60. If the power system 20 is the air pump assembly 60, the air pump assembly 60 can extract air from the sewage chain 10 and also pump air into the sewage chain 10. In this case, when the power system 20 is in a first state, the air pump assembly 60 extracts air from the sewage chain 10, resulting in a low air pressure in the sewage chain 10, allowing waste to enter the sewage chain 10. When the power system 20 is in a second state, the air pump assembly 60 pumps air into the sewage chain 10, increasing the air pressure in the sewage chain 10 and allowing waste to be discharged from the sewage chain 10.

[0060] The power system 20 may also include an electronic control assembly. When the cleaning module 200 is cleaning the surface to be cleaned, the power system 20 is in a first state. The electronic control assembly controls the air pump assembly 60 to extract air from the sewage link 10. Dirt scraped by the scraping member 205 from the wiping member 203 can enter the storage chamber 31 through the sewage passage 11. When dirt in the sewage tank 30 needs to be drained, or when an external liquid is used to clean the sewage link 10, the power system 20 is in a second state. The electronic control assembly controls the air pump assembly 60 to pump air into the sewage link 10. Dirt in the storage chamber 31 can be discharged through the sewage passage and out of the sewage link 10.

[0061] In the waterway system 100 according to the embodiment of the present application, the power system 20 switches between a first state and a second state, and dirt in the sewage channel 11 can enter and be stored in the accommodating chamber 31. The liquid and dirt in the accommodating chamber 31 can also be discharged outside the waterway system 100 through the sewage channel 11. When the external liquid cleans the sewage tank 30, the liquid in the accommodating chamber 31 can flow through the sewage channel 11, the liquid can clean the sewage channel 11, and the liquid can carry the dirt in the sewage link 10 to be discharged outside the waterway system 100. Compared with the current waterway system 100, the sewage link 10 in the waterway system 100 of the present application has a higher cleaning efficiency, the sewage link 10 will not accumulate a lot of dirt, and the sewage link 10 does not need to be manually cleaned, so the user experience is better.

[0062] The waterway system 100 will be further described below with reference to the accompanying drawings.

[0063] In certain embodiments, when the power system 20 is in the first state, the location where waste enters the sewage channel 11 differs from the location where waste is discharged through the sewage channel 11 when the power system 20 is in the second state. Specifically, when the power system 20 is in the first state, waste from the wiping member 203 enters the sewage channel 11 and flows from there into the storage chamber. When the power system 20 is in the second state, waste in the storage chamber 31 flows into the sewage channel 11 and out through the waste discharge member 50 of the sewage chain 10 into the waterway system 100. This prevents waste discharged from the storage chamber 31 from flowing out of the location where it enters the sewage channel 11, thereby preventing waste from flowing onto the surface to be cleaned.

[0064] Please refer to Figures 1 and 2. In some embodiments, the sewage link 10 also includes a connecting pipe 13, one end of which is connected to the sewage tank 30, and the other end of the connecting pipe 13 is connected to the sewage channel 11. The connecting pipe 13 is used to allow the sewage in the sewage channel 11 to enter the accommodating cavity 31. The connecting pipe 13 is also used to allow the liquid and sewage in the accommodating cavity 31 to be discharged to the outside of the sewage link 10 through the sewage channel 11.

[0065] Specifically, the sewage tank 30, connecting pipe 13, and sewage channel 11 are connected in sequence. The sewage tank 30 is connected to one end of the connecting pipe 13, the other end of the connecting pipe 13 is connected to one end of the sewage channel 11, and the other end of the sewage channel 11 is connected to one end of the sewage discharge component 50 of the sewage chain 10. The accommodating chamber 31 communicates with the inner cavity of the connecting pipe 13, the inner cavity of the connecting pipe 13 communicates with the sewage channel 11, and the sewage channel 11 communicates with the sewage discharge channel 51. The connecting pipe 13 can be made of, but is not limited to, metal or plastic. If the connecting pipe 13 is made of metal, it has higher strength, better wear resistance, and longer service life. If the connecting pipe 13 is made of plastic, it is lighter and less expensive.

[0066] Referring to Figures 3 and 4 , while cleaning module 200 is cleaning the surface to be cleaned, scraping element 15 scrapes dirt from wiping element 203. Power system 20 is in a first state, and the scraped dirt falls into sewage channel 11. Dirt entering sewage channel 11 passes through connecting pipe 13 and flows into accommodating chamber 31, thereby preventing dirt scraped from wiping element 203 by scraping element 15 from falling onto the surface to be cleaned and causing secondary contamination. When cleaning module 200 needs to discharge waste, power system 20 is in a second state, and waste flowing from accommodating chamber 31 enters connecting pipe 13 and flows into sewage channel 11, allowing it to be discharged outside cleaning module 200. As waste flows through sewage channel 11 and connecting pipe 13, some waste may remain in these two locations, causing a certain amount of dirt to accumulate there.

[0067] When cleaning the sewage tank 30, the liquid used to clean it flows from the accommodating chamber 31 into the connecting pipe 13 and the sewage channel 11. The liquid entering the connecting pipe 13 and the sewage channel 11 flushes them, carrying dirt from them through the sewage discharge member 50 and out of the waterway system 100. This prevents excessive accumulation of dirt in the connecting pipe 13 and the sewage channel 11, keeping them relatively clean. The sewage chain 10 does not require manual cleaning, making cleaning simple and efficient.

[0068] Preferably, the liquid can soak the sewage tank 30 to dissolve dirt on the inner wall of the sewage tank 30. After the liquid soaks the sewage tank 30, it carries the dirt within the holding chamber 31 and flows into the connecting pipe 13. At this point, the water pressure of the liquid and dirt flowing into the connecting pipe 13 is high, effectively flushing the inner wall of the connecting pipe 13 and the sewage channel 11. The liquid can flow into various locations of the connecting pipe 13 and the sewage channel 11, carrying the dirt from the connecting pipe 13 and the sewage channel 11 out of the cleaning module 200. The liquid effectively cleans the connecting pipe 13 and the sewage channel 11, keeping them relatively clean.

[0069] Please refer to Figures 1 and 2. In some embodiments, the connecting pipe 13 includes a connecting portion 131 and a bending portion 133. The connecting portion 131 is connected to the bending portion 133. One end of the bending portion 133 is connected to the sewage tank 30. One end of the connecting portion 131 is connected to the sewage channel 11. In the height direction H of the sewage tank 30, the highest point of the bending portion 133 is higher than the connection between the connecting pipe 13 and the sewage tank 30.

[0070] The sewage tank 30 may also have an opening 32, through which the connecting pipe 13 connects to the sewage tank 30. The opening 32 allows waste in the connecting pipe 13 to enter the receiving chamber 31 and also allows liquid and waste in the receiving chamber 31 to be discharged outside of the receiving chamber 31. The connecting pipe 13 communicates with the receiving chamber 31 through the opening 32. If the receiving chamber 31 stores waste or if external liquid soaks the sewage tank 30, if the sealing of the receiving chamber 31 is not adequate, the liquid and waste in the receiving chamber 31 may flow out of the connecting pipe 13, causing leakage. The bend 133 prevents the liquid and waste in the receiving chamber 31 from flowing out of the connecting pipe 13. In the height direction H of the sewage tank 30, the highest point of the bend 133 is higher than the opening 32. This prevents liquid and waste from flowing out of the opening 32 from flowing over the bend 133 into the sewage channel 11, thus preventing the liquid and waste from flowing onto the surface to be cleaned.

[0071] Please continue to refer to Figures 1 and 2. In some embodiments, the sewage channel 11 includes a first opening 111 and a second opening 113 opposite to each other in the length direction. The connecting pipe 13 is connected to the first opening 111, and the second opening 113 is used to discharge waste to the outside of the sewage link 10.

[0072] When cleaning module 200 needs to drain waste, waste flowing out of chamber 31 enters connecting pipe 13 through opening 32 and flows from connecting pipe 13 into sewage channel 11. Waste in connecting pipe 13 enters sewage channel 11 through first opening 111. Because waste is fluid, it tends to spread and flow into various locations within sewage channel 11. When first opening 111 and second opening 113 are located at opposite ends of sewage channel 11, waste entering sewage channel 11 through second opening 113 tends to flow toward second opening 113, allowing nearly all waste in sewage channel 11 to flow out of waterway system 100 through second opening 113.

[0073] When cleaning the sewage tank 30, the liquid in the accommodating chamber 31 flows through the opening 32 into the connecting pipe 13, passing through various locations of the connecting pipe 13 and carrying dirt from the connecting pipe 13 into the sewage channel 11. When the first opening 111 and the second opening 113 are connected at opposite ends of the sewage channel 11, the liquid in the connecting pipe 13 enters the sewage channel 11 through the first opening 111 and flows through various locations therein, carrying dirt from the sewage channel 11 out of the second opening 113. This effectively cleans the connecting pipe 13 and the sewage channel 11.

[0074] Referring to Figures 5 to 7, in some embodiments, a channel 33 and a plurality of outlet holes 35 are provided on the top of the sewage tank 30. The outlet holes 35 are arranged at intervals along the circumference of the sewage tank 30. The channel 33 is provided with an inlet 331 for allowing external liquid to enter the channel 33. The outlet holes 35 connect the channel 33 and the accommodating cavity 31. The outlet holes 35 spray liquid toward the inner side wall of the sewage tank 30 in a direction away from the center of the cross section of the sewage tank 30.

[0075] Specifically, the accommodating chamber 31 is used to store waste. The accommodating chamber 31 is also used to store external liquid entering through the inlet 331. The inlet 331 is used to allow external liquid to enter the channel 33. The inlet 331 can also be used to allow gas to enter the channel 33. When the sewage tank 30 needs to be cleaned, external liquid enters the channel 33 through the inlet 331. The liquid here includes but is not limited to clean water, cleaning liquid, or a mixed liquid with a cleaning liquid. When the liquid entering the accommodating chamber 31 from the inlet 331 is clean water, the cost of cleaning the sewage tank 30 is low. When the liquid entering the accommodating chamber 31 from the inlet 331 is cleaning liquid or a mixed liquid with a cleaning liquid, the mixed liquid with the cleaning liquid can further dissolve stubborn stains on the inner wall of the sewage tank 30, thereby achieving a better cleaning effect on the sewage tank 30.

[0076] Referring to Figures 5 to 7 , an opening 32 can be provided at the bottom of the sewage tank 30 in the height direction H. This allows the liquid and dirt in the sewage tank 30 to be smoothly drained out of the sewage tank 30 through the opening 32 by gravity or pressure. Almost all of the liquid and dirt in the sewage tank 30 can be drained out of the sewage tank 30 (if the opening 32 were higher than the bottom of the sewage tank 30, the liquid and dirt in the sewage tank 30 below the opening 32 would not be drained out of the sewage tank 30). When the dirt in the sewage tank 30 (here, the dirt scraped from the wiping member 203) is drained through the opening 32, some dirt may remain in the sewage tank 30. Therefore, cleaning the sewage tank 30 is typically necessary. When cleaning the sewage tank 30, liquid enters the channel 33 from the inlet 331 and is sprayed into the accommodating chamber 31 through the multiple outlet holes 35. The liquid carries the dirt in the chamber 31 out of the opening 32 and out of the wastewater tank 30, thereby keeping the wastewater tank 30 relatively clean. The wastewater tank 30 can achieve a self-cleaning function by spraying liquid, eliminating the need for manual cleaning, effectively freeing the user's hands and providing a better user experience.

[0077] Referring to Figures 5 to 7 , a channel 33 is provided at the top of the sewage tank 30 in the height direction H. The channel 33 allows liquid to enter the channel and be sprayed from the outlet holes 35 toward the inner sidewall of the sewage tank 30, away from the center of the cross section of the sewage tank 30. In certain embodiments, the channel 33 may extend in a circular arc, square arc, C-shaped, U-shaped, L-shaped, semicircular, or annular shape. Liquid entering the channel 33 is sprayed from the outlet holes 35 toward the inner sidewall of the sewage tank 30, away from the center of the cross section of the sewage tank 30. If the channel 33 extends in an annular shape, the channel 33 may be a closed structure. In this case, the multiple outlet holes 35 may be distributed at any location along the circumference of the sewage tank 30. After the liquid is sprayed from the multiple outlet holes 35 into the receiving chamber 31, it can flow to various locations on the inner sidewall of the sewage tank 30, thereby effectively cleaning the sewage tank 30. When the channel 33 extends in an arc, square arc, C-shape, U-shape, L-shape, or semicircular shape, the channel 33 may be a non-enclosed structure. In this case, the plurality of outlet holes 35 are evenly or unevenly distributed around the circumference of the sewage tank 30 and spray the liquid toward the inner wall of the sewage tank 30.

[0078] In some embodiments, the length of the line segment connecting all the outlet holes 35 is not less than half of the circumference of the sewage tank 30, for example, it can be 1 / 2, 2 / 3, 3 / 4 of the circumference, or covers the outer circumference of the sewage tank 30. The outlet holes 35 cover a large range and the sprayed liquid covers a large area. The multiple outlet holes 35 are evenly or unevenly distributed around the circumference of the sewage tank 30 and spray the liquid toward the inner wall of the sewage tank 30.

[0079] Referring to Figures 5 to 7 , when external liquid enters the channel 33 through the inlet 331, the outlet 35 allows the external liquid to enter the receiving chamber 31 and be sprayed toward the inner sidewall of the sewage tank 30. When external air enters the channel 33 through the inlet 331, the outlet 35 allows the external air to enter the receiving chamber 31. In the height direction H of the sewage tank 30, if the outlet 35 is located at the top of the sewage tank 30, liquid sprayed from the outlet 35 into the receiving chamber 31 will be sprayed away from the cross-sectional center of the sewage tank 30 toward the inner sidewall of the top of the sewage tank 30. Due to gravity, the liquid will flow downward along the inner sidewall of the sewage tank 30, carrying dirt on the inner sidewall of the sewage tank 30 with it and flowing out of the sewage tank 30 through the opening 32, effectively cleaning the sewage tank 30. Since the multiple outlet holes 35 are arranged along the circumference of the sewage tank 30, the outlet holes 35 can spray in all directions toward the inner sidewall of the sewage tank 30, thereby cleaning a wider range of the sewage tank 30. In addition, when the liquid in the outlet holes 35 is sprayed toward the inner sidewall of the sewage tank 30 in a direction away from the center of the cross section of the sewage tank 30, the distance between the liquid sprayed from the outlet holes 35 and the inner sidewall of the sewage tank 30 is shorter, and the splashing force of the liquid sprayed onto the inner sidewall of the sewage tank 30 is greater. The liquid can effectively rinse the dirt on the inner sidewall of the sewage tank 30, and the liquid has a better cleaning effect on the inner sidewall of the sewage tank 30. Spraying liquid through multiple outlet holes 35 can improve the cleaning efficiency of the sewage tank 30.

[0080] The number of outlet holes 35 can be, but is not limited to, two, three, four, five, or more. If there are multiple outlet holes 35, they are spaced apart around the circumference of the sewage tank 30. When liquid is simultaneously sprayed from the multiple outlet holes 35 into the accommodating chamber 31, the liquid can flow into various locations on the inner sidewall of the sewage tank 30, thereby carrying dirt from the sewage tank 30 out of the tank 30, thereby improving the cleaning effect of the sewage tank 30.

[0081] The sewage tank 30 of the present embodiment is provided with a channel 33 and multiple outlet holes 35 at its top. The multiple outlet holes 35 are spaced apart along the circumference of the sewage tank 30. When the sewage tank 30 needs to be cleaned, external liquid enters the channel 33 and is sprayed from the outlet holes 35 toward the inner sidewall of the sewage tank 30 in a direction away from the cross-sectional center of the sewage tank 30. Dirt inside the sewage tank 30 can be flushed out of the sewage tank 30 by the external liquid. Compared to conventional sewage tanks 30, the sewage tank 30 of the present embodiment is self-cleaning. Liquid is sprayed on the inner sidewall of the sewage tank 30, covering a large cleaning area. The cleaning efficiency of the sewage tank 30 is high, and the sewage tank 30 does not require manual cleaning, providing a better user experience.

[0082] Please refer to Figures 6 and 7. In some embodiments, a water supply member 36 is provided on the top of the sewage tank 30, and the inner cavity of the water supply member 36 is a channel 33; along the direction away from the cross-sectional center of the sewage tank 30, the water supply member 36 includes a first side wall 361 and a second side wall 363 opposite to each other, and the second side wall 363 faces the cross-sectional center of the sewage tank 30, and the outlet 35 is on the first side wall 361.

[0083] Specifically, when the sewage tank 30 needs to be cleaned, the water supply member 36 is used to allow external liquid to enter the sewage tank 30 and spray toward the inner wall of the sewage tank 30. The outlet holes 35 are formed in the water supply member 36. The multiple outlet holes 35 can be evenly or unevenly distributed on the water supply member 36. Preferably, the multiple outlet holes 35 are evenly distributed on the water supply member 36. This allows the liquid sprayed from the outlet holes 35 to flow into various locations on the inner wall of the sewage tank 30, effectively cleaning the sewage tank 30.

[0084] When the outlet holes 35 are formed in the first sidewall 361, the openings 32 of the multiple outlet holes 35 all face the inner wall of the sewage tank 30. When liquid is sprayed from the outlet holes 35 into the accommodating chamber 31, the liquid can be directly sprayed onto the inner wall of the sewage tank 30. Furthermore, the liquid directly sprayed onto the inner wall of the sewage tank 30 has a certain splashing force, which effectively rinses away dirt from the inner wall of the sewage tank 30 and prevents dirt from remaining on the inner wall of the sewage tank 30.

[0085] Please refer to Figures 7 and 8. In some embodiments, along the flow direction of the liquid in the channel 33, the outlet 35 includes a first surface and a second surface. The second surface is farther away from the inlet 331 than the first surface. The second surface is an inclined surface, and the angle between the second surface and the flow direction of the liquid in the channel 33 is an acute angle.

[0086] Since the channel 33 of the present application has only one inlet 331, when the inlet 331 is located in the middle of the channel 33 (excluding the two ends), liquid entering the channel 33 from the inlet 331 can be split into two streams and flow into the channel 33. The second surface of the outlet 35, facing away from the inlet 331, is an inclined surface. As the liquid flows from the channel 33 into the outlet 35, it has the inertia to flow forward, allowing it to flow out along the inclined surface of the outlet 35 and spray onto the inner wall of the sewage tank 30. When the liquid is sprayed at an angle onto the inner wall of the sewage tank 30, it loses less kinetic energy during its flow. Consequently, the liquid ejected from the outlet 35 and splashing onto the inner wall of the sewage tank 30 has a greater force, effectively flushing away dirt from the inner wall of the sewage tank 30. Furthermore, the liquid ejected from the multiple outlets 35 can flow across nearly every location on the inner wall of the sewage tank 30, effectively cleaning the sewage tank 30. If the second surface of the outlet 35 is perpendicular to the direction of liquid flow within the channel 33, the liquid in the channel 33 will flow into the outlet 35, significantly changing its direction and causing a significant loss of kinetic energy. The liquid ejected from the outlet 35 onto the inner wall of the sewage tank 30 will have a weaker jet force, resulting in a poorer flushing effect on the inner wall of the sewage tank 30 and a poorer cleaning effect on the sewage tank 30.

[0087] 7 and 8 , in some embodiments, the first surface is also an inclined surface, the angle between the first surface and the flow direction of the liquid in the channel 33 is an obtuse angle, and the outlet hole 35 is a gradually expanding through hole.

[0088] When the outlet holes 35 are gradually expanding through-holes, the liquid loses less kinetic energy during flow. Consequently, the liquid ejected from the outlet holes 35 and splashed onto the inner wall of the sewage tank 30 has greater force, effectively flushing away dirt from the inner wall of the sewage tank 30. Liquid ejected from the multiple outlet holes 35 can flow through nearly every location on the inner wall of the sewage tank 30, effectively cleaning the sewage tank 30. Furthermore, when the outlet holes 35 are gradually expanding through-holes, the processing of the water supply component 36 is simpler, improving its processing efficiency.

[0089] Referring to Figures 6 to 8 , in one embodiment, the water supply member 36 is a protruding structure extending from the top of the sewage tank 30 into the accommodating chamber 31. The inner cavity of the protruding structure forms a channel 33. The protruding structure protrudes into the accommodating chamber 31, allowing the opening 32 of the outlet 35 to face the inner sidewall of the sewage tank 30. Liquid in the channel 33 is sprayed from the outlet 35 toward the inner sidewall of the sewage tank 30, away from the cross-sectional center of the sewage tank 30, effectively cleaning the sewage tank 30.

[0090] Referring to Figures 7 and 8 , in some embodiments, the water supply member 16 may be a closed annular structure. In this case, the channel 33 is a closed channel 33. When multiple outlet holes 35 are evenly distributed on the water supply member, liquid sprayed from the multiple outlet holes 35 toward the inner sidewall of the sewage tank 30 can flow to various locations on the inner sidewall of the sewage tank 30. The liquid can carry dirt from various locations on the inner sidewall of the sewage tank 30 and flow out of the sewage tank 30 through the connecting hole 32, effectively cleaning the sewage tank 30. In other embodiments, the water supply member is an at least partially open annular structure. In this case, the channel 33 is a non-enclosed channel 33. When the water supply member is an at least partially open annular structure, the open portion of the water supply member can be used to install other components, making the top structure of the sewage tank 30 more compact.

[0091] Please refer to Figures 5, 6, 7 and 9. In some embodiments, the sewage tank 30 includes a box body 37, which encloses a accommodating chamber 31; the water supply component 36 extends from the inner wall of the box body 37 into the accommodating chamber 31, and the water supply component 36 includes a first component 365 and a second component 367. The first component 365 is connected to the inner wall of the box body 37, and the second component 367 is bent and connected to the first component 365 and spaced from the inner wall of the box body 37. The outlet 35 is provided in the second component 367.

[0092] Specifically, when the sewage tank 30 comprises only the housing 37, the structure of the sewage tank 30 is relatively simple, and manufacturing of the sewage tank 30 is relatively easy. In this case, the accommodating chamber 31 can be an open or closed cavity. The first component 365 can be connected to the inner sidewall of the housing 37 along the circumference of the housing 37 and can have an annular structure. The second component 367 is connected to the first component 365 and can also have an annular structure. The annular shape of the first component 365 can be the same as the cross-sectional shape of the housing 37, thereby ensuring a secure connection between the first component 365 and the inner sidewall of the housing 37. The inner cavity of the first component 365 forms the first subchannel 33, and the inner cavity of the second component 367 forms the second subchannel 33. The first and second subchannels 33 communicate and together form the channel 33. When the sewage tank 30 needs to be cleaned, external liquid flows from the inlet 331 into the first subchannel 33, flows through the second subchannel 33, and is sprayed toward the inner sidewall of the sewage tank 30 through the outlet 35.

[0093] Referring to Figures 5 and 9 , the angle between the first component 365 and the second component 367 can range from 0° to 180°. Preferably, the angle between the first component 365 and the second component 367 is 90° or approximately 90°. In this case, the opening 32 of the outlet 35 can face the inner wall of the sewage tank 30. The liquid sprayed from the outlet 35 toward the inner wall of the sewage tank 30 has a certain splashing force, effectively flushing dirt from the inner wall of the sewage tank 30 and preventing any dirt from remaining on the inner wall.

[0094] The first component 365 can be connected to the inner sidewall of the top of the tank 37, and the second component 367 is connected to the first component 365. In the height direction H of the sewage tank 30, the second component 367 extends from the top of the tank 37 to the bottom of the tank 37. In one embodiment, the length of the second component 367 can be relatively short. For example, the length of the second component 367 in the height direction H of the sewage tank 30 can be less than half the height of the tank 37. In this case, less material is required for the second component 367, saving material costs. Multiple outlet holes 35 can be distributed anywhere in the second component 367 in the height direction H of the sewage tank 30. When liquid is sprayed from the outlet holes 35 onto the inner sidewall of the top of the sewage tank 30, gravity causes the liquid to flow downward from the top of the tank 37, carrying dirt from the inner sidewall of the sewage tank 30 and out of the sewage tank 30 through the opening 32, thereby keeping the sewage tank 30 relatively clean. In another embodiment, the second component 367 can be longer. For example, in the height direction H of the sewage tank 30, the length of the second component 367 can be greater than half the height of the tank body 37. The multiple outlet holes 35 can be distributed at any position on the second component 367 in the height direction H of the sewage tank 30. In this case, the liquid sprayed from the outlet holes 35 can be sprayed onto more locations on the inner sidewall of the sewage tank 30 in the height direction H of the sewage tank 30, thereby splashing a larger area of ​​the inner sidewall of the sewage tank 30 and achieving a better cleaning effect.

[0095] Please refer to Figures 5 to 7. In some embodiments, the sewage tank 30 includes a cover body 39 and a box body 37 combined together, and the cover body 39 and the box body 37 together form a accommodating cavity 31; the cover body 39 includes a first side 391 and a second side 393 opposite to each other, and the first side 391 of the cover body 39 faces the accommodating cavity 31. The first side 391 of the cover body 39 is provided with a water supply part 36, and the water supply part 36 is spaced from the inner side wall of the box body 37.

[0096] Specifically, the cover 39 is removably or non-removably connected to the box 37. Removable connection methods include, but are not limited to, threaded connections, screw connections, or snap connections, while non-removable connection methods include, but are not limited to, welding, gluing, interference fit, ultrasonic welding, etc. Preferably, the cover 39 and box 37 are removably connected. This allows for easy removal and repair of the cover 39 or box 37 if they become damaged.

[0097] When the accommodating chamber 31 is enclosed by the cover 39 and the housing 37, the accommodating chamber 31 can be a closed chamber. In this case, even if the sewage tank 30 moves or rotates, dirt or liquid within the accommodating chamber 31 will not flow out. In the height direction H of the sewage tank 30, the first side 391 of the cover 39 is the lower side, and the second side 393 of the cover 39 is the upper side. The water supply member 36 on the first side 391 of the cover 39 is an annular structure, and the shape of this annular structure can be similar to the cross-section of the sewage tank 30. With multiple outlet holes 35 distributed on the water supply member 36, liquid can be sprayed from the multiple outlet holes 35 toward various locations on the inner sidewall of the sewage tank 30, effectively cleaning the sewage tank 30.

[0098] Please refer to Figures 5 to 7. In some embodiments, the first side 391 of the cover body 39 is further provided with a partition 395 and a liquid inlet structure 397. The partition 395 is connected to the inner side wall of the cover body 39 to divide the first side 391 of the cover body 39 into a first area 3911 and a second area 3913. The water supply component 36 is located in the first area 3911. The first area 3911 and the box body 37 together form a accommodating cavity 31. One end of the liquid inlet structure 397 is located in the first area 3911 and is connected to the water supply component 36, and the other end is located in the second area 3913 and is provided with an inlet 331.

[0099] The liquid inlet structure 397 is used to guide external liquid into the water supply member 36. The inner cavity of the liquid inlet structure 397 and the inner cavity of the water supply member 36 are connected, and can together form a channel 33. The inlet 331 of the channel 33 is opened in the liquid inlet structure 397, and the inlet 331 is used to allow external liquid to enter the channel 33. The liquid inlet structure 397 and the water supply member 36 can be an integral structure or a separate structure. When the liquid inlet structure 397 and the water supply member 36 are an integral structure, the liquid inlet structure 397 and the convex water supply member 36 can be integrally formed. When the liquid inlet structure 397 and the water supply member 36 are separate structures, the liquid inlet structure 397 and the water supply member 36 are detachably or non-detachably connected.

[0100] The divider 395 is used to divide the first side 391 of the cover 39 into a first area 3911 and a second area 3913, separating the first area 3911 from the second area 3913. The accommodating chamber 31 formed by the first area 3911 and the housing 37 can be a closed chamber, thereby preventing liquid and dirt from flowing out from between the cover 39 and the housing 37. The liquid inlet structure 397 located in the second area 3913 can communicate with other external components to guide external liquid to the water supply member 36. The divider 395 and the sidewall of the cover 39 can be integral or separate. If the divider 395 and the sidewall of the cover 39 are integral, they can be integrally formed. If the divider 395 and the sidewall of the cover 39 are separate, the divider 395 and the sidewall of the cover 39 can be detachably or non-detachably connected. The material of the partition 395 and the material of the side wall of the cover 39 can be the same, or the material of the partition 395 and the material of the side wall of the cover 39 can be different.

[0101] Please refer to FIG. 5 and FIG. 6 . Further, in some embodiments, the cover 39 includes a first cover 398 and a second cover 399 . The first cover 398 and the second cover 399 are detachably connected and together form a channel 33 .

[0102] The first cover 398 is connected to the second cover 399, which is in turn connected to the box 37. The first cover 398 and the second cover 399 together form a channel 33, and the second cover 399 and the box 37 together form a receiving cavity 31. The detachable mounting method between the first cover 398 and the second cover 399 includes, but is not limited to, threaded connection, screw connection, or snap connection.

[0103] The shape of the first cover 398 can be substantially the same as that of the channel 33, and the width of the first cover 398 can be greater than or equal to the width of the channel 33. Therefore, when the first cover 398 and the second cover 399 together enclose the channel 33, less material is required for the first cover 398, saving material costs. If the first cover 398 and the second cover 399 are detachably connected, the channel 33 can be easily cleaned. After the sewage tank 30 has been used for a period of time, the first cover 398 can be removed from the second cover 399 and the channel 33 can be cleaned to keep the interior of the channel 33 relatively clean. When liquid enters the channel 33 from the inlet 331 and is sprayed from the channel 33 toward the inner wall of the sewage tank 30 through the outlet 35, the liquid will not carry dirt from the channel 33 into the sewage tank 30, effectively cleaning the sewage tank 30.

[0104] Please refer to Figures 5 to 7. In some embodiments, the air pump assembly 60 includes a first air pump 61, and the sewage tank 30 is further provided with a first air hole 34. One end of the first air hole 34 is connected to the accommodating chamber 31, and the other end is connected to the first air pump 60; when the accommodating chamber 31 stores sewage, the power system 20 is in the first state, and the first air pump 60 is used to extract the gas in the accommodating chamber 31 through the first air hole 34; after the stored sewage is discharged from the accommodating chamber 31 and the outlet hole 35 sprays liquid into the accommodating chamber 31, the power system 20 is in the first state, and the first air pump 60 is used to extract the gas in the accommodating chamber 31 through the first air hole 34.

[0105] Specifically, the first air hole 34 is connected to the first air pump 60 and is used to allow air within the accommodating chamber 31 to flow into the first air pump 60. When the cleaning module 200 cleans the surface to be cleaned, dirt from the wiping member 203 is scraped off by the scraping member 15. The scraped dirt enters the sewage tank 30 and is stored there. Because the accommodating chamber 31 is a closed cavity, when the first air pump 60 extracts air from the accommodating chamber 31 through the first air hole 34, a negative pressure is achieved within the accommodating chamber 31. The air pressure within the accommodating chamber 31 is lower than the air pressure outside the accommodating chamber 31, and dirt scraped off by the scraping member 15 is squeezed into the accommodating chamber 31 and stored there. If dirt enters the accommodating chamber 31, the first air pump 60 can stop extracting air from the accommodating chamber 31. This maintains a negative pressure within the accommodating chamber 31, allowing dirt to be stably stored there, thereby preventing dirt from flowing from the accommodating chamber 31 to the surface to be cleaned.

[0106] After the waste in the sewage tank 30 has been drained to the designated location, the sewage tank 30 needs to be cleaned. External liquid enters the channel 33 from the inlet 331 and is sprayed toward the inner wall of the sewage tank 30 from the outlet 35. At this time, the first air pump 60 extracts air from the accommodating chamber 31 through the first air hole 34, creating a negative pressure inside the accommodating chamber 31. The air pressure inside the accommodating chamber 31 is lower than the air pressure outside the accommodating chamber 31, making it difficult for liquid entering the accommodating chamber 31 to flow out of the sewage tank 30. The liquid is stored in the accommodating chamber 31. The liquid in the channel 33 is continuously sprayed toward the inner wall of the sewage tank 30 from the outlet 35, thereby continuously increasing the amount of liquid stored in the accommodating chamber 31. When the accommodating chamber 31 is fully filled with liquid, the external liquid stops supplying water to the channel 33, and the liquid stops spraying toward the inner wall of the sewage tank 30. At this point, the first air pump 60 stops pumping air from the accommodating chamber 31, maintaining a negative pressure within the accommodating chamber 31. The liquid stored in the accommodating chamber 31 can soak the inner wall of the sewage tank 30. Since the accommodating chamber 31 is completely filled with liquid, the liquid can soak all areas of the inner wall of the sewage tank 30. When the liquid soaks the inner wall of the sewage tank 30, it dissolves dirt on the inner wall of the sewage tank 30, effectively cleaning the sewage tank 30.

[0107] 5 to 7 , in some embodiments, when the waste in the accommodating chamber 31 is discharged from the sewage tank 30 , the power system 20 is in the second state, and the first air pump 60 is used to pump air into the accommodating chamber 31 through the first air hole 34 .

[0108] After the liquid sprayed from the outlet 35 into the accommodating chamber 31 soaks the inner wall of the sewage tank 30 for a period of time, it dissolves the dirt on the inner wall of the sewage tank 30. Once the liquid dissolves the dirt on the inner wall of the sewage tank 30, it can carry the dirt with it and flow out of the sewage tank 30 through the opening 32. At this point, the first air pump 60 switches from extracting gas from the accommodating chamber 31 to pumping air into the accommodating chamber 31. The first air hole 34 is connected to the first air pump 60 and is used to allow gas from the first air pump 60 to enter the accommodating chamber 31. When the first air pump 60 pumps air into the accommodating chamber 31 through the first air hole 34, the air pressure inside the accommodating chamber 31 is greater than the air pressure outside the accommodating chamber 31. As a result, the liquid in the accommodating chamber 31 can carry the dirt and flow out of the sewage tank 30 through the opening 32. When the first air pump 60 pumps air into the accommodating chamber 31 , all the liquid and dirt in the accommodating chamber 31 can be discharged out of the sewage tank 30 , and no liquid and dirt remain in the sewage tank 30 , thereby achieving a better cleaning effect of the sewage tank 30 .

[0109] When the first air pump 60 pumps air into the accommodating chamber 31 to discharge the liquid and dirt in the accommodating chamber 31 out of the sewage tank 30, the connecting pipe 13 can be a straight pipe, or the connecting pipe 13 can include a bend 133. When the connecting pipe 13 includes the bend 133, the highest point of the bend 133 is higher than the opening 32 in the height direction H of the sewage tank 30. When the first air pump 60 does not pump air into the accommodating chamber 31, the liquid and dirt in the accommodating chamber 31 will have difficulty passing through the bend 133 and discharging out of the sewage link 10, thereby preventing the liquid and dirt from flowing onto the surface to be cleaned. When the liquid and dirt in the accommodating chamber 31 need to be discharged, the first air pump 60 pumps air into the accommodating chamber 31, and when the liquid and dirt flow into the connecting pipe 13, they can overcome the height of the bend 133, and the liquid and dirt can be discharged out of the sewage link 10.

[0110] In other embodiments, when the liquid and waste in the receiving chamber 31 need to be discharged from the sewage tank 30, the receiving chamber 31 can be connected to the atmosphere, thereby achieving atmospheric pressure within the receiving chamber 31. The liquid and waste in the receiving chamber 31 can then flow out of the sewage tank 30 through the opening 32. This method of allowing the liquid and waste to flow out of the sewage tank 30 from the receiving chamber 31 is relatively simple. In this case, the connecting tube 13 of the cleaning module 200 can be a straight tube, connected to the opening 32, allowing the liquid and waste in the receiving chamber 31 to flow out of the sewage chain 10 through the connecting tube 13.

[0111] At this time, when the power system 20 is in the first state, the first air pump 60 is used to extract the gas in the accommodating chamber 31. When the power system 20 is in the second state, the first air pump 60 is used to pump air into the accommodating chamber 31. When the first air pump 60 is used to extract the gas in the accommodating chamber 31 and is also used to pump air into the accommodating chamber 31, the structure of the air pump assembly 60 is relatively simple, and the air pump assembly 60 has fewer components, which can save costs. When the first air hole 34 is used to allow the gas in the accommodating chamber 31 to flow into the first air pump 60 and is also used to allow the gas in the first air pump 60 to enter the accommodating chamber 31, the structure of the sewage tank 30 is relatively simple, and the processing of the sewage tank 30 is relatively simple.

[0112] Please refer to Figures 5 to 7. In some embodiments, the sewage tank 30 is further provided with a second air hole separated from the first air hole 34, and the second air hole is connected to the accommodating chamber 31; when the dirt in the accommodating chamber 31 is discharged from the sewage tank 30, the power system 20 is in the second state, and the first air pump 60 is used to pump air into the accommodating chamber 31 through the second air hole.

[0113] One end of the second air hole is connected to the accommodating chamber 31, and the other end of the second air hole is connected to the first air pump 60. The second air hole is used to allow air in the first air pump 60 to enter the accommodating chamber 31. When the first air pump 60 pumps air into the accommodating chamber 31 through the second air hole, the air pressure inside the accommodating chamber 31 is greater than the air pressure outside the accommodating chamber 31. As a result, the liquid in the accommodating chamber 31 can carry dirt and flow out of the sewage tank 30 through the opening 32. Furthermore, when the first air pump 60 pumps air into the accommodating chamber 31, the liquid and dirt in the accommodating chamber 31 can be completely discharged out of the sewage tank 30, leaving no residual liquid or dirt in the sewage tank 30, thereby improving the cleaning effect of the sewage tank 30.

[0114] When the first air hole 34 is used to allow gas in the accommodating chamber 31 to flow into the first air pump 60, and the second air hole is used to allow gas in the first air pump 60 to enter the accommodating chamber 31, the first air hole 34 and the second air hole do not interfere with each other, thereby improving the operating efficiency of the first air pump 60 (the efficiency of extracting gas from the accommodating chamber 31 and the efficiency of pumping gas into the accommodating chamber 31). Furthermore, if the first air hole 34 is damaged, the first air hole 34 will not affect the function of the second air hole. If the second air hole is damaged, the second air hole will not affect the function of the first air hole 34, thereby improving the stability and reliability of the sewage tank 30.

[0115] Please refer to Figures 5 to 7. In some embodiments, the air pump assembly 60 also includes a second air pump, and the sewage tank 30 is further provided with a second air hole separated from the first air hole 34. One end of the second air hole is connected to the accommodating chamber 31, and the other end is connected to the second air pump; when the dirt in the accommodating chamber 31 is discharged from the sewage tank 30, the power system 20 is in the second state, and the second air pump is used to pump air into the accommodating chamber 31 through the second air hole.

[0116] While the outlet 35 sprays liquid into the accommodating chamber 31, the first air pump 60 extracts air from the accommodating chamber 31 through the first air hole 34, allowing the liquid to be stored in the accommodating chamber 31 and soak the inner wall of the sewage tank 30. A second air pump is disposed within the main body 201 and is spaced apart from the first air pump 60. As the liquid dissolves dirt on the inner wall of the sewage tank 30, the second air pump can pump air into the accommodating chamber 31 through the second air hole. When the second air pump pumps air into the accommodating chamber 31 through the second air hole, the air pressure inside the accommodating chamber 31 is greater than the air pressure outside the accommodating chamber 31, allowing the liquid in the accommodating chamber 31 to be discharged out of the sewage tank 30, carrying the dirt with it. Furthermore, when the second air pump pumps air into the accommodating chamber 31, the liquid and dirt in the accommodating chamber 31 are completely discharged out of the sewage tank 30, leaving no residual liquid or dirt inside. This effectively cleans the sewage tank 30.

[0117] When the power system 20 is in the first state, the first air pump 60 is used to extract gas from the accommodating chamber 31. When the power system 20 is in the second state, the second air pump is used to pump air into the accommodating chamber 31. When the first air pump 60 is used to extract gas from the accommodating chamber 31 and the second air pump is used to pump air into the accommodating chamber 31, when liquid and dirt need to be discharged from the sewage tank 30, the second air pump can be quickly started and pump air into the accommodating chamber 31. The first air pump 60 does not need to switch from the extraction state to the pumping state. The use of the second air pump can save time in the switching process, so that liquid and dirt can be quickly discharged from the opening 32 to the outside of the sewage tank 30. The first air pump 60 and the second air pump have a clear division of labor, and the first air pump 60 and the second air pump have a long service life.

[0118] In some embodiments, the sewage link 10 further includes a sewage discharge member 50 , which is provided with a sewage discharge channel 51 . The sewage discharge member 50 is connected to the second opening 113 of the sewage channel 11 , and the sewage discharge channel 51 is used to discharge waste in the sewage channel 11 to outside the sewage link 10 .

[0119] Referring to Figures 1 and 2 , when the holding chamber 31 is filled with dirt or the cleaning module 200 has finished cleaning the surface to be cleaned, the cleaning device 1000 can be moved to a drain position to remove the dirt from the holding chamber 31. The drain member 50 is used to drain the dirt from the holding chamber 31 out of the sewage chain 10. When external liquid enters the sewage tank 30 to clean it, the drain member 50 is also used to drain the liquid and dirt from the sewage tank 30 and the sewage chain 10 out of the sewage chain 10. The drain channel 51 allows liquid and dirt flowing into the drain channel 51 from the sewage channel 11 to flow out of the sewage chain 10. At this time, the liquid flowing into the drain channel 51 also cleans the drain member 50, preventing excessive dirt accumulation therein. The drain member 50 can be detachably or non-detachably connected to the sewage channel 11. The material of the drain member 50 can be, but is not limited to, metal or plastic. When the material of the sewage discharge member 50 is metal, the sewage discharge member 50 has high strength, good wear resistance and long service life. When the material of the sewage discharge member 50 is plastic, the sewage discharge member 50 is light and has low cost.

[0120] 1 and 10 , in some embodiments, when the external force on the outer side of the sewage channel 51 changes, the sewage discharge member 50 can switch between a non-sewage discharge state (as shown in FIG. 1 ) and a sewage discharge state (as shown in FIG. 10 ).

[0121] At this time, an element may be provided on the outside of the sewage discharge channel 51 to apply an external force to the sewage discharge part 50, so that the sewage discharge part 50 switches between a non-sewage discharge state and a sewage discharge state. The outside of the sewage discharge channel 51 refers to: all outer surfaces of the sewage discharge part 50 (including the outer side surface and the outer end surface). At this time, no other elements are required to be provided in the sewage discharge channel 51, and the sewage can flow out of the sewage discharge channel 51 smoothly, which can avoid the problem of sewage (such as hair, etc.) being blocked by the elements inside the sewage discharge channel 51. The sewage discharge part 50 is in a non-sewage discharge state, which means that the sewage in the accommodating chamber 31 cannot flow out of the sewage discharge channel 51 to the outside of the sewage link 10. The sewage discharge part 50 is in a sewage discharge state, which means that the sewage in the accommodating chamber 31 can flow out of the sewage discharge channel 51 to the outside of the sewage link 10. In the present application, since the force for changing the sewage discharge state and the non-sewage discharge state of the sewage discharge component 50 is on the outside of the sewage discharge channel 51, the sewage discharge component 50 can be switched between the sewage discharge state and the non-sewage discharge state without setting any structure (such as a valve) that will affect the smoothness of the interior of the sewage discharge channel 51; compared with the prior art of setting the valve in the sewage discharge channel 51, this is smoother and can better prevent the sewage discharge channel 51 from being blocked.

[0122] When cleaning device 1000 is cleaning a surface, waste from wiping member 203 enters chamber 31. At this point, waste discharge member 50 is in a non-discharge state, preventing waste from flowing from chamber 31 through drainage channel 51, thus preventing waste from flowing through drainage channel 51 onto the surface. When cleaning device 1000 needs to discharge waste, waste discharge member 50 is in a discharge state, allowing waste from chamber 31 to pass through drainage channel 51 and out of wastewater chain 10.

[0123] In another embodiment, the external force applied to the sewage discharge member 50 when in the sewage discharge state is greater than the external force applied to the sewage discharge member 50 when in the sewage non-discharge state.

[0124] Please refer to Figures 15 and 16. In one embodiment, when the outer side of the sewage discharge channel 51 is subjected to force (as shown in Figure 16), the sewage discharge member 50 is in a sewage discharge state. When the outer side of the sewage discharge channel 51 is not subjected to force (as shown in Figure 15), the sewage discharge member 50 is in a non-sewage discharge state. When the cleaning module 200 cleans the surface to be cleaned, the sewage discharge member 50 is not subjected to force and is in a non-sewage discharge state, so that the dirt in the accommodating chamber 31 cannot be discharged from the sewage discharge channel 51 to the outside of the sewage link 10. When the cleaning module 200 needs to discharge sewage, the sewage discharge member 50 is subjected to external force, and the sewage discharge member 50 switches from the non-sewage discharge state to the sewage discharge state, so that the dirt in the accommodating chamber 31 can be discharged from the sewage discharge channel 51 to the outside of the sewage link 10.

[0125] In another embodiment, when the outer side of the sewage discharge channel 51 is subjected to force, the sewage discharge member 50 is in a non-sewage discharge state. When the outer side of the sewage discharge channel 51 is not subjected to force, the sewage discharge member 50 is in a sewage discharge state. When the cleaning module 200 cleans the surface to be cleaned, the sewage discharge member 50 is subjected to force and is in a non-sewage discharge state, so that the dirt in the accommodating chamber 31 cannot be discharged from the sewage discharge channel 51 to the outside of the sewage link 10. When the cleaning module 200 needs to discharge sewage, the sewage discharge member 50 is not subjected to force and switches from a non-sewage discharge state to a sewage discharge state, so that the dirt in the accommodating chamber 31 can be discharged from the sewage discharge channel 51 to the outside of the sewage link 10.

[0126] In yet another embodiment, the external force applied to the sewage discharge member 50 when it is in the non-sewage-discharging state is greater than the external force applied to the sewage discharge member 50 when it is in the sewage-discharging state.

[0127] In the cleaning module 200 of the present embodiment, an external force is applied to the outside of the drainage channel 51 to switch the drainage member 50 between a drainage state and a non-draining state. When the cleaning module 200 needs to drain, the drainage member 50 can be in the drainage state, allowing waste in the sewage tank 30 to be discharged outside the cleaning module 200. Compared to conventional drainage members 50, the drainage channel 51 of the drainage member 50 of the present embodiment does not require a valve, making it less prone to clogging and allowing waste to flow smoothly out of the drainage channel 51.

[0128] Referring to Figures 1 and 10 , in some embodiments, the outlet of the drainage channel 51 is a drainage port 511. The height of the drainage port 511 can be adjusted in response to changes in external force. Specifically, in some embodiments, the drainage member 50 can rotate relative to the sewage tank 30 to switch between a non-draining state and a drainage state. When the drainage member 50 is in the drainage state, the height of the drainage port 511 is lower than when the drainage member 50 is in the non-draining state.

[0129] The drain outlet 511 is used to allow waste in the drain channel 51 to flow out of the sewage chain 10. The drain member 50 is rotatably mounted on the main body 201. When the external force applied to the outer side of the drain channel 51 changes, the drain member 50 can rotate relative to the sewage tank 30. During the rotation of the drain member 50, the height of the drain outlet 511 changes in the height direction H of the sewage tank 30. Due to gravity, waste in the sewage tank 30 tends to flow downward. If the drain outlet 511 is at a low height, waste in the accommodating chamber 31 can pass through the drain channel 51 and flow out of the drain outlet 511, thereby placing the drain member 50 in a draining state. If the drain outlet 511 is at a high height, waste in the accommodating chamber 31 will have difficulty flowing out of the drain outlet 511 after entering the drain channel 51, thereby placing the drain member 50 in a non-draining state.

[0130] When the cleaning module 200 is cleaning the surface to be cleaned, under the action of an external force, the sewage discharge member 50 can rotate relative to the sewage tank 30 to increase the height of the sewage outlet 511, thereby making it difficult for sewage to flow out of the sewage outlet 511. At this time, the sewage discharge member 50 is in a non-discharge state. When the cleaning module 200 needs to discharge sewage, under the action of an external force, the sewage discharge member 50 can rotate relative to the sewage tank 30 to decrease the height of the sewage outlet 511, thereby allowing sewage in the sewage channel 51 to flow out of the sewage outlet 511. At this time, the sewage discharge member 50 is in a sewage discharge state. The sewage discharge member 50 switches between the sewage discharge state and the non-discharge state by rotating, and the flow of sewage from the sewage channel 51 is relatively smooth, and the sewage channel 51 will not be clogged.

[0131] Please refer to Figures 1 and 10. In some embodiments, the sewage discharge channel 51 includes a sewage inlet 513, which is connected to the sewage channel 11. When the sewage discharge component 50 is in a non-discharge state, the sewage inlet 513 is lower than the sewage outlet 511 in the height direction H of the sewage tank 30; when the sewage discharge component 50 is in a sewage discharge state, the sewage inlet 513 is flush with the sewage outlet 511 in the height direction H of the sewage tank 30, or the sewage inlet 513 is higher than the sewage outlet 511.

[0132] The sewage inlet 513 is used to allow waste in the sewage channel 11 to enter the sewage channel 51. The sewage inlet 513 is located at the end of the sewage discharge member 50 that connects to the sewage channel 11. During the rotation of the sewage discharge member 50 relative to the sewage tank 30, the height of the sewage inlet 513 remains unchanged in the height direction H of the sewage tank 30. The sewage discharge port 511 is located at the free end of the sewage discharge member 50. During the rotation of the sewage discharge member 50 relative to the sewage tank 30, the height of the sewage discharge port 511 in the height direction H of the sewage tank 30 is variable.

[0133] When the cleaning module 200 is cleaning the surface to be cleaned, the drainage member 50 can be rotated relative to the sewage tank 30 under the action of an external force so that the drainage outlet 511 is higher than the sewage inlet 513. After the sewage in the sewage channel 11 enters the drainage channel 51 through the sewage inlet 513, gravity prevents the sewage from flowing toward the higher drainage outlet 511, and thus prevents the sewage from flowing out of the sewage chain 10 through the drainage outlet 511. In this state, the drainage member 50 is in a non-draining state. When the cleaning module 200 needs to drain sewage, the drainage member 50 can be rotated relative to the sewage tank 30 under the action of an external force so that the drainage outlet 511 is lower than the sewage inlet 513, or so that the drainage outlet 511 is flush with the sewage inlet 513. After the sewage in the sewage channel 11 enters the drainage channel 51 through the sewage inlet 513, gravity allows the sewage to quickly flow out of the sewage chain 10 through the drainage outlet 511. In this state, the drainage member 50 is in a draining state.

[0134] In some embodiments, the sewage discharge member 50 is connected to the sewage tank 30 via the sewage channel 11. When the sewage discharge member 50 is in its natural state (i.e., without external force), the sewage outlet 511 is higher than the sewage inlet 513, ensuring that the sewage discharge member 50 is in a non-discharging state. However, when an external force is applied to the outside of the sewage channel 51, the height of the sewage outlet 513 of the sewage discharge member 50 can be changed, such that the sewage outlet 511 is lower than or flush with the sewage inlet 513, ensuring that the sewage discharge member 50 is in a sewage discharging state. In actual use, since the sewage discharge member 50 is in a non-discharging state most of the time, the natural state of the sewage discharge member 50 is set to the non-discharging state, that is, no external force is applied to the sewage discharge member 50 in the non-discharging state, and external force is applied to the sewage discharge member 50 only in the sewage discharging state. This can simplify the entire control process, simplify the structure, and improve the reliability of the waterway system 100.

[0135] Referring to Figures 1 and 10 , in certain embodiments, the drainage channel 51 remains open in both the drainage and non-drainage states. In this case, when the drainage member 50 switches from the non-drainage state to the drainage state, i.e., when the drainage member 50 rotates so that the drainage port 511 is lower than the sewage inlet 513, waste within the accommodating chamber 31 can quickly flow out of the sewage channel 10 through the drainage channel 51. The drainage channel 51 remains open throughout the entire transition between the drainage and non-drainage states. In other words, the drainage channel 51 remains open in both the drainage and non-drainage states. This eliminates the need for valves or other structures within the drainage channel 51, preventing waste such as hair from becoming lodged and potentially clogging the drainage channel 51. For the drainage channel 51 that remains open, the height of the drainage port 511 is controlled to ensure that waste within the sewage tank 30 remains open even in the non-drainage state.

[0136] If the sewage channel 51 is connected to the sewage tank 30 through the sewage channel 11 , in the non-discharge state, the height of the sewage outlet 511 of the sewage channel 51 is higher than the sewage inlet 513 ; further, the height of the sewage outlet 511 is higher than the top of the sewage channel 11 .

[0137] Please refer to Figures 1 and 10. In some embodiments, when the sewage discharge component 50 is in a non-discharge state, the angle between the extension direction of the central axis of the sewage outlet 511 of the sewage discharge component 50 away from the sewage inlet 513 and the height direction from the bottom to the top of the sewage tank 30 is zero or an acute angle; when the sewage discharge component 50 is in a sewage discharge state, the angle between the extension direction of the central axis of the sewage outlet 511 of the sewage discharge component 50 away from the sewage inlet 513 and the height direction from the bottom to the top of the sewage tank 30 is greater than or equal to 90°.

[0138] Specifically, when the sewage discharge member 50 is not discharging sewage, the angle between the central axis of the sewage outlet 511 extending away from the sewage inlet 513 of the sewage discharge member 50 and the height direction from the bottom to the top of the sewage tank 30 ranges from [0° to 90°]. For example, the angle between the central axis of the sewage outlet 511 extending away from the sewage inlet 513 of the sewage discharge member 50 and the height direction from the bottom to the top of the sewage tank 30 can be 0°, 10°, 23°, 37°, 41°, 54°, 60°, 75°, 80°, or 87°, etc. In this case, in the height direction H of the sewage tank 30, the sewage outlet 511 of the sewage discharge channel 51 is higher than the sewage inlet 513, making it difficult for sewage to flow out of the sewage outlet 511.

[0139] When the sewage discharge member 50 is in the sewage discharge state, the angle between the central axis of the sewage outlet 511 extending away from the sewage inlet 513 of the sewage discharge member 50 and the height direction from the bottom to the top of the sewage tank 30 is in the range of [90°, 180°]. For example, the angle between the central axis of the sewage outlet 511 extending away from the sewage inlet 513 of the sewage discharge member 50 and the height direction from the bottom to the top of the sewage tank 30 can be 90°, 108°, 112°, 126°, 133°, 145°, 160°, 173°, 80°, or 87°, etc. When the angle between the central axis of the sewage outlet 511 extending away from the sewage inlet 513 of the sewage discharge member 50 and the height direction from the bottom to the top of the sewage tank 30 is 90°, the sewage inlet 513 is flush with the sewage outlet 511 in the height direction H of the sewage tank 30. When the angle between the direction in which the central axis of the drain outlet 511 extends away from the sewage inlet 513 of the sewage discharge member 50 and the height direction from the bottom to the top of the sewage tank 30 is greater than 90°, the drain outlet 511 is lower than the sewage inlet 513 in the height direction H of the sewage tank 30. When the drain outlet 511 is higher than the sewage inlet 513 or is flush with the sewage inlet 513 in the height direction H of the sewage tank 30, waste entering the sewage discharge channel 51 through the sewage inlet 513 can flow out of the drain outlet 511, thereby allowing waste in the sewage tank 30 to be quickly discharged out of the sewage chain 10.

[0140] Please refer to Figures 1 and 10. In some embodiments, when the sewage discharge member 50 is subjected to external force, the sewage discharge member 50 rotates in a first direction relative to the sewage tank 30 to switch from the non-discharge state to the sewage discharge state; when the external force applied to the sewage discharge member 50 disappears, the sewage discharge member 50 rotates in a second direction relative to the sewage tank 30 to switch from the sewage discharge state to the non-discharge state. The first direction is opposite to the second direction.

[0141] The rotation of the sewage discharge member 50 relative to the sewage tank 30 in the first direction means that, in the height direction H of the sewage tank 30, the height of the sewage inlet 513 remains unchanged, while the height of the sewage discharge outlet 511 gradually decreases. The rotation of the sewage discharge member 50 relative to the sewage tank 30 in the second direction means that, in the height direction H of the sewage tank 30, the height of the sewage inlet 513 remains unchanged, while the height of the sewage discharge outlet 511 gradually increases.

[0142] When the cleaning module 200 needs to discharge waste, the sidewall of the waste discharge member 50 can be subjected to an external force, causing the waste discharge member 50 to rotate in a first direction. When the waste discharge member 50 rotates in the first direction, the height of the waste discharge port 511 gradually decreases in the height direction H of the sewage tank 30. When the angle between the direction in which the central axis of the waste discharge port 511 extends away from the sewage inlet 513 of the waste discharge member 50 and the height direction from the bottom to the top of the sewage tank 30 is within the range of [90°, 180°], that is, in the height direction H of the sewage tank 30, the waste discharge port 511 is lower than the sewage inlet 513, or the waste discharge port 511 is flush with the sewage inlet 513. Thus, waste entering the sewage discharge channel 51 through the sewage inlet 513 can flow out of the waste discharge port 511, and the waste discharge member 50 is now in the waste discharge state. When the waste discharge member 50 is in the waste discharge state, waste in the sewage tank 30 can be quickly discharged through the sewage discharge channel 51 and out of the sewage chain 10.

[0143] When the cleaning module 200 has completed waste discharge, the external force acting on the sidewalls of the waste discharge member 50 disappears, allowing the waste discharge member 50 to rotate in the second direction. As the waste discharge member 50 rotates in the second direction, the height of the waste discharge port 511 gradually increases in the height direction H of the sewage tank 30. When the angle between the direction in which the center axis of the waste discharge port 511 extends away from the sewage inlet 513 of the waste discharge member 50 and the height direction from the bottom to the top of the sewage tank 30 is in the range of [0°, 90°), that is, in the height direction H of the sewage tank 30, the waste discharge port 511 is higher than the sewage inlet 513. Consequently, waste entering the sewage discharge channel 51 through the sewage inlet 513 is difficult to flow out of the waste discharge port 511, and the waste discharge member 50 is now in a non-discharged state. When the waste discharge member 50 is in the non-discharged state, waste in the sewage tank 30 will not flow onto the surface to be cleaned.

[0144] Referring to Figures 1 and 10 , in certain embodiments, the sewage discharge member 50 includes a force-bearing portion 53 located radially outside the sewage discharge passage 51. Specifically, in certain embodiments, the force-bearing portion 53 is provided with a mating surface 531. When no external force is applied to the mating surface 531, the sewage discharge member 50 is in a non-discharge state. When an external force is applied to the mating surface 531, the sewage discharge member 50 rotates relative to the sewage tank 30 in a first direction to switch from the non-discharge state to the discharge state.

[0145] Specifically, the sewage discharge part 50 includes a main part and a force-bearing part 53. The force-bearing part 53 is used to cooperate with other components to receive the force applied to the sewage discharge part 50 by other components. When the force applied by other components to the mating surface 531 of the force-bearing part 53 changes, the force-bearing part 53 can drive the main part to rotate along the first direction and the second direction. The force-bearing part 53 can be arranged at any position of the side wall of the main part. The force-bearing part 53 and the main part can be an integral structure or a split structure. When the force-bearing part 53 and the main part are an integral structure, the force-bearing part 53 and the main part can be integrally formed. When the force-bearing part 53 and the main part are a split structure, the force-bearing part 53 and the main part are detachably or non-detachably connected.

[0146] When the cleaning module 200 needs to discharge waste, the mating surface 531 is subjected to force, causing the force-bearing portion 53 to drive the main portion to rotate in a first direction, and the waste discharge member 50 can rotate in the first direction relative to the waste tank 30. In the height direction H of the waste tank 30, the height of the waste discharge port 511 gradually decreases, thereby switching the waste discharge member 50 from a non-discharged state to a waste discharge state. When the cleaning module 200 has completed waste discharge or the cleaning module 200 is cleaning the surface to be cleaned, the external force on the mating surface 531 disappears, causing the force-bearing portion 53 to drive the main portion to rotate in a second direction, and the waste discharge member 50 can rotate in the second direction relative to the waste tank 30. In the height direction H of the waste tank 30, the height of the waste discharge port 511 gradually increases, thereby switching the waste discharge member 50 from a waste discharge state to a non-discharged state.

[0147] Referring to Figure 10, in some embodiments, the external force applied to the mating surface 531 is a contact-type pulling force or pressure. When the cleaning module 200 needs to discharge sewage, the mating surface 531 is used to contact other components. In the height direction H of the sewage tank 30, if the component applying force to the mating surface 531 is lower than the sewage discharge member 50, the other component can apply a pulling force to the mating surface 531 to rotate the sewage discharge member 50 in a first direction, thereby switching the sewage discharge member 50 from a non-discharge state to a sewage discharge state, and the sewage in the sewage tank 30 can be discharged from the sewage discharge channel 51. In the height direction H of the sewage tank 30, if the component applying force to the mating surface 531 is higher than the sewage discharge member 50, the other component can apply pressure to the mating surface 531 to rotate the sewage discharge member 50 in the first direction, thereby switching the sewage discharge member 50 from a non-discharge state to a sewage discharge state, and the sewage in the sewage tank 30 can be discharged from the sewage discharge channel 51.

[0148] When the external force applied to the mating surface 531 is a contact-type pulling force or a compressive force, the external force applied to the mating surface 531 is relatively large, and the dirt discharge member 50 can rotate in the first direction. Furthermore, the force applied to the dirt discharge member 50 is relatively stable, thus avoiding the problem of the dirt discharge member 50 being unable to rotate in the first direction when the cleaning module 200 needs to discharge dirt (for example, due to weakening of the magnetism and loss of magnetic attraction).

[0149] Referring to Figure 10 , in some other embodiments, the external force applied to the mating surface 531 is a non-contact repulsive or attractive force. Preferably, the external force applied to the mating surface 531 is a magnetic repulsive or attractive force. In one example, the mating surface 531 may be provided with a first magnetic element, and the waterway system 100 may further include a second magnetic element. The first and second magnetic elements repel each other. When the cleaning module 200 needs to drain waste, the second magnetic element may be higher than the waste discharge element 50 in the height direction H of the wastewater tank 30. The first and second magnetic elements repel each other, and the waste discharge element 50 is repelled by the second magnetic element, causing it to rotate in a first direction, switching from a non-draining state to a draining state, allowing waste in the wastewater tank 30 to be discharged from the drain channel 51. When all waste in the wastewater tank 30 is drained, the waste discharge element 50 may need to switch from the draining state to the non-draining state. For example, the first and second magnetic elements may both be electromagnets. When the sewage discharge member 50 needs to switch from the non-discharge state to the sewage discharge state, the first magnetic member and the second magnetic member are both energized, so that the first magnetic member and the second magnetic member repel each other, and the sewage discharge member 50 can rotate in the first direction, and the sewage discharge member 50 can switch from the non-discharge state to the sewage discharge state. When all the sewage in the sewage tank 30 is discharged, the first magnetic member and / or the second magnetic member are de-energized, the repulsive force disappears, and the sewage discharge member 50 can rotate in the second direction, and the sewage discharge member 50 can switch from the sewage discharge state to the non-discharge state. The first magnetic member and the second magnetic member can also be ordinary magnets. In this case, the position of the second magnetic member can be moved relative to the first magnetic member. When the sewage discharge member 50 needs to switch from the non-discharge state to the sewage discharge state, the second magnetic member moves to a position where it can generate a repulsive force with the first magnetic member, so that the sewage discharge member 50 can rotate in the first direction, and the sewage discharge member 50 can switch from the non-discharge state to the sewage discharge state. When all the dirt in the sewage tank 30 is discharged, the second magnetic member can move and move away from the first magnetic member, and the repulsive force between the first magnetic member and the second magnetic member disappears, so that the sewage discharge member 50 can rotate in the second direction, and the sewage discharge member 50 can switch from the sewage discharge state to the non-sewage discharge state.

[0150] In another example, the mating surface 531 may be provided with a first magnetic element, and the waterway system 100 may further include a second magnetic element, with the first magnetic element and the second magnetic element mutually attracting each other. When the cleaning module 200 needs to drain waste, the second magnetic element may be positioned lower than the waste discharge element 50 in the height direction H of the wastewater tank 30. The first and second magnetic elements are attracted to each other, and the waste discharge element 50 is attracted by the second magnetic element, causing it to rotate in a first direction, switching from a non-draining state to a draining state, allowing waste in the wastewater tank 30 to be discharged through the drain channel 51.

[0151] In another example, the mating surface 531 may be provided with a first magnetic element, and the base station 3000 may be provided with a second magnetic element. After the cleaning device 1000 enters the base station 3000, the first and second magnetic elements attract or repel each other, thereby allowing the waste discharge member 50 to rotate in a first direction, switching the waste discharge member 30 from a waste discharge state to a non-waste discharge state. After the cleaning device 1000 enters the base station 3000, the attraction or repulsion between the first and second magnetic elements disappears, allowing the waste discharge member 50 to rotate in a second direction, switching the waste discharge member 50 from a waste discharge state to a non-waste discharge state.

[0152] When the external force applied to the mating surface 531 is a non-contact repulsive or attractive force, the mating surface 531 does not need to contact other components, thereby reducing wear on the mating surface 531 and extending the service life of the sewage discharge member 50. Furthermore, when the mating surface 531 is subjected to the repulsive or attractive force, the sewage discharge member 50 can quickly rotate in the first direction, and the sewage discharge member 50 can quickly switch from the non-discharge state to the discharge state.

[0153] Referring to Figures 10 to 12 , in certain embodiments, the waterway system 100 further includes a reset member 70. One end of the reset member 70 is connected to the sewage channel 11 or the body 201, and the other end is connected to the sewage discharge member 50. When the external force acting on the sewage discharge member 50 disappears, the reset member 70 drives the sewage discharge member 50 to rotate in a second direction, thereby switching from a draining state to a non-draining state. Because, in a natural state, the height of the sewage outlet 511 is higher than the height of the sewage inlet 513, or the height of the sewage outlet 511 is higher than the highest liquid level in the sewage tank 30, when the sewage discharge member 30 is in the natural state, waste in the sewage tank 30 cannot flow out of the sewage outlet 511, resulting in the sewage discharge member 30 being in the non-draining state. When the external force acting on the sewage discharge member 30 disappears, the reset member 70 is used to drive the sewage discharge member 30 back to its natural state, allowing the sewage discharge member 30 to quickly switch to the non-draining state.

[0154] When the cleaning module 200 needs to discharge waste, the waste discharge member 50 is subjected to an external force, causing it to rotate in a first direction, thereby switching from a non-discharged state to a discharge state. During the discharge process of the cleaning module 200, the waste discharge member 50 is continuously subjected to an external force to maintain the discharge state. Once all waste in the sewage tank 30 has been discharged outside the sewage chain 10, the external force acting on the waste discharge member 50 disappears, and the reset member 70 drives the waste discharge member 50 back to the non-discharged state.

[0155] In one embodiment, the reset member 70 may be a torsion spring. When the sewage discharge member 50 is in the non-discharging state, the torsion spring is in a natural state. When the sewage discharge member 50 is rotated in a first direction by an external force to enter the sewage discharge state, the torsion spring is compressed. Due to its elastic potential energy, the torsion spring tends to rotate the sewage discharge member 50 in a second direction. Thus, when the external force on the sewage discharge member 50 disappears, the torsion spring can drive the sewage discharge member 50 to rotate in the second direction, switching the sewage discharge member 50 from the sewage discharge state to the non-discharging state, and the torsion spring returns to its natural state.

[0156] When the waterway system 100 includes the reset member 70, the reset member 70 can automatically return the sewage discharge member 50 to the non-discharge state when no external force is applied to the sewage discharge member 50. During the rotation of the sewage discharge member 50 in the second direction, the waterway system 100 does not require any additional components to apply external force to the sewage discharge member 50. Rotation of the sewage discharge member 50 in the second direction is relatively simple, and the sewage discharge member 50 switches from the discharge state to the non-discharge state quickly.

[0157] 1 and 10 , in some embodiments, the waterway system 100 further includes a driving member 80 , which is connected to the sewage discharge member 50 . The driving member 80 is used to drive the sewage discharge member 50 to rotate so as to switch between a non-sewage discharge state and a sewage discharge state.

[0158] When the cleaning module 200 is cleaning the surface to be cleaned, the driving member 80 drives the discharge member 50 to rotate in the second direction, so that the discharge member 50 switches from the discharge state to the non-discharge state. When the cleaning module 200 needs to discharge dirt, the driving member 80 drives the discharge member 50 to rotate in the first direction, so that the discharge member 50 switches from the non-discharge state to the discharge state.

[0159] Referring to Figures 1 and 10 , in some embodiments, the cleaning module 200 includes a position detection unit and a processing unit. The position detection unit is configured to detect the position of the cleaning module 200 relative to the body 300 of the cleaning device 1000. The processing unit is configured to determine, based on the detection information from the position detection unit, whether the position of the cleaning module 200 relative to the body 300 satisfies a predetermined condition and control the operation of the driving member 80 based on the determination result.

[0160] Specifically, in some embodiments, the cleaning module 200 can be moved to a first relative position and a second relative position relative to the body 300 of the cleaning device 1000, and the maximum outline width of the cleaning module 200 when the cleaning module 200 is in the second relative position is greater than the maximum outline width of the cleaning module 200 when the cleaning module 200 is in the first relative position; when the cleaning module 200 moves from the first relative position to the second relative position, the processing unit controls the driving member 80 to drive the sewage discharge member 50 to rotate in a first direction relative to the sewage tank 30 to switch from a non-discharged sewage state to a sewage discharge state; when the cleaning module 200 moves from the second relative position to the first relative position, the processing unit controls the driving member 80 to drive the sewage discharge member 50 to rotate in a second direction relative to the sewage tank 30 to switch from the sewage discharge state to the non-discharged sewage state, and the first direction is opposite to the second direction.

[0161] When the cleaning module 200 is in the first relative position, the cleaning module 200 may be located below the body 300 of the cleaning device 1000, and the horizontal projection of the body 300 of the cleaning device 1000 may cover the horizontal projection of the cleaning module 200. When the cleaning module 200 is in the second relative position, one end of the cleaning module 200 may protrude from a side of the body 300 of the cleaning device 1000. The position of the cleaning module 200 relative to the body 300 meeting the predetermined condition means that the cleaning module 200 is in the first relative position or the second relative position relative to the body 300 of the cleaning device 1000.

[0162] When the cleaning module 200 needs to discharge waste, the cleaning module 200 can move to a second relative position relative to the main body 300 of the cleaning device 1000. Upon detecting that the cleaning module 200 is in the second relative position relative to the main body 300 of the cleaning device 1000, the position detection unit transmits this detection information to the processing unit. The position detection unit is in communication with the processing unit. When the processing unit determines that the cleaning module 200 has reached the second relative position, the processing unit controls the driving member 80 to rotate the waste discharge member 50 in the first direction relative to the wastewater tank 30, thereby switching the waste discharge member 50 from a non-discharge state to a discharge state.

[0163] When the cleaning module 200 is cleaning the surface to be cleaned, the cleaning module 200 can move to a first relative position relative to the main body 300 of the cleaning device 1000. Upon detecting that the cleaning module 200 is in the first relative position relative to the main body 300 of the cleaning device 1000, the position detection unit transmits this detection information to the processing unit. Upon determining that the cleaning module 200 has reached the first relative position, the processing unit controls the driving member 80 to rotate the sewage discharge member 50 in a second direction relative to the sewage tank 30, thereby switching the state from the sewage discharge state to the non-sewage discharge state.

[0164] The position detection unit is in communication with the processing unit, which is in communication with the driver 80. By detecting the relative position of the cleaning module 200 relative to the body 300 of the cleaning device 1000 by the position detection unit, the processing unit controls the driver 80 to switch the sewage discharge member 50 between a non-discharge state and a sewage discharge state. When sewage discharge is required, the sewage discharge member 50 automatically switches to the sewage discharge state by rotating. This entire process requires no human intervention, resulting in highly efficient switching of the sewage discharge member 50 and a better user experience.

[0165] If the sewage discharge member 50 is made of a hard material, since it needs to rotate relative to the sewage tank 30 (sewage channel 11) to switch between the non-discharge state and the discharge state, the connection between the sewage discharge member 50 and the side wall of the sewage channel 11 may become worn after a certain period of use. If the connection between the sewage discharge member 50 and the side wall of the sewage channel 11 is worn, a gap will exist between the sewage channel 11 and the sewage discharge member 50, which may affect the seal between the sewage discharge member 50 and the sewage channel 11. As sewage flows from the sewage channel 11 to the sewage discharge channel 51, the sewage will flow out of this gap and may flow onto the surface to be cleaned, causing secondary contamination of the surface to be cleaned.

[0166] Please refer to Figures 11 and 12. In some embodiments, the sewage discharge component 50 includes a first sub-section 55 and a second sub-section 57. The first sub-section 55 is sleeved on the second sub-section 57. The force-bearing portion 53 of the sewage discharge component 50 is provided on the side wall of the first sub-section 55. The sewage discharge channel 51 is opened in the second sub-section 57. The first sub-section 55 is a hard tube, and the second sub-section 57 is a hose. The second sub-section 57 is sealed and connected to the sewage channel 11.

[0167] Specifically, the first sub-section 55 is configured to rotate relative to the sewage tank 30 under external force. The first sub-section 55 drives the second sub-section 57 to rotate together, thereby switching the sewage discharge member 50 between a non-discharge state and a discharge state. The second sub-section 57 is configured to connect to the sewage channel 11, allowing waste in the sewage channel 11 to flow out of the sewage chain 10 through the drainage channel 51 of the second sub-section 57. Because the second sub-section 57 is a hose, the connection between the second sub-section 57 and the sewage channel 11 is less susceptible to wear during rotation, ensuring a good seal between the second sub-section 57 and the sewage channel 11, thereby preventing waste from escaping through the gap between the sewage channel 11 and the second sub-section 57.

[0168] When the first subsection 55 is a rigid tube, it is not easily deformed by external forces. Thus, the first subsection 55 can rotate under external forces, thereby enabling the first subsection 55 to drive the second subsection 57 to rotate. The first subsection 55 can drive the second subsection 57 to rotate together, allowing the sewage discharge member 50 to switch between a non-discharge state and a sewage discharge state. The material of the first subsection 55 can be, but is not limited to, metal or plastic. When the first subsection 55 is made of metal, it has high strength, is not easily deformed by external forces, and has a long lifespan. When the first subsection 55 is made of plastic, it is lightweight and has a low cost. When the second sub-section 57 is a hose, the sealing effect between the second sub-section 57 and the sewage channel 11 is better. Moreover, during the rotation of the second sub-section 57, due to its flexibility, the second sub-section 57 can buffer the pulling force at the connection between the second sub-section 57 and the sewage channel 11 when the second sub-section 57 is driven by the first sub-section 55. This can reduce wear between the second sub-section 57 and the sewage channel 11, reduce the formation of a gap between the second sub-section 57 and the sewage channel 11, and reduce the possibility of waste flowing out of the gap between the side wall of the sewage channel 11 and the second sub-section 57. The material of the second sub-section 57 can be, but is not limited to, rubber, silicone, or polyethylene.

[0169] Referring to Figures 11 to 13 , further, in certain embodiments, a rotation shaft 551 is provided on the sidewall of the first sub-section 55. The rotation shaft 551 is connected to the main body 201 and is rotatable relative to the main body 201. Specifically, as the first sub-section 55 rotates relative to the main body 201 in the first and second directions, the rotation shaft 551 also rotates relative to the main body 201. The connection between the rotation shaft 551 and the main body 201 provides a certain amount of support for the first sub-section 55, thereby ensuring greater stability during rotation in the first and second directions.

[0170] Referring to Figures 11 and 13 , in some embodiments, a first gap 58 is defined between the first sub-section 55 and the second sub-section 57. This allows for minimal friction between the first sub-section 55 and the second sub-section 57 as the first sub-section 55 rotates, thereby preventing wear between the first and second sub-sections 55, 57. This makes the first and second sub-sections 55, 57 less susceptible to damage and more durable.

[0171] Please refer to Figures 11 and 13. In some embodiments, the first sub-section 55 includes a first end 553 and a second end 555 relative to each other, and the first end 553 of the first sub-section 55 is closer to the sewage channel 11 than the second end 555 of the first sub-section 55; the second sub-section 57 includes a first end 571 and a second end 573 relative to each other, and the first end 571 of the second sub-section 57 is closer to the sewage channel 11 than the second end 573 of the second sub-section 57; the first end 571 of the second sub-section 57 is closer to the sewage channel 11 than the first end 553 of the first sub-section 55, and the first end 571 of the second sub-section 57 is sealed and connected to the sewage channel 11.

[0172] The sewage inlet 513 is located at the first end 571 of the second sub-section 57, and the sewage outlet 511 is located at the second end 573 of the second sub-section 57. The first end 553 of the first sub-section 55 is connected to the sidewall of the sewage channel 11, and the second end 555 of the first sub-section 55 is adjacent to the sewage outlet 511. The first end 571 of the second sub-section 57 is closer to the sewage channel 11 than the first end 553 of the first sub-section 55, that is, the first end 571 of the second sub-section 57 protrudes relative to the first end 553 of the first sub-section 55. Because the first end 571 of the second sub-section 57 is sealed to the sewage channel 11, sewage in the sewage channel 11 is prevented from flowing into the first gap 58 and from flowing out between the sidewall of the sewage channel 11 and the second end 573 of the second sub-section 57. All sewage in the sewage channel 11 enters the sewage channel 51 through the sewage inlet 513 at the first end 571 of the second sub-section 57 and is discharged through the sewage outlet 511.

[0173] Referring to Figures 11 and 12 , in some embodiments, the second end 573 of the second sub-section 57 is flush with the second end 555 of the first sub-section 55. In this case, when waste in the drain channel 51 flows out of the drain port 511, the probability of waste flowing from the second end 573 of the second sub-section 57 into the first gap 58 is reduced. In other embodiments, the second end 573 of the second sub-section 57 extends beyond the second end 555 of the first sub-section 55. In this case, when waste in the drain channel 51 flows out of the drain port 511, the probability of waste flowing from the second end 573 of the second sub-section 57 into the first gap 58 is further reduced.

[0174] Referring to Figures 13 and 14 , further, in certain embodiments, the second end 573 of the second sub-section 57 extends beyond the second end 555 of the first sub-section 55 and sleeves onto the second end 555 of the first sub-section 55. The gap between the second end 573 of the second sub-section 57 and the second end 555 of the first sub-section 55 is covered by the transition portion 575 of the second sub-section 57. Thus, waste flowing out of the second end 573 of the second sub-section 57 is completely discharged outside the sewage chain 10, and waste does not flow from the second end 573 of the second sub-section 57 into the first gap 58.

[0175] Please refer to FIG. 13 and FIG. 14 . Furthermore, in some embodiments, a second gap 59 is defined between the turning portion 575 of the second end 573 of the second sub-portion 57 and the second end 555 of the first sub-portion 55 .

[0176] During the rotation of the second sub-section 57 by the first sub-section 55, the connection between the sewage channel 11 and the first end 571 of the second sub-section 57 exerts a certain pulling force on the second sub-section 57. If there is no gap between the transition portion 575 at the second end 573 of the second sub-section 57 and the second end 555 of the first sub-section 55, the connection between the sewage channel 11 and the first end 571 of the second sub-section 57 pulls on the second sub-section 57, which can easily damage the second sub-section 57. In this embodiment of the present application, a second gap 59 is provided between the transition portion 575 and the second end 555 of the first sub-section 55. This second gap 59 provides sufficient space for the second sub-section 57 to deform when the connection between the sewage channel 11 and the first end 571 of the second sub-section 57 pulls on the second sub-section 57, thereby preventing damage and increasing the service life of the second sub-section 57.

[0177] Please refer to Figures 1, 10, 15 and 16. In some embodiments, the sewage discharge member 50 can be deformed when subjected to external force on the outside of the sewage discharge channel 51 to switch between a non-sewage discharge state and a sewage discharge state. When the sewage discharge member 50 is in the sewage discharge state, the sewage discharge channel 51 is in an on state. When the sewage discharge member 50 is in the non-sewage discharge state, the sewage discharge channel 51 is in a closed state.

[0178] Specifically, if the drainage member 50 is deformable by external forces, the drainage member 50 can be a hose, and the material of the drainage member 50 can be, but is not limited to, rubber, silicone, or polyethylene. The drainage channel 51 is in an open state when waste flowing into the drainage channel 51 from the sewage channel 11 can flow out of the sewage chain 10 through the drainage port 511. In this case, the minimum cross-sectional area of ​​the drainage channel 51 is sufficient to be greater than zero. In one example, when the drainage channel 51 is in an open state, the drainage member 50 is not subjected to external forces and is in a natural state. In this case, the cross-sectional areas of the drainage channel 51 are equal at all locations, and the cross-sectional area of ​​the drainage channel 51 is larger, allowing waste flowing into the drainage channel 51 from the sewage channel 11 to be quickly discharged out of the sewage chain 10. In another example, when the drainage channel 51 is in an open state, the drainage member 50 can be subjected to external forces, causing the drainage member 50 to be partially deformed, and the minimum cross-sectional area of ​​the drainage channel 51 is greater than zero. The closed state of the drain channel 51 means that waste flowing into the drain channel 51 from the sewage channel 11 cannot flow out of the sewage chain 10 through the drain port 511. In this state, the minimum cross-sectional area of ​​the drain channel 51 is 0. When the drain channel 51 is closed, the sidewalls of the sewage discharge member 50 are subjected to external forces, causing the sewage discharge member 50 to be fully deformed.

[0179] Referring to Figures 1, 10, 15, and 16, in certain embodiments, the height of the drain outlet 511 relative to the sewage tank 30 when the sewage discharge member 50 is in the draining state is consistent with the height of the drain outlet 511 relative to the sewage tank 30 when the sewage discharge member 50 is in the non-draining state. That is, during the process of switching between the non-draining and draining states, the height of the drain outlet 511 of the sewage discharge member 50 relative to the sewage tank 30 remains unchanged. At this time, in the height direction H of the sewage tank 30, the height of the drain outlet 511 relative to the sewage inlet 513 remains unchanged, with the drain outlet 511 being flush with the sewage inlet 513 or lower than the sewage inlet 513. The overall position of the sewage discharge member 50 relative to the sewage tank 30 remains unchanged.

[0180] When the cleaning module 200 is cleaning the surface to be cleaned, the drainage member 50 is subjected to external force, causing the drainage member 50 to deform, thereby closing the drainage channel 51 and preventing the waste in the accommodating chamber 31 from being discharged from the drainage port 511 to the outside of the sewage chain 10. When the cleaning module 200 needs to discharge waste, the drainage member 50 may be free of external force or subjected to minimal external force, and the drainage member 50 may be in a natural state or slightly deformed, thereby opening the drainage channel 51 and allowing the waste in the accommodating chamber 31 to be discharged from the drainage port 511 to the outside of the sewage chain 10.

[0181] When the sewage discharge member 50 switches from the non-discharge state to the discharge state, it is sufficient to remove or reduce the external force applied to the sewage discharge member 50. This is a relatively simple method for switching the sewage discharge member 50 from the non-discharge state to the discharge state. When the external force applied to the sewage discharge member 50 is reduced or eliminated, the sewage in the sewage channel 11 can flow out of the sewage channel 10 through the sewage channel 51, and the sewage in the accommodating chamber 31 can be discharged from the sewage channel 51 at a faster rate.

[0182] Referring to Figures 15 and 16 , in some embodiments, the cleaning module 200 further includes a force-applying member 90 for applying an external force to the drainage member 50 to open or close the drainage channel 51. Specifically, in some embodiments, when the force-applying member 90 applies an external force to the sidewall of the drainage member 50, the drainage channel 51 is closed. When the external force applied by the force-applying member 90 to the drainage member 50 disappears, the drainage channel 51 is opened.

[0183] Specifically, the force-applying member 90 may be disposed on the body 201. The force-applying member 90 applies an external force to the drainage member 50, thereby causing the drainage member 50 to deform. When the external force applied by the force-applying member 90 to the drainage member 50 disappears, the drainage member 50 returns to its natural state. When the drainage channel 51 is closed, the force-applying member 90 contacts the drainage member 50. When the drainage channel 51 is open, the force-applying member 90 may be spaced apart from the drainage member 50.

[0184] When the cleaning module 200 is cleaning the surface to be cleaned, the force-applying member 90 applies an external force to the side wall of the sewage discharge member 50, causing the sewage discharge member 50 to deform, thereby closing the sewage discharge channel 51 and placing the sewage discharge member 50 in a non-discharge state. Dirt in the accommodating chamber 31 cannot be discharged from the sewage outlet 511, thereby preventing the problem of sewage flowing to the surface to be cleaned. When the cleaning module 200 needs to discharge sewage, the force-applying member 90 removes the external force applied to the sewage discharge member 50, placing the sewage discharge member 50 in a natural state, thereby placing the sewage discharge channel 51 in a conductive state, placing the sewage discharge member 50 in a discharge state, and allowing sewage to flow out of the sewage outlet 511. At this point, the cross-sectional area of ​​the sewage discharge channel 51 is larger, allowing sewage to quickly flow out of the sewage discharge channel 51.

[0185] Please refer to Figures 10, 15 and 16. In some embodiments, the water system 100 further includes a driving unit, which is connected to the force-applying member 90. The driving unit is used to drive the force-applying member 90 to apply external force to the sewage discharge member 50 or cancel the applied external force.

[0186] When the cleaning module 200 is cleaning the surface to be cleaned, the drive unit drives the force-applying member 90 to apply an external force to the side wall of the sewage discharge member 50, thereby deforming the sewage discharge member 50 and closing the sewage discharge channel 51. Dirt cannot be discharged from the sewage outlet 511, thereby avoiding the problem of sewage flowing to the surface to be cleaned. When the cleaning module 200 needs to discharge sewage, the drive unit drives the force-applying member 90 to remove the external force on the sewage discharge member 50, so that the sewage discharge member 50 is not subjected to the external force, the sewage discharge member 50 returns to its natural state, the sewage discharge channel 51 is in a conductive state, and sewage can flow out of the sewage outlet 511.

[0187] The drive unit can be connected to the processing unit for communication. The processing unit is used to determine whether the position of the cleaning module 200 relative to the body 300 of the cleaning device 1000 meets a predetermined condition based on the detection information of the position detection unit, and control the operation of the drive unit based on the determination result. When the cleaning module 200 needs to discharge dirt, the cleaning module 200 can move to a second relative position relative to the body 300 of the cleaning device 1000. When the position detection unit detects that the cleaning module 200 is in the second relative position relative to the body 300 of the cleaning device 1000, the position detection unit transmits the detection information to the processing unit. When the processing unit determines that the cleaning module 200 has reached the second relative position, the processing unit controls the drive unit to cancel the pressure applied to the dirt discharge member 50 so that the dirt discharge channel 51 is in a conductive state. When the cleaning module 200 cleans the surface to be cleaned, the cleaning module 200 can move to the first relative position relative to the body 300 of the cleaning device 1000. When the position detection unit detects that the cleaning module 200 is in the first relative position relative to the body 300 of the cleaning device 1000, the position detection unit transmits the detection information to the processing unit. When the processing unit determines that the cleaning module 200 has reached the first relative position, the processing unit controls the driving unit to apply an external force to the sewage discharge member 50 to close the sewage discharge channel 51.

[0188] Please refer to FIG. 17 . In a second aspect, an embodiment of the present application provides a cleaning module 200 . The cleaning module 200 includes the water system 100 described in the above embodiment.

[0189] Please refer to FIG. 1 and FIG. 2 . In some embodiments, the cleaning module 200 includes a body 201 . The sewage link 10 and the power system 20 may both be disposed in the body 201 .

[0190] The sewage link 10 is detachably or non-detachably connected to the main body 201. Examples of detachable connection methods include, but are not limited to, threaded connection, screw connection, or snap connection, and examples of non-detachable connection methods include, but are not limited to, welding, gluing, or interference fit. When the sewage link 10 is detachably connected to the main body 201, in the event that the sewage link 10 is damaged, the sewage link 10 can be easily removed from the main body 201 for repair. When the sewage link 10 is non-detachably connected to the main body 201, the sewage link 10 and the main body 201 can be integrally formed, simplifying the processing steps of the cleaning module 200.

[0191] The power system 20 is removably or non-removably connected to the main body 201. Removable connection methods include, but are not limited to, threaded connections, screw connections, or snap connections, while non-removable connection methods include, but are not limited to, welding, gluing, or interference fit. When the power system 20 is removably connected to the main body 201, in the event of damage, the power system 20 can be easily removed from the main body 201 for repair. When the power system 20 is non-removably connected to the main body 201, the power system 20 and the main body 201 can be integrally formed, simplifying the processing steps of the cleaning module 200.

[0192] Please refer to FIG. 5 to FIG. 7 . In some embodiments, the cleaning module 200 further includes a clean water tank. The clean water tank is disposed on the body 201 , is connected to the inlet 331 , and is used to store cleaning liquid.

[0193] The cleaning liquid referred to here is the same as the "liquid" mentioned above, and includes clean water, cleaning liquid, or a mixture of liquids containing cleaning liquid. When the cleaning module 200 is cleaning the surface to be cleaned, the clean water tank is used to supply cleaning liquid to the wiping member 203, keeping it moist and effectively cleaning the surface. When the sewage tank 30 needs to be cleaned, the clean water tank is used to supply cleaning liquid to the sewage tank 30. The clean water tank is connected to the inlet 331. The cleaning liquid in the clean water tank enters the channel 33 from the inlet 331 and is sprayed onto the inner wall of the sewage tank 30 through the outlet 35 to clean the sewage tank 30. When the liquid and waste in the sewage tank 30 flow out of the connecting pipe 13, the sewage channel 11, and the sewage outlet 511, the cleaning liquid is also used to clean the connecting pipe 13, the sewage channel 11, and the sewage discharge member 50.

[0194] When the clean water tank of cleaning module 200 supplies cleaning liquid to sewage tank 30, the distance between the clean water tank and sewage tank 30 is relatively close, and the time it takes for cleaning liquid to flow from the clean water tank into the sewage tank 30 is relatively short, resulting in a higher cleaning efficiency for the sewage tank 30. Furthermore, when cleaning device 1000 is moved, the relative distance between the clean water tank and sewage tank 30 remains unchanged, allowing the clean water tank to supply cleaning liquid to the sewage tank 30 at any time, making cleaning of the sewage tank 30 more convenient.

[0195] In the cleaning module 200 of the embodiment of the present application, the power system 20 switches between a first state and a second state, and the dirt in the sewage channel 11 can enter and be stored in the accommodating chamber 31. The liquid and dirt in the accommodating chamber 31 can also be discharged to the outside of the water system 100 through the sewage channel 11. In the case of an external liquid cleaning sewage tank 30, the liquid in the accommodating chamber 31 can flow through the sewage channel 11, the liquid can clean the sewage channel 11, and the liquid can carry the dirt in the sewage link 10 to be discharged to the outside of the water system 100. Compared with the current water system 100, the sewage link 10 in the water system 100 of the present application has a higher cleaning efficiency, the sewage link 10 will not accumulate a lot of dirt, and the sewage link 10 does not need to be manually cleaned, so the user experience is better.

[0196] Please refer to FIG. 17 . In a third aspect, an embodiment of the present application provides a cleaning device 1000 . The cleaning device 1000 includes a body 300 and the cleaning module 200 of the above embodiment. The cleaning module 200 is disposed on the body 300 .

[0197] In some embodiments, the cleaning device 1000 further includes a clean water tank, which is disposed on the body 201 and / or the fuselage 300 , is connected to the inlet 331 of the sewage tank 30 , and is used to store cleaning liquid.

[0198] The cleaning liquid herein is the same as the "liquid" referred to above, and includes clean water, cleaning liquid, or a mixture of clean liquid and water. In one embodiment, a clean water tank is disposed within the body 201 of the cleaning module 200. The clean water tank herein has the same structure as the clean water tank of the second aspect and will not be described in detail here.

[0199] Referring to Figure 1 , in another embodiment, a clean water tank is disposed on the body 300. The clean water tank on the body 300 is used to supply cleaning liquid to the mopping member 203 and also to the sewage tank 30. When the sewage tank 30 needs to be cleaned, the clean water tank on the body 300 is used to supply cleaning liquid to the sewage tank 30. The clean water tank and the inlet 331 can be connected via a pipe. Cleaning liquid in the clean water tank enters the channel 33 from the inlet 331 and is sprayed toward the inner wall of the sewage tank 30 through the outlet 35 to clean the sewage tank 30. When the liquid and dirt in the sewage tank 30 flow out of the connecting pipe 13, the sewage channel 11, and the sewage outlet 511, the cleaning liquid is also used to clean the connecting pipe 13, the sewage channel 11, and the sewage discharge member 50.

[0200] When the clean water tank mounted on the body 300 supplies cleaning liquid to the sewage tank 30, the clean water tank and the sewage tank 30 are relatively close, shortening the time it takes for the cleaning liquid to flow from the clean water tank into the sewage tank 30 and improving the cleaning efficiency of the sewage tank 30. Furthermore, when the cleaning device 1000 is moved, the relative distance between the clean water tank and the sewage tank 30 remains unchanged, allowing the clean water tank to supply cleaning liquid to the sewage tank 30 at any time, making cleaning the sewage tank 30 more convenient.

[0201] Referring to Figure 17, in some embodiments, the cleaning device 1000 further includes a driver 500 disposed on the body 300. The driver 500 is configured to drive the cleaning module 200 to move relative to the body 300 along the width of the body 300, thereby switching the cleaning module 200 between a first relative position and a second relative position. When the cleaning device 1000 is cleaning the surface to be cleaned, the driver 500 drives the cleaning module 200 to move along the width of the body 300, thereby positioning the cleaning module 200 in the first relative position relative to the body 300. When the cleaning module 200 needs to discharge waste, the driver 500 drives the cleaning module 200 to move along the width of the body 300, thereby positioning the cleaning module 200 in the second relative position relative to the body 300. In some embodiments, the cleaning device 1000 further includes a position sensor and a processor. The position sensor is disposed on the body 300 and is configured to detect the relative position of the cleaning module 200 and the body 300. The processor is configured to determine whether the relative position of the cleaning module 200 and the body 300 meets a predetermined condition based on the detection information of the position sensor, and control the operation of the driver 500 based on the determination result.

[0202] Specifically, in some embodiments, when the processor receives a sewage discharge start instruction and the detection information indicates that the cleaning module 200 is in a first relative position, the processor controls the driver 500 to drive the cleaning module 200 to move in a forward direction relative to the fuselage 300 along the width direction of the fuselage 300; after the processor receives a sewage discharge start instruction and the detection information indicates that the cleaning module 200 is in a second relative position, the processor controls the driver 500 to stop driving; when the processor receives a sewage discharge end instruction and the detection information indicates that the cleaning module 200 is in the second relative position, the processor controls the driver 500 to drive the cleaning module 200 to move in a reverse direction relative to the fuselage 300 along the width direction of the fuselage 300; after the processor receives a sewage discharge end instruction and the detection information indicates that the cleaning module 200 is in the first relative position, the processor controls the driver 500 to stop driving.

[0203] The position sensor is in communication with the processor, which is in communication with the driver 500. The processor can control the driver 500 based on the detection results of the position sensor. When the cleaning module 200 needs to discharge dirt, the processor can control the driver 500 to move the cleaning module 200 to the second relative position.

[0204] When cleaning device 1000 needs to discharge waste, the position sensor detects the position of cleaning module 200 relative to body 300 and transmits this detection information to the processor. After receiving the discharge start instruction and determining that cleaning module 200 is in the first relative position, the processor controls the driver 500 to drive cleaning module 200 to move forward relative to body 300 along the width direction of body 300, so that cleaning module 200 protrudes from one side of body 300. If the position sensor detects that cleaning module 200 is in the second relative position, the position sensor transmits this detection information to the processor, which controls the driver 500 to stop driving cleaning module 200. When cleaning module 200 is in the second relative position, the waste discharge member 50 is in the waste discharge state due to the action of external force, thereby allowing waste in sewage tank 30 to be discharged outside cleaning device 1000.

[0205] When the cleaning device 1000 has completed waste discharge, the position sensor detects the position of the cleaning module 200 relative to the main body 300 and transmits this detection information to the processor. After receiving the waste discharge start instruction and determining that the cleaning module 200 is in the second relative position, the processor controls the driver 500 to drive the cleaning module 200 in the opposite direction of the width of the main body 300 relative to the main body 300. If the position sensor detects that the cleaning module 200 is in the first relative position, the position sensor transmits this detection information to the processor, which can control the driver 500 to stop driving the cleaning module 200. When the cleaning module 200 is in the first relative position, the waste discharge member 50 is in a non-discharge state, and thus the waste in the sewage tank 30 cannot be discharged from the waste discharge member 50.

[0206] In the cleaning device 1000 of the embodiment of the present application, the power system 20 switches between a first state and a second state, and the dirt in the sewage channel 11 can enter and be stored in the accommodating chamber 31. The liquid and dirt in the accommodating chamber 31 can also be discharged to the outside of the water system 100 through the sewage channel 11. In the case of an external liquid cleaning sewage tank 30, the liquid in the accommodating chamber 31 can flow through the sewage channel 11, the liquid can clean the sewage channel 11, and the liquid can carry the dirt in the sewage link 10 to be discharged to the outside of the water system 100. Compared with the current water system 100, the sewage link 10 in the water system 100 of the present application has a higher cleaning efficiency, the sewage link 10 will not accumulate a lot of dirt, and the sewage link 10 does not need to be manually cleaned, so the user experience is better.

[0207] Please refer to Figures 18 and 19. In the fourth aspect, the embodiment of the present application further provides a base station 3000, which includes a main body 3001 and a force-applying member 3003. The force-applying member 3003 is installed on the main body 3001. The force-applying member 3003 is used to cooperate with the sewage discharge member 50. When the external force applied by the force-applying member 3003 to the outside of the sewage discharge member 50 changes, the sewage discharge member 50 can switch between a non-sewage discharge state and a sewage discharge state.

[0208] The base station 3000 is used to maintain, service, and charge the cleaning device 1000. For example, the base station 3000 has a docking station where the cleaning device 1000 can dock to facilitate cleaning of the mopping element 203 of the cleaning device 1000. The base station 3000 can also charge the cleaning device 1000. Furthermore, the base station 3000 may also have at least one of the following functions: water replenishment, drainage, and dust collection for the cleaning device 1000. If the mopping element 203 of the cleaning device 1000 is dirty and / or low on power, the cleaning device 1000 can return to the base station 3000 to clean it and / or charge it. Once the mopping element 203 of the cleaning device 1000 is clean and / or fully charged, the cleaning device 1000 can leave the base station 3000 and continue cleaning the surface to be cleaned.

[0209] In one embodiment, when the cleaning device 1000 enters the base station 3000 and the cleaning device 1000 needs to discharge waste, the force-applying member 3003 applies an external force to the side wall of the waste-discharging member 50, thereby switching the waste-discharging member 50 from a non-discharging state to a discharging state. The waste in the accommodating chamber 31 can flow into the base station 3000 from the waste-discharging port 511. In another embodiment, when the cleaning device 1000 enters the base station 3000 and the cleaning device 1000 needs to discharge waste, the force-applying member 3003 cancels the external force applied to the side wall of the waste-discharging member 50, thereby switching the waste-discharging member 50 from a non-discharging state to a discharging state. The waste in the accommodating chamber 31 can flow into the base station 3000 from the waste-discharging port 511.

[0210] After entering the base station 3000, the cleaning device 1000 comes into contact with the tray of the main body 3001. Preferably, the force-applying member 3003 can be mounted on the tray, and the force-applying member 3003 and the tray can be detachably or non-detachably connected. When the force-applying member 3003 is mounted on the tray, the force-applying member 3003 can be easily mated with the waste removal member 50.

[0211] 1 and 10 , in some embodiments, the height of the sewage outlet 511 of the sewage discharge member 50 when the sewage discharge member 50 is in the sewage discharge state is lower than the height of the sewage outlet 511 when the sewage discharge member 50 is in the non-sewage discharge state.

[0212] The sewage discharge member 50 is rotatable relative to the sewage tank 30. During this rotation, the height of the sewage outlet 511 can be adjusted in the height direction H of the sewage tank 30. When the cleaning module 200 is cleaning the surface to be cleaned, the sewage discharge member 50 can be rotated in a first direction relative to the sewage tank 30 under the action of an external force, thereby raising the height of the sewage outlet 511 and preventing waste from flowing out of the sewage outlet 511. In this state, the sewage discharge member 50 is in a non-discharge state. When the cleaning module 200 needs to discharge waste, the sewage discharge member 50 can be rotated in a second direction relative to the sewage tank 30 under the action of an external force, thereby lowering the height of the sewage outlet 511 and allowing waste in the drainage channel 51 to flow out of the drainage channel 51. In this state, the sewage discharge member 50 is in a drainage state. Rotating the sewage discharge member 50 switches between the drainage and non-discharge states, ensuring smoother flow of waste through the drainage channel 51 and preventing blockage within the drainage channel 51.

[0213] 20 to 22 , in some embodiments, the force applying member 3003 includes a guide portion 3005 and a mounting portion 3007. The guide portion 3005 has a guide surface 3006 that mates with the mating surface 531. The mounting portion 3007 is connected to the main body 3001.

[0214] Specifically, the mounting portion 3007 is used to connect the force member 3003 to the main body 3001 so that the force member 3003 is firmly mounted on the main body 3001. In one embodiment, after the cleaning device 1000 enters the base station 3000, the guide surface 3006 cooperates with the mating surface 531 (as shown in Figure 20). The guide portion 3005 transmits the external force to the sewage discharge member 50 through the guide surface 3006, so that the sewage discharge member 50 can rotate along the first direction (as shown in Figure 21). The sewage discharge member 50 switches from the non-sewage discharge state to the sewage discharge state, and the dirt in the accommodating cavity 31 flows into the base station 3000 from the sewage outlet 511 (as shown in Figure 22). When the cleaning module 200 leaves the base station 3000, the force member 3003 is spaced apart from the sewage discharge member 50, that is, the guide surface 3006 is spaced apart from the mating surface 531. When the external force on the sewage discharge member 50 disappears, the reset member 70 can drive the sewage discharge member 50 to rotate along the second direction, and the sewage discharge member 50 switches from the sewage discharge state to the non-sewage discharge state.

[0215] In another embodiment, after the cleaning device 1000 enters the base station 3000, when the cleaning module 200 moves to the second relative position relative to the fuselage 300, the force-applying member 3003 cooperates with the sewage discharge member 50, that is, the guide surface 3006 cooperates with the mating surface 531 (as shown in Figure 20). The guide portion 3005 transmits the external force to the sewage discharge member 50 through the guide surface 3006, so that the sewage discharge member 50 can rotate in the first direction (as shown in Figure 21). The sewage discharge member 50 switches from the non-discharge state to the sewage discharge state, and the dirt in the accommodating cavity 31 flows into the base station 3000 from the sewage outlet 511 (as shown in Figure 22). When the cleaning module 200 moves to the first relative position relative to the fuselage 300, the force-applying member 3003 is spaced from the sewage discharge member 50, that is, the guide surface 3006 is spaced from the mating surface 531. When the external force on the sewage discharge member 50 disappears, the reset member 70 can drive the sewage discharge member 50 to rotate along the second direction, and the sewage discharge member 50 switches from the sewage discharge state to the non-sewage discharge state.

[0216] In another embodiment, after the cleaning device 1000 enters the base station 3000, the force-applying member 3003 can be moved relative to the main body 3001 to a position corresponding to the sewage discharge member 50, so that the force-applying member 3003 can cooperate with the sewage discharge member 50, that is, the guide surface 3006 cooperates with the mating surface 531 (as shown in Figure 20). The guide portion 3005 transmits the external force to the sewage discharge member 50 through the guide surface 3006, so that the sewage discharge member 50 can rotate along the first direction (as shown in Figure 21). The sewage discharge member 50 switches from a non-sewage discharge state to a sewage discharge state, and the dirt in the accommodating cavity 31 flows into the base station 3000 from the sewage outlet 511 (as shown in Figure 22). When the cleaning module 200 moves to the first relative position relative to the fuselage 300, the force-applying member 3003 is spaced from the sewage discharge member 50, that is, the guide surface 3006 is spaced from the mating surface 531. When the external force on the waste discharge member 50 disappears, the reset member 70 can drive the waste discharge member 50 to rotate in the second direction, and the waste discharge member 50 switches from the waste discharge state to the non-waste discharge state. In the embodiment of the present application, after the cleaning device 1000 enters the base station 3000 and the cleaning module 200 moves to the second relative position relative to the body 300, the force-applying member 3003 cooperates with the waste discharge member 50.

[0217] 20 to 22 , in some embodiments, the main body 3001 includes a bottom wall and side walls extending from the bottom wall. The distance between the guide surface 3006 and the bottom wall gradually decreases along the width of the main body 3001 and in a direction close to the side walls.

[0218] In the height direction H of the sewage tank 30, after the cleaning device 1000 enters the base station 3000, the force-applying member 3003 is higher than the sewage discharge member 50. The guide surface 3006 is provided on the bottom surface of the guide portion 3005. When the sewage discharge member 50 is in the sewage discharge state, the mating surface 531 is located on the top surface of the sewage discharge member 50. The guide surface 3006 is an inclined surface facing the side wall, and the bottom wall is a horizontal surface. In the direction close to the side wall, the distance between the guide surface 3006 and the bottom wall gradually decreases. During the process of the cleaning module 200 moving to the second relative position relative to the fuselage 300, the guide surface 3006 and the mating surface 531 begin to mate (as shown in Figure 20). At this time, the angle between the mating surface 531 and the bottom to top direction of the sewage tank 30 can range from [0°, 90°]. During the process of the guide surface 3006 and the mating surface 531 mating, the angle between the mating surface 531 and the bottom to top direction of the sewage tank 30 gradually increases (as shown in Figure 21). After the cleaning module 200 moves to the second relative position relative to the body 300, the mating surface 531 mates with the lowest point of the guide surface 3006. At this point, the angle between the mating surface 531 and the height direction H of the sewage tank 30 can be greater than or equal to 90° (as shown in Figure 22). During the mating process between the guide surface 3006 and the mating surface 531, the sewage outlet 511 begins to rotate in the first direction. In the height direction H of the sewage tank 30, the height of the sewage outlet 511 gradually decreases. When the mating surface 531 mates with the lowest point of the guide surface 3006, the angle between the extension direction of the central axis of the sewage outlet 511 away from the sewage inlet 513 of the sewage discharge member 50 and the height direction from the bottom to the top of the sewage tank 30 is greater than or equal to 90°. At this point, the sewage discharge member 50 switches to the sewage discharge state, and the waste in the accommodating chamber 31 can flow into the base station 3000 through the sewage outlet 511.

[0219] Referring to Figures 20 to 22 , in certain embodiments, the main body 3001 includes a bottom wall and sidewalls extending therefrom. The distance between the guide surface 3006 and the bottom wall gradually decreases as the cleaning module 200 enters the main body 3001. As the cleaning device 1000 enters the base station 3000, the guide surface 3006 guides the mating surface 531 in the direction in which the cleaning module 200 enters the main body 3001, thereby further accelerating the rotation of the waste discharge member 50 in the first direction, allowing waste in the accommodating chamber 31 to be quickly discharged into the base station 3000.

[0220] Referring to Figures 10, 23, and 24, in some embodiments, the cleaning module 200 further includes a clamping member 91; a force-applying member 3003 is configured to apply an external force to the drainage member 50 via the clamping member 91, thereby placing the drainage channel 51 in an open or closed state. Specifically, in some embodiments, when the force-applying member 3003 applies an external force to the sidewall of the drainage member 50 via the clamping member 91, the drainage channel 51 is closed; when the external force applied by the force-applying member 3003 to the drainage member 50 via the clamping member 91 disappears, the drainage channel 51 is opened.

[0221] The sidewalls of the sewage discharge member 50 may deform under external forces. When the sewage discharge passage 51 is open, the sewage discharge member 50 is in a sewage discharge state. When the sewage discharge passage 51 is closed, the sewage discharge member 50 is not in a sewage discharge state. The height of the sewage outlet 511 relative to the sewage tank 30 when the sewage discharge member 50 is in the sewage discharge state is the same as when the sewage discharge member 50 is not in the sewage discharge state.

[0222] The clamping member 91 is configured to cooperate with the force-applying member 3003. The force-applying member 3003 applies an external force to the clamping member 91, thereby applying an external force to the waste discharge member 50 to maintain the drain channel 51 in a closed state. When the cleaning module 200 is cleaning the surface to be cleaned, the clamping member 91 can continue to apply an external force to the waste discharge member 50, thereby preventing waste in the receiving chamber 31 from flowing out of the waste discharge port 511 onto the surface to be cleaned. After the equipment module enters the base station 3000, the force-applying member 3003 can remove the external force applied by the clamping member 91 to the waste discharge member 50, allowing waste to flow into the base station 3000 through the waste discharge port 511. After the cleaning module 200 completes waste discharge, the force-applying member 3003 can apply an external force to the clamping member 91, thereby applying an external force to the waste discharge member 50 to maintain the drain channel 51 in a closed state.

[0223] Please refer to Figures 23 and 24. In one embodiment, when the cleaning device 1000 enters the base station 3000, the force-applying member 3003 cooperates with the clamping member 91. The force-applying member 3003 can cancel the external force of the clamping member 91 on the sewage discharge member 50, and the sewage discharge member 50 is in a natural state, so that the sewage discharge channel 51 is in a conductive state, the sewage discharge member 50 is in a sewage discharge state, and sewage can flow out of the sewage outlet 511. At this time, the cross-sectional area of ​​the sewage discharge channel 51 is large, and sewage can flow out of the sewage discharge channel 51 quickly. When the cleaning device 1000 completes sewage discharge, the force-applying member 3003 can apply pressure to the side wall of the sewage discharge member 50 through the clamping member 91, and the sewage discharge member 50 is deformed, so that the sewage discharge channel 51 is in a closed state, the sewage discharge member 50 is in a non-sewage discharge state, and the sewage in the accommodating chamber 31 cannot be discharged from the sewage outlet 511.

[0224] In another embodiment, after the cleaning device 1000 enters the base station 3000, the cleaning module 200 moves to a second relative position relative to the main body 300, and the force-applying member 3003 engages with the clamping member 91. The force-applying member 3003 can remove the external force exerted by the clamping member 91 on the waste discharge member 50, causing the waste discharge member 50 to be in a natural state, thereby opening the waste discharge channel 51 and discharging the waste discharge member 50, allowing waste to flow out of the waste discharge port 511. In yet another embodiment, after the cleaning device 1000 enters the base station 3000, the force-applying member 3003 can move relative to the main body 3001 to a position corresponding to the waste discharge member 50, thereby engaging with the clamping member 91. The force applying member 3003 can cancel the external force of the clamping member 91 on the sewage discharge member 50 , and the sewage discharge member 50 is in a natural state, so that the sewage discharge channel 51 is in a conducting state, the sewage discharge member 50 is in a sewage discharge state, and sewage can flow out from the sewage outlet 511 .

[0225] Please refer to Figures 10, 23 and 24. In some embodiments, the base station 3000 further includes a driving structure, which is connected to the force-applying member 3003. The driving structure is used to drive the force-applying member 3003 to apply an external force to the sewage discharge member 50 or cancel the applied external force. When the cleaning device 1000 enters the base station 3000 and the cleaning module 200 needs to discharge sewage, the driving member 80 drives the force-applying member 3003 to cancel the external force applied to the sewage discharge member 50 by the clamping member 91, so that the sewage discharge channel 51 is in a conductive state. After the cleaning module 200 completes sewage discharge, the driving member 80 drives the force-applying member 3003 to apply an external force to the side wall of the sewage discharge member 50 through the clamping member 91, so that the sewage discharge channel 51 is in a closed state.

[0226] In some embodiments, the base station 3000 further includes a position detection unit and a processing unit. The position detection unit is configured to detect the position of the cleaning module 200 relative to the body 300 of the cleaning device 1000 or the base station 3000. The processing unit is configured to determine, based on the detection information from the position detection unit, whether the position of the cleaning module 200 relative to the body 300 or the base station 3000 satisfies a predetermined condition, and to control the operation of the driving unit based on the determination result.

[0227] The position detection unit and the processing unit here may have the same structure as the position detection unit and the processing unit of the first aspect, or they may have different structures from the position detection unit and the processing unit of the first aspect.

[0228] In one embodiment, when the position detection unit detects that the cleaning module 200 has entered the base station 3000, the position detection unit transmits the detection information to the processing unit. When the processing unit determines that the position of the cleaning module 200 relative to the base station 3000 satisfies a predetermined condition, the processing unit controls the drive unit to drive the force-applying member 3003 to operate, so that the force-applying member 3003 cancels the external force applied by the clamping member 91 to the waste discharge member 50. When the position detection unit detects that the cleaning module 200 is about to leave the base station 3000, the position detection unit transmits the detection information to the processing unit. The processing unit controls the drive unit to drive the force-applying member 3003 to operate, so that the force-applying member 3003 applies an external force to the clamping member 91, thereby the clamping member 91 applies an external force to the waste discharge member 50.

[0229] In another embodiment, when the position detection unit detects that the cleaning module 200 moves to the second relative position relative to the body 300, the position detection unit transmits the detection information to the processing unit. When the processing unit determines that the cleaning module 200 is in the second relative position, the processing unit controls the driving unit to drive the force-applying member 3003 to work, so that the force-applying member 3003 cancels the external force applied by the clamping member 91 to the sewage discharge member 50. When the position detection unit detects that the cleaning module 200 moves to the first relative position relative to the body 300, the position detection unit transmits the detection information to the processing unit. When the processing unit determines that the cleaning module 200 is in the first relative position, the processing unit controls the driving unit to drive the force-applying member 3003 to work, and the force-applying member 3003 applies an external force to the clamping member 91, so that the clamping member 91 applies an external force to the sewage discharge member 50.

[0230] Please refer to Figure 25. In the fifth aspect, the embodiment of the present application further provides a cleaning system 10000. The cleaning system 10000 includes the cleaning device 1000 of the above embodiment and the base station 3000 of the above embodiment. The base station 3000 is used to maintain the returning cleaning device 1000.

[0231] In the cleaning system 10000 of the embodiment of the present application, the power system 20 switches between a first state and a second state, and the dirt in the sewage channel 11 can enter and be stored in the accommodating chamber 31. The liquid and dirt in the accommodating chamber 31 can also be discharged to the outside of the water system 100 through the sewage channel 11. In the case of an external liquid cleaning sewage tank 30, the liquid in the accommodating chamber 31 can flow through the sewage channel 11, the liquid can clean the sewage channel 11, and the liquid can carry the dirt in the sewage link 10 to be discharged to the outside of the water system 100. Compared with the current water system 100, the sewage link 10 in the water system 100 of the present application has a higher cleaning efficiency, the sewage link 10 will not accumulate a lot of dirt, and the sewage link 10 does not need to be manually cleaned, so the user experience is better.

[0232] Please refer to Figures 1, 17 and 25. In some embodiments, the cleaning system 10000 also includes a clean water tank, which is disposed at at least one of the main body 201, the fuselage 300 and the base station 3000. The clean water tank is connected to the inlet 331 of the sewage tank 30 and is used to store cleaning liquid.

[0233] The cleaning liquid referred to herein is the same as the "liquid" mentioned above, and includes clean water, cleaning liquid, or a mixture of clean liquid and water. In one embodiment, the clean water tank is located within the main body 201 of the cleaning module 200. This clean water tank has the same structure as the clean water tank described in the second aspect and will not be described in detail here. In another embodiment, the clean water tank is located within the main body 300 of the cleaning module 200. This clean water tank has the same structure as the clean water tank described in the third aspect and will not be described in detail here.

[0234] In another embodiment, a clean water tank is installed at the base station 3000. The clean water tank on the base station 3000 can spray cleaning liquid to clean the cleaning device 1000 and is also used to replenish the clean water tank of the cleaning device 1000. When the sewage tank 30 needs to be cleaned, the cleaning device 1000 returns to the base station 3000, and the clean water tank installed at the base station 3000 is used to supply cleaning liquid to the sewage tank 30. The clean water tank is connected to the inlet 331. The cleaning liquid in the clean water tank enters the channel 33 through the inlet 331 and is sprayed toward the inner wall of the sewage tank 30 through the outlet 35 to clean the sewage tank 30. When the liquid and dirt in the sewage tank 30 flow out of the connecting pipe 13, the sewage channel 11, and the sewage outlet 511, the cleaning liquid is also used to clean the connecting pipe 13, the sewage channel 11, and the sewage discharge member 50.

[0235] Please refer to Figures 1, 17 and 25. In some embodiments, the base station 3000 is provided with a third air pump; when the dirt in the accommodating cavity 31 is discharged from the sewage tank 30, the third air pump is used to pump air into the accommodating cavity 31 through the inlet 331 or the second air hole of the sewage tank 30.

[0236] When the third air pump pumps air into the accommodating chamber 31 through the inlet 331, the third air pump is connected to the inlet 331. Gas enters the channel 33 from the inlet 331 and enters the accommodating chamber 31 through the multiple outlet holes 35, thereby increasing the air pressure in the accommodating chamber 31. When the third air pump pumps air into the accommodating chamber 31 through the second air hole (the second air hole here has the same structure as the second air hole in the second aspect, and the second air hole is opened in the sewage tank 30), the third air pump is connected to the second air hole and pumps air into the accommodating chamber 31 through the second air hole.

[0237] When the liquid dissolves the dirt on the inner wall of the sewage tank 30, the third air pump can pump air into the accommodating chamber 31 through the inlet 331 or the second air hole. When the third air pump pumps air into the accommodating chamber 31 through the inlet 331, the air enters the channel 33 and enters the accommodating chamber 31 through the outlet 35, increasing the air pressure within the accommodating chamber 31. When the third air pump pumps air into the accommodating chamber 31 through the inlet 331 or the second air hole, the air pressure within the accommodating chamber 31 is greater than the air pressure outside the accommodating chamber 31. As a result, the liquid within the accommodating chamber 31 can flow out of the sewage tank 30 through the opening 32, carrying the dirt with it. Furthermore, when the third air pump pumps air into the accommodating chamber 31, the liquid and dirt within the accommodating chamber 31 are completely discharged out of the sewage tank 30, leaving no residual liquid or dirt inside the sewage tank 30, thereby achieving a better cleaning effect.

[0238] When the first air pump 60 is used to extract gas from the accommodating chamber 31 and the third air pump is used to pump air into the accommodating chamber 31, when dirt needs to be discharged from the sewage tank 30, the third air pump can be quickly started and pump air into the accommodating chamber 31. The first air pump 60 does not need to switch from the air extraction state to the air pumping state. The use of the third air pump can save time in the switching process, so that liquid and dirt can be quickly discharged from the opening 32 to the outside of the sewage tank 30. In addition, the division of labor between the first air pump 60 and the third air pump is clear, and the service life of the first air pump 60 and the third air pump is long. Since the third air pump is set at the base station 3000, the weight of the cleaning device 1000 is lighter, and when cleaning the surface to be cleaned, the cleaning device 1000 is easier to move.

[0239] Referring to FIG. 1 , FIG. 2 , FIG. 3 and FIG. 26 , in a sixth aspect, an embodiment of the present application further provides a method for cleaning a waterway system. The cleaning method is applied to the waterway system 100 of the above embodiment, and the cleaning method includes:

[0240] 01: The power system 20 is in the first state, and waste enters the accommodating chamber 31 through the wastewater channel 11; and

[0241] 03: The power system 20 is in the second state, and the waste in the accommodating chamber 31 is discharged to the outside of the water system 100 through the sewage channel 11.

[0242] Specifically, when the cleaning module 200 is cleaning the surface to be cleaned, the scraping member 15 scrapes dirt from the wiping member 203, and the power system 20 is in the first state. Dirt from the wiping member 203 enters the sewage channel 11 and, through the connecting pipe 13, enters the accommodating chamber 31. In this case, the cleaning module 200 may include a controller. When the scraping member 15 scrapes dirt from the wiping member 203, the controller controls the power system 20 to be in the first state. The electronic control component of the power system 20 activates the first air pump 60, which then pumps air from the accommodating chamber 31. Since the connecting pipe 13 and the sewage channel 11 are both connected to the accommodating chamber 31, when the first air pump 60 extracts the gas in the accommodating chamber 31, the gas in the connecting pipe 13 and the sewage channel 11 is also extracted by the first air pump 60, so that the connecting pipe 13, the sewage channel 11 and the accommodating chamber 31 are all under negative pressure. The dirt entering the sewage channel 11 can be squeezed into the connecting pipe 13 and flows from the connecting pipe 13 into the accommodating chamber 31, and the dirt is stored in the accommodating chamber 31.

[0243] When the cleaning module 200 needs to discharge sewage, the controller can control the power system 20 to be in the second state, and the electronic control component of the power system 20 can control the first air pump 60 to pump air into the accommodating chamber 31, or the controller can control the accommodating chamber 31 to be connected with the outside world, so that the dirt in the accommodating chamber 31 can enter the connecting pipe 13 through the opening 32 and flow out from the sewage channel 11 to the outside of the sewage link 10.

[0244] When external liquid is cleaning the sewage tank 30 and the liquid and waste in the chamber 31 need to be drained, the controller can control the power system 20 to enter the second state. The power system 20's electronic control components can control the first air pump 60 to pump air into the chamber 31, or the controller can control the chamber 31 to connect to the outside world. This allows the liquid and waste in the chamber 31 to enter the connecting pipe 13 through the opening 32 and flow out of the sewage channel 11 to the outside of the sewage chain 10. As the liquid passes through the connecting pipe 13 and the sewage channel 11, it flushes them and carries waste out of the sewage chain 10. When the external liquid cleans the sewage tank 30, it also cleans the connecting pipe 13 and the sewage channel 11, preventing dirt from accumulating therein and keeping them relatively clean.

[0245] Referring to FIG. 1 , FIG. 2 and FIG. 27 , in certain embodiments, 03: the waste in the receiving chamber 31 is discharged to the outside of the waterway system 100 through the sewage channel 11 , including:

[0246] 031: The cleaning liquid enters the receiving chamber 31 through the inlet 331 of the sewage tank 30;

[0247] 033: Soak the receiving chamber 31 with cleaning liquid for a predetermined period of time; and

[0248] 035: The dirt in the accommodating chamber 31 passes through the connecting pipe 13 and the sewage channel 11 of the sewage link 10 and is discharged to the outside of the sewage link 10.

[0249] When the sewage tank 30 needs cleaning, cleaning liquid enters the receiving chamber 31 through the inlet 331 to clean the inner wall of the sewage tank 30. The cleaning liquid flows through various locations on the inner wall of the sewage tank 30, carrying dirt from the inner wall with it and flowing out of the sewage tank 30. This keeps the sewage tank 30 relatively clean and eliminates the need for manual cleaning. After the cleaning liquid enters the receiving chamber 31, it soaks in the receiving chamber 31 for a predetermined period of time, dissolving stubborn dirt on the inner wall of the sewage tank 30 and achieving a more effective cleaning effect. The predetermined period of time refers to the time required for the cleaning liquid to fully dissolve dirt on the inner wall of the sewage tank 30. This predetermined period of time is the time from the moment the cleaning liquid fills the receiving chamber 31 to the moment the liquid and dirt begin to drain from the sewage tank 30. For example, the predetermined period of time can be 3 minutes, 5 minutes, or 10 minutes. For example, if the predetermined time is 5 minutes, it takes 5 minutes for the cleaning liquid to fully dissolve the dirt on the inner wall of the dirty water tank 30. Also, it takes 5 minutes from the time the cleaning liquid fills the receiving chamber 31 to the time the liquid and dirt begin to drain from the dirty water tank 30.

[0250] After the cleaning liquid has been soaked in the receiving chamber 31 for a predetermined period of time, the liquid and dirt in the receiving chamber 31 flow out of the opening 32 and into the connecting pipe 13 and the sewage channel 11, where the liquid cleans the connecting pipe 13 and the sewage channel 11. When the cleaning liquid that has soaked the receiving chamber 31 flows out of the opening 32, the water pressure of the cleaning liquid flowing out of the opening 32 is relatively high, which is conducive to the cleaning of the connecting pipe 13 and the sewage channel 11 by the cleaning liquid, and the cleaning effect of the cleaning liquid on the connecting pipe 13 and the sewage channel 11 is better. After cleaning the connecting pipe 13 and the sewage channel 11, the liquid and dirt flow into the sewage discharge part 50. At this time, the sewage discharge part 50 is in a sewage discharge state, and the liquid and dirt flow out of the sewage discharge channel 51 to the outside of the cleaning module 200.

[0251] Referring to FIG. 5 , FIG. 6 , FIG. 7 and FIG. 28 , in certain embodiments, 031 : introducing the cleaning liquid into the receiving chamber 31 through the inlet 331 , including:

[0252] 0313: The cleaning liquid enters the channel 33 of the sewage tank 30 through the inlet 331 and is sprayed from the outlet 35 of the sewage tank 30 toward the inner side wall of the sewage tank 30 in a direction away from the center of the cross section of the sewage tank 30; and

[0253] 0315: The cleaning liquid flows down along the inner wall of the accommodating chamber 31 and is stored in the accommodating chamber 31.

[0254] Please refer to FIG. 5 , FIG. 6 , FIG. 7 and FIG. 28 . In certain embodiments, 031 : the cleaning liquid enters the receiving chamber 31 through the inlet 331 , and further includes:

[0255] 0311: Extract the cleaning liquid from the clean water tank and allow the cleaning liquid to enter the channel 33 from the inlet 331.

[0256] Because the outlet 35 is provided at the top of the sewage tank 30, when the cleaning liquid is sprayed from the outlet 35 toward the inner sidewall of the top of the sewage tank 30 in a direction away from the center of the cross section of the sewage tank 30, the cleaning liquid flows down along the inner sidewall of the sewage tank 30 due to gravity. As the cleaning liquid flows down along the inner sidewall of the sewage tank 30 from the top of the sewage tank 30, the cleaning liquid can flush various locations on the inner sidewall of the sewage tank 30.

[0257] In one embodiment, when the sewage tank 30 needs to be cleaned, a clean water tank located within the main body 201 provides cleaning liquid to the sewage tank 30. The clean water tank may be equipped with a water pump. When the sewage tank 30 needs to be cleaned, a controller may activate the water pump, which draws cleaning liquid from the clean water tank, allowing the cleaning liquid to enter the channel 33 through the inlet 331. The cleaning liquid is then sprayed from the outlet 35 toward the inner sidewall of the sewage tank 30, away from the cross-sectional center of the sewage tank 30. The cleaning liquid that enters the accommodating chamber 31 is stored there, soaking the accommodating chamber 31.

[0258] In another embodiment, when the sewage tank 30 needs to be cleaned, a clean water tank located in the main body 300 of the cleaning device 1000 provides cleaning liquid to the sewage tank 30. The clean water tank may be equipped with a water pump. When the sewage tank 30 needs to be cleaned, the clean water tank is connected to the inlet 331. A controller may activate the water pump, which pumps cleaning liquid from the clean water tank, allowing the cleaning liquid to enter the channel 33 through the inlet 331. The cleaning liquid may be sprayed from the outlet 35 toward the inner sidewall of the sewage tank 30 in a direction away from the cross-sectional center of the sewage tank 30. The cleaning liquid entering the receiving chamber 31 is stored therein, soaking the receiving chamber 31.

[0259] In another embodiment, when the sewage tank 30 needs to be cleaned, a clean water tank located at the base station 3000 provides cleaning liquid to the sewage tank 30. The clean water tank may be equipped with a water pump. When the sewage tank 30 needs to be cleaned, the clean water tank is connected to the inlet 331. The controller of the cleaning module 200 or the controller of the base station 3000 can activate the water pump, which draws cleaning liquid from the clean water tank, allowing the cleaning liquid to enter the channel 33 through the inlet 331. The cleaning liquid can be sprayed from the outlet 35 toward the inner sidewall of the sewage tank 30 in a direction away from the cross-sectional center of the sewage tank 30. The cleaning liquid entering the accommodating chamber 31 is stored therein, soaking the accommodating chamber 31.

[0260] In another embodiment, when the sewage tank 30 needs to be cleaned, an external water source provides cleaning liquid to the sewage tank 30. The external water source may be provided with a water pump. When the sewage tank 30 needs to be cleaned, the external water source is connected to the inlet 331. A controller activates the water pump, which draws cleaning liquid from the external water source, allowing the cleaning liquid to enter the channel 33 through the inlet 331. The cleaning liquid can be sprayed from the outlet 35 toward the inner sidewall of the sewage tank 30 in a direction away from the cross-sectional center of the sewage tank 30. The cleaning liquid entering the accommodating chamber 31 is stored therein, soaking the accommodating chamber 31.

[0261] Referring to FIG. 1 , FIG. 2 , FIG. 5 and FIG. 29 , in certain embodiments, 033 : soaking the receiving chamber 31 with a cleaning liquid for a predetermined period of time includes:

[0262] 0331: The first air pump 60 of the power system 20 is used to extract the gas in the accommodating chamber 31 so that the cleaning liquid is stored in the accommodating chamber 31.

[0263] In one embodiment, when the sewage tank 30 needs to be cleaned, the controller first activates the water pump to pump cleaning liquid into the channel 33, causing the cleaning liquid to be sprayed from the outlet 35 toward the inner sidewall of the sewage tank 30 in a direction away from the cross-sectional center of the sewage tank 30. The controller then activates the first air pump 60, which draws air from the accommodating chamber 31 through the first air hole 34, reducing the air pressure inside the accommodating chamber 31 to a lower level than the air pressure outside the accommodating chamber 31. This allows the cleaning liquid to be stored in the accommodating chamber 31 and soak the inner sidewall of the sewage tank 30.

[0264] In another embodiment, when the sewage tank 30 needs to be cleaned, the controller first activates the first air pump 60, which draws air from the accommodating chamber 31 through the first air hole 34. The controller then activates the water pump to pump cleaning liquid into the channel 33. The cleaning liquid is then sprayed from the outlet 35 toward the inner wall of the sewage tank 30, away from the cross-sectional center of the sewage tank 30. Because the air pressure inside the accommodating chamber 31 is lower than the air pressure outside the accommodating chamber 31, the cleaning liquid is stored in the sewage tank 30 and soaks the inner wall of the sewage tank 30.

[0265] Referring to FIG. 1 , FIG. 2 , FIG. 5 and FIG. 30 , in certain embodiments, 035 : the waste in the receiving chamber 31 is discharged outside the sewage link 10 through the connecting pipe 13 and the sewage channel 11 of the sewage link 10 , including:

[0266] 0351: Use the air pump assembly 60 of the power system 20 to pump air into the accommodating chamber 31, so that the liquid and dirt in the accommodating chamber 31 are discharged to the outside of the sewage link 10.

[0267] In one embodiment, after the cleaning liquid has soaked the receiving chamber 31 for a predetermined period of time, the liquid and dirt within the receiving chamber 31 need to be discharged from the sewage tank 30. At this point, the controller can control the first air pump 60 to switch from extracting gas from the receiving chamber 31 to pumping air into the receiving chamber 31. The first air pump 60 pumps air into the receiving chamber 31 through the first air hole 34 or the second air hole, thereby increasing the air pressure within the receiving chamber 31 to be greater than the air pressure outside the receiving chamber 31. This allows the liquid and dirt within the receiving chamber 31 to pass through the connecting pipe 13 and the sewage channel 11 and be discharged from the sewage channel 51 to the outside of the cleaning module 200. When the first air pump 60 pumps air into the receiving chamber 31, the water pressure of the liquid and dirt flowing from the receiving chamber 31 into the connecting pipe 13 and the sewage channel 11 is higher, thereby achieving a better cleaning effect of the liquid on the connecting pipe 13 and the sewage channel 11.

[0268] In another embodiment, after the cleaning liquid has soaked the receiving chamber 31 for a predetermined period of time, the liquid and dirt within the receiving chamber 31 need to be discharged from the sewage tank 30. At this point, the controller can activate the second air pump, which pumps air into the receiving chamber 31 through the second air hole, increasing the air pressure within the receiving chamber 31 to a greater value than the air pressure outside the receiving chamber 31. This allows the liquid and dirt within the receiving chamber 31 to pass through the connecting pipe 13 and the sewage channel 11 and be discharged from the cleaning module 200 through the sewage outlet 511. When the second air pump pumps air into the receiving chamber 31, the water pressure of the liquid and dirt flowing from the receiving chamber 31 into the connecting pipe 13 and the sewage channel 11 is higher, resulting in a better cleaning effect of the liquid on the connecting pipe 13 and the sewage channel 11.

[0269] Referring to FIG. 1 , FIG. 10 , FIG. 15 , FIG. 16 and FIG. 31 , in certain embodiments, 0351 : discharging the liquid and waste in the receiving chamber 31 to the outside of the sewage link 10 , includes:

[0270] 03511: When the cleaning device 1000 moves to the designated sewage discharge position, the sewage discharge component 50 is controlled to switch to the sewage discharge state; and 03515: When the cleaning device 1000 completes sewage discharge, the sewage discharge component 50 is controlled to switch to the non-sewage discharge state.

[0271] When the cleaning device 1000 moves to the designated sewage discharge position, the driving member 80 or the driving unit controls the sewage discharge member 50 to switch from the non-sewage discharge state to the sewage discharge state. The sewage in the receiving chamber 31 flows through the connecting pipe 13 and the sewage channel 11, enters the sewage discharge channel 51 from the sewage inlet 513, and is finally discharged from the sewage discharge port 511 to the outside of the cleaning device 1000. When the cleaning device 1000 completes sewage discharge, the driving member 80 or the driving unit controls the sewage discharge member 50 to switch from the sewage discharge state to the non-sewage discharge state, so that the sewage in the receiving chamber 31 cannot be discharged from the sewage discharge port 511 to the outside of the cleaning device 1000.

[0272] Referring to Figures 1, 10, and 32, in certain embodiments, the sewage discharge member 50 can rotate relative to the sewage tank 30 to switch between a non-discharge state and a sewage discharge state. When the sewage discharge member 50 is in the sewage discharge state, the height of the sewage discharge port 511 is lower than when the sewage discharge member 50 is in the non-discharge state. 03511: When the cleaning device 1000 moves to the designated sewage discharge position, controlling the sewage discharge member 50 to switch to the sewage discharge state includes:

[0273] 03513: Control the sewage discharge member 50 to rotate relative to the sewage tank 30 along the first direction.

[0274] When the cleaning device 1000 needs to discharge sewage, the driving member 80 can drive the sewage discharge member 50 to rotate in a first direction relative to the sewage tank 30. The driving member 80 is connected to the force-bearing portion 53 of the sewage discharge member 50, and the driving member 80 applies an external force to the force-bearing portion 53, so that the sewage discharge member 50 can rotate in the first direction. In the height direction H of the sewage tank 130, the height of the sewage outlet 511 gradually decreases. When the sewage outlet 511 is lower than the sewage inlet 513, or the sewage outlet 511 is flush with the sewage inlet 513, the sewage discharge member 50 stops rotating. At this time, the sewage discharge member 50 switches from a non-discharge state to a discharge state. The sewage in the accommodating chamber 31 can pass through the connecting pipe 13, the sewage channel 11, and the sewage discharge channel 51, and be discharged from the sewage outlet 511 to the outside of the cleaning device 1000.

[0275] In another embodiment, when the cleaning device 1000 needs to discharge waste, when the cleaning device 1000 is docked at the base station docking position, the cleaning module of the cleaning device 1000 is controlled to move forward relative to the body of the cleaning device 1000 along the width direction of the body so that the cleaning module reaches a second relative position, so that the waste discharge member cooperates with the force-applying member of the base station 3000 to drive the waste discharge member to rotate along the first direction. In this way, the waste discharge member can be switched from a non-waste discharge state to a waste discharge state, thereby realizing waste discharge of the cleaning device 1000 at the base station 3000. Referring to Figures 1, 10 and 32, in some embodiments, 03515: When the cleaning device 1000 completes waste discharge, controlling the waste discharge member 50 to switch to a non-waste discharge state includes:

[0276] 03517: Control the sewage discharge member 50 to rotate relative to the sewage tank 30 along the second direction.

[0277] In one embodiment, when the cleaning device 1000 has completed sewage discharge, the driving member 80 can drive the sewage discharge member 50 to rotate in a second direction relative to the sewage tank 30. The driving member 80 is connected to the force-bearing portion 33 of the sewage discharge member 50, and the driving member 80 applies an external force to the force-bearing portion 53, thereby allowing the sewage discharge member 50 to rotate in the second direction. In the height direction H of the sewage tank 30, the height of the sewage discharge port 511 gradually increases. When the sewage discharge port 511 is higher than the sewage inlet 513, the sewage discharge member 50 stops rotating, and the sewage discharge member 50 switches from a sewage discharge state to a non-sewage discharge state. Dirt in the accommodating chamber 31 cannot be discharged from the sewage discharge port 511 to the outside of the cleaning device 1000.

[0278] In another embodiment, when the cleaning device 1000 has completed waste discharge, the driving member 80 removes the external force applied to the waste discharge member 50, and the reset member 70 can drive the waste discharge member 50 to rotate in the second direction. The height of the waste discharge port 511 gradually increases in the height direction H of the wastewater tank 30. When the waste discharge port 511 is higher than the waste inlet 513 and the reset member 70 returns to its normal state, the waste discharge member 50 stops rotating, switching from a waste discharge state to a non-waste discharge state. Waste within the accommodating chamber 31 cannot be discharged from the waste discharge port 511 to the exterior of the cleaning device 1000.

[0279] In another embodiment, when the cleaning device 1000 has completed waste discharge, the driving member 80 removes the external force applied to the waste discharge member 50, and the reset member 70 can drive the waste discharge member 50 to rotate in the second direction. Specifically, when the cleaning device 1000 is docked at the base station docking position, the cleaning module of the cleaning device 1000 is controlled to move in the opposite direction relative to the body of the cleaning device 1000 along the width direction of the body so that the cleaning module reaches the first relative position, thereby moving the waste discharge member 50 away from the force-applying member of the base station 3000 and rotating the waste discharge member 50 in the second direction. This switches the waste discharge member 50 from the waste discharge state to the non-waste discharge state, ensuring that waste in the wastewater tank 30 of the cleaning device 1000 does not flow out.

[0280] Please refer to FIG. 1 , FIG. 10 and FIG. 33 . In certain embodiments, 03511: when the cleaning device 1000 moves to a designated sewage discharge location, the steps include:

[0281] 03512: Cleaning device 1000 moves to the parking position of base station 3000;

[0282] 03513: Controlling the sewage discharge member 50 to rotate relative to the sewage tank 30 in a first direction, including:

[0283] 03514: Control the cleaning module 200 of the cleaning device 1000 to move in the positive direction relative to the body 300 of the cleaning device 1000 along the width direction of the body to reach a second relative position, so that the sewage discharge member 50 cooperates with the force-applying member 3003 of the base station 3000 to drive the sewage discharge member 50 to rotate along the first direction.

[0284] When the cleaning device 1000 needs to discharge waste, the cleaning device 1000 first moves to the parking position of the base station 3000, and the controller controls the cleaning module 200 to move to the second relative position relative to the fuselage 300. At this time, the waste discharge part 50 and the force-applying part 3003 begin to cooperate, and the waste discharge part 50 rotates along the first direction, so that waste can flow into the base station.

[0285] Please refer to FIG. 1 , FIG. 10 and FIG. 33 . In some embodiments, 03515: when the cleaning device 1000 completes the sewage discharge, the steps include:

[0286] 03516: Cleaning device 1000 moves away to the parking position of base station 3000;

[0287] 03517: Controlling the sewage discharge member 50 to rotate relative to the sewage tank 30 in the second direction, including:

[0288] 03518: Control the cleaning module 200 of the cleaning device 1000 to move in the opposite direction relative to the body 300 of the cleaning device 1000 along the width direction of the body 300 to reach a first relative position, so that the sewage discharge member 50 is away from the force-applying member 3003 of the base station 3000 to rotate the sewage discharge member 50 along the second direction.

[0289] When the cleaning device 1000 completes sewage discharge, the cleaning device 1000 first moves away from the parking position of the base station 3000, and the controller controls the cleaning module 200 to move to the first relative position relative to the fuselage 300. At this time, the sewage discharge part 50 is spaced from the force-applying part 3003, and the sewage discharge part 50 can rotate in the second direction. The sewage discharge part 50 is in a non-sewage discharge state.

[0290] Referring to Figures 15, 16, and 34, in certain embodiments, the drainage member 50 can be deformed when an external force is applied to the outside of the drainage channel 51 to switch between a non-draining state and a drainage state. When the drainage member 50 is in the drainage state, the drainage channel 51 is in an open state, and when the drainage member 50 is in the non-draining state, the drainage channel 51 is in a closed state. 03511: When the cleaning device 1000 moves to a designated drainage position, controlling the drainage member 50 to switch to the drainage state includes:

[0291] 03519: Control the sewage discharge channel 51 to be in the conductive state.

[0292] When cleaning device 1000 needs to discharge waste, the drive unit can drive the force-applying member 90 to change the external force applied to waste-discharge member 50. The force applied to waste-discharge member 50 can cause it to deform. The drive unit then drives the force-applying member 80 to remove the external force applied to waste-discharge member 50, returning waste-discharge member 50 to its natural state. This opens waste-discharge passage 51, and waste-discharge member 50 enters its waste-discharge state. Waste within chamber 31 can pass through connecting pipe 13, waste-water passage 11, and waste-discharge passage 51, and be discharged from waste-discharge port 511 to the exterior of cleaning device 1000.

[0293] Referring to FIG. 15 , FIG. 16 and FIG. 34 , in some embodiments, 03515: when the cleaning device 1000 completes sewage discharge, controlling the sewage discharge member 50 to switch to a non-sewage discharge state includes:

[0294] 03520: Control the sewage channel 51 to be in the closed state.

[0295] When the cleaning device 1000 has completed waste discharge, the drive unit can drive the force-applying member 90 to change the external force applied to the waste discharge member 50. The drive unit drives the force-applying member 90 to apply external force to the waste discharge member 50, causing the waste discharge member 50 to deform, thereby closing the waste discharge channel 51 and placing the waste discharge member 50 in a waste discharge state. Waste in the accommodating chamber 31 cannot be discharged from the waste discharge port 511 to the outside of the cleaning device 1000.

[0296] In the cleaning method of the cleaning module of the embodiment of the present application, the power system 20 switches between the first state and the second state, the dirt in the sewage channel 11 can enter and be stored in the accommodating chamber 31, and the liquid and dirt in the accommodating chamber 31 can also be discharged to the outside of the water system 100 through the sewage channel 11. In the case of external liquid cleaning of the sewage tank 30, the liquid in the accommodating chamber 31 can flow through the sewage channel 11, the liquid can clean the sewage channel 11, and the liquid can carry the dirt in the sewage link 10 to be discharged to the outside of the water system 100. Compared with the current water system 100, the sewage link 10 in the water system 100 of the present application has a higher cleaning efficiency, the sewage link 10 will not accumulate a lot of dirt, and the sewage link 10 does not need to be manually cleaned, so the user experience is better.

[0297] The technical features of the above-described embodiments may be combined in any manner. To simplify the description, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as there are no conflicts in the combination of these technical features, they should be considered to be within the scope of this specification. Furthermore, other implementations can be derived from the above-described embodiments, allowing for structural and logical substitutions and changes without departing from the scope of this disclosure.

[0298] 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. 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, all of which 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 waterway system, wherein: include: A sewage link, the sewage link comprising a sewage channel and a sewage tank, the sewage channel being used for sewage flow, the sewage tank having a receiving cavity, the receiving cavity being in communication with the sewage channel, the receiving cavity being used to store sewage from the sewage channel; and a power system, the power system being in communication with the sewage link, the power system being configured to switch between a first state and a second state; When the power system is in the first state, the power system causes the waste to enter the accommodating chamber from the sewage channel; When the power system is in the second state, the power system causes the waste to be discharged out of the sewage link through the sewage tank and the sewage channel in sequence.

2. The waterway system according to claim 1, wherein: When the power system is in the first state, the position where the waste enters the sewage channel is different from the position where the waste is discharged through the sewage channel when the power system is in the second state.

3. The waterway system according to claim 1, wherein: The sewage link also includes: A connecting pipe, one end of which is connected to the sewage tank, and the other end of which is connected to the sewage channel. The connecting pipe is used to allow the sewage in the sewage channel to enter the accommodating cavity, and the connecting pipe is also used to allow the sewage in the accommodating cavity to be discharged outside the sewage link through the sewage channel.

4. The waterway system according to claim 3, wherein: The connecting pipe includes a connecting portion and a bending portion, the connecting portion is connected to the bending portion, one end of the bending portion is connected to the sewage tank, and one end of the connecting portion is connected to the sewage channel. In the height direction of the sewage tank, the highest point of the bending portion is higher than the connection between the connecting pipe and the sewage tank.

5. The waterway system according to claim 3, wherein: The sewage channel includes a first opening and a second opening opposite to each other in the length direction. The connecting pipe is connected to the first opening, and the second opening is used for allowing the waste to be discharged outside the sewage link.

6. The waterway system according to claim 1, wherein: A channel and a plurality of outlet holes are provided on the top of the sewage tank. The outlet holes are arranged at intervals along the circumference of the sewage tank. The channel is provided with an inlet for allowing external fluid to enter the channel. The outlet holes communicate with the channel and the accommodating cavity. The outlet holes spray liquid toward the inner side wall of the sewage tank in a direction away from the center of the cross section of the sewage tank.

7. The waterway system according to claim 6, wherein: A water supply component is provided on the top of the sewage tank, and the inner cavity of the water supply component is the channel; Along a direction away from the cross-sectional center of the sewage tank, the water supply member includes a first side wall and a second side wall facing away from each other, the second side wall faces the cross-sectional center of the sewage tank, and the outlet is on the first side wall.

8. The waterway system according to claim 6, wherein: Along the flow direction of the liquid in the channel, the outlet includes a first surface and a second surface, the second surface is farther away from the inlet than the first surface, the second surface is an inclined surface, and the angle between the second surface and the flow direction of the liquid in the channel is an acute angle.

9. The waterway system according to claim 8, wherein: The first surface is an inclined surface, an angle between the first surface and the flow direction of the liquid in the channel is an obtuse angle, and the outlet hole is a gradually expanding through hole.

10. The waterway system according to claim 7, wherein: The water supply component is a protruding structure protruding from the top of the sewage tank toward the accommodating cavity.

11. The waterway system according to claim 7, wherein: The water supply member is a closed annular structure; or The water supply component is an at least partially open annular structure.

12. The waterway system according to claim 7, wherein: The sewage tank includes a box body, which encloses the accommodating cavity; the water supply component extends from the inner wall of the box body toward the accommodating cavity, and the water supply component includes a first sub-part and a second sub-part, the first sub-part is connected to the inner wall of the box body, the second sub-part is bent and connected to the first sub-part and is spaced from the inner wall of the box body, and the outlet is provided in the second sub-part.

13. The waterway system according to claim 7, wherein: The sewage tank includes a combined cover and a box body, and the cover and the box body together form the accommodating cavity; the cover body includes a first side and a second side opposite to each other, and the first side of the cover body faces the accommodating cavity. The first side of the cover body is provided with the water supply component, and the water supply component is spaced from the inner side wall of the box body.

14. The waterway system according to claim 13, wherein: The first side of the cover body is also provided with a partition and a liquid inlet structure. The partition is connected to the inner side wall of the cover body to divide the first side of the cover body into a first area and a second area. The water supply component is located in the first area. The first area and the box body together form the accommodating cavity. One end of the liquid inlet structure is located in the first area and is connected to the water supply component, and the other end is located in the second area and is provided with the inlet.

15. The waterway system according to claim 13, wherein: The cover body includes a first cover body and a second cover body. The first cover body and the second cover body are detachably connected and together form the channel.

16. The waterway system according to claim 6, wherein: The extended shape of the channel includes arc, square arc, C-shape, U-shape, L-shape, semicircle, and ring shape; and / or The length of the line segment connecting all the outlet holes is not less than half of the circumference of the sewage tank.

17. The waterway system according to claim 6, wherein: The power system includes an air pump assembly, which is used to extract gas from the accommodating cavity and / or pump gas into the accommodating cavity; the air pump assembly includes a first air pump, and the sewage tank is further provided with a first air hole, one end of the first air hole is connected to the accommodating cavity, and the other end is connected to the first air pump; When the accommodating chamber stores waste, the power system is in the first state, and the first air pump is used to extract gas from the accommodating chamber through the first air hole; After the stored dirt is discharged from the accommodating chamber and the outlet hole sprays liquid into the accommodating chamber, the power system is in the first state, and the first air pump is used to extract gas in the accommodating chamber through the first air hole.

18. The waterway system according to claim 17, wherein: When the dirt in the accommodating chamber is discharged from the sewage tank, the power system is in the second state, and the first air pump is used to pump air into the accommodating chamber through the first air hole.

19. The waterway system according to claim 17, wherein: The sewage tank is further provided with a second air hole spaced apart from the first air hole, and the second air hole is communicated with the accommodating chamber; when the dirt in the accommodating chamber is discharged from the sewage tank, the power system is in the second state, and the first air pump is used to pump air into the accommodating chamber through the second air hole.

20. The waterway system according to claim 17, wherein: The air pump assembly also includes a second air pump, and the sewage tank is further provided with a second air hole spaced apart from the first air hole, one end of the second air hole is communicated with the accommodating cavity, and the other end is connected to the second air pump; when the dirt in the accommodating cavity is discharged from the sewage tank, the power system is in the second state, and the second air pump is used to pump air into the accommodating cavity through the second air hole.

21. The waterway system according to claim 1, wherein: The sewage link also includes a sewage discharge member, which is provided with a sewage discharge channel. The sewage discharge member is connected to the second opening of the sewage channel. The sewage discharge channel is used to discharge sewage in the sewage channel to the outside of the sewage link.

22. The waterway system according to claim 21, wherein: When the external force applied to the outer side of the sewage discharge channel changes, the sewage discharge member can switch between a non-sewage discharge state and a sewage discharge state.

23. The waterway system according to claim 22, wherein: The outlet of the sewage discharge channel is a sewage outlet. When the external force changes, the height of the sewage outlet can be changed.

24. The waterway system according to claim 23, wherein: The sewage discharge member can rotate relative to the sewage tank to switch between the non-sewage discharge state and the sewage discharge state. When the sewage discharge member is in the sewage discharge state, the height of the sewage discharge outlet is lower than the height of the sewage discharge outlet when the sewage discharge member is in the non-sewage discharge state.

25. The waterway system according to claim 22 or 23, wherein: When the sewage discharge member is in a sewage discharge state or a non-sewage discharge state, the sewage discharge channel is in a conducting state.

26. The waterway system according to claim 22, wherein: When the sewage discharge component is in the non-discharge state, the angle between the extension direction of the central axis of the sewage outlet of the sewage discharge component away from the sewage inlet and the height direction from the bottom to the top of the sewage tank is zero or an acute angle; when the sewage discharge component is in the sewage discharge state, the angle between the extension direction of the central axis of the sewage outlet of the sewage discharge component away from the sewage inlet and the height direction from the bottom to the top of the sewage tank is greater than or equal to 90°.

27. The waterway system according to claim 22, wherein: The sewage discharge member includes a force-bearing portion, and in a radial direction along the sewage discharge channel, the force-bearing portion is located outside the sewage discharge channel.

28. The waterway system according to claim 27, wherein: When the sewage discharge member is subjected to an external force, the sewage discharge member rotates in a first direction relative to the sewage tank to switch from the non-sewage discharge state to the sewage discharge state; When the external force on the sewage discharge member disappears, the sewage discharge member rotates relative to the sewage tank along a second direction to switch from the sewage discharge state to the non-sewage discharge state, and the first direction is opposite to the second direction.

29. The waterway system according to claim 28, wherein: A mating surface is provided on the force-bearing portion. When the mating surface is not subjected to external force, the sewage discharge part is in the non-sewage discharge state; when the mating surface is subjected to external force, the sewage discharge part rotates relative to the sewage tank along the first direction of the sewage discharge part to switch from the non-sewage discharge state to the sewage discharge state.

30. The waterway system according to claim 29, wherein: The external force applied to the mating surface is a contact-type pulling force or a compressive force; or the external force applied to the mating surface is a non-contact-type repulsive force or an attractive force.

31. The waterway system according to claim 28, wherein: The waterway system also includes: A reset member, one end of which is connected to the sewage channel, and the other end of which is connected to the sewage discharge member. When the external force applied to the sewage discharge member disappears, the reset member drives the sewage discharge member to rotate along the second direction of the sewage discharge member to switch from the sewage discharge state to the non-sewage discharge state.

32. The waterway system according to claim 22, wherein: The sewage discharge channel includes a sewage inlet and a sewage outlet, the outlet of the sewage discharge channel is the sewage outlet, the sewage inlet is connected to the sewage channel, and when the sewage discharge component is in the non-sewage discharge state, the sewage inlet is lower than the sewage outlet in the height direction of the sewage tank; when the sewage discharge component is in the sewage discharge state, the sewage inlet is flush with the sewage outlet, or the sewage inlet is higher than the sewage outlet.

33. The waterway system according to claim 22, wherein: The waterway system also includes: A driving member is connected to the sewage discharge member, and is used to drive the sewage discharge member to rotate so as to switch between the non-sewage discharge state and the sewage discharge state.

34. The waterway system according to claim 22, wherein: The sewage discharge part includes a first sub-part and a second sub-part, the first sub-part is sleeved on the second sub-part, the force-bearing part of the sewage discharge part is arranged on the side wall of the first sub-part, and the sewage discharge channel is opened in the second sub-part. The first sub-part is a hard tube, and the second sub-part is a hose. The second sub-part is sealed and connected to the sewage channel.

35. The waterway system according to claim 34, wherein: A rotating shaft is provided on the side wall of the first sub-section, and the rotating shaft can rotate relative to the sewage tank.

36. The waterway system according to claim 35, wherein: A first gap is defined between the first sub-portion and the second sub-portion.

37. The waterway system according to claim 35, wherein: The first subsection includes a first end and a second end opposite to each other, the first end of the first subsection being closer to the sewage channel than the second end of the first subsection; the second subsection includes a first end and a second end opposite to each other, the first end of the second subsection being closer to the sewage channel than the second end of the second subsection; The first end of the second sub-section is closer to the sewage channel than the first end of the first sub-section, and the first end of the second sub-section is sealed and connected to the sewage channel.

38. The waterway system according to claim 37, wherein: The second end of the second subsection is flush with the second end of the first subsection, or the second end of the second subsection exceeds the second end of the first subsection.

39. The waterway system according to claim 37, wherein: The second end of the second sub-section exceeds the second end of the first sub-section and is sleeved on the second end of the first sub-section.

40. The waterway system according to claim 39, wherein: A second gap is defined between the bent portion of the second end of the second sub-section and the second end of the first sub-section.

41. The waterway system according to claim 22, wherein: The sewage discharge part can be deformed when subjected to external force on the outside of the sewage discharge channel to switch between the non-sewage discharge state and the sewage discharge state. When the sewage discharge part is in the sewage discharge state, the sewage discharge channel is in a conducting state. When the sewage discharge part is in the non-sewage discharge state, the sewage discharge channel is in a closed state.

42. The waterway system according to claim 41, wherein: When the sewage discharge member is in the sewage discharge state, the height of the sewage discharge port relative to the sewage tank is consistent with the height of the sewage discharge port relative to the sewage tank when the sewage discharge member is in the non-sewage discharge state; or During the process of the sewage discharge member switching between the non-sewage discharge state and the sewage discharge state, the height of the sewage discharge port of the sewage discharge member relative to the sewage tank remains unchanged.

43. The waterway system according to claim 41, wherein: The waterway system also includes: A force applying member is used to apply external force to the sewage discharge member to put the sewage discharge channel in an open state or a closed state.

44. The waterway system according to claim 43, wherein: When the force-applying member applies an external force to the side wall of the sewage discharge member, the sewage discharge channel is in a closed state; when the external force applied to the sewage discharge member by the force-applying member disappears, the sewage discharge channel is in a conducting state.

45. The waterway system according to claim 43, wherein: The waterway system also includes: A driving unit is connected to the force-applying member, and is used to drive the force-applying member to apply external force to the sewage discharge member or cancel the applied external force.

46. A cleaning module, wherein: A waterway system comprising any one of claims 1-45.

47. The cleaning module according to claim 46, wherein: The cleaning module includes a main body, and the sewage link and the power system are both arranged on the main body.

48. The cleaning module according to claim 47, wherein The cleaning module also includes: A clean water tank is provided on the main body, is communicated with the inlet of the sewage tank, and is used for storing cleaning liquid.

49. The cleaning module according to claim 46, wherein The cleaning module further includes a cleaning member and a scraping member. When the cleaning member cleans the surface to be cleaned, the scraping member is used to scrape off dirt from the cleaning member. The dirt passes through the sewage channel and the connecting pipe of the sewage link and enters the accommodating cavity.

50. The cleaning module according to claim 49, wherein The cleaning member includes a crawler-type rubbing member or a roller brush.

51. The cleaning module according to claim 46, wherein The cleaning module also includes: a position detection unit, the position detection unit being used to detect the position of the cleaning module relative to the body of the cleaning device; and A processing unit is used to determine whether the position of the cleaning module relative to the body meets a predetermined condition based on the detection information of the position detection unit, and control the operation of the driving member based on the determination result.

52. The cleaning module according to claim 51, wherein The cleaning module is movable relative to the body of the cleaning device to a first relative position and a second relative position, wherein the maximum outline width of the body when the cleaning module is in the second relative position is greater than the maximum outline width of the body when the cleaning module is in the first relative position; When the cleaning module moves from the first relative position to the second relative position, the processing unit controls the driving member to drive the sewage discharge member to rotate relative to the sewage tank in a first direction to switch from a non-sewage discharge state to the sewage discharge state; When the cleaning module moves from the second relative position to the first relative position, the processing unit controls the driving member to drive the sewage discharge member to rotate in the second direction relative to the sewage tank to switch from the sewage discharge state to the non-sewage discharge state, and the first direction is opposite to the second direction.

53. A cleaning device, wherein: include: body; and The cleaning module described in any one of claims 46-52 is arranged on the fuselage.

54. The cleaning apparatus of claim 53, wherein: The cleaning device also includes: A clean water tank is provided on the main body of the cleaning module and / or the fuselage. The clean water tank is connected to the inlet of the sewage tank and is used to store cleaning liquid.

55. The cleaning apparatus of claim 53, wherein The cleaning device also includes: A driver is provided on the body, and is used to drive the cleaning module to move relative to the body along the width direction of the body so that the cleaning module switches between a first relative position and a second relative position, and the maximum outline width of the body when the cleaning module is in the second relative position is greater than the maximum outline width of the body when the cleaning module is in the first relative position.

56. The cleaning apparatus of claim 55, wherein The cleaning device also includes: A position sensor, the position sensor being disposed on the body and configured to detect a relative position between the cleaning module and the body; and A processor is used to determine whether the relative position of the cleaning module and the body meets a predetermined condition based on the detection information of the position sensor, and control the operation of the driver based on the determination result.

57. The cleaning apparatus of claim 56, wherein When the processor receives a sewage discharge start instruction and the detection information indicates that the cleaning module is in the first relative position, the processor controls the driver to drive the cleaning module to move forward relative to the body along the width direction of the body; After the processor receives the sewage discharge start instruction and the detection information indicates that the cleaning module is in the second relative position, the processor controls the driver to stop driving; When the processor receives a command to end the discharge of pollutants and the detection information indicates that the cleaning module is in the second relative position, the processor controls the driver to drive the cleaning module to move in a reverse direction relative to the body along the width direction of the body; After the processor receives the sewage discharge end instruction and the detection information indicates that the cleaning module is in the first relative position, the processor controls the driver to stop driving.

58. The cleaning apparatus of claim 53, wherein The cleaning device includes a crawler-type cleaning robot or a drum-type cleaning robot.

59. A base station, wherein include: main body; and A force-applying member is installed on the main body and is used to cooperate with the sewage discharge member of the cleaning module. When the external force applied by the force-applying member to the outside of the sewage discharge member changes, the sewage discharge member can switch between a non-sewage discharge state and a sewage discharge state.

60. The base station according to claim 59, wherein When the sewage discharge member is in the sewage discharge state, the height of the sewage discharge port of the sewage discharge member is lower than the height of the sewage discharge port when the sewage discharge member is in the non-sewage discharge state.

61. The base station according to claim 59, wherein The outer side of the sewage discharge member is provided with a force-bearing portion, and the force-bearing portion is provided with a matching surface; the force-applying member includes: A guide portion, wherein the guide portion is provided with a guide surface, and the guide surface cooperates with the matching surface; and A connecting portion is connected to the main body.

62. The base station according to claim 61, wherein The main body includes a bottom wall and a side wall extending from the bottom wall. Along the width of the main body and in a direction close to the side wall, the distance between the guide surface and the bottom wall gradually decreases.

63. The base station according to claim 61, wherein The main body includes a bottom wall and a side wall extending from the bottom wall. In the direction in which the cleaning module enters the main body, the distance between the guide surface and the bottom wall gradually decreases.

64. The base station according to claim 59, wherein The waterway system is provided with a clamping member; the force-applying member is used to cooperate with the clamping member, and the force-applying member applies external force to the sewage discharge member through the clamping member to keep the sewage discharge channel in an on state or a closed state.

65. The base station according to claim 64, wherein When the force-applying member applies external force to the side wall of the sewage discharge member through the clamping member, the sewage discharge channel is in a closed state; when the external force applied to the sewage discharge member by the force-applying member through the clamping member disappears, the sewage discharge channel is in a conducting state.

66. The base station according to claim 59, wherein The base station further includes: A driving unit is connected to the force-applying member, and is used to drive the force-applying member to apply external force to the sewage discharge member or cancel the applied external force.

67. The base station according to claim 66, wherein The base station further includes: a position detection unit, configured to detect a position of the cleaning module relative to a body of the cleaning device or a position of the cleaning module relative to the base station; and A processing unit is used to determine whether the position of the cleaning module relative to the body or the base station meets a predetermined condition based on the detection information of the position detection unit, and control the operation of the driving unit based on the determination result.

68. A cleaning system, wherein: The cleaning system comprises: The cleaning device according to any one of claims 53 to 58; and The base station described in any one of claims 59-67 is used to maintain the returning cleaning equipment.

69. The cleaning system of claim 68, wherein The cleaning system further comprises: A clean water tank is provided on at least one of the main body of the cleaning module, the fuselage and the base station. The clean water tank is communicated with the inlet of the sewage tank and is used for storing cleaning liquid.

70. The cleaning system of claim 68, wherein The base station is provided with a third air pump; when the dirt in the accommodating cavity is discharged from the sewage tank, the third air pump is used to pump air into the accommodating cavity through the inlet or the second air hole of the sewage tank.

71. A method for cleaning a waterway system, wherein: The cleaning method is applied to the waterway system according to any one of claims 1 to 47, comprising: The power system is in a first state, and the waste enters the accommodating chamber through the sewage channel; and The power system is in the second state, and the dirt in the accommodating chamber is discharged to the outside of the water system through the sewage channel.

72. The method for cleaning a waterway system according to claim 71, wherein: The waste in the accommodating cavity is discharged to the outside of the water system through the sewage channel, including: Letting cleaning liquid enter the containing chamber through the inlet of the sewage tank; Soaking the receiving cavity with the cleaning liquid for a predetermined period of time; and The dirt in the accommodating chamber passes through the connecting pipe of the sewage link and the sewage channel and is discharged outside the sewage link.

73. The method for cleaning a waterway system according to claim 72, wherein: The step of introducing the cleaning liquid into the accommodating cavity through the inlet of the sewage tank comprises: The cleaning liquid enters the passage of the sewage tank through the inlet and is sprayed from the outlet of the sewage tank toward the inner side wall of the sewage tank in a direction away from the cross-sectional center of the sewage tank; and The cleaning liquid flows down along the inner wall of the accommodating cavity and is stored in the accommodating cavity.

74. The method for cleaning a waterway system according to claim 73, wherein: The step of introducing the cleaning liquid into the accommodating chamber through the inlet further comprises: The cleaning liquid in the clean water tank is extracted to allow the cleaning liquid to enter the channel from the inlet.

75. The method for cleaning a waterway system according to claim 72, wherein: The step of soaking the receiving cavity with the cleaning liquid for a predetermined period of time includes: The first air pump of the power system is used to extract the gas in the accommodating chamber so that the cleaning liquid is stored in the accommodating chamber.

76. The method for cleaning a waterway system according to claim 72, wherein: The waste in the accommodating cavity is discharged to the outside of the sewage link through the connecting pipe and the sewage channel, comprising: The air pump component of the power system is used to pump air into the accommodating chamber, so that the dirt in the accommodating chamber is discharged outside the sewage link.

77. The method for cleaning a waterway system according to claim 76, wherein: The step of discharging the waste in the accommodating chamber to the outside of the sewage link comprises: When the cleaning equipment moves to the designated sewage discharge position, the sewage discharge part is controlled to switch to the sewage discharge state; and When the cleaning equipment completes sewage discharge, the sewage discharge part is controlled to switch to a non-sewage discharge state.

78. The cleaning method according to claim 77, wherein The sewage discharge member can rotate relative to the sewage tank to switch between the non-sewage discharge state and the sewage discharge state, and the height of the sewage discharge outlet when the sewage discharge member is in the sewage discharge state is lower than the height of the sewage discharge outlet when the sewage discharge member is in the non-sewage discharge state; When the cleaning device moves to the designated sewage discharge position, controlling the sewage discharge member to switch to the sewage discharge state includes: The sewage discharge member is controlled to rotate relative to the sewage tank along a first direction.

79. The cleaning method according to claim 78, wherein When the cleaning equipment is moved to the designated sewage discharge location, the method includes: The cleaning device moves to a parking position of the base station; The controlling the sewage discharge member to rotate relative to the sewage tank along a first direction includes: The cleaning module of the cleaning device is controlled to move in a positive direction relative to the body of the cleaning device along the width direction of the body to reach a second relative position, so that the dirt discharge member cooperates with the force applying member of the base station to drive the dirt discharge member to rotate along the first direction.

80. The cleaning method according to claim 77, wherein When the cleaning equipment completes the sewage discharge, controlling the sewage discharge component to switch to a non-sewage discharge state includes: The sewage discharge member is controlled to rotate relative to the sewage tank along a second direction.

81. The cleaning method according to claim 80, wherein When the cleaning equipment completes sewage discharge, the method includes: The cleaning device moves away to a parking position of the base station; The controlling the sewage discharge member to rotate relative to the sewage tank along the second direction includes: The cleaning module of the cleaning device is controlled to move in the opposite direction relative to the body of the cleaning device along the width direction of the body to reach a first relative position, so that the dirt discharge member is away from the force applying member of the base station to rotate the dirt discharge member along the second direction.

82. The cleaning method of claim 77, wherein: The sewage discharge member is deformable when an external force is applied to the outside of the sewage discharge channel to switch between the non-sewage discharge state and the sewage discharge state. When the sewage discharge member is in the sewage discharge state, the sewage discharge channel is in the conducting state. When the sewage discharge member is in the non-sewage discharge state, the sewage discharge channel is in the closed state. When the cleaning device moves to the designated sewage discharge position, controlling the sewage discharge member to switch to the sewage discharge state includes: The sewage discharge channel is controlled to be in the conducting state.

83. The cleaning method according to claim 82, wherein When the cleaning device completes the sewage discharge, controlling the sewage discharge member to switch to the non-sewage discharge state includes: The sewage discharge channel is controlled to be in the closed state.

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