Sewage discharge assembly, cleaning module, cleaning device, base station, cleaning system, and sewage discharge control method

Abstract

A sewage discharge assembly (100), comprising a sewage tank (10) and a sewage discharge member (30). The sewage tank (10) is provided with an accommodating cavity (11), and the accommodating cavity (11) is used for loading sewage. The sewage discharge member (30) is provided with a sewage discharge channel (31), the sewage discharge channel (31) is communicated with the accommodating cavity (11), and the sewage discharge channel (31) is used for discharging the sewage in the accommodating cavity (11). When an external force applied to the outer side of the sewage discharge channel (31) changes, the sewage discharge member (30) can switch between a non-sewage discharge state and a sewage discharge state.

Description

Sewage discharge component, cleaning module, cleaning equipment, base station, cleaning system and sewage discharge control method Technical Field

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

[0002] After the mop and wiping member of a cleaning device cleans the surface to be cleaned, it will be left with dirty water. If the mop and wiping member continue to clean the surface to be cleaned while still carrying dirty water, the cleaning effect of the mop and wiping member will be poor. Therefore, cleaning equipment is typically equipped with a sewage tank to recover the dirty water from the mop and wiping member, thereby improving the cleaning effect of the mop and wiping member on the surface to be cleaned. The sewage tank is typically equipped with a drain port for draining the sewage from the sewage tank. Current drain ports are typically equipped with a valve that opens when the sewage tank needs to be drained and closes otherwise. However, the sewage often contains some solid dirt, such as hair, which can easily clog the drainage channel when passing through the valve.

[0003] Summary of the Invention

[0004] The embodiments of the present application provide a sewage discharge component, a cleaning module, a cleaning device, a base station, a cleaning system and a sewage discharge control method, which are at least used to solve the problem that sewage discharge channels are easily clogged when sewage passes through valves.

[0005] In a first aspect, embodiments of the present application provide a sewage discharge assembly comprising a sewage tank and a sewage discharge member. The sewage tank has a receiving chamber for storing sewage. The sewage discharge member has a sewage discharge passage communicating with the receiving chamber for discharging sewage within the chamber. The sewage discharge passage is capable of switching between a non-discharge state and a sewage discharge state when an external force applied to the outer side of the sewage discharge passage changes.

[0006] In a second aspect, embodiments of the present application provide a cleaning module comprising a main body, a wiping member, and the aforementioned drainage assembly, wherein the wiping member and the drainage assembly are disposed on the main body; the drainage assembly comprises a sewage tank and a drainage member. The sewage tank comprises a storage chamber for storing waste. The drainage member comprises a drainage channel, which communicates with the storage chamber and is used to drain waste within the storage chamber. The drainage channel can switch between a non-draining state and a drainage state when the external force applied to the drainage channel changes.

[0007] In a third aspect, embodiments of the present application provide a cleaning device comprising a main body and a sewage discharge assembly, the sewage discharge assembly comprising a sewage tank and a sewage discharge member. The sewage tank has a storage chamber for storing sewage. The sewage discharge member has a sewage discharge passage communicating with the storage chamber for discharging sewage within the storage chamber. The sewage discharge passage is capable of switching between a non-discharge state and a sewage discharge state when an external force applied to the outer side of the sewage discharge passage changes. The sewage tank is mounted on the main body.

[0008] In a fourth aspect, an embodiment of the present application provides a cleaning device, comprising a body and a cleaning module, wherein the cleaning module is mounted on the body; the cleaning module comprises a main body, a wiping member, and a sewage discharge assembly, wherein the wiping member and the sewage discharge assembly are mounted on the main body; and the sewage discharge assembly comprises a sewage tank and a sewage discharge member. The sewage tank is provided with a storage chamber for storing sewage. The sewage discharge member is provided with a sewage discharge channel, which is connected to the storage chamber and is used to discharge sewage within the storage chamber. When the external force applied to the outer side of the sewage discharge channel changes, the sewage discharge member can switch between a non-discharge state and a sewage discharge state.

[0009] In a fifth aspect, embodiments of the present application further provide a base station, comprising a main body and a force-applying member. The force-applying member is mounted on the main body and is configured to cooperate with the aforementioned waste discharge member. When the external force applied by the force-applying member to the outer side of the waste discharge channel changes, the waste discharge member can switch between a non-waste discharge state and a waste discharge state.

[0010] In a sixth aspect, an embodiment of the present application further provides a cleaning system, which includes the above-mentioned cleaning device and the above-mentioned base station.

[0011] In a seventh aspect, embodiments of the present application provide a method for controlling waste discharge, which can be applied to waste discharge components, cleaning modules, cleaning equipment, cleaning base stations, cleaning systems, and the like. The method includes: controlling a waste discharge component to switch to a waste discharge state when the cleaning equipment moves to a designated waste discharge location; and controlling the waste discharge component to switch to a non-waste discharge state when the cleaning equipment completes waste discharge.

[0012] The sewage discharge assembly, cleaning module, cleaning equipment, base station, cleaning system, and sewage discharge control method of the embodiments of the present application apply an external force to the outside of the sewage discharge channel to switch the sewage discharge component between a sewage discharge state and a non-sewage discharge state. When the sewage discharge assembly needs to discharge sewage, the sewage discharge component can be in the sewage discharge state, so that the sewage in the sewage tank can be discharged outside the sewage discharge assembly. Compared with the current sewage discharge components, the sewage discharge component of the present application does not require a valve in the sewage discharge channel, so the sewage discharge channel is not easily clogged, and the sewage flows out of the sewage discharge channel more smoothly.

[0013] 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

[0014] 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:

[0015] FIG1 is a perspective schematic diagram of a cleaning module according to some embodiments of the present application;

[0016] FIG2 is a perspective schematic diagram of the sewage discharge component of FIG1 in a sewage discharge state;

[0017] FIG3 is a schematic structural diagram of a sewage discharge member in an embodiment of the sewage discharge assembly of FIG1 ;

[0018] FIG4 is a perspective exploded schematic diagram of the sewage discharge assembly of FIG1 ;

[0019] FIG5 is a schematic structural diagram of a sewage discharge member in another embodiment of the sewage discharge assembly of FIG1 ;

[0020] FIG6 is a perspective exploded schematic diagram of the sewage discharge assembly of FIG1 ;

[0021] FIG7 is a schematic structural diagram of a sewage discharge member of a cleaning device in another embodiment of the present application in a sewage discharge state;

[0022] FIG8 is a schematic structural diagram of the sewage discharge member of FIG7 in a non-sewage discharge state;

[0023] FIG9 is a perspective schematic diagram of a cleaning device according to certain embodiments of the present application;

[0024] FIG10 is a perspective schematic diagram of a base station according to certain embodiments of the present application;

[0025] FIG11 is a perspective schematic diagram of a partial structure of the base station in FIG10;

[0026] FIG12 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;

[0027] FIG13 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;

[0028] FIG14 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;

[0029] FIG15 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;

[0030] FIG16 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;

[0031] FIG17 is a perspective schematic diagram of a cleaning system according to certain embodiments of the present application;

[0032] FIG18 is a schematic flow diagram of a pollution control method according to certain embodiments of the present application;

[0033] FIG19 is a schematic flow diagram of a pollution control method according to certain embodiments of the present application;

[0034] FIG20 is a schematic flow diagram of a pollution control method according to certain embodiments of the present application;

[0035] FIG21 is a flow chart of a pollution control method according to certain embodiments of the present application. DETAILED DESCRIPTION

[0036] 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.

[0037] 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.

[0038] After the mopping member of a cleaning device cleans the surface to be cleaned, it will carry dirty water on the mopping member. If the mopping member with dirty water continues to clean the surface to be cleaned, the cleaning effect of the mopping member will be poor. Therefore, cleaning equipment is usually equipped with a sewage tank, which is used to recycle the sewage on the mopping member, thereby improving the cleaning effect of the mopping member on the surface to be cleaned. The sewage tank is usually equipped with a sewage discharge member, which is used to discharge the sewage in the sewage tank. The current sewage discharge member usually has a valve in the sewage channel. When the sewage tank needs to be discharged, the valve is opened. Otherwise, the valve is closed. However, the sewage usually contains some solid dirt, such as hair, etc. When the solid dirt passes through the valve, it is easy for the valve to scrape it and block the sewage channel. At the same time, if the valve is stuck with solid dirt, it is easy for it to fail to open and close normally. To solve this problem, the present application provides a sewage discharge component 100 (shown in Figure 1), a cleaning module (shown in Figure 1), a cleaning device 1000 (shown in Figure 9), a base station 3000 (shown in Figure 10), a cleaning system 10000 (shown in Figure 17) and a sewage discharge control method.

[0039] Referring to Figures 1 and 2 , in a first aspect, embodiments of the present application provide a sewage discharge assembly 100 comprising a sewage tank 10 and a sewage discharge member 30. The sewage tank 10 defines a receiving chamber 11 for storing sewage. The sewage discharge member 30 defines a sewage discharge passage 31, which communicates with the receiving chamber 11 and is configured to discharge sewage within the receiving chamber 11. The sewage discharge member 30 can switch between a non-discharge state and a sewage discharge state when the external force applied to the outer side of the sewage discharge passage 31 changes.

[0040] Please refer to Figures 1 and 2. In the second aspect, an embodiment of the present application provides a cleaning module. The cleaning module 100 includes a main body 20, a wiping member and a sewage discharge assembly 100, and the wiping member and the sewage discharge assembly 100 are arranged on the main body 20.

[0041] Specifically, the cleaning module is a structure applied to the cleaning device 1000, and the cleaning module is used to clean the surface to be cleaned. The surface to be cleaned can be, but is not limited to, a floor, a marble surface, or a glass surface. This application is described using the floor as an example. The cleaning device 1000 is a device for cleaning 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. The sweeping robot can be used to sweep the surface to be cleaned, the mopping robot can be used to wipe and clean the surface to be cleaned, and the sweeping and mopping robot can integrate the functions of the above two robots, that is, the sweeping and mopping robot can be used to sweep the surface to be cleaned, the sweeping and mopping robot can also be used to wipe and clean the surface to be cleaned, and the handheld scrubber can be used to wipe and clean the surface to be cleaned with a bracket. Specifically, referring to Figure 9, the cleaning module may include a sewage discharge component 100, and the sewage discharge component 100 is used to discharge the dirt in the sewage tank 10. The cleaning device 1000 of this application is described using the sweeping and mopping robot as an example.

[0042] In certain embodiments, the cleaning device 1000 may include a track-type cleaning robot or a drum-type cleaning robot. If the cleaning device 1000 is a track-type cleaning robot, the wiping member of the cleaning module of the cleaning device 1000 is a track-type wiping member. If the cleaning device 1000 is a drum-type cleaning robot, the wiping member of the cleaning module of the cleaning device 1000 is a drum-type wiping member. Both track-type and drum-type wiping members can clean the surface to be cleaned by rotating, and the cleaning device 1000 has a better cleaning effect on the surface to be cleaned. This application uses the cleaning device 1000 as an example of a track-type cleaning robot. If the cleaning device 1000 is a track-type cleaning robot, while the wiping member of the cleaning module rotates to clean the surface to be cleaned, the sewage tank 10 of the sewage discharge assembly 100 can recover dirt from the wiping member, thereby keeping the wiping member relatively clean, and the cleaning module has a better cleaning effect on the surface to be cleaned.

[0043] Please refer to Figures 1 and 2. When the mopping member is being cleaned, the scraping member of the cleaning module can scrape off the dirt on the mopping member. The sewage tank 10 is used to store the dirt scraped off by the scraping member to prevent the dirt from falling onto the surface to be cleaned. The dirt here may include liquid sewage and / or solid dirt. The material of the sewage tank 10 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 material of the sewage tank 10 is metal, the strength of the sewage tank 10 is higher and the service life is longer. When the material of the sewage tank 10 is plastic, the material cost of the sewage tank 10 is lower, and the weight of the sewage tank 10 is lighter, and the sewage tank 10 is easy to transport and pick up. The cross-sectional shape of the sewage tank 10 can be, but is not limited to, circular, elliptical, triangular, quadrilateral or other polygonal shapes.

[0044] The sewage tank 10 can be installed on the main body 20 of the cleaning module, or it can be installed on the body 300 of the cleaning device 1000. When the sewage tank 10 is installed on the body 20, the sewage tank 10 can be detachably or non-detachably connected to the body 20. Removable connection methods include, but are not limited to, threaded connection, screw connection, or snap connection, and non-detachable connection methods include, but are not limited to, welding, gluing, or interference fit. When the sewage tank 10 is detachably connected to the body 20, in the event of sewage damage, the sewage tank 10 can be easily removed from the body 20 for repair. When the sewage tank 10 is non-detachably connected to the body 20, the sewage tank 10 and the body 20 can be integrally formed, and the processing steps of the sewage discharge assembly 100 are relatively simple. Similarly, when the sewage tank 10 is installed on the body 300, the sewage tank 10 can be detachably or non-detachably connected to the body 300.

[0045] Please refer to Figures 1 and 2. When the accommodating chamber 11 is filled with dirt or the cleaning module has finished cleaning the surface to be cleaned, the cleaning device 1000 can be moved to the sewage discharge position to discharge the dirt in the accommodating chamber 11. The sewage discharge part 30 is used to discharge the dirt in the accommodating chamber 11 to the outside of the sewage discharge component 100. The sewage discharge channel 31 is used to allow the sewage to flow out of the sewage discharge component 100, and the sewage discharge channel 31 is always connected to the accommodating chamber 11. The material of the sewage discharge part 30 can be, but is not limited to, metal or plastic. When the material of the sewage discharge part 30 is metal, the sewage discharge part 30 has higher strength, better wear resistance and longer service life. When the material of the sewage discharge part 30 is plastic, the sewage discharge part 30 is lighter and has lower cost.

[0046] When the external force on the outside of the sewage discharge channel 31 changes, the sewage discharge part 30 can switch between the non-sewage discharge state (as shown in Figure 1) and the sewage discharge state (as shown in Figure 2). That is, an element can be set on the outside of the sewage discharge channel 31 to apply external force to the sewage discharge part 30, so that the sewage discharge part 30 can switch between the non-sewage discharge state and the sewage discharge state. The outside of the sewage discharge channel 31 refers to: all outer surfaces of the sewage discharge part 30 (including the outer side surface and the outer end surface). At this time, no other elements are required to be set in the sewage discharge channel 31, and the sewage can flow out of the sewage discharge channel 31 smoothly, which can avoid the problem of sewage (such as hair, etc.) being blocked by the elements inside the sewage discharge channel 31.

[0047] The external force applied to the outside of the drain channel 31 is defined as the force acting on the outside of the drain channel 31. The source of the external force is not limited. The external force can be a force applied by a force-applying member, such as the first force-applying member 80 of the cleaning module or the second force-applying member 3003 of the base station 3000.

[0048] The sewage discharge member 30 is in the non-sewage discharge state, which means that the sewage in the accommodating cavity 11 cannot flow out of the sewage discharge assembly 100 through the sewage discharge channel 31 .

[0049] The sewage discharge member 30 is in the sewage discharge state, which means that the sewage in the accommodating cavity 11 can flow out of the sewage discharge assembly 100 through the sewage discharge channel 31 .

[0050] In the present application, since the force for changing the sewage discharge state and the non-sewage discharge state of the sewage discharge part 30 is on the outside of the sewage discharge channel 31, the sewage discharge part 30 can be switched between the sewage discharge state and the non-sewage discharge state without setting any structure (such as a valve) in the sewage discharge channel 31 that will affect the smoothness of the interior of the sewage discharge channel 31; this is smoother than setting the valve in the sewage discharge channel 31 in the prior art, and can better prevent the sewage discharge channel 31 from being blocked.

[0051] When cleaning device 1000 is cleaning a surface, dirt from the wiping member enters chamber 11. At this point, the dirt discharge member 30 is in a non-discharge state, preventing dirt from flowing from chamber 11 through drainage channel 31, thus preventing dirt from flowing through drainage channel 31 onto the surface. When cleaning device 1000 needs to discharge dirt, the dirt discharge member 30 is in a discharge state, allowing dirt from chamber 11 to flow through drainage channel 31 and out of drainage assembly 100.

[0052] Please refer to Figures 1 and 2. In one embodiment, when the outer side of the sewage discharge channel 31 is subjected to force, the sewage discharge member 30 is in a sewage discharge state. When the outer side of the sewage discharge channel 31 is not subjected to force, the sewage discharge member 30 is in a non-sewage discharge state. When the cleaning module cleans the surface to be cleaned, the sewage discharge member 30 is not subjected to force and is in a non-sewage discharge state, so that the dirt in the accommodating chamber 11 cannot be discharged from the sewage discharge channel 31 to the outside of the sewage discharge component 100. When the sewage discharge component 100 needs to discharge sewage, the sewage discharge member 30 is subjected to external force, and the sewage discharge member 30 switches from the non-sewage discharge state to the sewage discharge state, so that the dirt in the accommodating chamber 11 can be discharged from the sewage discharge channel 31 to the outside of the sewage discharge component 100. In another embodiment, the external force applied to the sewage discharge member 30 when it is in the sewage discharge state is greater than the external force applied to the sewage discharge member 30 when it is in the non-sewage discharge state.

[0053] Please refer to Figures 7 and 8. In another embodiment, when the outer side of the sewage channel 31 is subjected to force (as shown in Figure 8), the sewage discharge member 30 is in a non-sewage discharge state. When the outer side of the sewage channel 31 is not subjected to force (as shown in Figure 7), the sewage discharge member 30 is in a sewage discharge state. When the cleaning module cleans the surface to be cleaned, the sewage discharge member 30 is subjected to force and is in a non-sewage discharge state, so that the dirt in the accommodating chamber 11 cannot be discharged from the sewage channel 31 to the outside of the sewage discharge component 100. When the sewage discharge component 100 needs to discharge sewage, the sewage discharge member 30 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 11 can be discharged from the sewage channel 31 to the outside of the sewage discharge component 100. In another embodiment, the external force applied to the sewage discharge member 30 when it is in a non-sewage discharge state is greater than the external force applied to the sewage discharge member 30 when it is in a sewage discharge state.

[0054] The sewage discharge assembly 100 of the present embodiment applies an external force to the outside of the sewage discharge passage 31 to switch the sewage discharge member 30 between a sewage discharge state and a non-sewage discharge state. When the sewage discharge assembly 100 needs to discharge sewage, the sewage discharge member 30 can be in the sewage discharge state, thereby allowing sewage in the sewage tank 10 to be discharged outside the sewage discharge assembly 100. Compared to conventional sewage discharge members 30, the sewage discharge member 30 of the present embodiment does not require a valve in the sewage discharge passage 31, making it less prone to clogging and ensuring smoother discharge of sewage from the sewage discharge passage 31.

[0055] The sewage discharge assembly 100 will be further described below with reference to the accompanying drawings.

[0056] Referring to Figures 1 and 2 , in some embodiments, the outlet of the drainage channel 31 is a drainage port 311. The height of the drainage port 311 can be adjusted in response to changes in external force. Specifically, in some embodiments, the drainage member 30 can rotate relative to the sewage tank 10 to switch between a non-draining state and a drainage state. When the drainage member 30 is in the drainage state, the height of the drainage port 311 is lower than when the drainage member 30 is in the non-draining state.

[0057] Specifically, the drain outlet 311 is used to allow waste in the drain channel 31 to flow out of the drain assembly 100. The drain member 30 is rotatably mounted on the cleaning module body 20 or the cleaning device 1000. When the external force applied to the drain channel 31 changes, the drain member 30 can rotate relative to the sewage tank 10. During the rotation of the drain member 30, the height of the drain outlet 311 changes in the height direction H of the sewage tank 10. Due to gravity, waste in the sewage tank 10 tends to flow downward. If the drain outlet 311 is low, waste in the accommodating chamber 11 can pass through the drain channel 31 and out of the drain outlet 311, thereby placing the drain member 30 in a draining state. If the drain outlet 311 is high, waste in the accommodating chamber 11, once entering the drain channel 31, is less likely to flow out of the drain outlet 311, thereby placing the drain member 30 in a non-draining state.

[0058] When the cleaning module is cleaning the surface to be cleaned, under the action of an external force, the sewage discharge member 30 can rotate relative to the sewage tank 10 to increase the height of the sewage outlet 311, thereby making it difficult for sewage to flow out of the sewage outlet 311. At this time, the sewage discharge member 30 is in a non-discharge state. When the sewage discharge assembly 100 needs to discharge sewage, under the action of an external force, the sewage discharge member 30 can rotate relative to the sewage tank 10 to decrease the height of the sewage outlet 311, thereby allowing sewage in the sewage channel 31 to flow out of the sewage outlet 311. At this time, the sewage discharge member 30 is in a sewage discharge state. The sewage discharge member 30 switches between the sewage discharge state and the non-discharge state by rotating, and the flow of sewage from the sewage channel 31 is relatively smooth, and there is no problem of blockage inside the sewage channel 31.

[0059] In some embodiments, the drain channel 31 is in communication with the accommodating chamber 11 . The drain channel 31 may be in communication with the accommodating chamber 11 indirectly, or directly.

[0060] Please refer to Figures 1 to 3. In some embodiments, the sewage discharge channel 31 is indirectly connected to the accommodating chamber 11. The sewage discharge channel 31 also includes a sewage inlet 313. The sewage inlet 313 is connected to the sewage trough 50 of the sewage discharge assembly 100. When the sewage discharge component 30 is in a non-discharge state, the sewage inlet 313 is lower than the sewage outlet 311 in the height direction H of the sewage tank 10; when the sewage discharge component 30 is in a sewage discharge state, the sewage inlet 313 is flush with the sewage outlet 311 in the height direction H of the sewage tank 10, or the sewage inlet 313 is higher than the sewage outlet 311.

[0061] The sewage inlet 313 is used to allow waste in the sewage trough 50 of the sewage discharge assembly 100 to enter the sewage discharge channel 31. The sewage inlet 313 is located at the end of the sewage discharge member 30 that connects to the sewage trough 50 of the sewage discharge assembly 100. During the rotation of the sewage discharge member 30 relative to the sewage tank 10, the height of the sewage inlet 313 remains unchanged in the height direction H of the sewage tank 10. The sewage discharge port 311 is located at the free end of the sewage discharge member 30. During the rotation of the sewage discharge member 30 relative to the sewage tank 10, the height of the sewage discharge port 311 in the height direction H of the sewage tank 10 is variable.

[0062] When the cleaning module is cleaning the surface to be cleaned, the drain member 30 can be rotated relative to the sewage tank 10 under the action of an external force so that the drain outlet 311 is higher than the sewage inlet 313. After the sewage in the sewage trough 50 enters the drainage channel 31 through the sewage inlet 313, gravity prevents the sewage from flowing toward the higher drain outlet 311, and thus prevents the sewage from flowing out of the sewage discharge assembly 100 through the drain outlet 311. In this state, the drain member 30 is in a non-draining state. When the sewage discharge assembly 100 needs to drain sewage, the drain member 30 can be rotated relative to the sewage tank 10 under the action of an external force so that the drain outlet 311 is lower than the sewage inlet 313, or so that the drain outlet 311 is flush with the sewage inlet 313. After the sewage in the sewage trough 50 enters the drainage channel 31 through the sewage inlet 313, gravity allows the sewage to quickly flow out of the sewage discharge assembly 100 through the drain outlet 311. In this state, the drain member 30 is in a draining state.

[0063] In some embodiments, the sewage discharge member 30 is connected to the sewage tank 10 via the sewage trough 50, and the sewage discharge channel 31 is indirectly connected to the accommodating chamber 11. When the sewage discharge member 30 is in a natural state (i.e., without external force), the sewage outlet 311 is higher than the sewage inlet 313 to ensure that the sewage discharge member 30 is in a non-discharge state. When the sewage discharge channel 31 is subjected to external force, the height of the sewage outlet 313 of the sewage discharge member 30 can be changed, such that the height of the sewage outlet 311 can be lower than the height of the sewage inlet 313 or flush with the height of the sewage inlet 313 to ensure that the sewage discharge member 30 is in a sewage discharge state. In actual use, since the sewage discharge member 30 is in a non-discharge state most of the time, the natural state of the sewage discharge member 30 is set to the non-discharge state, that is, no external force is applied to the sewage discharge member 30 in the non-discharge state, and external force is applied to the sewage discharge member 30 only in the sewage discharge state. This can simplify the entire control process, simplify the structure, and improve the reliability of the sewage discharge assembly 100. In other embodiments, the sewage discharge member 30 is mounted on the sewage tank 10, directly connected to the sewage tank 10, and the drainage channel 31 is directly connected to the accommodating chamber 11. When the sewage discharge member 30 is in its natural state, the drainage port 311 is higher than the highest liquid level in the sewage tank 10 in the height direction H of the sewage tank 10, thereby preventing the sewage discharge member from discharging sewage. However, when subjected to an external force on the outside of the drainage channel 31, the height of the drainage port 313 of the sewage discharge member 30 can be changed, allowing the height of the drainage port 311 to be lower than the highest liquid level in the sewage tank 10, thereby ensuring that the sewage discharge member 30 is in the drainage state. Preferably, when the sewage discharge member 30 is in the drainage state, the height of the drainage port 311 can be lower than the bottom surface of the sewage tank 10, allowing all waste in the sewage tank 10 to flow out of the sewage discharge assembly 100 through the drainage port 311. When the sewage discharge member 10 is directly connected to the sewage tank 100 and the sewage discharge member 10 is in the sewage discharge state, the sewage in the sewage tank 10 can quickly enter the sewage discharge channel 31 and flow out of the sewage outlet. The sewage in the sewage tank 10 does not need to flow through other components before entering the sewage discharge channel 31. The sewage in the sewage tank 10 has a shorter flow distance to enter the sewage discharge channel 31. When the sewage discharge member 10 is in the sewage discharge state, the sewage in the sewage tank 10 can be quickly discharged to the outside of the sewage discharge assembly 100, and the sewage is discharged from the sewage tank 10 more efficiently.

[0064] Referring to Figures 1 to 3 , in certain embodiments, the drainage channel 31 remains open in both the drainage and non-drainage states. In this case, when the drainage member 30 switches from the non-drainage state to the drainage state, i.e., when the drainage member 30 rotates so that the drainage port 311 is lower than the sewage inlet 313, waste within the accommodating chamber 11 can quickly flow out of the drainage assembly 100 through the drainage channel 31. The drainage channel 31 remains open throughout the entire transition between the drainage and non-drainage states. In other words, the drainage channel 31 remains open in both the drainage and non-drainage states. This eliminates the need for valves or other structures within the drainage channel 31, preventing waste such as hair from becoming lodged and potentially clogging the drainage channel 31. For the drainage channel 31 that remains open, the height of the drainage port 311 is controlled to ensure that waste within the sewage tank 10 remains open even in the non-drainage state.

[0065] The design of the drain outlet 311 varies depending on the connection method of the drain channel 31. If the drain channel 31 is directly connected to the accommodating chamber 11, the drain outlet 311 of the drain channel 31 is higher than the highest level of the liquid in the sewage tank 10 when no sewage is discharged. If the drain channel 31 is connected to the sewage tank 10 through the sewage trough 50, the drain outlet 311 of the drain channel 31 is higher than the sewage inlet 313 when no sewage is discharged. Furthermore, the drain outlet 311 can be higher than the top of the sewage trough 50.

[0066] Please refer to Figure 2. In some embodiments, when the sewage discharge component 30 is in a non-discharge state, the angle between the extension direction of the central axis of the sewage outlet 311 toward the sewage inlet 313 away from the sewage discharge component 30 and the height direction from the bottom to the top of the sewage tank 10 is zero or an acute angle; when the sewage discharge component 30 is in a discharge state, the angle between the extension direction of the central axis of the sewage outlet 311 and the height direction from the bottom to the top of the sewage tank 10 is greater than or equal to 90°.

[0067] Specifically, when the sewage discharge member 30 is not discharging sewage, the angle between the central axis of the sewage outlet 311 extending away from the sewage inlet 313 of the sewage discharge member 30 and the height direction from the bottom to the top of the sewage tank 10 ranges from [0° to 90°]. For example, the angle between the central axis of the sewage outlet 311 extending away from the sewage inlet 313 of the sewage discharge member 30 and the height direction from the bottom to the top of the sewage tank 10 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 10, the sewage outlet 311 of the sewage discharge channel 31 is higher than the sewage inlet 313, making it difficult for sewage to flow out of the sewage outlet 311.

[0068] When the sewage discharge member 30 is in the sewage discharge state, the angle between the central axis of the sewage outlet 311 extending away from the sewage inlet 313 of the sewage discharge member 30 and the height direction from the bottom to the top of the sewage tank 10 is in the range of [90°, 180°]. For example, the angle between the central axis of the sewage outlet 311 extending away from the sewage inlet 313 of the sewage discharge member 30 and the height direction from the bottom to the top of the sewage tank 10 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 311 extending away from the sewage inlet 313 of the sewage discharge member 30 and the height direction from the bottom to the top of the sewage tank 10 is 90°, the sewage inlet 313 is flush with the sewage outlet 311 in the height direction H of the sewage tank 10. When the angle between the direction in which the central axis of the drain outlet 311 extends away from the sewage inlet 313 of the sewage discharge member 30 and the height direction from the bottom to the top of the sewage tank 10 is greater than 90°, the drain outlet 311 is lower than the sewage inlet 313 in the height direction H of the sewage tank 10. When the drain outlet 311 is higher than the sewage inlet 313 or is flush with the sewage inlet 313 in the height direction H of the sewage tank 10, waste entering the sewage discharge channel 31 through the sewage inlet 313 can flow out of the drain outlet 311, thereby allowing waste in the sewage tank 10 to be quickly discharged outside the sewage discharge assembly 100.

[0069] Please refer to Figures 1 and 2. In some embodiments, when the sewage discharge member 30 is subjected to an external force, the sewage discharge member 30 rotates in a first direction relative to the sewage tank 10 to switch from a non-discharged sewage state to a sewage discharge state; when the external force applied to the sewage discharge member 30 disappears, the sewage discharge member 30 rotates in a second direction relative to the sewage tank 10 to switch from the sewage discharge state to the non-discharged sewage state. The first direction is opposite to the second direction.

[0070] The rotation of the sewage discharge member 30 relative to the sewage tank 10 in the first direction means that, in the height direction H of the sewage tank 10, the height of the sewage inlet 313 remains unchanged, while the height of the sewage discharge port 311 gradually decreases. The rotation of the sewage discharge member 30 relative to the sewage tank 10 in the second direction means that, in the height direction H of the sewage tank 10, the height of the sewage inlet 313 remains unchanged, while the height of the sewage discharge port 311 gradually increases.

[0071] When the sewage discharge assembly 100 needs to discharge sewage, the sidewall of the sewage discharge member 30 may be subjected to an external force, causing the sewage discharge member 30 to rotate in a first direction. When the sewage discharge member 30 rotates in the first direction, the height of the sewage discharge port 311 gradually decreases in the height direction H of the sewage tank 10. When the angle between the central axis of the sewage discharge port 311 and the height direction from the bottom to the top of the sewage tank 10 is within the range of [90°, 180°], that is, in the height direction H of the sewage tank 10, the sewage discharge port 311 is lower than the sewage inlet 313, or the sewage discharge port 311 is flush with the sewage inlet 313. Therefore, sewage entering the sewage discharge channel 31 through the sewage inlet 313 can flow out of the sewage discharge port 311, and the sewage discharge member 30 is now in the sewage discharge state. When the sewage discharge member 30 is in the sewage discharge state, sewage in the sewage tank 10 can be quickly discharged from the sewage discharge channel 31 to the outside of the sewage discharge assembly 100.

[0072] When the sewage discharge assembly 100 has completed sewage discharge, the external force acting on the sidewall of the sewage discharge member 30 disappears, allowing the sewage discharge member 30 to rotate in the second direction. When the sewage discharge member 30 rotates in the second direction, the height of the sewage outlet 311 gradually increases in the height direction H of the sewage tank 10. When the angle between the extension direction of the central axis of the sewage outlet 311 and the height direction from the bottom to the top of the sewage tank 10 is in the range of [0°, 90°), that is, in the height direction H of the sewage tank 10, the sewage outlet 311 is higher than the sewage inlet 313. Therefore, sewage entering the sewage discharge channel 31 through the sewage inlet 313 has difficulty flowing out of the sewage outlet 311. At this time, the sewage discharge member 30 is in a non-discharged state. When the sewage discharge member 30 is in the non-discharged state, sewage in the sewage tank 10 will not flow onto the surface to be cleaned.

[0073] Referring to Figure 2 , in some embodiments, the sewage discharge member 30 includes a force-bearing portion 33 located radially outside the sewage discharge passage 31. Specifically, in some embodiments, the force-bearing portion 33 is provided with a mating surface 331. When no external force is applied to the mating surface 331, the sewage discharge member 30 is in a non-discharge state. When an external force is applied to the mating surface 331, the sewage discharge member 30 rotates relative to the sewage tank 10 in a first direction to switch from the non-discharge state to the discharge state.

[0074] Specifically, the sewage discharge part 30 includes a main part and a force-bearing part 33. The force-bearing part 33 is used to cooperate with other components to receive the force applied to the sewage discharge part 30 by other components. When the force applied by other components to the mating surface 331 of the force-bearing part 33 changes, the force-bearing part 33 can drive the main part to rotate along the first direction and the second direction. The force-bearing part 33 can be arranged at any position of the side wall of the main part. The force-bearing part 33 and the main part can be an integral structure or a split structure. When the force-bearing part 33 and the main part are an integral structure, the force-bearing part 33 and the main part can be integrally formed. When the force-bearing part 33 and the main part are a split structure, the force-bearing part 33 and the main part are detachably or non-detachably connected.

[0075] When the sewage discharge assembly 100 needs to discharge sewage, the mating surface 331 is subjected to force, so that the force-bearing portion 33 can drive the main portion to rotate in the first direction, and the sewage discharge member 30 can rotate in the first direction relative to the sewage tank 10. In the height direction H of the sewage tank 10, the height of the sewage outlet 311 gradually decreases, so that the sewage discharge member 30 switches from a non-discharge state to a sewage discharge state. When the sewage discharge assembly 100 completes sewage discharge or the cleaning module cleans the surface to be cleaned, the external force on the mating surface 331 disappears, so that the force-bearing portion 33 can drive the main portion to rotate in the second direction, and the sewage discharge member 30 can rotate in the second direction relative to the sewage tank 10. In the height direction H of the sewage tank 10, the height of the sewage outlet 311 gradually increases, so that the sewage discharge member 30 switches from a sewage discharge state to a non-discharge state.

[0076] Referring to FIG. 2 , in some embodiments, the external force applied to the mating surface 331 is a contact-type tensile force or compressive force. When the sewage discharge assembly 100 needs to discharge sewage, the mating surface 331 is used to contact other components. In the height direction H of the sewage tank 10, if the component applying force to the mating surface 331 is lower than the sewage discharge member 30, the other component can apply a tensile force to the mating surface 331 to rotate the sewage discharge member 30 in a first direction, thereby switching the sewage discharge member 30 from a non-discharge state to a sewage discharge state, and allowing sewage in the sewage tank 10 to be discharged from the sewage discharge channel 31. In the height direction H of the sewage tank 10, if the component applying force to the mating surface 331 is higher than the sewage discharge member 30, the other component can apply a compressive force to the mating surface 331 to rotate the sewage discharge member 30 in the first direction, thereby switching the sewage discharge member 30 from a non-discharge state to a sewage discharge state, and allowing sewage in the sewage tank 10 to be discharged from the sewage discharge channel 31. When the external force applied to the mating surface 331 is a contact-type pulling force or pressure, the force applied to the sewage discharge member 30 is relatively stable, which can avoid the problem that the sewage discharge member 30 cannot rotate along the first direction when the sewage discharge assembly 100 needs to discharge sewage (for example, the magnetism is weakened and the magnetic attraction disappears).

[0077] Referring to Figure 2 , in some other embodiments, the external force applied to the mating surface 331 is a non-contact repulsive or attractive force. Preferably, the external force applied to the mating surface 331 is a magnetic repulsive or attractive force. In one example, the mating surface 331 may be provided with a first magnetic element, and the sewage discharge assembly 100 may further include a second magnetic element, with the first and second magnetic elements repelling each other. When the sewage discharge assembly 100 needs to discharge sewage, the second magnetic element may be higher than the sewage discharge element 30 in the height direction H of the sewage tank 10. The first and second magnetic elements repel each other, and the sewage discharge element 30 is repelled by the repulsive force of the second magnetic element, causing the sewage discharge element 30 to rotate in a first direction, switching from a non-discharge state to a discharge state, allowing sewage in the sewage tank 10 to be discharged from the sewage discharge channel 31. When all sewage in the sewage tank 10 is discharged, the sewage discharge element 30 may need to switch from the discharge state to the non-discharge state. For example, the first and second magnetic elements may both be electromagnets. When the sewage discharge member 30 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 30 can rotate in the first direction, and the sewage discharge member 30 can switch from the non-discharge state to the sewage discharge state. When all the sewage in the sewage tank 10 is discharged, the first magnetic member and / or the second magnetic member are de-energized, the repulsive force disappears, and the sewage discharge member 30 can rotate in the second direction, and the sewage discharge member 30 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 30 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 30 can rotate in the first direction, and the sewage discharge member 30 can switch from the non-discharge state to the sewage discharge state. When all the dirt in the sewage tank 10 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 30 can rotate in the second direction, and the sewage discharge member 30 can switch from the sewage discharge state to the non-sewage discharge state.

[0078] In another example, the mating surface 331 may be provided with a first magnetic element, and the sewage discharge assembly 100 may further include a second magnetic element, with the first magnetic element and the second magnetic element mutually attracting each other. When the sewage discharge assembly 100 needs to discharge sewage, the second magnetic element may be lower than the sewage discharge element 30 in the height direction H of the sewage tank 10. The first and second magnetic elements are attracted to each other, and the sewage discharge element 30 is attracted by the second magnetic element, thereby rotating the sewage discharge element 30 in a first direction, switching from a non-discharge state to a sewage discharge state, and draining the sewage in the sewage tank 10 from the sewage discharge passage 31. For example, the first and second magnetic elements may both be electromagnets. When the sewage discharge element 30 needs to switch from a non-discharge state to a sewage discharge state, both the first and second magnetic elements are energized, thereby attracting each other and rotating the sewage discharge element 30 in the first direction, switching from a non-discharge state to a sewage discharge state. When all the waste in the sewage tank 10 is drained, the first magnetic member and / or the second magnetic member are powered off, the suction force disappears, and the sewage discharge member 30 can rotate in the second direction, switching from the sewage discharge state to the non-sewage 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 30 needs to be switched from the non-sewage discharge state to the sewage discharge state, the second magnetic member moves to a position where it can generate suction with the first magnetic member, so that the sewage discharge member 30 can rotate in the first direction, switching from the non-sewage discharge state to the sewage discharge state. When all the waste in the sewage tank 10 is drained, the second magnetic member can move away from the first magnetic member, the suction force between the first and second magnetic members disappears, and the sewage discharge member 30 can rotate in the second direction, switching from the sewage discharge state to the non-sewage discharge state.

[0079] In another example, the mating surface 331 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 magnetic element and the second magnetic element attract or repel each other, thereby allowing the waste discharge member 30 to rotate in a first direction, switching 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 magnetic element and the second magnetic element disappears, allowing the waste discharge member 30 to rotate in a second direction, switching from a waste discharge state to a non-waste discharge state.

[0080] When the external force applied to the mating surface 331 is a non-contact repulsive or attractive force, the mating surface 331 does not need to contact other components, thereby reducing wear on the mating surface 331 and extending the service life of the sewage discharge member 30. Furthermore, when the mating surface 331 is subjected to the repulsive or attractive force, the sewage discharge member 30 can quickly rotate in the first direction, and the sewage discharge member 30 can quickly switch from the non-discharge state to the discharge state.

[0081] Please refer to Figures 2 and 3. Furthermore, in some embodiments, the sewage discharge component 100 also includes a reset member 40, one end of which is connected to the sewage tank 50 of the sewage discharge component 100 or the main body 20 of the cleaning module, and the other end is connected to the sewage discharge member 30. When the external force applied to the sewage discharge member 30 disappears, the reset member 40 drives the sewage discharge member 30 to rotate in the second direction to switch from the sewage discharge state to the non-sewage discharge state.

[0082] Because, in its natural state, the height of the sewage outlet 311 is higher than the height of the sewage inlet 313, or higher than the highest liquid level in the sewage tank 10, when the sewage discharge member 30 is in its natural state, waste in the sewage tank 10 cannot flow out of the sewage outlet 311, and the sewage discharge member 30 is in a non-discharge state. When the external force acting on the sewage discharge member 30 disappears, the reset member 30 is used to drive the sewage discharge member 30 to return to its natural state, thereby allowing the sewage discharge member 30 to quickly switch to a non-discharge state.

[0083] When the sewage discharge assembly 100 needs to discharge sewage, the sewage discharge member 30 is subjected to an external force, causing the sewage discharge member 30 to rotate in a first direction, thereby switching the sewage discharge member 30 from a non-discharged state to a sewage discharge state. During the sewage discharge process of the sewage discharge assembly 100, the sewage discharge member 30 is continuously subjected to an external force to maintain the sewage discharge state. When all sewage in the sewage tank 10 is discharged from the sewage discharge assembly 100, the external force acting on the sewage discharge member 30 disappears, and the reset member 40 drives the sewage discharge member 30 to return to the non-discharged state.

[0084] In one embodiment, the reset member 40 may be a torsion spring. When the sewage discharge member 30 is in the non-discharge state, the torsion spring is in a natural state. When the sewage discharge member 30 is rotated in a first direction by an external force to enter the discharge state, the torsion spring is compressed. Due to its elastic potential energy, the torsion spring tends to rotate the sewage discharge member 30 in a second direction. Thus, when the external force on the sewage discharge member 30 disappears, the torsion spring can drive the sewage discharge member 30 to rotate in the second direction, switching the sewage discharge member 30 from the discharge state to the non-discharge state, and the torsion spring returns to its natural state.

[0085] When the sewage discharge assembly 100 includes the reset member 40, the reset member 40 can automatically drive the sewage discharge member 30 to return to the non-discharge state when the sewage discharge member 30 is not subjected to external force. During the process of the sewage discharge member 30 rotating in the second direction, no additional components are required to apply external force to the sewage discharge member 30. The method of rotating the sewage discharge member 30 in the second direction is relatively simple, and the sewage discharge member 30 switches from the sewage discharge state to the non-discharge state quickly.

[0086] Referring to Figures 1 and 2 , in certain embodiments, the sewage discharge assembly 100 further includes a sewage trough 50 and a connecting pipe 60. The sewage discharge member 30 is mounted on the sewage trough 50, and the sewage discharge passage 31 is connected to the sewage trough 50. One end of the connecting pipe 60 is connected to the sewage tank 10, and the other end is connected to the sewage trough 50.

[0087] Specifically, the sewage trough 50 is used to receive waste, and the connecting pipe 60 is used to connect the sewage trough 50 and the receiving chamber 11. Waste in the sewage trough 50 can enter the receiving chamber 11 through the connecting pipe 60, and waste in the receiving chamber 11 can also enter the sewage trough 50 through the connecting pipe 60. The connecting pipe 60 can be made of, but is not limited to, metal or plastic. When the connecting pipe 60 is made of metal, it has higher strength, better wear resistance, and longer service life. When the connecting pipe 60 is made of plastic, it is lighter and less expensive.

[0088] The accommodating chamber 11, connecting pipe 60, sewage trough 50, and sewage discharge channel 31 are sequentially connected. When the cleaning module is cleaning the surface to be cleaned, dirt scraped by the scraping element of the cleaning module enters the sewage trough 50, then passes through the connecting pipe 60 into the accommodating chamber 11, where it is stored. At this time, the sewage discharge member 30 is not discharging waste. In the height direction H of the sewage tank 10, the sewage discharge port 311 is higher than the sewage inlet 313, so that dirt in the accommodating chamber 11 does not flow out of the sewage discharge port 311 onto the surface to be cleaned.

[0089] When the sewage discharge assembly 100 needs to discharge sewage, the sewage discharge member 30 rotates in a first direction under the action of an external force, switching the sewage discharge member 30 from a non-discharge state to a discharge state. In the height direction H of the sewage tank 10, the sewage outlet 311 is lower than the sewage inlet 313, or the sewage outlet 311 is flush with the sewage inlet 313. Dirt in the accommodating chamber 11 can flow through the connecting pipe 60, the sewage trough 50, and the sewage discharge channel 31, and out of the sewage discharge assembly 100 through the sewage outlet 311. Preferably, the sewage trough 50 and the sewage discharge member 30 are sealed, so that when sewage in the sewage trough 50 flows into the sewage discharge channel 31, sewage can be prevented from flowing out of the gap between the sewage trough 50 and the sewage discharge member 30.

[0090] During the cleaning process of the sewage tank 10, when cleaning liquid enters and soaks the sewage tank 10, the drainage member 30 is in a non-draining state. To drain the cleaning liquid from the sewage tank 10, the drainage member 30 rotates in a first direction under the action of an external force, switching from a non-draining state to a draining state. The cleaning liquid in the accommodating chamber 11 carries waste through the connecting pipe 60 and the sewage tank 50, and is discharged from the drainage channel 31.

[0091] Referring to Figures 1 to 3, in certain embodiments, the connecting pipe 60 includes a first opening and a second opening opposite each other. The first opening is connected to the sewage tank 10, and the second opening and the sewage inlet 313 of the sewage discharge member 30 are connected to opposite ends of the sewage trough 50, respectively. When waste in the accommodating chamber 11 needs to be discharged, the waste flowing out of the accommodating chamber 11 enters the connecting pipe 60 through the first opening and flows into the sewage trough 50 through the second opening of the connecting pipe 60. Due to the fluidity of waste, the waste tends to spread and flow to various locations in the sewage trough 50. When the second opening and the sewage inlet 313 of the sewage discharge member 30 are located at opposite ends of the sewage trough 50, waste entering the sewage trough 50 through the second opening of the connecting pipe 60 tends to flow toward the sewage discharge member 30, allowing nearly all of the waste in the sewage trough 50 to flow into the drainage channel 31 and out of the sewage discharge assembly 100 through the sewage outlet 311.

[0092] When the cleaning liquid in the accommodating chamber 11 needs to be discharged, the cleaning liquid in the accommodating chamber 11 enters the connecting pipe 60 through the first opening, the cleaning liquid can flow through various locations of the connecting pipe 60, and carry dirt in the connecting pipe 60 into the sewage tank 50 through the second opening. When the second opening and the sewage inlet 313 are respectively connected to opposite ends of the sewage tank 50, the cleaning liquid entering the sewage tank 50 through the second opening of the connecting pipe 60 can flow through various locations in the sewage tank 50, and the cleaning liquid can carry dirt in the sewage tank 50 and flow out of the sewage discharge channel 31 through the sewage inlet 313, thereby effectively cleaning the connecting pipe 60 and the sewage tank 50.

[0093] Please refer to Figures 1 and 2. Furthermore, in some embodiments, the sewage discharge assembly 100 also includes a driving member 70, which is connected to the sewage discharge member 30. The driving member 70 is used to drive the sewage discharge member 30 to rotate to switch between the non-sewage discharge state and the sewage discharge state.

[0094] When the cleaning module is cleaning the surface to be cleaned, the driving member 70 drives the discharge member 30 to rotate in the second direction, so that the discharge member 30 switches from the discharge state to the non-discharge state. When the discharge assembly 100 needs to discharge sewage, the driving member 70 drives the discharge member 30 to rotate in the first direction, so that the discharge member 30 switches from the non-discharge state to the discharge state.

[0095] Referring to Figures 1 and 2 , in some embodiments, the cleaning module further includes a position detection unit and a processing unit. The position detection unit is configured to detect the position of the cleaning module 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 relative to the body 300 satisfies a predetermined condition and control the operation of the driving member 70 based on the determination result.

[0096] Specifically, in some embodiments, the cleaning module 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 when the cleaning module is in the second relative position is greater than the maximum outline width of the cleaning module 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 70 to drive the sewage discharge member 30 to rotate in a first direction relative to the sewage tank 10 to switch from a non-discharged sewage state to a 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 70 to drive the sewage discharge member 30 to rotate in a second direction relative to the sewage tank 10 to switch from a sewage discharge state to a non-discharged sewage state, and the first direction is opposite to the second direction.

[0097] When the cleaning module is in the first relative position, the cleaning module 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 overlap the horizontal projection of the cleaning module. When the cleaning module is in the second relative position, one end of the cleaning module may protrude from a side of the body 300 of the cleaning device 1000. The position of the cleaning module relative to the body 300 meeting the predetermined condition means that the cleaning module is in the first relative position or the second relative position relative to the body 300 of the cleaning device 1000.

[0098] When the sewage discharge assembly 100 needs to discharge sewage, the cleaning module can move to a second relative position relative to the main body 300 of the cleaning device 1000. Upon detecting that the cleaning module 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 has reached the second relative position, the processing unit controls the driving member 70 to rotate the sewage discharge member 30 in the first direction relative to the sewage tank 10, thereby switching the sewage discharge member 30 from a non-discharge state to a discharge state.

[0099] When the cleaning module is cleaning the surface to be cleaned, the cleaning module can move to a first relative position relative to the main body 300 of the cleaning device 1000. Upon detecting that the cleaning module 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 has reached the first relative position, the processing unit controls the driving member 70 to rotate the sewage discharge member 30 in a second direction relative to the sewage tank 10, thereby switching the state from the sewage discharge state to the non-sewage discharge state.

[0100] The position detection unit is in communication with the processing unit, which is in communication with the driver 70. By detecting the relative position of the cleaning module relative to the body 300 of the cleaning device 1000 by the position detection unit, the processing unit controls the driver 70 to switch the sewage discharge member 30 between a non-discharge state and a sewage discharge state. When sewage discharge is required, the sewage discharge member 30 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 30 and a better user experience.

[0101] If the drainage member is made of a hard material, the drainage member needs to rotate relative to the sewage tank or sewage trough to switch between the non-discharge state and the sewage discharge state. After a certain period of use, the connection between the drainage member and the sewage tank or sewage trough may become worn. If the connection between the drainage member and the sewage tank or sewage trough is worn, a gap will exist between the sewage tank or sewage trough and the drainage member, which may affect the seal between the drainage member and the sewage tank or sewage trough. As the sewage flows from the sewage tank or sewage trough to the drainage channel, the sewage will flow out of this gap, and this part of the sewage may flow onto the surface to be cleaned, causing secondary contamination of the surface to be cleaned.

[0102] Please refer to Figures 3 to 6. In the embodiment of the present application, the sewage discharge member 30 includes a first sub-section 35 and a second sub-section 37. The first sub-section 35 is sleeved on the second sub-section 37. The force-bearing portion 33 of the sewage discharge member 30 is provided on the side wall of the first sub-section 35. The sewage discharge channel 31 is provided in the second sub-section 37. The first sub-section 35 is a hard tube, and the second sub-section 37 is a hose.

[0103] In one embodiment, the second sub-section 37 is sealedly connected to the sewage trough 50. Specifically, the first sub-section 35 is configured to rotate relative to the sewage tank 10 under external force. The first sub-section 35 can drive the second sub-section 37 to rotate together, thereby enabling the sewage discharge member 30 to switch between a non-discharge state and a discharge state. The second sub-section 37 is configured to connect to the sewage trough 50, so that waste in the sewage trough 50 can flow out of the sewage discharge assembly 100 through the drainage channel 31 of the second sub-section 37. Because the second sub-section 37 is a hose, the connection between the second sub-section 37 and the sewage trough 50 is not easily worn during rotation, ensuring a good seal between the second sub-section 37 and the sewage trough 50, thereby preventing waste from flowing out of the gap between the sewage trough 50 and the second sub-section 37.

[0104] In another embodiment, the second sub-section 37 is sealedly connected to the sewage tank 10. Specifically, the first sub-section 35 is configured to rotate relative to the sewage tank 10 under external force. The first sub-section 35 can drive the second sub-section 37 to rotate together, thereby enabling the sewage discharge member 30 to switch between a non-discharge state and a discharge state. The second sub-section 37 is configured to connect to the sewage tank 10, allowing sewage in the sewage tank 10 to flow out of the sewage discharge assembly 100 through the drainage channel 31 of the second sub-section 37. Because the second sub-section 37 is a hose, the connection between the second sub-section 37 and the sewage tank 10 is not easily worn during rotation, ensuring a good seal between the second sub-section 37 and the sewage tank 10, thereby preventing sewage from flowing out of the gap between the sewage tank 10 and the second sub-section 37.

[0105] When the first subsection 35 is a rigid tube, it is not easily deformed by external forces. Thus, the first subsection 35 can rotate under external forces, thereby enabling the first subsection 35 to drive the second subsection 37 to rotate. The first subsection 35 can drive the second subsection 37 to rotate together, allowing the sewage discharge member 30 to switch between a non-discharge state and a sewage discharge state. The material of the first subsection 35 can be, but is not limited to, metal or plastic. When the first subsection 35 is made of metal, it has high strength, is not easily deformed by external forces, and has a long lifespan. When the first subsection 35 is made of plastic, it is lightweight and has a low cost. When the second sub-section 37 is a hose, the sealing effect between the second sub-section 37 and the sewage trough 50 is better. Moreover, during the rotation of the second sub-section 37, due to its flexibility, the second sub-section 37 can buffer the pulling force at the connection between the second sub-section 37 and the sewage trough 50 when the second sub-section 37 is driven by the first sub-section 35. This can reduce wear between the second sub-section 37 and the sewage trough 50, reduce the formation of a gap between the second sub-section 37 and the sewage trough 50, and reduce the possibility of dirt flowing out of the gap between the side wall of the sewage trough 50 and the second sub-section 37. The material of the second sub-section 37 can be, but is not limited to, rubber, silicone, or polyethylene.

[0106] Referring to Figures 3 to 6 , in certain embodiments, a rotational shaft 351 is provided on the sidewall of the first sub-section 35. The rotational shaft 351 is rotatable relative to the sewage tank 10. As the first sub-section 35 rotates relative to the main body 20 in the first and second directions, the rotational shaft 351 also rotates relative to the main body 20. The connection between the rotational shaft 351 and the main body 20 provides a certain amount of support for the first sub-section 35, thereby ensuring greater stability during rotation in the first and second directions.

[0107] Referring to Figures 3 and 5 , in some embodiments, a first gap 38 is defined between the first sub-section 35 and the second sub-section 37. This allows for minimal friction between the first sub-section 35 and the second sub-section 37 as the first sub-section 35 rotates, thereby preventing wear between the first and second sub-sections 35, 37. This makes the first and second sub-sections 35, 37 less susceptible to damage and more durable.

[0108] Please refer to Figures 3 and 5. In some embodiments, the first sub-section 35 includes a first end 353 and a second end 355 relative to each other, and the first end 353 of the first sub-section 35 is closer to the sewage trough 50 than the second end 355 of the first sub-section 35; the second sub-section 37 includes a first end 371 and a second end 373 relative to each other, and the first end 371 of the second sub-section 37 is closer to the sewage trough 50 than the second end 373 of the second sub-section 37; the first end 371 of the second sub-section 37 is closer to the sewage trough 50 than the first end 353 of the first sub-section 35, and the first end 371 of the second sub-section 37 is sealed and connected to the sewage trough 50.

[0109] The sewage inlet 313 is located at the first end 371 of the second sub-section 37, and the sewage outlet 311 is located at the second end 373 of the second sub-section 37. The first end 353 of the first sub-section 35 is connected to the sidewall of the sewage trough 50, while the second end 355 of the first sub-section 35 is adjacent to the sewage outlet 311. The first end 371 of the second sub-section 37 is closer to the sewage trough 50 than the first end 353 of the first sub-section 35, that is, the first end 371 of the second sub-section 37 protrudes relative to the first end 353 of the first sub-section 35. Because the first end 371 of the second sub-section 37 is sealed with the sewage trough 50, sewage in the sewage trough 50 is prevented from flowing into the first gap 38 and from flowing out between the sidewall of the sewage trough 50 and the second end 373 of the second sub-section 37. All sewage in the sewage trough 50 enters the sewage channel 31 through the sewage inlet 313 at the first end 371 of the second sub-section 37 and is discharged through the sewage outlet 311.

[0110] In other embodiments, the first sub-section 35 includes a first end 353 and a second end 355 relative to each other, and the first end 353 of the first sub-section 35 is closer to the accommodating chamber 11 than the second end 355 of the first sub-section 35; the second sub-section 37 includes a first end 371 and a second end 373 relative to each other, and the first end 371 of the second sub-section 37 is closer to the accommodating chamber 11 than the second end 373 of the second sub-section 37; the first end 371 of the second sub-section 37 is closer to the accommodating chamber 11 than the first end 353 of the first sub-section 35, and the first end 371 of the second sub-section 37 is sealed and connected to the sewage tank 10.

[0111] At this point, the first end 353 of the first sub-section 35 is connected to the sidewall of the sewage tank 10, and the second end 355 of the first sub-section 35 is adjacent to the sewage outlet 311. The first end 371 of the second sub-section 37 is closer to the accommodating chamber 11 than the first end 353 of the first sub-section 35, that is, the first end 371 of the second sub-section 37 protrudes relative to the first end 353 of the first sub-section 35. Because the first end 371 of the second sub-section 37 is sealed with the sewage tank 10, waste in the sewage tank 10 is prevented from flowing into the first gap 38 and from flowing out between the sidewall of the sewage tank 10 and the second end 373 of the second sub-section 37. All waste in the sewage tank 10 enters the sewage channel 31 through the sewage inlet 313 of the first end 371 of the second sub-section 37 and is discharged through the sewage outlet 311.

[0112] Referring to Figures 3 and 4 , in some embodiments, the second end 373 of the second sub-section 37 is flush with the second end 355 of the first sub-section 35. In this case, when waste in the drain channel 31 flows out of the drain port 311, the probability of waste flowing from the second end 373 of the second sub-section 37 into the first gap 38 is reduced. In other embodiments, the second end 373 of the second sub-section 37 extends beyond the second end 355 of the first sub-section 35. In this case, when waste in the drain channel 31 flows out of the drain port 311, the probability of waste flowing from the second end 373 of the second sub-section 37 into the first gap 38 is further reduced.

[0113] 5 and 6 , further, in certain embodiments, the second end 373 of the second sub-section 37 extends beyond the second end 355 of the first sub-section 35 and sleeves over the second end 355 of the first sub-section 35. The gap between the second end 373 of the second sub-section 37 and the second end 355 of the first sub-section 35 can be covered by the bent portion 375 of the second sub-section 37. Thus, waste flowing out of the second end 373 of the second sub-section 37 can be completely discharged outside the waste discharge assembly 100, and waste will not flow from the second end 373 of the second sub-section 37 into the first gap 38.

[0114] Please refer to FIG. 5 and FIG. 6 . Furthermore, in some embodiments, a second gap 39 is defined between the bent portion 375 of the second end 373 of the second sub-portion 37 and the second end 355 of the first sub-portion 35 .

[0115] During the rotation of the second sub-section 37 by the first sub-section 35, the connection between the sewage trough 50 and the first end 371 of the second sub-section 37 exerts a certain pulling force on the second sub-section 37. If there is no gap between the bent portion 375 of the second end 373 of the second sub-section 37 and the second end 355 of the first sub-section 35, the second sub-section 37 is easily damaged when the connection between the sewage trough 50 and the first end 371 of the second sub-section 37 pulls on the second sub-section 37. In the embodiment of the present application, a second gap 39 is provided between the bent portion 375 and the second end 355 of the first sub-section 35. When the connection between the sewage trough 50 and the first end 371 of the second sub-section 37 pulls on the second sub-section 37, the second gap 39 provides sufficient space for the second sub-section 37 to deform, thereby preventing damage and improving the service life of the second sub-section 37.

[0116] Please refer to Figures 7 and 8. In some embodiments, the sewage discharge member 30 can be deformed when subjected to external force on the outside of the sewage discharge channel 31 to switch between a non-sewage discharge state and a sewage discharge state. When the sewage discharge member 30 is in the sewage discharge state, the sewage discharge channel 31 is in an on state. When the sewage discharge member 30 is in the non-sewage discharge state, the sewage discharge channel 31 is in a closed state.

[0117] Specifically, please refer to Figures 1 and 2. When the sewage discharge part 30 is deformable by external force, the sewage discharge part 30 can be a hose, and the material of the sewage discharge part 30 can be, but is not limited to, rubber, silicone or polyethylene. The sewage channel 31 is in a conductive state, which means that the sewage flowing into the sewage channel 31 from the sewage tank 50 can flow out of the sewage outlet 311 to the outside of the sewage discharge component 100. At this time, the minimum cross-sectional area of ​​the sewage channel 31 is greater than 0. In one example, when the sewage channel 31 is in a conductive state, the sewage discharge part 30 is not subject to external force, and the sewage discharge part 30 is in a natural state. At this time, the cross-sectional areas of each position of the sewage channel 31 are equal, the cross-sectional area of ​​the sewage channel 31 is larger, and the sewage flowing into the sewage channel 31 from the sewage tank 50 can be quickly discharged to the outside of the sewage discharge component 100. In another example, when the drain channel 31 is open, the drain member 30 may be subjected to external forces, causing the drain member 30 to be partially deformed and the minimum cross-sectional area of ​​the drain channel 31 to be greater than 0. When the drain channel 31 is closed, waste flowing from the sewage tank 50 into the drain channel 31 cannot flow out of the drain assembly 100 through the drain port 311. In this case, the minimum cross-sectional area of ​​the drain channel 31 is 0. When the drain channel 31 is closed, the sidewalls of the drain member 30 are subjected to external forces, causing the drain member 30 to be fully deformed.

[0118] Referring to Figures 1, 2, 7, and 8, in certain embodiments, the height of the sewage outlet 311 relative to the sewage tank 10 when the sewage discharge member 30 is in the sewage discharge state is consistent with the height of the sewage outlet 311 relative to the sewage tank 10 when the sewage discharge member 30 is in the non-sewage discharge state. That is, during the process of switching between the non-sewage discharge state and the sewage discharge state, the height of the sewage outlet 311 of the sewage discharge member 30 relative to the sewage tank 10 remains unchanged. At this time, in the height direction H of the sewage tank 10, the height of the sewage outlet 311 relative to the height of the sewage inlet 313 remains unchanged, and the sewage outlet 311 is flush with the sewage inlet 313 or lower than the sewage inlet 313. The overall position of the sewage discharge member 30 relative to the sewage tank 10 remains unchanged.

[0119] When the cleaning module is cleaning the surface to be cleaned, the drainage member 30 is subjected to external force, causing the drainage member 30 to deform, thereby closing the drainage channel 31 and preventing the waste in the receiving chamber 11 from being discharged from the drainage port 311 to the outside of the drainage assembly 100. When the drainage assembly 100 needs to drain waste, the drainage member 30 may be free of external force or subjected to minimal external force, and the drainage member 30 may be in a natural state or slightly deformed, thereby opening the drainage channel 31 and allowing the waste in the receiving chamber 11 to be discharged from the drainage port 311 to the outside of the drainage assembly 100.

[0120] When the sewage discharge member 30 switches from the non-discharge state to the discharge state, the external force applied to the sewage discharge member 30 can be removed or reduced. The method for switching the sewage discharge member 30 from the non-discharge state to the discharge state is relatively simple. When the external force applied to the sewage discharge member 30 is reduced or eliminated, the sewage in the sewage trough 50 can flow out of the sewage discharge assembly 100 through the sewage discharge channel 31, and the sewage in the accommodating chamber 11 can be discharged from the sewage discharge channel 31 at a faster speed.

[0121] Referring to Figures 1, 2, 7, and 8, in some embodiments, the cleaning module further includes a first force-applying member 80, which is configured to apply an external force to the drainage member 30 to open or close the drainage channel 31. Specifically, in some embodiments, when the first force-applying member 80 applies an external force to the sidewall of the drainage member 30, the drainage channel 31 is closed. When the external force applied by the first force-applying member 80 to the drainage member 30 disappears, the drainage channel 31 is opened.

[0122] Specifically, the first force-applying member 80 may be disposed on the body 20. The first force-applying member 80 applies an external force to the drainage member 30, thereby deforming the drainage member 30. When the external force applied by the first force-applying member 80 to the drainage member 30 disappears, the drainage member 30 returns to its natural state. When the drainage channel 31 is closed, the first force-applying member 80 contacts the drainage member 30. When the drainage channel 31 is open, the first force-applying member 80 may be spaced apart from the drainage member 30.

[0123] During the process of the cleaning module cleaning the surface to be cleaned, the first force-applying member 80 applies an external force to the side wall of the sewage discharge member 30, causing the sewage discharge member 30 to deform, thereby closing the sewage discharge channel 31 and placing the sewage discharge member 30 in a non-discharge state. Dirt in the accommodating chamber 11 cannot be discharged from the sewage outlet 311, thereby preventing the problem of sewage flowing to the surface to be cleaned. When the sewage discharge assembly 100 needs to discharge sewage, the first force-applying member 80 removes the external force applied to the sewage discharge member 30, placing the sewage discharge member 30 in a natural state, thereby placing the sewage discharge channel 31 in a conductive state, placing the sewage discharge member 30 in a discharge state, and allowing sewage to flow out of the sewage outlet 311. At this point, the cross-sectional area of ​​the sewage discharge channel 31 is larger, allowing sewage to quickly flow out of the sewage discharge channel 31.

[0124] Please refer to Figures 1, 2, 7 and 8. Furthermore, in some embodiments, the cleaning module also includes a driving unit, which is connected to the first force-applying member 80. The driving unit is used to drive the first force-applying member 80 to apply external force to the sewage discharge member 30 or cancel the applied external force.

[0125] When the cleaning module is cleaning the surface to be cleaned, the driving unit drives the first force-applying member 80 to apply an external force to the side wall of the sewage discharge member 30, thereby deforming the sewage discharge member 30 and allowing the sewage discharge channel 31 to be in a closed state. Dirt cannot be discharged from the sewage outlet 311, thereby avoiding the problem of sewage flowing to the surface to be cleaned. When the sewage discharge assembly 100 needs to discharge sewage, the driving unit drives the first force-applying member 80 to cancel the external force on the sewage discharge member 30, so that the sewage discharge member 30 is not subjected to external force, the sewage discharge member 30 returns to its natural state, the sewage discharge channel 31 is in a conductive state, and sewage can flow out of the sewage outlet 311.

[0126] The drive unit can be communicatively connected to the processing unit. The processing unit is configured to determine whether the position of the cleaning module relative to the body 300 of the cleaning device 1000 meets a predetermined condition based on the detection information from the position detection unit, and to control the operation of the drive unit based on the determination result. When the waste discharge assembly 100 needs to discharge waste, the cleaning module 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 is in the second relative position relative to the body 300 of the cleaning device 1000, it transmits the detection information to the processing unit. When the processing unit determines that the cleaning module has reached the second relative position, the processing unit controls the drive unit to remove the pressure applied to the waste discharge member 30, thereby opening the waste discharge passage 31. When the cleaning module is cleaning the surface to be cleaned, the cleaning module 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 is in the first relative position relative to the body 300 of the cleaning device 1000, it transmits the detection information to the processing unit. When the processing unit determines that the cleaning module has reached the first relative position, the processing unit controls the driving unit to apply an external force to the sewage discharge member 30 so that the sewage discharge channel 31 is in a closed state.

[0127] Please refer to Figure 9. In the second aspect, an embodiment of the present application provides a cleaning device 1000. The cleaning device 1000 includes a body 300 and the sewage discharge assembly 100 of the above embodiment. The sewage tank 10 of the sewage discharge assembly 100 is installed on the body 300.

[0128] In a third aspect, an embodiment of the present application provides a cleaning device 1000 , which includes a body and the cleaning module of the above embodiment, wherein the cleaning module is installed on the body 300 .

[0129] Referring to FIG. 9 , 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 to move relative to the body 300 along the width direction of the body 300, so that the cleaning module switches 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 to move along the width direction of the body 300, so that the cleaning module is in the first relative position relative to the body 300. When the sewage discharge assembly 100 needs to discharge sewage, the driver 500 drives the cleaning module to move along the width direction of the body 300, so that the cleaning module is in the second relative position relative to the body 300.

[0130] Referring to Figure 9 , in some embodiments, cleaning device 1000 further includes a position sensor and a processor. The position sensor is disposed on body 300 and is used to detect the relative position of the cleaning module and body 300. The processor is used to determine whether the relative position of the cleaning module and body 300 meets a predetermined condition based on the detection information from the position sensor and to control the operation of driver 500 based on the determination result.

[0131] Specifically, in some embodiments, when the processor receives a sewage discharge start instruction and the detection information indicates that the cleaning module is in a first relative position, the processor controls the driver 500 to drive the cleaning module to move in the forward direction of the width direction of the fuselage 300 relative to the fuselage 300; after the processor receives a sewage discharge start instruction and the detection information indicates that the cleaning module 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 is in the second relative position, the processor controls the driver 500 to drive the cleaning module to move in the reverse direction of the width direction of the fuselage 300 relative to the fuselage 300; after the processor receives a sewage discharge end instruction and the detection information indicates that the cleaning module is in the first relative position, the processor controls the driver 500 to stop driving.

[0132] 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 result of the position sensor. When the cleaning module needs to discharge dirt, the processor can control the driver 500 to drive the cleaning module to the second relative position.

[0133] When the cleaning device 1000 needs to discharge waste, the position sensor detects the position of the cleaning module relative to the body 300 and transmits this detection information to the processor. After receiving the discharge start instruction and determining that the cleaning module is in the first relative position, the processor controls the driver 500 to drive the cleaning module to move forward relative to the body 300 along the width direction of the body 300, so that the cleaning module protrudes from one side of the body 300. If the position sensor detects that the cleaning module is in the second relative position, the position sensor transmits this detection information to the processor, and the processor can control the driver 500 to stop driving the cleaning module. When the cleaning module is in the second relative position, the waste discharge member 30 is in a waste discharge state due to the action of an external force, so that the waste in the sewage tank 10 can be discharged outside the cleaning device 1000.

[0134] When the cleaning device 1000 has completed waste discharge, the position sensor detects the position of the cleaning module 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 is in the second relative position, the processor controls the driver 500 to drive the cleaning module 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 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. When the cleaning module is in the first relative position, the waste discharge unit 30 is in a non-discharge state, and thus the waste in the sewage tank 10 cannot be discharged from the waste discharge unit 30.

[0135] The cleaning device 1000 of the present embodiment applies an external force to the outside of the drainage channel 31 to switch the drainage member 30 between a drainage state and a non-draining state. When the drainage assembly 100 needs to drain, the drainage member 30 can be in the drainage state, allowing waste in the sewage tank 10 to be discharged outside the drainage assembly 100. Compared to conventional drainage members 30, the drainage channel 31 of the drainage member 30 of the present application does not require a valve, making it less prone to clogging and allowing waste to flow smoothly out of the drainage channel 31.

[0136] Referring to Figures 1, 2, 10, and 11, in a fourth aspect, embodiments of the present application further provide a base station 3000, comprising a main body 3001 and a second force-applying member 3003. The second force-applying member 3003 is mounted on the main body 3001 and is configured to cooperate with a sewage discharge member 30. When the external force applied by the second force-applying member 3003 to the outer side of the sewage discharge channel 31 changes, the sewage discharge member 30 can switch between a non-discharge state and a sewage discharge state.

[0137] The base station 3000 is a device 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 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, dust collection, and sewage disposal for the cleaning device 1000. If the mopping element of the cleaning device 1000 is dirty and / or low on power, the cleaning device 1000 returns to the base station 3000 for cleaning and / or charging. Once the mopping element 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.

[0138] In one embodiment, when the cleaning device 1000 enters the base station 3000 and the cleaning device 1000 needs to discharge waste, the second force-applying member 3003 applies an external force to the side wall of the waste-discharging member 30, so that the waste-discharging member 30 can switch from a non-discharging state to a waste-discharging state. The waste in the accommodating chamber 11 can flow into the base station 3000 from the waste-discharging port 311. In another embodiment, when the cleaning device 1000 enters the base station 3000 and the cleaning device 1000 needs to discharge waste, the second force-applying member 3003 cancels the external force applied to the side wall of the waste-discharging member 30, so that the waste-discharging member 30 can switch from a non-discharging state to a waste-discharging state. The waste in the accommodating chamber 11 can flow into the base station 3000 from the waste-discharging port 311.

[0139] After entering the base station 3000, the cleaning device 1000 comes into contact with the tray of the main body 3001. Preferably, the second force-applying member 3003 can be mounted on the tray, and the second force-applying member 3003 and the tray can be detachably or non-detachably connected. When the second force-applying member 3003 is mounted on the tray, the second force-applying member 3003 can be easily mated with the waste removal member 30.

[0140] 1 and 2 , in some embodiments, the height of the sewage outlet 311 of the sewage discharge member 30 when the sewage discharge member 30 is in the sewage discharge state is lower than the height of the sewage outlet 311 when the sewage discharge member 30 is in the non-sewage discharge state.

[0141] The sewage discharge member 30 can rotate relative to the sewage tank 10. During this rotation, the height of the sewage outlet 311 can be adjusted in the height direction H of the sewage tank 10. When the cleaning module is cleaning the surface to be cleaned, the sewage discharge member 30 can be rotated in a first direction relative to the sewage tank 10 under the action of an external force, thereby raising the height of the sewage outlet 311 and preventing waste from flowing out of the sewage outlet 311. In this state, the sewage discharge member 30 is in a non-discharge state. When the sewage discharge assembly 100 needs to discharge waste, the sewage discharge member 30 can be rotated in a second direction relative to the sewage tank 10 under the action of an external force, thereby lowering the height of the sewage outlet 311 and allowing waste in the drainage channel 31 to flow out of the drainage channel 31. In this state, the sewage discharge member 30 is in a drainage state. The rotation of the sewage discharge member 30 switches between the drainage and non-discharge states, ensuring smoother flow of waste through the drainage channel 31 and preventing blockage within the drainage channel 31.

[0142] 2 , 12 , 13 and 14 , in some embodiments, the second force applying member 3003 includes a guide portion 3005 and a connecting portion 3007 . The guide portion 3005 has a guide surface 3006 that mates with the mating surface 331 . The connecting portion 3007 is connected to the main body 3001 .

[0143] Specifically, the connecting portion 3007 is used to connect the second force-applying member 3003 to the main body 3001 so that the second force-applying 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 is matched with the mating surface 331. The guide portion 3005 transmits the external force to the sewage discharge member 30 through the guide surface 3006, so that the sewage discharge member 30 can rotate in the first direction. The sewage discharge member 30 switches from the non-sewage discharge state to the sewage discharge state, and the sewage in the accommodating chamber 11 flows into the base station 3000 from the sewage discharge port 311. When the cleaning module leaves the base station 3000, the second force-applying member 3003 is spaced apart from the sewage discharge member 30, that is, the guide surface 3006 is spaced apart from the mating surface 331. The external force on the sewage discharge member 30 disappears, and the reset member 40 can drive the sewage discharge member 30 to rotate in the second direction, and the sewage discharge member 30 switches from the sewage discharge state to the non-sewage discharge state.

[0144] In another embodiment, after the cleaning device 1000 enters the base station 3000 and the cleaning module moves to a second relative position relative to the body 300, the second force-applying member 3003 engages with the discharge member 30, i.e., the guide surface 3006 engages with the mating surface 331. The guide portion 3005 transmits an external force to the discharge member 30 via the guide surface 3006, thereby enabling the discharge member 30 to rotate in a first direction. The discharge member 30 switches from a non-discharge state to a discharge state, and waste in the accommodating chamber 11 flows into the base station 3000 through the discharge port 311. When the cleaning module moves to the first relative position relative to the body 300, the second force-applying member 3003 is spaced apart from the discharge member 30, i.e., the guide surface 3006 is spaced apart from the mating surface 331. The external force acting on the discharge member 30 disappears, and the reset member 40 can drive the discharge member 30 to rotate in the second direction, switching the discharge member 30 from the discharge state to the non-discharge state.

[0145] In another embodiment, after the cleaning device 1000 enters the base station 3000, the second force-applying member 3003 can be moved relative to the main body 3001 to a position corresponding to the sewage discharge member 30, so that the second force-applying member 3003 can cooperate with the sewage discharge member 30, that is, the guide surface 3006 cooperates with the mating surface 331. The guide portion 3005 transmits external force to the sewage discharge member 30 through the guide surface 3006, so that the sewage discharge member 30 can rotate in a first direction. The sewage discharge member 30 switches from a non-discharge state to a sewage discharge state, and the sewage in the accommodating chamber 11 flows into the base station 3000 from the sewage outlet 311. When the cleaning module moves to the first relative position relative to the body 300, the second force-applying member 3003 is spaced apart from the sewage discharge member 30, that is, the guide surface 3006 is spaced apart from the mating surface 331. When the external force on the sewage discharge member 30 disappears, the reset member 40 can drive the sewage discharge member 30 to rotate along the second direction, and the sewage discharge member 30 switches from the sewage discharge state to the non-sewage discharge state.

[0146] In the embodiment of the present application, after the cleaning device 1000 enters the base station 3000 , when the cleaning module moves to the second relative position relative to the body 300 , the second force applying member 3003 cooperates with the dirt discharging member 30 .

[0147] 11 to 14 , 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.

[0148] In the height direction H of the sewage tank 10, after the cleaning equipment 1000 enters the base station 3000, the second force-applying member 3003 is higher than the sewage discharge member 30. The guide surface 3006 is provided on the bottom surface of the guide portion 3005. When the sewage discharge member 30 is in the sewage discharge state, the mating surface 331 is located on the top surface of the sewage discharge member 30. The guide surface 3006 is an inclined surface toward 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. In the process of the cleaning module moving to the second relative position relative to the fuselage 300, the guide surface 3006 and the mating surface 331 begin to mate (as shown in Figure 12). At this time, the angle between the extending direction of the mating surface 331 away from the main body 20 and the direction from the bottom to the top of the sewage tank 10 can range from [0°, 90°]. As the guide surface 3006 and the mating surface 331 mate, the angle between the mating surface 331 and the bottom of the sewage tank 10 and the top gradually increases (as shown in Figure 13). After the sewage discharge assembly 100 moves to the second relative position relative to the body 300, the mating surface 331 mates with the lowest point of the guide surface 3006. At this point, the angle between the mating surface 331 and the height direction H of the sewage tank 10 can be greater than or equal to 90° (as shown in Figure 14). As the guide surface 3006 and the mating surface 331 mate, the sewage outlet 311 begins to rotate in the first direction. The height of the sewage outlet 311 gradually decreases in the height direction H of the sewage tank 10. When the mating surface 331 is mated with the lowest point of the guide surface 3006, the angle between the extension direction of the sewage outlet 311 toward the central axis of the sewage inlet 313 away from the sewage discharge component 30 and the height direction from the bottom to the top of the sewage tank 10 is greater than or equal to 90°. At this time, the sewage discharge component 30 is switched to the sewage discharge state, and the sewage in the accommodating cavity 11 can flow into the base station 3000 from the sewage outlet 311.

[0149] Referring to Figures 11 to 14 , further, 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 enters the main body 3001. As the cleaning device 1000 enters the base station 3000, the guide surface 3006 guides the mating surface 331 in the direction of the cleaning module entering the main body 3001, thereby further accelerating the rotation of the waste discharge member 30 in the first direction, allowing waste in the accommodating chamber 11 to be quickly discharged into the base station 3000.

[0150] Referring to Figures 1, 15, and 16, in some embodiments, the sewage discharge assembly 100 further includes a clamping member 81; a second force-applying member 3003 is configured to apply an external force to the sewage discharge member 30 via the clamping member 81, thereby placing the sewage discharge passage 31 in an open or closed state. Specifically, in some embodiments, when the second force-applying member 3003 applies an external force to the sidewall of the sewage discharge member 30 via the clamping member 81, the sewage discharge passage 31 is closed; when the external force applied by the second force-applying member 3003 to the sewage discharge member 30 via the clamping member 81 ceases, the sewage discharge passage 31 is opened.

[0151] The sidewalls of the sewage discharge member 30 may deform under external forces. When the sewage discharge passage 31 is open, the sewage discharge member 30 is in a sewage discharge state. When the sewage discharge passage 31 is closed, the sewage discharge member 30 is not in a sewage discharge state. The height of the sewage outlet 311 relative to the sewage tank 10 when the sewage discharge member 30 is in the sewage discharge state is the same as when the sewage discharge member 30 is not in the sewage discharge state.

[0152] The clamping member 81 is used to cooperate with the second force-applying member 3003. The second force-applying member 3003 applies an external force to the clamping member 81, thereby applying an external force to the sewage discharge member 30 to keep the sewage discharge channel 31 closed. When the cleaning module is cleaning the surface to be cleaned, the clamping member 81 can continue to apply an external force to the sewage discharge member 30, so that the dirt in the receiving chamber 11 does not flow out of the sewage discharge port 311 to the surface to be cleaned. After the equipment module enters the base station 3000, the second force-applying member 3003 can remove the external force applied by the clamping member 81 to the sewage discharge member 30, so that the dirt can flow into the base station 3000 through the sewage discharge port 311. After the sewage discharge assembly 100 completes sewage discharge, the second force-applying member 3003 can apply an external force to the clamping member 81, thereby applying an external force to the sewage discharge member 30 to keep the sewage discharge channel 31 closed.

[0153] Please refer to Figures 15 and 16. In one embodiment, when the cleaning device 1000 enters the base station 3000, the second force-applying member 3003 cooperates with the clamping member 81. The second force-applying member 3003 can cancel the external force of the clamping member 81 on the sewage discharge member 30, and the sewage discharge member 30 is in a natural state, so that the sewage discharge channel 31 is in a conductive state, the sewage discharge member 30 is in a sewage discharge state, and sewage can flow out of the sewage outlet 311. At this time, the cross-sectional area of ​​the sewage discharge channel 31 is large, and sewage can flow out of the sewage discharge channel 31 quickly. When the cleaning device 1000 completes sewage discharge, the second force-applying member 3003 can apply pressure to the side wall of the sewage discharge member 30 through the clamping member 81, and the sewage discharge member 30 is deformed, so that the sewage discharge channel 31 is in a closed state, the sewage discharge member 30 is in a non-sewage discharge state, and the sewage in the accommodating chamber 11 cannot be discharged from the sewage outlet 311.

[0154] In another embodiment, after the cleaning device 1000 enters the base station 3000 and the cleaning module moves to a second relative position relative to the main body 300, the second force-applying member 3003 engages with the clamping member 81. The second force-applying member 3003 can remove the external force exerted by the clamping member 81 on the waste discharge member 30, placing the waste discharge member 30 in a natural state. This allows the waste discharge passage 31 to be open, the waste discharge member 30 to be in a waste discharge state, and waste can flow out of the waste discharge port 311. In yet another embodiment, after the cleaning device 1000 enters the base station 3000, the second force-applying member 3003 can move relative to the main body 3001 to a position corresponding to the waste discharge member 30, thereby engaging with the clamping member 81. The second force applying member 3003 can cancel the external force of the clamping member 81 on the sewage discharge member 30 , so that the sewage discharge member 30 is in a natural state, and the sewage discharge channel 31 is in a conducting state. The sewage discharge member 30 is in a sewage discharge state, and sewage can flow out from the sewage outlet 311 .

[0155] Please refer to Figures 15 and 16. Furthermore, in some embodiments, the base station 3000 also includes a driving structure, which is connected to the second force-applying member 3003. The driving structure is used to drive the second force-applying member 3003 to apply external force to the sewage discharge member 30 or cancel the applied external force. In particular, when the cleaning device 1000 enters the base station 3000 and the sewage discharge component 100 needs to discharge sewage, the driving member 70 drives the second force-applying member 3003 to cancel the external force applied to the sewage discharge component 30 by the clamping member 81, so that the sewage discharge channel 31 is in a conductive state. After the sewage discharge component 100 completes sewage discharge, the driving member 70 drives the second force-applying member 3003 to apply external force to the side wall of the sewage discharge component 30 through the clamping member 81, so that the sewage discharge channel 31 is in a closed state.

[0156] Referring to Figures 15 and 16 , 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 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 relative to the body 300 or the base station 3000 meets predetermined conditions, and control the operation of the driving unit based on the determination result.

[0157] 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.

[0158] In one embodiment, when the position detection unit detects that the cleaning module 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 relative to the base station 3000 satisfies a predetermined condition, the processing unit controls the drive unit to drive the second force-applying member 3003 to operate, so that the second force-applying member 3003 cancels the external force applied by the clamping member 81 to the waste discharge member 30. When the position detection unit detects that the cleaning module 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 second force-applying member 3003 to operate, so that the second force-applying member 3003 applies an external force to the clamping member 81, and thus the clamping member 81 applies an external force to the waste discharge member 30.

[0159] In another embodiment, when the position detection unit detects that the cleaning module has moved 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 is in the second relative position, the processing unit controls the driving unit to drive the second force-applying member 3003 to operate, so that the second force-applying member 3003 cancels the external force applied by the clamping member 81 to the sewage discharge member 30. When the position detection unit detects that the cleaning module has moved 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 is in the first relative position, the processing unit controls the driving unit to drive the second force-applying member 3003 to operate, and the second force-applying member 3003 applies an external force to the clamping member 81, so that the clamping member 81 applies an external force to the sewage discharge member 30.

[0160] The base station 3000 of the present embodiment applies an external force to the outer side of the drainage channel 31 to switch the sewage discharge member 30 between a drainage state and a non-draining state. When the sewage discharge assembly 100 needs to discharge sewage, the sewage discharge member 30 can be placed in the drainage state, allowing sewage in the sewage tank 10 to be discharged outside the sewage discharge assembly 100. Compared to existing sewage discharge members 30, the sewage discharge member 30 of the present application does not require a valve in the drainage channel 31, making the drainage channel 31 less prone to clogging and ensuring smoother drainage of sewage from the drainage channel 31.

[0161] Please refer to FIG. 17 . In a fourth aspect, an 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 / or the base station 3000 of the above embodiment.

[0162] The cleaning system 10000 of the present embodiment applies an external force to the outside of the drain channel 31 to switch the drain member 30 between a draining state and a non-draining state. When the drain assembly 100 needs to drain, the drain member 30 can be in the draining state, allowing waste in the sewage tank 10 to be discharged outside the drain assembly 100. Compared to conventional drain members 30, the drain channel 31 of the drain member 30 of the present application does not require a valve, making it less prone to clogging and allowing waste to flow smoothly out of the drain channel 31.

[0163] In a fifth aspect, embodiments of the present application further provide a method for controlling waste discharge, which is applied to the waste discharge assembly 100, cleaning module, cleaning device 1000, base station 3000, and cleaning system 10000 of the above embodiments. The waste discharge control method includes:

[0164] Please refer to FIG. 1 , FIG. 2 and FIG. 18 , 01 : when the cleaning device 1000 moves to the designated sewage discharge position, the sewage discharge member 30 is controlled to switch to the sewage discharge state; and

[0165] 03: When the cleaning device 1000 completes sewage discharge, the sewage discharge component 30 is controlled to switch to a non-sewage discharge state.

[0166] When the cleaning device 1000 moves to the designated sewage discharge location, step 011 includes: the cleaning device 1000 moves to the parking position of the base station 3000. That is, at the parking position, the sewage of the cleaning device 1000 can be discharged outside the cleaning device 1000 through the sewage discharge assembly 100, and the sewage is collected by the base station 3000 or discharged to the sewer pipe through the base station 3000.

[0167] The driving member 70 or the driving unit controls the sewage discharge member 30 to switch from the non-discharge state to the sewage discharge state. The sewage in the receiving chamber 11 flows through the connecting pipe 60 and the sewage tank 50, and enters the sewage discharge channel 31 through the sewage inlet 313, and is finally discharged from the sewage discharge port 311 to the outside of the cleaning device 1000. When the cleaning device 1000 has completed sewage discharge, the driving member 70 or the driving unit controls the sewage discharge member 30 to switch from the sewage discharge state to the non-discharge state, so that the sewage in the receiving chamber 11 cannot be discharged from the sewage discharge port 311 to the outside of the cleaning device 1000.

[0168] Referring to Figures 1, 2, 19, and 20, in certain embodiments, the sewage discharge member 30 can rotate relative to the sewage tank 10 to switch between a non-discharge state and a sewage discharge state. When the sewage discharge member 30 is in the sewage discharge state, the height of the sewage discharge port 313 is lower than the height of the sewage discharge port 313 when the sewage discharge member 30 is in the non-discharge state. 01: When the cleaning device 1000 moves to a designated sewage discharge position, controlling the sewage discharge member 30 to switch to the sewage discharge state also includes:

[0169] 013: Control the sewage discharge member 30 to rotate relative to the sewage tank 10 along the first direction.

[0170] When the cleaning device 1000 needs to discharge sewage, the driving member 70 can drive the sewage discharge member 30 to rotate in a first direction relative to the sewage tank 10. The driving member 70 is connected to the force-bearing portion 33 of the sewage discharge member 30, and the driving member 70 applies an external force to the force-bearing portion 33, so that the sewage discharge member 30 can rotate in the first direction. In the height direction H of the sewage tank 10, the height of the sewage outlet 311 gradually decreases. When the sewage outlet 311 is lower than the sewage inlet 313, or the sewage outlet 311 is flush with the sewage inlet 313, the sewage discharge member 30 stops rotating. At this time, the sewage discharge member 30 switches from a non-discharge state to a discharge state. The dirt in the accommodating chamber 11 can pass through the connecting pipe 60, the sewage tank 50 and the sewage discharge channel 31, and be discharged from the sewage outlet 311 to the outside of the cleaning device 1000.

[0171] In another embodiment, when the cleaning device 1000 needs to discharge waste, and the cleaning device 1000 is docked at the base station docking position, 013: controlling the waste discharge member 30 to rotate in a first direction relative to the wastewater tank 10 includes: 0131: controlling the cleaning module of the cleaning device 1000 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 in the first direction. This can switch the waste discharge member 30 from a non-discharge state to a discharge state, thereby enabling the cleaning device 1000 to discharge waste at the base station 3000.

[0172] Referring to FIG. 1 , FIG. 2 , FIG. 19 and FIG. 20 , in certain embodiments, 03: when the cleaning device 1000 completes sewage discharge, controlling the sewage discharge member 30 to switch to a non-sewage discharge state includes:

[0173] 033: Control the sewage discharge member 30 to rotate relative to the sewage tank 10 along the second direction.

[0174] In one embodiment, when the cleaning device 1000 has completed sewage discharge, the driving member 70 can drive the sewage discharge member 30 to rotate in the second direction relative to the sewage tank 10. The driving member 70 is connected to the force-bearing portion 33 of the sewage discharge member 30, and the driving member 70 applies an external force to the force-bearing portion 33, thereby allowing the sewage discharge member 30 to rotate in the second direction. In the height direction H of the sewage tank 10, the height of the sewage discharge port 311 gradually increases. When the sewage discharge port 311 is higher than the sewage inlet 313, the sewage discharge member 30 stops rotating, and the sewage discharge member 30 switches from the sewage discharge state to the non-sewage discharge state. The dirt in the accommodating chamber 11 cannot be discharged from the sewage discharge port 311 to the outside of the cleaning device 1000.

[0175] In another embodiment, when the cleaning device 1000 has completed waste discharge, the driving member 70 removes the external force applied to the waste discharge member 30, and the reset member 40 can drive the waste discharge member 30 to rotate in the second direction. The height of the waste discharge port 311 gradually increases in the height direction H of the wastewater tank 10. When the waste discharge port 311 is higher than the waste inlet 313 and the reset member 40 returns to its normal state, the waste discharge member 30 stops rotating, switching from a waste discharge state to a non-waste discharge state. Waste within the accommodating chamber 11 cannot be discharged from the waste discharge port 311 to the exterior of the cleaning device 1000.

[0176] In another embodiment, when the cleaning device 1000 has completed waste discharge, the driving member 70 removes the external force applied to the waste discharge member 30, and the reset member 40 can drive the waste discharge member 30 to rotate in the second direction. Specifically, 031: When the cleaning device 1000 leaves the base station parking position, 033: Controlling the waste discharge member 30 to rotate in the second direction relative to the sewage tank 10 includes: 0331: Controlling the cleaning module of the cleaning device 1000 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 30 away from the force-applying member of the base station 3000 and rotating the waste discharge member in the second direction. This switches the waste discharge member 30 from the waste discharge state to the non-waste discharge state, ensuring that waste in the sewage tank 10 of the cleaning device 1000 does not flow out.

[0177] Referring to Figures 7, 8, and 21, in certain embodiments, the drainage member 30 can be deformed when an external force is applied to the outside of the drainage channel 31 to switch between a non-draining state and a drainage state. When the drainage member 30 is in the drainage state, the drainage channel 31 is in an open state, and when the drainage member 30 is in the non-draining state, the drainage channel 31 is in a closed state. 01: When the cleaning device 1000 moves to a designated drainage position, controlling the drainage member 30 to switch to the drainage state includes:

[0178] 015: Control the sewage discharge channel 31 to be in the conducting state.

[0179] When cleaning device 1000 needs to discharge waste, the drive unit can drive the first force-applying member 80 to change the external force applied to waste-discharge member 30. The force applied to waste-discharge member 30 can cause it to deform. The drive unit then drives the first force-applying member 80 to remove the external force applied to waste-discharge member 30, returning waste-discharge member 30 to its natural state. This opens waste-discharge passage 31, and waste-discharge member 30 enters its waste-discharge state. Waste within chamber 11 can pass through connecting pipe 60, waste tank 50, and waste-discharge passage 31, and be discharged from waste outlet 311 to the exterior of cleaning device 1000.

[0180] Referring to FIG. 7 , FIG. 8 and FIG. 20 , in certain embodiments, 03: when the cleaning device 1000 completes sewage discharge, controlling the sewage discharge member 30 to switch to a non-sewage discharge state includes:

[0181] 035: Control the sewage channel 31 to be in a closed state.

[0182] When the cleaning device 1000 has completed waste discharge, the drive unit can drive the first force-applying member 80 to change the external force applied to the waste discharge member 30. The drive unit drives the first force-applying member 80 to apply an external force to the waste discharge member 30, causing the waste discharge member 30 to deform, thereby closing the waste discharge passage 31 and placing the waste discharge member 30 in a waste discharge state. Waste within the accommodating chamber 11 cannot be discharged from the waste discharge port 311 to the outside of the cleaning device 1000.

[0183] The control method of the cleaning device 1000 according to an embodiment of the present application applies an external force to the outside of the drain channel 31 to switch the drain member 30 between a draining state and a non-draining state. When the drain assembly 100 needs to drain, the drain member 30 can be in the draining state, allowing waste in the sewage tank 10 to be discharged outside the drain assembly 100. Compared to conventional drain members 30, the drain channel 31 of the drain member 30 of the present application does not require a valve, making it less prone to clogging and allowing waste to flow smoothly out of the drain channel 31.

[0184] 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.

[0185] 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 sewage discharge assembly, wherein: include: A sewage tank, wherein the sewage tank is provided with a receiving cavity for loading sewage; and A sewage discharge member, wherein the sewage discharge member is provided with a sewage discharge channel, the sewage discharge channel is communicated with the accommodating chamber, and the sewage discharge channel is used to discharge the sewage in the accommodating chamber; 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.

2. The sewage discharge assembly according to claim 1, 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.

3. The sewage discharge assembly according to claim 2, 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.

4. The sewage discharge assembly according to claim 1 or 2, 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.

5. The sewage discharge assembly according to claim 1, 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 and the height direction from the bottom to the top of the sewage tank is greater than or equal to 90°.

6. The sewage discharge assembly according to claim 1, 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.

7. The sewage discharge assembly according to claim 6, 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.

8. The sewage discharge assembly according to claim 7, wherein: A mating surface is provided on the force-bearing portion. When the mating surface is not subjected to external force, the sewage discharge component is in the non-sewage discharge state; when the mating surface is subjected to external force, the sewage discharge component rotates relative to the sewage tank along the first direction to switch from the non-sewage discharge state to the sewage discharge state.

9. The sewage discharge assembly according to claim 8, 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 a suction force.

10. The sewage discharge assembly according to claim 7, wherein: The sewage discharge assembly also includes: A reset member, one end of which is connected to the sewage trough of the sewage discharge assembly or the body of the cleaning module, and the other end is connected to the sewage discharge member. When the external force acting on the sewage discharge member disappears, the reset member drives the sewage discharge member to rotate along the second direction to switch from the sewage discharge state to the non-sewage discharge state.

11. The sewage discharge assembly according to claim 1, wherein: The sewage discharge member is installed on the sewage tank, and the sewage discharge channel is communicated with the accommodating cavity.

12. The sewage discharge assembly according to claim 11, wherein The outlet of the sewage discharge channel is a sewage outlet. When the sewage discharge member is in the non-sewage discharge state, the height of the sewage outlet is higher than the highest liquid level of the sewage tank.

13. The sewage discharge assembly according to claim 1, wherein: The sewage discharge assembly also includes: A sewage trough, the sewage discharge member is installed in the sewage trough, and the sewage discharge channel is connected to the sewage trough; and A connecting pipe, one end of which is connected to the sewage tank, and the other end of which is connected to the sewage tank.

14. The sewage discharge assembly according to claim 13, wherein: The connecting pipe includes a first opening and a second opening opposite to each other. The first opening is connected to the sewage tank, and the second opening and the sewage inlet of the sewage discharge member are respectively connected to opposite ends of the sewage tank.

15. The sewage discharge assembly according to claim 13, 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 tank, 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.

16. The sewage discharge assembly according to claim 1, wherein: The sewage discharge assembly 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 sewage state and the sewage discharge state.

17. The sewage discharge assembly according to claim 1, wherein: The sewage discharge member includes a first sub-section and a second sub-section, the first sub-section is sleeved on the second sub-section, the force-bearing portion of the sewage discharge member is provided on the side wall of the first sub-section, the sewage discharge channel is provided in the second sub-section, the first sub-section is a hard tube, and the second sub-section is a soft tube; The second sub-section is sealedly connected to the sewage tank of the sewage discharge assembly; or The second sub-section is sealed and connected to the sewage tank.

18. The sewage discharge assembly according to claim 17, 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.

19. The sewage discharge assembly according to claim 17, wherein: A first gap is defined between the first sub-portion and the second sub-portion.

20. The sewage discharge assembly of claim 17, wherein: The sewage discharge assembly includes a sewage trough, the sewage discharge member is rotatably mounted on the sewage trough and is in communication with the sewage trough; the first sub-section includes a first end and a second end opposite to each other, the first end of the first sub-section being closer to the sewage trough than the second end of the first sub-section; the second sub-section includes a first end and a second end opposite to each other, the first end of the second sub-section being closer to the sewage trough than the second end of the second sub-section; the first end of the second sub-section is closer to the sewage trough than the first end of the first sub-section, and the first end of the second sub-section is sealedly connected to the sewage trough; or The first sub-section includes a first end and a second end opposite to each other, and the first end of the first sub-section is closer to the accommodating chamber than the second end of the first sub-section; the second sub-section includes a first end and a second end opposite to each other, and the first end of the second sub-section is closer to the accommodating chamber than the second end of the second sub-section; the first end of the second sub-section is closer to the accommodating chamber than the first end of the first sub-section, and the first end of the second sub-section is sealed to the sewage tank.

21. The sewage discharge assembly according to claim 20, 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.

22. The sewage discharge assembly of claim 20, 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.

23. The sewage discharge assembly of claim 22, 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.

24. The sewage discharge assembly of claim 1, 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.

25. The sewage discharge assembly of claim 24, 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.

26. The sewage discharge assembly of claim 24, wherein: The sewage discharge assembly 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.

27. The sewage discharge assembly of claim 26, 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.

28. The sewage discharge assembly of claim 26, wherein: The sewage discharge assembly 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.

29. A cleaning module, wherein: The utility model comprises a main body, a wiping piece, and a sewage discharge assembly according to any one of claims 1 to 28, wherein the wiping piece and the sewage discharge assembly are both arranged on the main body.

30. The cleaning module according to claim 29, 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.

31. The cleaning module according to claim 30, wherein: The cleaning module can be moved 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 cleaning module when the cleaning module is in the second relative position is greater than the maximum outline width of the cleaning module 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 the 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.

32. A cleaning device, wherein: include: body; and The sewage discharge assembly according to any one of claims 1 to 28, wherein the sewage tank is mounted on the fuselage.

33. A cleaning device, wherein: include: body; and The cleaning module according to any one of claims 29 to 31 is mounted on the fuselage.

34. The cleaning device of claim 33, 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.

35. The cleaning device of claim 34, 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.

36. The cleaning device of claim 35, 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.

37. The cleaning device of claim 33, wherein: The cleaning device includes a crawler-type cleaning robot or a drum-type cleaning robot.

38. A base station, wherein: include: main body; and A force-applying member is installed on the main body, and the force-applying member is used to cooperate with the sewage discharge member described in any one of claims 1 to 37. When the external force applied by the force-applying member to the outside of the sewage discharge channel changes, the sewage discharge member can switch between a non-sewage discharge state and a sewage discharge state.

39. The base station according to claim 38, 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.

40. The base station according to claim 39, 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.

41. The base station according to claim 40, 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.

42. The base station according to claim 40, 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.

43. The base station according to claim 39, wherein The cleaning module 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.

44. The base station according to claim 43, 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.

45. The base station according to claim 43, 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.

46. The base station according to claim 45, 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.

47. A cleaning system, wherein: include: The cleaning device according to any one of claims 32 to 37; and The base station according to any one of claims 38 to 46.

48. A method for controlling waste discharge, applied to the waste discharge assembly according to any one of claims 1 to 28, or to the cleaning module according to any one of claims 29 to 31, or to the cleaning device according to claims 32 to 37, or to the base station according to claims 38 to 46, or to the cleaning system according to claim 47, wherein: The pollution control method 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.

49. The pollution control method according to claim 48, 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.

50. The pollution control method according to claim 49, 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.

51. The pollution control method according to claim 49, 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.

52. The pollution control method according to claim 51, wherein: When the cleaning equipment completes the sewage discharge, the method includes: The cleaning device moves away from the base station parking position; 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.

53. The pollution control method according to claim 48, 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 an open state. When the sewage discharge member is in the non-sewage discharge state, the sewage discharge channel is in a 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 a conducting state.

54. The pollution control method according to claim 53, 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 channel is controlled to be in a closed state.

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